| CPC B60W 60/001 (2020.02) [G07C 5/006 (2013.01); B60W 2554/4041 (2020.02)] | 4 Claims |
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1. A vehicle management system configured such that a unmanned vehicle that is capable of autonomously traveling, an escorted vehicle that is a manned vehicle, an escorting vehicle that is a manned vehicle and precedes the escorted vehicle to escort the escorted vehicle, and a control station that controls the unmanned vehicle on a basis of position information on the escorting vehicle and position information on the escorted vehicle are capable of communicating with each other, wherein
the control station receives position information on the unmanned vehicle acquired by a first position sensor provided to the unmanned vehicle, and transmits a command to a travel controller that is provided to the unmanned vehicle and controls travel of the unmanned vehicle,
the control station receives position information and position precision information on the escorted vehicle acquired by a second position sensor provided to the escorted vehicle,
the control station receives information on the escorted vehicle set as an escorting target of the escorting vehicle by a setting device provided to the escorting vehicle and position information and position precision information on the escorting vehicle acquired by a third position sensor provided to the escorting vehicle and outputs a command to a management controller that controls an output device provided to the escorting vehicle and capable of outputting an alarm,
the control station includes a controller that sets an entry prohibited area for the unmanned vehicle on the basis of the position information on the escorting vehicle and the position information on the escorted vehicle and controls the unmanned vehicle such that the unmanned vehicle does not enter the entry prohibited area,
the controller is configured to
determine whether or not an abnormal state of the position information on the escorted vehicle has been detected on a basis of a communication state of and the position precision information on the escorted vehicle,
set the entry prohibited area of the unmanned vehicle on the basis of the position information on the escorting vehicle and the position information on the escorted vehicle when the abnormal state of the position information on the escorted vehicle has not been detected, and
compute, when the abnormal state of the position information on the escorted vehicle has been detected, an inter-vehicle distance between the escorting vehicle and the escorted vehicle on a basis of the position information on the escorting vehicle and the position information on the escorted vehicle that are obtained before the detection of the abnormal state, to thereby set the entry prohibited area of the unmanned vehicle on a basis of the current position information on the escorting vehicle and the inter-vehicle distance, and
the output device outputs an alarm that prompts maintenance of the inter-vehicle distance between the escorting vehicle and the escorted vehicle when the abnormal state of the position information on the escorted vehicle has been detected.
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