JP2019205129A - Vehicle search system and vehicle search method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle search system capable of tracking a vehicle to be searched. A plurality of vehicles are obtained by traveling control means for traveling in a first mode for autonomous traveling and second mode for semi-autonomous traveling, photographing means for photographing the outside of the vehicle, and photographing. Recognition means for acquiring license plate information of surrounding vehicles from the image, information acquisition means for acquiring a search request including license plate information of the search target vehicle from the server device, acquired license plate information, and search target vehicle And a notification means for notifying the server device when the license plate information of the information is matched, the server device transmitting information for a search request to the vehicle, and a predetermined command for traveling to the vehicle. Commanding means for transmitting a command to the vehicle located in the vicinity of the vehicle to be searched and in the first mode when the notification means receives the notification from the vehicle. Sending a command for causing the switching to the second mode. [Selection diagram] Figure 2

Description

  The present invention relates to a system for searching for a vehicle using a vehicle.

License plate information is useful in vehicle searches. As described in Patent Document 1, the character information of the license plate of the vehicle can be recognized from an image taken by an in-vehicle camera or a roadside camera.
Patent Document 2 discloses a system for searching for a vehicle using license plate information. Specifically, each vehicle in the system captures a surrounding vehicle with an in-vehicle camera, extracts character information of a license plate by image analysis, and transmits it to a server device (base station) together with time information and position information. . And a server apparatus detects the vehicle of search object by collating license plate information.

JP 2008-108063 A JP-A-8-030892 JP 2006-285547 A

According to the system described in Patent Document 2, since license plate information is collected by a camera mounted on a general vehicle traveling on a road, rapid discovery of a search target vehicle can be expected.
However, in this system, the location where the search target vehicle is found can be specified, but the vehicle cannot be tracked. In addition, it is actually difficult to make a target track a general vehicle. Although it is conceivable to provide a vehicle exclusively for tracking, it is not practical from the viewpoint of cost.

  The present invention has been made in view of the above problems, and an object thereof is to provide a vehicle search system capable of tracking a vehicle to be searched.

The vehicle search system according to the present invention is a vehicle search system that includes a plurality of vehicles and a server device and searches for a search target vehicle.
Specifically, each of the plurality of vehicles includes a travel control unit that travels in one of a first mode in which autonomous travel is performed and a second mode in which semi-autonomous travel is performed based on an instruction from the user. An imaging unit that captures the outside of the vehicle, a recognition unit that acquires license plate information of surrounding vehicles from the image obtained by the imaging unit, and a search request including license plate information of the vehicle to be searched from the server device. An information acquisition means for acquiring, and a notification means for notifying the server device that the search target vehicle has been found when the acquired license plate information matches the license plate information of the search target vehicle. .
Further, the server device includes information transmitting means for transmitting the search request to the vehicle, and command means for transmitting a predetermined command relating to traveling to the vehicle, When the notification is received from any of the plurality of vehicles, the vehicle located in the vicinity of the search target vehicle and in the first mode is switched to the second mode. The command for transmitting is transmitted.

  The vehicle is a vehicle capable of autonomous traveling and semi-autonomous traveling. The vehicle may be an autonomous driving vehicle. The vehicle is configured to be able to travel in a first mode for autonomous traveling and a second mode for semi-autonomous traveling. The first mode is a mode that does not require human intervention in normal driving. The second mode is a mode for running based on a human instruction. For example, it is a mode in which an instruction regarding a right / left turn point or a traveling lane is received and the vehicle travels accordingly. It can be said that the second mode is a mode in which semi-autonomous running is performed. By using the second mode, it becomes possible to steer the vehicle from a remote location, for example.

The vehicle travels based on a command transmitted from the server device.
The command transmitted from the server device is, for example, information including the course and travel route of the vehicle. For example, when the vehicle is in the first mode, it can be circulated on the road by a predetermined route according to the command. In addition, when the vehicle is in the second mode, a point for making a right or left turn, a traveling lane, or the like is designated at any time according to a command. The mode can also be switched by a command transmitted from the server device.

The vehicle has a function of photographing the outside of the vehicle and acquiring license plate information of the vehicle existing in the vicinity from the obtained image.
The server device according to the present invention transmits a search request including license plate information of the search target vehicle to the vehicle, and the vehicle that has received the request receives the acquired license plate information and the license plate information of the search target vehicle. If they match, the server device is notified that the search target vehicle has been found.
In addition, when receiving a notification from the vehicle, the server device transmits a command instructing a vehicle in the vicinity to switch from the first mode (autonomous driving) to the second mode (semi-autonomous driving). To do. That is, the mode is changed from automatic travel to travel via human hands.
According to such a configuration, when a search target vehicle is found, the autonomously traveling vehicle can be temporarily used for tracking purposes.

  The command may include information for remotely driving the vehicle, and the vehicle in the second mode may travel according to the command.

  According to such a configuration, when a search target vehicle is found, the vehicle can be operated by a human hand. That is, the search target vehicle can be tracked with high accuracy.

  Further, the image display device may further include an image display unit that provides an image captured by the vehicle in the second mode to the user who performs remote driving.

  According to such a configuration, the remote operation can be performed while checking the real-time image, so that the tracking accuracy is improved.

  Each of the plurality of vehicles may transmit an image and position information obtained by the photographing unit to the server device when the search target vehicle is found.

  With this configuration, the server device can grasp the real-time image and position information of the vehicle having the license plate information to be searched.

Further, the command means transmits the command for instructing switching to the first mode to the first vehicle in the second mode based on an instruction of the user, The command for instructing switching to the second mode may be transmitted to a second vehicle located in the vicinity of the second vehicle and in the first mode.

  According to such a configuration, tracking can be taken over by cooperation of a plurality of vehicles. In other words, as long as the handover is possible, the tracking can be continued regardless of the remaining energy of the vehicle (the remaining battery level and the remaining fuel level) and other restrictions.

In addition, the vehicle search system according to the second aspect of the present invention,
A vehicle search system for searching for a vehicle to be searched by a plurality of vehicles capable of switching between a first mode for autonomous driving and a second mode for semi-autonomous driving based on an instruction from a user, An image acquisition means for acquiring an image obtained by a photographing means included in the vehicle, a recognition means for acquiring license plate information of surrounding vehicles, and a search request including license plate information of a search target vehicle from the image. Information acquisition means for transmitting to the vehicle, and command means for transmitting a predetermined command relating to traveling to the vehicle, wherein the command means matches the acquired license plate information with the license plate information of the search target vehicle. When the vehicle is in the vicinity of the search target vehicle, the vehicle in the first mode is switched to the second mode. And transmitting the command of the fit.

  In addition, this invention can be specified as a vehicle search system, a vehicle, and a server apparatus containing at least one part of the said means. Moreover, it can also specify as the method which the said vehicle search system, a vehicle, and a server apparatus perform. The above processes and means can be freely combined and implemented as long as no technical contradiction occurs.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle search system which can track the vehicle of search object can be provided.

1 is a schematic diagram of a vehicle search system according to an embodiment. It is a schematic diagram of the process which a vehicle search system performs. It is a functional module block diagram of the center server in 1st embodiment. It is a functional module block diagram of the edge server in 1st embodiment. It is a functional module block diagram of the vehicle in 1st embodiment. It is a flowchart figure of the process which a vehicle performs in normal time. It is a flowchart figure of the process which an edge server performs in normal time. It is a flowchart figure of the process which a center server performs at the time of a search. It is a flowchart figure of the process which an edge server performs at the time of a search. It is a flowchart figure of the process which a vehicle performs at the time of search. It is an example of the user interface provided to a searcher. It is a functional module block diagram of the center server in 2nd embodiment.

(First embodiment)
An outline of the vehicle search system according to the first embodiment will be described with reference to FIG. The vehicle search system according to this embodiment includes a center server 10, a plurality of edge servers 20, and a vehicle 30. Each of the edge servers 20 is associated with the base station 25 and manages the vehicle 30 (the vehicle 30 located within the communication range of the base station 25) under the base station 25. Here, the vehicle 30 is a vehicle capable of communicating with the edge server 20 and capable of executing functions to be described later. In addition, although the form which the vehicle 30 communicates with the edge server 20 is illustrated in FIG. 1, the vehicle 30 and the center server 10 can also communicate directly.

The vehicle 30 is an autonomous traveling vehicle that performs autonomous traveling based on a given command. The vehicle 30 is, for example, a multipurpose vehicle that can have different functions for each individual, and is a vehicle that can be driven automatically and unmanned on a road. The vehicle 30 is, for example, a pick-up car that travels on a predetermined route, an on-demand taxi that operates in response to a user's request, a mobile store that can operate at an arbitrary destination, and the like. When the vehicle 30 is intended for transportation of freight passengers, transportation can be performed while operating a predetermined route. Further, when the vehicle 30 is intended to move a store, facility, or equipment, the facility can be developed and operated after traveling to the destination. In addition, the vehicle 30 may be a vehicle that patrols a road for monitoring facilities and infrastructure, security measures, and the like. In this case, you may make it drive | work according to a predetermined patrol route.
The vehicle 30 is not necessarily an unmanned vehicle. For example, sales staff, customer service staff, security staff, etc. may be on board. Moreover, the vehicle 30 does not necessarily need to be a vehicle that can be completely autonomously traveled. For example, it may be a vehicle in which a person drives or assists driving depending on the situation.

The vehicle 30 performs a mode of traveling autonomously (first mode in the present invention, hereinafter referred to as an autonomous traveling mode) and a mode of traveling based on an instruction given by a person in real time (second mode in the present invention. , Semi-autonomous running mode) can be switched. The autonomous traveling mode is a mode in which traveling is possible without human involvement except in an emergency, and the semi-autonomous traveling mode is a mode in which traveling is performed based on a human instruction. For example, the semi-autonomous travel mode is a mode in which an instruction regarding a point where the vehicle makes a right or left turn or a travel lane is received and the vehicle travels autonomously according to the instruction. By using the semi-autonomous mode, the vehicle 30 can be steered from a remote place, for example.
In the following description, the vehicle 30 performs the license plate information collection process and the vehicle search process at the same time while autonomously traveling for a predetermined purpose (not directly related to the vehicle search). To do.

  A processing outline of the vehicle search system according to the present embodiment will be described with reference to FIGS. 2 (A) and 2 (B). FIG. 2A is a diagram for explaining processing that is normally performed, that is, processing that collects license plate information in the edge server 20. FIG. 2B is a diagram for explaining processing during vehicle search.

  First, normal processing will be described with reference to FIG. The vehicle 30 captures the outside of the vehicle with the in-vehicle camera and detects the license plate information of the surrounding vehicles. The vehicle 30 accumulates the detected license plate information as summary information (digest) using a Bloom filter. The vehicle 30 periodically transmits this digest to the edge server 20 via the base station 25.

  The edge server 20 integrates (accumulates) and accumulates the digests received from the plurality of vehicles 30. Digest is accumulated for each area and time zone. In the present embodiment, the edge server 20 accumulates each relay base station 25 that relayed the digest. That is, the digest is accumulated for each communication range of the base station 25. The edge server 20 can grasp the region and the time zone in which the target number is detected by collating the digest DB.

  Next, with reference to FIG. 2 (B), the process at the time of search is demonstrated. First, the searcher 50 inputs, to the center server 10, a search command including license plate information (hereinafter also referred to as a target number) of a vehicle to be searched (hereinafter referred to as a search target vehicle) and a search target area. To do. This input may be performed by the searcher 50 directly operating the center server 10 or may be performed via a network.

  The center server 10 specifies the edge server 20 related to the target area included in the search command, and transmits the search command to the specified edge server 20. The edge server 20 related to the target area is the edge server 20 in charge of the base station 25 that includes the target area in the communication range.

  When the edge server 20 receives the search command from the center server 10, the edge server 20 checks whether or not the target number is included in the stored digest. When the target number is included in the digest, the edge server 20 transmits a search command to the vehicle 30 under the base station 25 via the relay base station 25 in charge. The edge server 20 may estimate a region where the search target vehicle may exist and relay a search command to a nearby relay base station 25 that is in charge of the region.

  When the vehicle 30 receives a search command from the edge server 20, the vehicle 30 starts detection processing for the vehicle having the target number. When the vehicle 30 detects the vehicle having the target number, the notification that the search target vehicle is found is transmitted to the center server 10 together with the video (preferably real-time video) taken by the in-vehicle camera and the position information of the own vehicle. To do.

  When the center server 10 receives a notification that the search target vehicle has been found from the vehicle 30, the center server 10 provides the received information to the searcher 50, and the searcher 50 controls the target vehicle 30 by operating the vehicle 30. The vehicle 30 is instructed to switch from the autonomous travel mode to the semi-autonomous travel mode. According to such a configuration, it is possible to continuously track the found vehicle to be searched.

Next, the configuration of the center server 10 and the edge server 20 will be described.
The center server 10 and the edge server 20 are a central processing unit, a processing unit such as a microprocessor, a main storage unit such as a RAM, an auxiliary storage unit such as an SSD or an HDD, an input unit such as a keyboard / mouse / touch panel, a display or a speaker. Etc., and a computer (information processing apparatus) including a communication device that performs wired communication and wireless communication. Each of the center server 10 and the edge server 20 may be configured by one computer or may be configured by linking a plurality of computers.

  The center server 10 and the edge server 20 load the computer program stored in the auxiliary storage device to the main storage device, and the arithmetic processing device executes the computer program to provide the following functions. Some or all of these functions may be realized by a dedicated hardware device.

As shown in FIG. 3, the center server 10 executes a program executed by the arithmetic processing unit, so that a search request input unit 101, a search request expansion unit 102, an information reception unit 103, an information output unit 104, an instruction input unit 105, A travel command transmission unit 106 is realized.
In addition, the edge server 20 implements a digest receiving unit 201, a digest DB 202, a collating unit 203, a search command receiving unit 204, and a search command expanding unit 205 as shown in FIG. To do.

  The base station 25 is a mobile phone base station and can communicate with the vehicle 30 or the like by a cellular communication system. The base station 25 relays communication between the center server 10 or the edge server 20 and the vehicle 30.

The vehicle 30 is a vehicle including a vehicle-mounted computer having a communication function and a sensor such as a vehicle-mounted camera or a position information sensor.
The in-vehicle camera may be a camera that acquires a visible light image, or may be a camera that acquires an infrared image. The position information sensor is typically a positioning device using a GPS device or other global positioning satellite system (GNSS), but positioning using a base station positioning system, a lane marker, or the like. It may be a device.
In addition, the vehicle 30 includes other sensors for performing autonomous traveling. For example, you may have sensors, such as a laser scanner, a LIDAR, and a radar.
The in-vehicle computer may include an arithmetic processing device, a main storage device, an auxiliary storage device, an input / output device, and a wireless communication device.

As shown in FIG. 5, the in-vehicle computer is configured such that an image processing unit executes a program so that an image acquisition unit 301, a license plate information recognition unit 302, a license plate information storage unit 303, a digest transmission unit 304, and a search command reception unit 305, search execution unit 306, information transmission unit 307, position information acquisition unit 308, travel command reception unit 310, environment detection unit 311, and travel control unit 312 are realized. The license plate information storage unit 303 includes a plurality of hash functions 303a and a digest storage unit 303b. Note that some or all of these functions of the vehicle 30 (onboard computer) may be realized by a dedicated hardware device.
The operation of each functional unit will be described together with the following processing method.

Here, a method in which the vehicle 30 performs autonomous traveling will be described.
The travel command receiving unit 310 acquires a travel command from the center server 10. When the vehicle 30 is in the autonomous travel mode, the travel command can be data representing a route on which the host vehicle travels and processing to be performed on the route (or the destination). In addition, when the vehicle 30 is in the semi-autonomous traveling mode, the traveling command can be data representing instructions and timings such as a course change, a lane change, and a right / left turn. The vehicle 30 can switch between the autonomous traveling mode and the semi-autonomous traveling mode in accordance with a traveling command received from the center server 10.

  The environment detection unit 311 detects the environment around the vehicle based on data acquired by a vehicle-mounted sensor (stereo camera, laser scanner, LIDAR, radar, GPS module, or the like). Targets of detection include, for example, the position information of the own vehicle, the number and positions of lanes, the number and positions of vehicles existing around the own vehicle, and obstacles existing around the own vehicle (eg, pedestrians, bicycles, structures) Number, location, etc.), road structure, road signs, etc., but is not limited thereto. Any detection target may be used as long as it is necessary for autonomous traveling. Data relating to the environment (hereinafter referred to as environment data) detected by the environment detection unit 311 is transmitted to the travel control unit 312.

  The travel control unit 312 controls the travel of the host vehicle based on the travel command received by the travel command receiving unit 310 and the environmental data generated by the environment detection unit 311. For example, the host vehicle travels along a predetermined route so that an obstacle does not enter a predetermined safety area centered on the host vehicle. A known method can be adopted as a method for autonomously running the vehicle.

Next, a process for searching for a vehicle will be described.
FIG. 6 is a flowchart showing processing performed by the vehicle 30 (on-vehicle computer) during normal operation. The process shown in FIG. 6 is periodically and repeatedly executed.

  First, in step S101, it is determined whether or not a predetermined time has elapsed since the previous digest transmission or system start-up. The predetermined time may be determined as appropriate. For example, a value such as 1 minute, 3 minutes, 10 minutes, 30 minutes, 1 hour, or the like can be adopted.

If a negative determination is made in step S101 (S101-NO), the process proceeds to step S102. In step S102, the image acquisition unit 301 acquires an image from the in-vehicle camera and sends it to the license plate information recognition unit 302, and the license plate information recognition unit 302 analyzes the image. In this analysis, the license plate information recognition unit 302 determines whether or not there is a vehicle license plate in the input image. The license plate detection process can be performed by matching with a template image, for example.
If no license plate is detected from the input image (S103-NO), the process is terminated.

  When the license plate is detected from the input image (S103-YES), the process proceeds to step S104. In step S104, the license plate information recognition unit 302 recognizes character information (number plate information) included in the license plate. The license plate character information recognition process may be executed by any existing method (algorithm).

  In step S105, the license plate information recognition unit 302 sends the recognized license plate information to the license plate information storage unit 303, and the license plate information storage unit 303 stores the information. In the present embodiment, the license plate information storage unit 303 converts all detected license plate information into a fixed-length (m bits) bit string (digest) using a Bloom filter. This digest is stored in the digest storage unit 303b.

A digest generation method will be specifically described.
First, k hash functions h _{1 to} h _k are respectively applied to license plate information (x) to calculate _k hash functions h ₁ (x) to h _k (x). Each hash function h _{1 to} h _k is a function for converting arbitrary license plate information from 0 to an integer of m−1. These hash functions are stored in the license plate information storage unit 303, and a hash function common to all the vehicles 30 and the edge server 20 is used.
Next, the license plate information storage unit 303 sets the bit at the position of the hash value to 1 in the digest (bit string) included in the digest storage unit 303b. If the bit in this position is already 1, do nothing. By this processing, the newly detected license plate is superimposed on the digest.
By using such a digest, it can be determined whether or not any license plate information z has been detected. As can be seen from the digest generation method, the license plate information z is detected if all the k bits at the positions h ₁ (z),..., H _k (z) of the digest are all 1. It can be judged that it is not detected otherwise. It should be noted that the digest generation method ensures that false negatives do not occur even though false positives may occur.

If the determination in step S101 is affirmative (S101—YES), the process proceeds to step S106. In step S <b> 106, the digest transmission unit 304 transmits the stored digest to the edge server 20 via the relay by the base station 25.
In step S107, the license plate information storage unit 303 resets all the bits of the digest in the digest storage unit 303b to 0 to prepare for the accumulation of new license plate information.

It should be noted that the digest transmission may be performed at regular time intervals or at other periods. For example, a digest may be transmitted each time the vehicle 30 travels a certain distance, or a digest may be transmitted each time a certain number of vehicles (number plates) are detected. Alternatively, the digest transmission timing may be determined by comprehensively determining these conditions. Further, when the vehicle 30 moves from the communication range of one base station 25 to the communication range of another base station 25, a digest may be transmitted without fail. This is because the edge server 20 performs aggregation for each base station to which the digest is relayed.

Next, processing performed by the edge server 20 will be described with reference to FIG.
In step S <b> 201, the digest receiving unit 201 receives the digest of the license plate information transmitted from the vehicle 30. As described above, since the digest is transmitted from the vehicle 30 via the base station 25, the digest receiving unit 201 can grasp which base station 25 the digest is received through.

In step S202, the edge server 20 integrates (aggregates) the digests for each time zone and each relay base station, and stores them in the digest DB 202. For example, every 15 minutes, every 30 minutes, every hour, every 3 hours, etc. can be adopted. As a process for integrating a plurality of digests, a method of taking a bit logical sum of digests (bit strings) can be used in the same manner as a Bloom filter.
Note that the edge server 20 may delete the digests stored in the digest DB 202 after a predetermined time has elapsed.

  Next, a process performed by the center server 10 when searching for a vehicle will be described with reference to FIG.

  First, in step S <b> 301, a vehicle search request is received from the searcher 50 via the search request input unit 101. This search request includes license plate information to be searched and a search target area. The search request may be input by the searcher 50 directly operating the center server 10 or via a network.

  In step S <b> 302, the search request expanding unit 102 specifies the edge server 20 related to the target area, and transmits a search command to the specified edge server 20. The search command to be transmitted includes at least search target license plate information. The search command may include a search target area. The edge server 20 related to the target area is the edge server 20 in charge of the base station 25 that includes the target area in the communication range. In order to make this determination, the search request expansion unit 102 is configured to be able to acquire information on the base stations 25 managed by the respective edge servers 20 and the communication range of the base stations 25.

Here, the process performed by the edge server 20 that has received the search command will be described with reference to FIG. The process shown in FIG. 9 is started at the timing when the edge server 20 receives the search command.
First, in step S <b> 401, the collation unit 203 determines whether a digest entry including the target number exists in the digest DB 202. The collation unit 203 collates the entries in the digest DB 202 for the entries within the latest predetermined period (if the old entry is deleted, collates with all entries).

  In order to perform this verification, the verification unit 203 has the same k hash functions as the vehicle 30 has. The matching unit 203 applies each hash function to the target number to obtain k hash values. Then, it is determined that the entry of the digest whose bit at the position of each hash value is 1 is an entry including the target number.

If an entry including the target number does not exist in the digest DB 202 (S402—NO), the process ends. On the other hand, if an entry including the target number exists in the digest DB 202 (S402-YES), the process proceeds to step S403. Since the digest entry is stored in association with the time zone and the base station, the time zone and the position where the vehicle having the target number is detected can be known. The detection position is known with the accuracy of the communication range of the base station 25.

In this example, the search command is transmitted to all the vehicles 30 under the base station corresponding to the edge server. However, when the search target vehicle is estimated to be under the control of another base station, The search command may be transferred to another edge server.
For example, even if the geographical area (possible area) where the search target vehicle can exist is estimated based on the communication range of the base station in which the target number is detected and the elapsed time since the target number was last detected Good. For example, the maximum moving distance d is estimated based on the assumed maximum moving speed and the elapsed time since the last detection, and an area within the distance d from the outer periphery of the communication range of the base station can be set as an existable area. . In addition to this, an estimated movement route of the vehicle may be obtained based on a history of position information collected from the vehicle by a telematics system or the like, and the possible area may be predicted with a finer granularity based on the estimated movement route. .
When the search command is transferred from another edge server, the transfer destination edge server transmits the search command to the subordinate vehicle 30 via the corresponding base station 25.

  In step S <b> 403, the search command development unit 205 transmits a search command to the vehicles 30 under the control via the base station 25.

  Here, with reference to FIG. 10, the process which the vehicle 30 (vehicle-mounted computer) which received the search instruction | command performs is demonstrated. The process shown in FIG. 10 is started at the timing when the vehicle 30 receives the search command.

  In step S <b> 501, the search command receiving unit 305 receives a search command from the edge server 20. When the search command is received, the vehicle 30 shifts to the vehicle search mode and performs the processes after step S502. In the vehicle search mode, the license plate may be detected more frequently than usual.

  In step S502, the image acquisition unit 301 acquires an image from the in-vehicle camera and sends it to the license plate information recognition unit 302, and the license plate information recognition unit 302 analyzes the image. In this analysis, the license plate information recognition unit 302 determines whether or not there is a vehicle license plate in the input image. If a license plate is detected from the input image (S503-YES), the process proceeds to step S504, where the license plate information recognition unit 302 recognizes character information (number plate information) included in the license plate.

  In step S505, the search execution unit 306 determines whether or not the recognized license plate information matches the license plate information to be searched. If they match (S505—YES), the process proceeds to step S506. In step S <b> 506, the information transmission unit 307 transmits information indicating that the search target vehicle has been found (discovery report), a real-time image acquired from the in-vehicle camera, and position information acquired from the position information sensor to the center server 10.

Returning to FIG. 8, the description of the processing of the center server 10 is continued.
After transmitting the search request to the edge server 20, the center server 10 waits for a search report for the search target vehicle to be transmitted from the vehicle 30. When the information receiving unit 103 receives the discovery report from the vehicle 30 (S303-YES), the information output unit 104 notifies the searcher 50 of the fact in step S304. In step S304, a notification that the search target vehicle has been found, an image taken by the vehicle 30, and position information of the vehicle 30 are output. For example, these may be output via a display device or may be output via a network.

When the search target vehicle is found, the information output unit 104 outputs a message confirming whether or not the searcher 50 can start tracking. When the searcher 50 inputs a response indicating that the searcher 50 accepts the request via the instruction input unit 105, the travel command transmission unit 106 issues a travel command for instructing the vehicle 30 to switch to the semi-autonomous travel mode. Transmit (step S305).

  When the mode is switched to the semi-autonomous driving mode, the center server 10 provides the searcher 50 with the real-time image acquired from the vehicle 30 via the information output unit 104, and the searcher 50 sees the image of the vehicle 30 while viewing the image. Is specified. FIG. 11 is an example of a user interface screen provided to the searcher 50. In this example, a real-time image captured by the vehicle 30 is displayed on the upper stage (reference numeral 1101), and a map and position information of the vehicle 30 are displayed on the lower stage (reference numeral 1102).

  The searcher 50 inputs, for example, information specifying a traveling lane and information specifying the course of the vehicle 30 at an intersection or a branching point in real time via the instruction input unit 105, and the traveling command transmission unit 106 receives this information. A corresponding travel command is generated and transmitted to the vehicle 30. Note that the information for controlling the vehicle 30 and the method for inputting the information are not limited to those illustrated.

  When the vehicle 30 (travel command receiving unit 310) receives a travel command for instructing switching to the semi-autonomous travel mode, the travel control unit 312 switches to the semi-autonomous travel mode. The vehicle travels according to the transmitted travel command. In the semi-autonomous driving mode, speed adjustment, obstacle avoidance, and maintenance of the inter-vehicle distance are automatically performed based on information obtained from the environment detection unit 311. , Based on the travel command transmitted from the center server 10.

  When the semi-autonomous driving mode is ended due to reasons such as losing sight of the search target vehicle, the searcher 50 inputs the fact to the instruction input unit 105. As a result, a travel command for instructing switching to the autonomous travel mode is generated and transmitted to the vehicle 30. As a result, the vehicle 30 returns to the autonomous traveling mode that has been performed previously. In addition to this, when a predetermined time has elapsed since the license plate of the search target vehicle can no longer be recognized, switching to the autonomous travel mode may be promoted.

  As described above, according to the vehicle search system according to the present embodiment, it is possible to cause a vehicle that performs autonomous traveling to search for a search target vehicle, and when a search target vehicle is found, Can be switched to the mode of tracking. According to this configuration, it is possible to achieve both rapid discovery of the target vehicle and high-precision tracking.

(Second embodiment)
In 1st embodiment, the vehicle 30 which discovered the search object vehicle gave the example which tracks the said vehicle. However, the vehicle to be tracked may not be the vehicle 30 that has found the search target vehicle. The second embodiment is an embodiment in which tracking is performed using another vehicle 30 that is traveling in the vicinity of the point where the search target vehicle is found.

  FIG. 12 is a module configuration diagram of the center server 10 according to the second embodiment. The center server 10 according to the second embodiment is configured to further include a vehicle management unit 107.

  In the second embodiment, the vehicle 30 periodically transmits the position information and the travel mode of the host vehicle to the center server 10 in parallel with the processing shown in FIG. The center server 10 transmits the acquired position information and travel mode of each vehicle to the vehicle management unit 107, and the vehicle management unit 107 stores these pieces of information. In addition, each vehicle may transmit the information regarding a running direction simultaneously.

  In the second embodiment, in step S305, the vehicle management unit 107 extracts the other vehicle 30 that is traveling in the vicinity of the spot where the search target vehicle is found and is in the autonomous traveling mode, and which vehicle The searcher 50 is made to select whether to track by 30. In the present embodiment, a travel command for performing semi-autonomous travel is transmitted to the selected vehicle 30.

  At this time, the searcher 50 may be presented with the positional relationship between the point where the search target vehicle is found and the traveling point of the other vehicle 30 or the traveling direction of each vehicle. For example, when the vehicle 30 that has found the search target vehicle is traveling in the opposite direction to the search target vehicle, another vehicle 30 traveling in the forward direction may be selected as the tracking vehicle. The positional relationship and the traveling direction of the vehicle may be superimposed on the map. Moreover, you may superimpose the position estimated that the information regarding the visual field of a vehicle-mounted camera and a search object vehicle exist on the said map.

  According to the second embodiment, since a suitable vehicle 30 can be selected by tracking the search target vehicle, it is possible to perform tracking more safely.

(Third embodiment)
In the first and second embodiments, an example in which one vehicle 30 tracks a search target vehicle has been described. However, it is not always possible for one vehicle to continuously track the search target vehicle. For example, there may be a case where the vehicle 30 has to be returned to the original business or a case where tracking becomes difficult due to a decrease in the remaining battery level.
In order to cope with this, the third embodiment is an embodiment in which a vehicle for remote control can be changed to another vehicle 30 during tracking. The module configuration of the center server 10 according to the third embodiment is the same as that of the second embodiment.

  In the third embodiment, in response to a request from the searcher 50, the vehicle management unit 107 extracts another vehicle 30 that is in the vicinity of the vehicle that is remotely controlled and that is in the autonomous traveling mode, The position is presented to the searcher 50.

  In the example of FIG. 11, the vehicle (reference numeral 1103) shown in black represents a vehicle that is currently being operated, and the vehicle shown in white represents a vehicle that can be taken over. The searcher 50 can change the target of remote control to another vehicle by selecting a vehicle that can be taken over (for example, by clicking). When the target of remote control is changed, the newly designated vehicle is changed from the autonomous running mode to the semi-autonomous running mode. The searcher 50 is provided with an image transmitted from a newly designated vehicle. In addition, the vehicle 30 that has been remotely controlled until now automatically returns to the autonomous traveling mode and continues the previous operation.

  According to such a configuration, the object can be tracked by the plurality of vehicles 30, so that the tracking is not interrupted for reasons such as the remaining battery level as long as the object can be taken over. That is, the object can be tracked for a long time.

(Modification)
The above embodiment is merely an example, and the present invention can be implemented with appropriate modifications within a range not departing from the gist thereof.

For example, when there are a plurality of persons who can control the vehicle 30, the plurality of vehicles 30 may be selected as tracking vehicles and each person may be individually operated.
In the description of the embodiment, an edge server is used, but the edge server is not an essential component. For example, each vehicle may communicate directly with the center server. The center server may have the function of the edge server exemplified in the embodiment.
In the description of the embodiment, the vehicle and the center server perform different processes. However, a virtual computer is configured using a technique such as cloud computing, and the process is performed on the computer. Good.

  In the description of the embodiment, the vehicle 30 having a communication function with the center server 10 searches for a vehicle, but participates in searching for a vehicle (hereinafter, general-purpose vehicle) that cannot directly communicate with the center server 10. You may let them. For example, the search request may be transferred from the vehicle 30 to the general-purpose vehicle by inter-vehicle communication. When a general-purpose vehicle finds a search target vehicle, how to notify the fact to the center server 10 is not limited. You may notify to the center server 10 via the vehicle which transmitted the search request, and you may notify to the center server 10 via another vehicle. Moreover, you may notify to the center server 10 via base stations other than the above. The general-purpose vehicle may transmit only a message indicating that the search target vehicle has been detected, or may transmit a real-time image.

DESCRIPTION OF SYMBOLS 10 ... Center server 20 ... Edge server 25 ... Base station 30 ... Vehicle 50 ... Searcher

Claims (7)

A vehicle search system comprising a plurality of vehicles and a server device for searching for a vehicle to be searched,
Each of the plurality of vehicles is
Travel control means for traveling in one of the first mode for performing autonomous traveling and the second mode for performing semi-autonomous traveling based on instructions from the user;
Photographing means for photographing outside the vehicle;
Recognition means for obtaining license plate information of surrounding vehicles from the image obtained by the photographing means;
Information acquisition means for acquiring a search request including license plate information of a search target vehicle from the server device;
A notification means for notifying the server device that the search target vehicle is found when the acquired license plate information matches the license plate information of the search target vehicle;
Have
The server device
Information transmitting means for transmitting the search request to the vehicle;
Command means for transmitting a predetermined command for traveling to the vehicle;
Have
When the notification is received from any of the plurality of vehicles, the command means is located in the vicinity of the search target vehicle, and the vehicle in the first mode is set to the second mode. Sending the command to cause switching,
Vehicle search system. The command includes information for remotely driving the vehicle,
The vehicle in the second mode travels according to the command;
The vehicle search system according to claim 1. An image display means for providing an image taken by the vehicle in the second mode to the user who performs remote driving;
The vehicle search system according to claim 2. Each of the plurality of vehicles is
When the search target vehicle is found, the image obtained by the photographing unit and the position information are transmitted to the server device.
The vehicle search system according to any one of claims 1 to 3. The command means is based on an instruction from the user,
For the first vehicle in the second mode, send the command to instruct the switch to the first mode,
Transmitting the command instructing switching to the second mode to a second vehicle located in the vicinity of the first vehicle and in the first mode;
The vehicle search system according to any one of claims 1 to 4. A vehicle search system for searching for a vehicle to be searched by a plurality of vehicles capable of switching between a first mode for autonomous driving and a second mode for semi-autonomous driving based on an instruction from a user,
Image obtaining means for obtaining an image obtained by the photographing means possessed by the vehicle;
Recognition means for acquiring license plate information of surrounding vehicles from the image;
Information acquisition means for acquiring a search request including license plate information of the vehicle to be searched;
Command means for transmitting a predetermined command relating to traveling to the vehicle;
Have
When the acquired license plate information matches the license plate information of the search target vehicle, the command means is located in the vicinity of the search target vehicle, and for the vehicle in the first mode, Sending the command to switch to the second mode;
Vehicle search system. A vehicle search method for searching for a vehicle to be searched by a plurality of vehicles and a server device,
Each of the plurality of vehicles
A travel control step of traveling in one of the first mode for performing autonomous traveling and the second mode for performing semi-autonomous traveling based on an instruction from the user;
A photographing step of photographing the outside of the vehicle by photographing means;
A recognition step of obtaining license plate information of surrounding vehicles from the image obtained by the photographing means;
From the server device, an information acquisition step of acquiring a search request including license plate information of a search target vehicle;
A notification step of notifying the server device that the search target vehicle has been found when the acquired license plate information matches the license plate information of the search target vehicle;
Including
The server device
An information transmission step of transmitting the search request to the vehicle;
A command step for transmitting a predetermined command for traveling to the vehicle;
Including
In the command step, when the notification is received from any of the plurality of vehicles, the vehicle is located in the vicinity of the search target vehicle, and the vehicle in the first mode is switched to the second mode. Sending the command to cause switching,
Vehicle search method.

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