JP7658091B2 - Method for delivering goods using an autonomous vehicle - Google Patents

Description

The present invention relates to a method for delivering goods using an autonomously moving vehicle.

Patent Document 1 discloses a delivery system that uses a mobile vehicle that is configured to be unmanned and delivers packages to a specified delivery destination, and is highly convenient for people who do not hold a driver's license or who have difficulty driving a mobile vehicle.

This delivery system includes a mobile object and a server that communicates with the mobile object. The mobile object is configured to be capable of unmanned operation, and is used to deliver packages to a specified delivery destination. When the arrival time of a user who travels to the delivery destination without riding in the mobile object is set, the server transmits instructions to the mobile object for the mobile object to move along a delivery route that has been searched so that the mobile object will arrive at the delivery destination at the set arrival time. The mobile object travels to the delivery destination according to the instructions.

JP 2019-101463 A

In the delivery of goods using an autonomously traveling mobile object, if there is time until the arrival time specified by the user after the mobile object collects the goods to be delivered, the mobile object will wait for a period of time with the goods loaded. In this case, if the goods to be delivered are foods that need to be refrigerated or kept warm, there is a risk that the condition of the goods will deteriorate due to the long wait time. In addition, the condition of the goods may also deteriorate if the time it takes for the mobile object to collect such goods after they have been prepared is long.

The present invention was made in consideration of the above problems, and aims to propose a method for delivering goods that can reduce deterioration of the delivered goods over time when using an autonomous mobile object for delivery.

The method for delivering goods according to the present disclosure is a method for delivering goods using a mobile object that travels autonomously. This method for delivering goods includes the steps of acquiring information indicating a designated arrival location of the mobile object, a designated arrival time that designates the time when the mobile object will arrive at the designated arrival location, and a collection location where the goods are to be collected, calculating a first travel time required for the mobile object to travel from its current location to the collection location and a second travel time that designates the time when the mobile object will travel from the collection location to the designated arrival location, calculating a collection time by subtracting the second travel time from the designated arrival time and notifying a terminal at the collection location of the collection time, a first determination step of determining whether or not to start the movement of the mobile object toward the collection location based on the current time, the designated arrival time, the first travel time, and the second travel time, starting the movement of the mobile object to the collection location when the result of the first determination step is positive, and The method is characterized in that the computer executes the following steps if the result is negative: a search step of searching for an intermediate location near the collection location where the mobile body can wait; if the intermediate location is found by the search step, a step of calculating a third travel time required for the mobile body to travel from the current location to the intermediate location and a fourth travel time required for the mobile body to travel from the intermediate location to the collection location; a second determination step of determining whether or not to move the mobile body to the intermediate location based on the current time, the designated arrival time, the second travel time, the third travel time, and the fourth travel time; if the result of the second determination step is positive, a step of moving the mobile body to the intermediate location; and if the result of the second determination step is negative, a step of having the mobile body wait at the current location until the result of the first determination step becomes positive.

According to the item delivery method disclosed herein, the time at which the moving body starts moving toward the collection location is adjusted based on the first travel time and the second travel time. This makes it possible to reduce the time that the moving body waits with the items loaded until the designated arrival time after the moving body collects the items.

Furthermore, according to the item delivery method disclosed herein, the collection time, which is the designated arrival time minus the second travel time, is notified to the collection personnel via a terminal at the collection location. This makes it possible to prompt the collection personnel to adjust the timing of preparing the items, and reduces the time from when the items are prepared until the mobile unit picks them up.

Furthermore, according to the item delivery method disclosed herein, before the mobile body starts moving toward the collection location, a route location near the collection location where the mobile body can wait is searched for. Then, if possible, the mobile body is moved to the route location in advance. This reduces the amount of fluctuation in the first travel time due to changes in traffic conditions on the travel route, etc., and can reduce delays in the collection time.

In this way, deterioration of the delivered goods over time can be reduced.

FIG. 1 is a conceptual diagram for explaining an overview of a delivery system according to an embodiment of the present invention. FIG. 1 is a block diagram for explaining a configuration of a delivery system according to an embodiment of the present invention. 3 is a flowchart showing a process executed by an AVP service processing unit shown in FIG. 2; 4 is a flowchart showing a process executed by an AVP service processing unit in the item collection process shown in FIG. 3 . FIG. 2 is a conceptual diagram showing an example of an AVP service provided by the delivery system according to the present embodiment.

The following describes the embodiments of the present invention with reference to the drawings. However, when the numbers, quantities, amounts, ranges, etc. of each element are mentioned in the embodiments shown below, the invention is not limited to the mentioned numbers unless otherwise specified or the numbers are clearly specified in principle. Furthermore, the structures described in the embodiments shown below are not necessarily essential to the invention unless otherwise specified or the numbers are clearly specified in principle. In addition, the same reference numerals are used for the same or corresponding parts in each drawing, and duplicate explanations are appropriately simplified or omitted.

1. Overview of the Delivery System FIG. 1 is a conceptual diagram for explaining an overview of a delivery system 10 according to this embodiment. The delivery system 10 is one aspect of an Auto Valet Parking (AVP) system. That is, a vehicle 100 (mobile body) parked in a specific waiting place NP provides an AVP service in which the vehicle 100 autonomously travels unmanned to a designated arrival place Prv and at a designated arrival time designated by a user USR. Here, the designated arrival place Prv is a place near the waiting place NP (for example, a predetermined place in the same parking lot as the waiting place NP). The user USR typically requests the use of the AVP service via a user terminal UT.

In the delivery system 10, the user USR can further order goods when using the AVP service. As a result, the vehicle 100 moves to the collection location Pld (RTa) where the business SHP that provides the ordered goods is located before moving to the designated arrival location Prv, and collects the goods. Then, after collecting the goods, it moves to the designated arrival location Prv (RTb, RTc). In other words, the ordered goods are delivered.

Here, after the vehicle 100 collects the ordered items at the collection location Pld, if there is time until the designated arrival time, the vehicle 100 will have to wait until the designated arrival time. Typically, the vehicle 100 moves to a waiting location NP near the designated arrival location Prv (RTb) and waits. Then, the vehicle 100 starts moving so as to arrive at the designated arrival location Prv near the designated arrival time (RTc).

At this time, if the item being delivered is a food that needs to be refrigerated or kept warm (e.g., ice cream or chocolate), there is a risk that the condition of the item will deteriorate (melt, etc.) if the waiting time is long. In addition, after such an item is prepared, the condition of the item may also deteriorate if it takes a long time for the vehicle 100 to collect it.

The delivery system 10 according to this embodiment reduces the waiting time with items loaded by adjusting the time at which the vehicle 100 starts moving toward the collection location Pld based on the travel time required for the vehicle 100 to move from its current parked location to the collection location Pld (hereinafter also referred to as the "first travel time") and the travel time required for the vehicle 100 to move from the collection location Pld to the designated arrival location Prv (hereinafter also referred to as the "second travel time").

The time obtained by subtracting the second travel time from the designated arrival time is notified to the person involved in the collection, such as the business SHP, as the collection time when the vehicle 100 will collect the items. This makes it possible to prompt the person involved in the collection, such as the business SHP, to adjust the timing of preparing the items, which in turn reduces the time from when the items are prepared until the vehicle 100 collects them.

Furthermore, before the vehicle 100 starts moving toward the collection location Pld, a route point near the collection location Pld where the vehicle 100 can wait is searched for. Then, if there is sufficient time before the vehicle 100 starts moving toward the collection location Pld and the time required for the vehicle 100 to move from the route point to the collection location Pld is shorter than the first movement time, the vehicle 100 is moved to the route point in advance. This makes it possible to reduce the amount of fluctuation in the first movement time due to changes in traffic conditions on the movement route, and ultimately to reduce delays in the collection time.

2. Configuration Fig. 2 is a block diagram for explaining the configuration of the delivery system 10 according to the present embodiment. The delivery system 10 includes a user terminal UT, a vehicle 100, a server 200, and a business operator terminal ST. The server 200 configures a communication network so that the user terminal UT, the vehicle 100, and the business operator terminal ST can transmit information to each other. The form of communication is not particularly limited.

The user terminal UT is a terminal operated by a user USR who uses the delivery system 10, and has at least the function of requesting the use of the AVP service provided by the delivery system 10. In addition, it typically has an HMI function (touch panel, console, display, etc.) that is operated by the user USR and enables the user USR to receive information related to the AVP service. The user terminal UT is, for example, a mobile terminal such as a smartphone owned by the user USR, or a dedicated terminal for the AVP service installed in a specified location. It may be configured to function as a user terminal UT of the delivery system 10 by installing a specified application on an appropriate device.

When the use of the AVP service is requested by the user USR operation, the user terminal UT outputs information related to the use of the AVP service (usage information) to the server 200. The usage information includes at least information indicating the designated arrival location Prv and the designated arrival time. Furthermore, if an item is ordered when using the AVP service, information indicating the ordered item and the collection location Pld is included.

The vehicle 100 is configured to be capable of at least autonomous driving. The vehicle 100 includes a sensor 110, a communication device 120, a control device 130, and an actuator 140. The control device 130 configures an in-vehicle network so that the sensor 110, the communication device 120, and the actuator 140 can transmit information to each other. Typically, they are electrically connected to each other by a wire harness.

Sensor 110 refers to a system of sensors that detect and output information related to the driving environment of vehicle 100 (driving environment information). Sensor 110 typically includes a sensor that detects information about the driving state of vehicle 100 (vehicle speed, acceleration, yaw rate, etc.) and a sensor that detects information about the surrounding environment of vehicle 100 (lanes, obstacles, preceding vehicles, etc.).

Examples of sensors that detect information about the traveling state of the vehicle 100 include a wheel speed sensor that detects the speed of the vehicle 100, a G sensor that detects the acceleration of the vehicle 100, and a gyro sensor that detects the angular velocity of the vehicle 100. Examples of sensors that detect information about the environment surrounding the vehicle 100 include millimeter wave radar, a camera, and LIDAR (Light Detection and Ranging).

The communication device 120 refers to a device that transmits and receives various information (communication information) by communicating with devices external to the vehicle 100. The communication device 120 is, for example, a device that performs vehicle-to-vehicle communication or road-to-vehicle communication, a device that provides a GPS (Global Positioning System) function, a device that connects to a communication network and transmits and receives information via the communication network, or a system of devices that includes these. The devices with which the communication device 120 communicates include at least the server 200. Information that the vehicle 100 acquires via the communication device 120 includes, for example, map information, position information on a map using a GPS function, road traffic information, and the like. It also includes at least information acquired from the server 200.

Based on the acquired information, the control device 130 executes processing related to the control of the vehicle 100 and generates a control signal. Then, the control device 130 outputs a control signal to the actuator 140. The control device 130 is typically an ECU (Electronic Control Unit). However, the control device 130 may be a system composed of multiple ECUs.

The control device 130 executes at least processing related to autonomous driving control. Typically, it sets a driving plan to the destination (route on a map to the destination, arrival time, etc.) and generates a driving route based on the driving plan, driving environment information, and communication information. It then generates control signals related to acceleration, braking, and steering so that the vehicle 100 drives along the driving route.

Actuators 140 refer to a system of actuators that operate according to control signals provided from control device 130. Actuators 140 include, for example, actuators that drive the engine (internal combustion engine, electric motor, or a hybrid of these, etc.), actuators that drive the brake mechanism provided in vehicle 100, actuators that drive the steering mechanism of vehicle 100, etc. Various controls of vehicle 100 are realized by control device 130 as actuators 140 operate according to control signals.

Vehicle 100 transmits various information (vehicle information) about vehicle 100 to server 200. The vehicle information includes information necessary for the processing executed by server 200, which will be described later, such as location information about vehicle 100 and information about the running state of vehicle 100.

The server 200 executes processing related to the services provided by the delivery system 10 based on the acquired information.

The server 200 is typically a computer configured on a communications network, and includes a memory and a processor. However, it may also be a virtually configured computer. The memory includes a RAM (Random Access Memory) that temporarily stores data, and a ROM (Read Only Memory) that stores programs executable by the processor and various data related to the programs. Information acquired by the server 200 is stored in the memory. The processor reads the program from the memory, and executes processing according to the program based on the various data read from the memory.

The server 200 includes a payment processing unit 210 and an AVP service processing unit 220.

When an order for an item is placed using the AVP service, the payment processing unit 210 executes payment processing related to the order of the item. When payment processing is executed and payment for the ordered item is made between the user USR and the business SHP, the AVP service processing unit 220 described below determines that an order for the item has been made. If payment is not made, the AVP service processing unit 220 places the order for the item on hold. Alternatively, the use of the AVP service is placed on hold.

The AVP service processing unit 220 executes processing related to the AVP service according to the usage information. The processing executed by the AVP service processing unit 220 generates instruction information that indicates the destination of the vehicle 100 and the dispatch timing of the vehicle 100. The AVP service according to the usage information is realized by the vehicle 100 performing autonomous driving according to the instruction information. The processing executed by the AVP service processing unit 220 will be described in detail later.

The payment processing unit 210 and the AVP service processing unit 220 may each be provided as part of a process in a program, or may be provided as separate servers configured on a communication network. When provided as separate servers, the server 200 indicates a system including multiple servers. The same applies when the server 200 executes other processes.

The server 200 transmits processing information to the user terminal UT, which provides information related to the processing executed by the server 200. The processing information is, for example, information indicating the payment status of ordered items, information indicating the current location of the vehicle 100, etc. The user terminal UT notifies the user USR of the processing information it has acquired (display, sound, etc.). This allows the user USR to know the usage status of the services provided by the delivery system 10.

When an item is ordered when using the AVP service, the server 200 transmits order information that provides information about the item ordered by the user USR to the operator terminal ST described below. The order information includes the collection time when the vehicle 100 will collect the item.

The business operator terminal ST is a terminal that notifies the party involved in the collection, such as the business operator SHP, of the order information. The form of the business operator terminal ST is not particularly limited. For example, it may be a mobile terminal owned by the business operator SHP or a display device set at the collection location Pld. Alternatively, a suitable device may be configured to function as the delivery system 10 business operator terminal ST by installing a specific application. When the business operator terminal ST notifies the party involved in the collection, such as the business operator SHP, of the order information, the party involved in the collection can start preparing the ordered items.

3. AVP Service Hereinafter, a description will be given of the process executed by the AVP service processing unit 220 and an example of the AVP service provided by the delivery system 10 according to the present embodiment.

3-1. Processing Executed by the AVP Service Processing Unit Fig. 3 is a flowchart showing the processing executed by the AVP service processing unit 220. The processing shown in Fig. 3 starts when the server 200 acquires usage information from the user terminal UT (when a request is made to use the AVP service). However, it is assumed that the vehicle 100 is parked at a predetermined waiting place NP at this time.

In step S100, the AVP service processing unit 220 determines whether or not the control right of the vehicle 100 to be moved by the AVP service has been transferred to the server 200. When the control right has been transferred to the server 200, the vehicle 100 performs autonomous driving according to the instruction information. When the control right has not been transferred to the server 200, the vehicle 100 cannot perform autonomous driving according to the instruction information. For example, when a person is on board the vehicle 100, when the vehicle 100 is controlled by another system, when the vehicle 100 is not parked at a specified waiting location NP, etc., the control right of the vehicle 100 is not transferred to the server 200.

If the control of the vehicle 100 has been transferred to the server 200 (step S100; Yes), the process proceeds to step S200. If the control of the vehicle 100 has not been transferred to the server 200 (step S100; No), the process ends. At this time, the AVP service is not provided. For this reason, the user USR may be notified via the user terminal UT that the AVP service cannot be provided.

In step S200, the AVP service processing unit 220 determines whether an order for an item has been placed when using the AVP service. As described above, it is determined that an order for an item has been placed when payment for the ordered item has been made in the payment processing unit 210. If an order for an item has been placed (step S200; Yes), processing proceeds to step S300. If an order for an item has not been placed (step S200; No), processing proceeds to step S400.

In step S300, the AVP service processing unit 220 executes a process (item collection process) for the vehicle 100 to collect the ordered items. Details of the process executed in step S300 (item collection process) will be described later.

After step S300, the process proceeds to step S400. After step S300, the vehicle 100 is parked at the waiting area NP with the items collected.

In step S400, the AVP service processing unit 220 determines whether or not to start moving the vehicle 100 toward the specified arrival location Prv. Here, when the time comes when the vehicle 100 will arrive at the specified arrival location Prv near the specified arrival time, it is determined that the vehicle 100 will start moving. This is done, for example, when the following formula (1) is satisfied, where t is the current time and Trv is the specified arrival time, it is determined that the vehicle 100 will start moving.

Here, FT1 is a predetermined value, which is a value given to the program in advance. Since the designated arrival location Prv is a location near the designated waiting location NP, this determination ensures that the vehicle 100 will not arrive at the designated arrival location Prv with a large error from the designated arrival time Trv.

If it is determined that the vehicle 100 should start moving toward the designated arrival location Prv (step S400; Yes), the process proceeds to step S500. If it is determined that the vehicle 100 should not start moving (step S400; No), the process of step S400 is repeated again in the next processing cycle. While the process of step S400 is repeated, the vehicle 100 waits while parked at the waiting location NP.

In step S500, the AVP service processing unit 220 generates instruction information for the vehicle 100 to start moving toward the designated arrival location Prv. After step S500, that is, after it is detected from the vehicle information that the vehicle 100 has arrived at the designated arrival location Prv, the processing ends.

3-2. Item Collection Processing Fig. 4 is a flow chart showing the processing executed by the AVP service processing unit 220 in step S300 (item collection processing) shown in Fig. 3 .

In step S310, the AVP service processing unit 220 calculates the time (first travel time) required for the vehicle 100 to move from the current location (waiting location NP at the start of processing) to the collection location Pld, and the time (second travel time) required for the vehicle 100 to move from the collection location Pld to the designated arrival location Prv. This is calculated, for example, based on the driving plan of the vehicle 100 acquired as vehicle information. Alternatively, the control device 130 of the vehicle 100 may calculate the first travel time and the second travel time based on the driving plan, and the first travel time and the second travel time may be provided as vehicle information. Here, the server 200 transmits information on the collection location Pld and the designated arrival location Prv as instruction information to the vehicle 100, and the control device 130 generates the driving plan.

After step S310, processing proceeds to step S320.

In step S320, the AVP service processing unit 220 calculates the time when the vehicle 100 will collect the items, which is the designated arrival time Trv minus the second travel time. The server 200 then transmits order information including the ordered items and the calculated collection time to the business operator terminal ST, and notifies the business operator SHP and other parties involved in the collection. Note that when the process of step S320 is executed again in subsequent processing, only the collection time may be transmitted as updated order information only if there is an update to the collection time.

After step S320, processing proceeds to step S330.

In step S330 (first judgment step), the AVP service processing unit 220 judges whether or not to start moving the vehicle 100 toward the collection location Pld. Here, when the relationship shown in the following formula (2) holds among the current time t, the designated arrival time Trv, the first movement time MTto, and the second movement time MTdel, it is judged that the vehicle 100 should start moving.

Here, FT2 is a predetermined value, which is given to the program in advance. In formula (2), t+MTto+MTdel is the time at which the vehicle 100 is expected to arrive at the designated arrival location Prv if it starts moving at the current time t. In other words, when the relationship shown in formula (2) holds, this is the time at which the vehicle 100 will arrive at the designated arrival location Prv near the designated arrival time Trv.

If it is determined that the vehicle 100 should start moving toward the collection location Pld (step S330; Yes), the process proceeds to step S340. If it is determined that the vehicle 100 should not start moving (step S330; No), the process proceeds to step S331.

In step S331 (search step), the AVP service processing unit 220 searches for an intermediate point near the collection location Pld where the vehicle 100 can wait. The intermediate point is, for example, a specific parking lot near the collection location Pld. The intermediate point is searched for, for example, by the server 200 acquiring the usage status of a specific parking lot via the communication network.

After step S331, processing proceeds to step S332.

In step S332, the AVP service processing unit 220 determines whether or not a stopover point has been found by the processing in step S331. If a stopover point has been found (step S332; Yes), the processing proceeds to step S333. If a stopover point has not been found (step S332; No), the processing returns to step S310 and is repeated.

In step S333, the AVP service processing unit 220 calculates the time required for the vehicle 100 to move from the waiting location NP to the intermediate location (third travel time) and the time required for the vehicle 100 to move from the intermediate location to the collection location Pld (fourth travel time). The calculation method may be the same as that for the first travel time and the second travel time.

After step S333, processing proceeds to step S334.

In step S334 (second determination step), the AVP service processing unit 220 determines whether or not to move the vehicle 100 to the intermediate destination. Here, when the relationship shown in the following formula (3) holds among the current time t, the designated arrival time Trv, the second travel time MTdel, the third travel time MTw1, and the fourth travel time MTw2, and when the following formula (4) is satisfied between the first travel time MTto and the fourth travel time MTw2, it is determined that the vehicle 100 will move to the intermediate destination.

When the relationship shown in formula (3) holds, formula (2) is not satisfied while the vehicle 100 is moving, even if it is moved to the intermediate point. In other words, this indicates that there is sufficient time before starting to move from the current location toward the collection location Pld. When formula (4) is satisfied, the fourth movement time is shorter than the first movement time. In other words, this indicates that the intermediate point is a point where the time to move to the collection location Pld is shorter than the current location, that is, a point closer to the collection location Pld than the current location. However, if it is clear in the search step that the intermediate point is a point closer to the collection location Pld than the current location, the condition of formula (4) does not need to be included.

If it is determined that the vehicle 100 is to be moved to the intermediate destination (step S334; Yes), the process proceeds to step S335. If it is determined that the vehicle 100 is not to be moved to the intermediate destination (step S334; No), the process returns to step S310 and is repeated.

In step S335, the AVP service processing unit 220 generates instruction information for the vehicle 100 to start moving toward the route. After step S335, that is, after it is detected from the vehicle information that the vehicle 100 has arrived at the route, the process returns to step S310 and the process is repeated. At this time, the current location of the vehicle 100 becomes the route.

In step S340, the AVP service processing unit 220 generates instruction information for the vehicle 100 to start moving toward the collection location Pld. After step S340, that is, after it is detected from the vehicle information that the vehicle 100 has arrived at the collection location Pld, the process proceeds to step S350.

In step S350, the AVP service processing unit 220 determines whether the vehicle 100 has completed collection of the ordered items at the collection location Pld. For example, the AVP service processing unit 220 determines that collection is complete when a party involved in the collection, such as the business operator SHP, notifies the business operator that collection is complete via the business operator terminal ST.

If collection of the ordered items is complete (step S350; Yes), processing proceeds to step S360. If collection of the ordered items is not complete (step S350; No), processing of step S350 is repeated again in the next processing cycle. While processing of step S350 is repeated, the vehicle 100 waits while parked at the collection location Pld.

In step S360, the AVP service processing unit 220 generates instruction information for the vehicle 100 to start moving toward the waiting location NP. After step S360, that is, after it is detected from the vehicle information that the vehicle 100 has arrived at the waiting location NP, step S300 (item collection processing) is completed, and the process proceeds to step S400 shown in FIG. 3.

Here, the processing of step S400 may be executed while moving from the collection location Pld toward the waiting location NP. In other words, when the processing of step S400 determines that movement toward the designated arrival location Prv should be started at a point near the designated arrival location Prv (and thus near the waiting location NP) (step S400; Yes), the vehicle may move directly toward the designated arrival location Prv without passing through the waiting location NP.

3-3. Example of AVP service provided by the delivery system Fig. 5 is a conceptual diagram showing an example of an AVP service provided by the delivery system 10 according to the present embodiment. Below, the example of the AVP service shown in Fig. 5 will be described with reference to the processes shown in Figs. 3 and 4.

Let us assume that when the vehicle 100 is parked and waiting at the waiting area NP without a person present (starting point of processing), the user USR requests the use of the AVP service including ordering an item for the vehicle 100 via the user terminal UT. At this time, information indicating the designated arrival location Prv, the designated arrival time Trv, the item to be ordered, and the collection location Pld is transmitted to the server 200 as usage information. Also, let us assume that the control of the vehicle has been transferred to the server 200 (step S100 shown in FIG. 3; Yes), and that the payment for the ordered item has been completed in the payment processing unit 210 (step S200 shown in FIG. 3; Yes).

When the server 200 acquires the usage information, the AVP service processing unit 220 calculates the first travel time (travel time from the waiting location NP to the collection location Pld) and the second travel time (travel time from the collection location Pld to the designated arrival location Prv) (step S310 shown in FIG. 4). Then, the collection time is calculated by subtracting the second travel time from the designated arrival time Trv, and the information on the ordered items is notified to collection-related parties such as the business operator SHP by transmitting order information including the ordered items and the calculated collection time to the business operator terminal ST (step S320 shown in FIG. 4). This allows collection-related parties such as the business operator SHP to prepare the ordered items in accordance with the notified collection time.

Next, the AVP service processing unit 220 determines whether or not to start moving the vehicle 100 toward the collection location Pld based on the first travel time and the second travel time. Now, assume that it is determined not to start moving toward the collection location Pld (step S330 shown in FIG. 4; No). At this time, the AVP service processing unit 220 searches for a waypoint WP near the collection location Pld where the vehicle 100 can wait (step S331 shown in FIG. 4).

Now, let us assume that a waypoint has been found (step S332 shown in FIG. 4; Yes). At this time, the AVP service processing unit 220 calculates the third travel time (travel time from the waiting location NP to the waypoint WP) and the fourth travel time (travel time from the waypoint WP to the collection location Pld) (step S333 shown in FIG. 4). Then, it is determined whether or not to move the vehicle 100 to the waypoint WP. Now, let us assume that it has been determined that the vehicle 100 is to move to the waypoint WP (step S334 shown in FIG. 4; Yes). At this time, the server 200 transmits instruction information to the vehicle 100 to start moving toward the waypoint WP (step S335 shown in FIG. 4). The vehicle 100 moves autonomously toward the waypoint WP in accordance with the instruction information (RT1).

After the vehicle 100 arrives at the waypoint WP, the AVP service processing unit 220 calculates the first travel time (the travel time from the waypoint WP to the collection location Pld) and the second travel time with the waypoint WP as the current location (step S310 shown in FIG. 4). Then, the collection time is calculated, and if the collection time is updated, the collection time is transmitted to the carrier terminal ST as order information.

Next, the AVP service processing unit 220 determines whether or not to start moving the vehicle 100 toward the collection location Pld based on the first movement time and the second movement time. Now, assume that it is determined to start moving toward the collection location Pld (step S330 shown in FIG. 4; Yes). At this time, the server 200 transmits instruction information to the vehicle 100 to start moving toward the collection location Pld (step S340 shown in FIG. 4). The vehicle 100 moves by autonomous driving toward the collection location Pld in accordance with the instruction information (RT2).

In addition, at the waypoint WP, a search for other waypoints is performed before starting to move toward the collection location Pld (step S331 shown in FIG. 4). Then, if another waypoint is found (step S332 shown in FIG. 4; Yes), and depending on whether or not to move the vehicle 100 to the other waypoint (step S334 shown in FIG. 4), the vehicle 100 may be moved to the other waypoint (step S335 shown in FIG. 4).

After the vehicle 100 arrives at the collection location Pld, the AVP service processing unit 220 parks the vehicle 100 at the collection location Pld and waits there until collection is completed (step S350 shown in FIG. 4; No). Then, after collection is completed (step S350 shown in FIG. 4; Yes), the server 200 transmits instruction information to the vehicle 100 to start moving toward the waiting location NP (step S360 shown in FIG. 4). The vehicle 100 moves by autonomous driving toward the waiting location NP in accordance with the instruction information (RT3).

After the vehicle 100 arrives at the waiting location NP, the AVP service processing unit 220 determines whether or not to start moving toward the designated arrival location Prv. The AVP service processing unit 220 parks the vehicle 100 at the waiting location NP and keeps it waiting until it is determined that the vehicle 100 should start moving toward the designated arrival location Prv (step S400 shown in FIG. 3; No). At this time, the time at which the vehicle 100 starts moving toward the collection location Pld is adjusted based on the first movement time and the second movement time, so the waiting time is sufficiently short.

After determining to start moving toward the designated arrival location Prv (step S400 shown in FIG. 3; Yes), the server 200 transmits instruction information to the vehicle 100 to start moving toward the designated arrival location Prv (step S500 shown in FIG. 3). The vehicle 100 moves by autonomous driving toward the designated arrival location Prv in accordance with the instruction information (RT4).

After the vehicle 100 arrives at the specified arrival location Prv, the AVP service processing unit 220 ends the processing. Then, the user USR can pick up the ordered items and start using the vehicle 100.

4. Effects As described above, according to the delivery system 10 of this embodiment, the time when the vehicle 100 starts moving toward the collection location Pld is appropriately adjusted based on the first moving time and the second moving time. In addition, the time obtained by subtracting the second moving time from the arrival designated time Trv is notified to the person involved in the collection, such as the business operator SHP, as the collection time when the vehicle 100 collects the goods. Furthermore, before the vehicle 100 starts moving toward the collection location Pld, a waypoint WP near the collection location Pld where the vehicle 100 can wait is searched for. Then, if there is enough time until the time when the vehicle 100 starts moving toward the collection location Pld and the fourth moving time is shorter than the first moving time, the vehicle 100 is moved to the waypoint WP in advance.

By using the autonomously traveling vehicle 100 (mobile body) in this way to deliver the ordered items, the time spent waiting with the items loaded can be reduced. In addition, it is possible to prompt the business SHP and other collection personnel to adjust the timing of preparing the items, thereby reducing the time between when the items are prepared and when the vehicle 100 collects them. Furthermore, if the vehicle 100 can be moved to the waypoint WP in advance, it is possible to reduce the amount of fluctuation in the first travel time due to changes in traffic conditions on the travel route, and to reduce delays in the collection time.

This in turn reduces the deterioration of the delivered goods over time.

10 Delivery system, 100 Vehicle, NP Waiting location, Pld Collection location, Prv Designated arrival location, WP Stopover location, USR User, UT User terminal, SHP Business operator, 200 Server, 210 Payment processing unit, 220 AVP Service processing unit, ST Business operator terminal

Claims (1)

A method for delivering goods using an autonomously traveling mobile object, comprising:
acquiring information indicating a designated arrival location of the mobile body, a designated arrival time that designates a time when the mobile body will arrive at the designated arrival location, and a collection location where the item will be collected;
Calculating a first travel time required for the mobile body to travel from a current location to the collection location, and a second travel time required for the mobile body to travel from the collection location to the designated arrival location;
calculating a collection time by subtracting the second travel time from the designated arrival time, and notifying a terminal at the collection location of the collection time;
A first determination step of determining whether or not to start moving a moving body toward a collection location based on a current time, the designated arrival time, the first moving time, and the second moving time;
When the result of the first determination step is positive, starting the movement of the moving object to the collection location;
A search step of searching for a route point near the collection location where the mobile body can wait when the result of the first determination step is negative;
When the route point is found by the search step, a third travel time required for the mobile body to travel from the current location to the route point and a fourth travel time required for the mobile body to travel from the route point to the collection location are calculated.
a second determination step of determining whether or not to move the mobile body to the intermediate point based on a current time, the designated arrival time, the second travel time, the third travel time, and the fourth travel time;
a step of moving the moving object to the intermediate point when a result of the second determination step is positive;
When a result of the second determination step is negative, the moving object is made to wait at the current location until a result of the first determination step is positive;
A method for delivering an article, comprising causing a computer to execute the steps of:

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