JP7809042B2 - Mobile vehicles and platooning systems - Google Patents

Description

This disclosure relates to a mobile body and a platooning system.

Development is underway for mobile vehicles such as PMVs and AMRs that can travel autonomously or manually at low speeds within facilities. PMV is an abbreviation for Personal Mobility Vehicle. AMR is an abbreviation for Autonomous Mobile Robot. The development of mobile vehicles such as PMVs and AMRs has the following objectives: complementing the last mile of autonomous driving for automobiles, providing assistance to those with limited mobility who do not own cars, using them in facilities where automobiles cannot enter, or providing unmanned services within facilities.
Furthermore, in recent years, PMVs or AMRs have been developed that are capable of platooning, in which a plurality of moving bodies travel in a line.

For example, when a moving vehicle such as a PMV or AMR is traveling within a facility, it is expected that there will be pedestrians or slow-moving vehicles nearby, so it is necessary to clearly communicate the vehicle's status to those around it. In particular, in facilities such as shopping centers, senior care facilities, or entertainment facilities, it is expected that there will be many elderly or young pedestrians, so it is important to clearly communicate the vehicle's status to those around it.

Patent Document 1 discloses technology that projects information about a vehicle onto the road surface behind the vehicle based on vehicle information that indicates the vehicle's driving status. Patent Document 1 also discloses technology that notifies following vehicles when a vehicle decelerates or makes an emergency stop.

Patent No. 6922881

The technology in Patent Document 1 makes it possible to transmit the status of the vehicle to following vehicles. However, since Patent Document 1 is designed for automobiles, information about the vehicle is displayed in large letters on the road surface behind the vehicle to provide information about the vehicle to following vehicles. Therefore, the technology in Patent Document 1 has the problem of making it difficult to transmit information about the vehicle to nearby pedestrians or passengers in moving vehicles that are moving slowly within a facility.

The purpose of the mobile body disclosed herein is to communicate the presence and status of the mobile body to nearby pedestrians or passengers in slow-moving vehicles.

A moving body according to the present disclosure is a moving body that travels on a travel path,
The road surface marking includes a characteristic feature that serves as a landmark indicating the position of the moving body, and direction display units extending from the characteristic feature in front of and behind the direction of travel in which the moving body is traveling, and includes a display illumination unit that illuminates the road surface marking, whose front end in the direction of travel is located on the travel path between the front and rear ends of the moving body, and whose rear end in the direction of travel is located on the travel path behind the rear end of the moving body , onto the travel path on both sides of the moving body.

In the mobile body according to the present disclosure, the display illumination unit includes a characteristic feature that serves as a landmark indicating the position of the mobile body, and direction indicators that extend from the characteristic feature in front of and behind the direction of travel of the mobile body, and illuminates road markings that sandwich the mobile body on both the left and right sides onto the road on both sides of the mobile body. Therefore, the mobile body according to the present disclosure has the effect of being able to communicate the presence and status of the mobile body to nearby pedestrians or passengers in slow-moving vehicles.

FIG. 1 is a diagram showing an example of the overall configuration of a vehicle platooning system according to a first embodiment. FIG. 1 is a diagram showing an example of a moving object according to the first embodiment. FIG. 10 is a diagram showing another example of a moving body according to the first embodiment. FIG. 2 is a diagram showing an example of a platoon traveling state of a platoon according to the first embodiment. FIG. 2 is a schematic diagram showing an example of a platoon traveling state of a platoon according to the first embodiment, viewed from above. FIG. 10 is a schematic diagram showing another example of a platoon traveling state of the platoon according to the first embodiment, viewed from above. 1A and 1B are schematic diagrams illustrating an example of a platoon traveling state of a platoon according to the first embodiment and a comparative example, as viewed from above; FIG. 2 is a schematic diagram showing a procession moving backward according to the first embodiment. 10A and 10B are diagrams showing an example of a trajectory display and an example of a communication status display in a formation according to the first embodiment. FIG. 2 is a diagram showing a first control example of the vehicle platooning system according to the first embodiment. FIG. 10 is a diagram showing a second control example of the vehicle platooning system according to the first embodiment. FIG. 10 is a diagram showing an example in which an abnormality display is illuminated in a formation according to the first modification of the first embodiment. FIG. 10 is a diagram showing another example in which an abnormality display is illuminated in a formation according to the second modification of the first embodiment. FIG. 10 is a diagram showing an example of use of a formation according to a fourth modification of the first embodiment. FIG. 13 is a diagram showing an example of a convoy of multiple vehicles according to a fifth modification of the first embodiment. FIG. 10 is a diagram showing a state in which an abnormal moving object is present in a formation according to the first embodiment. FIG. 10 is a diagram showing an example of a single moving body according to the second embodiment. FIG. 1 is a diagram showing a first example of a hardware configuration of a computer used in the first and second embodiments. FIG. 10 is a diagram showing a second example of the hardware configuration of a computer used in the first and second embodiments. FIG. 2 is a diagram showing a specific example of the configuration of each device provided in a moving body according to the first to third embodiments. FIG. 2 is a diagram illustrating route following control in the vehicle platooning systems according to the first to third embodiments.

The present embodiment will be described below using the figures. In each figure, identical or corresponding parts are designated by the same reference numerals. In the description of the embodiment, the description of identical or corresponding parts will be omitted or simplified as appropriate. Furthermore, the sized relationships between components in the following figures may differ from the actual relationships. Furthermore, in the description of the embodiment, directions or positions such as up, down, left, right, front, rear, front and back may be indicated. These notations are used for convenience of explanation and do not limit the placement, direction or orientation of devices, instruments, parts, etc.

Embodiment 1.
***Configuration Description***
FIG. 1 is a diagram showing an example of the overall configuration of a vehicle platooning system 500 according to this embodiment.
Platooning system 500 includes a plurality of mobile objects that travel in a platoon on travel path 300, and control device 200 that communicates with each of the plurality of mobile objects. Mobile object 100 and control device 200 communicate via a network or the cloud. Platooning system 500 groups the plurality of mobile objects traveling in a platoon as platoon 400 and controls the platooning of platoon 400.

The mobile object 100 is a mobile object such as a PMV or AMR that travels autonomously or manually on a travel path 300 within a facility. Facilities such as shopping centers, senior care facilities, and entertainment facilities are likely to be populated with many elderly or young pedestrians. It is also likely that low-speed mobile objects such as PMVs or AMRs provide services within the facilities. Therefore, it is important to clearly communicate to those around the mobile object 100 the status of a platoon 400 of multiple mobile objects traveling in formation.
The PMV is a manned vehicle that moves at low speed within a facility. The PMV can switch between autonomous driving and manual driving. The AMR is an unmanned vehicle that moves autonomously at low speed within a facility.

The mobile object 100 includes an integrated sensor unit 110, a GNSS positioning device 120, a control device 130, an autonomous mobile device 140, and a display illumination unit 150. GNSS is an abbreviation for Global Navigation Satellite System.

The control device 200 includes a control unit 210. The control unit 210 has a function for controlling the platooning of a convoy 400 made up of a plurality of mobile objects while communicating with a mobile object 100 included in the plurality of mobile objects.
Each of the moving body 100 and the control device 200 is equipped with a computer for realizing the respective functions. The hardware configuration of the computer will be described later.

For example, a mobile body 100 traveling in a convoy transmits its own vehicle status to the control device 200 as convoy vehicle group information. The control device 200 receives the convoy vehicle group information of each mobile body 100 traveling in a convoy, and transmits information such as route information or abnormality response commands to each mobile body based on the convoy vehicle group information of each mobile body.

There are various methods for platooning multiple moving objects using the platooning system 500, such as the following methods (1) to (3).
(1) The control device 200 transmits route information to the mobile object 100 via the network. This route information is route information for the convoy 400. The mobile object 100 travels along the route indicated by the route information while adjusting its positional relationship with the mobile objects in front and behind it using the integrated sensor unit, the GNSS positioning device, the control device, and the autonomous mobile device.
(2) Information from the integrated sensor unit and the GNSS positioning device in the moving body 100 is transmitted from the moving body 100 to the control device 200. Then, individual route information corresponding to each moving body is transmitted from the control device 200 to each moving body.
(3) The control device 200 transmits route information only to the leading mobile unit in the convoy. The other mobile units use the integrated sensor unit, GNSS positioning device, control device, and autonomous mobile device to adjust their positions relative to the mobile units in front and behind the leading mobile unit and travel in convoy following the leading mobile unit.

Note that the method for controlling platooning using the platooning system 500 may be other than the method described above.

FIG. 2 is a diagram showing an example of a moving body 100 according to this embodiment.
FIG. 3 is a diagram showing another example of the moving body 100 according to the present embodiment.
2 shows a PMV that autonomously travels with a person on board as the moving body 100. The PMV can also switch from autonomous travel to manual travel. The PMV basically travels at low speeds with a person on board.
In FIG. 3, the moving body 100 is an AMR that autonomously travels within a facility without a driver and provides services.

As shown in FIGS. 2 and 3, the vehicle 100 is provided on its rear surface with a display illumination unit 150 that illuminates road markings 30 onto the road surface of a road 300 .
Specifically, the display illumination unit 150 is a floodlight such as an LED. LED is an abbreviation for Light-Emitting Diode. As shown in FIGS. 2 and 3 , the display illumination unit 150 may be disposed on the back surface of the vehicle 100, or on the bottom surface of the vehicle 100. If the vehicle 100 has a seat portion for passengers, the display illumination unit 150 may be disposed below the seat portion. Alternatively, the vehicle 100 may be configured with a pole extending upward, with a floodlight disposed on top of the pole. The display illumination unit 150 may be disposed in any position as long as it can illuminate the road surface markings 30 on the road surface of the travel path 300. Note that when the display illumination unit 150 is disposed below the seat portion of the vehicle 100 or around the wheels, the distance between the display illumination unit 150 and the road surface becomes closer, allowing the display illumination unit 150 to illuminate the road surface markings 30 with greater brightness.

The display illumination unit 150 may also be a combination of multiple floodlights. The display illumination unit 150 is capable of illuminating the ground with a variety of road markings 30 that vary in the number of tracks, line type, pattern, color, or shape. In this way, by changing the number of tracks, line type, pattern, color, or shape, the road markings 30 can convey information about the formation and mobile units, such as the formation's trajectory, the mobile unit's communication status, and the formation to which the mobile unit belongs.

FIG. 4 is a diagram showing an example of platooning of a platoon 400 according to this embodiment.
The display projection unit 150 projects road markings 30 extending forward and backward in the direction of travel of the moving body 100 onto both sides of the moving body 100 .
As shown in Figure 4, in a convoy 400 in which multiple moving bodies 100 travel in formation, the road markings 30 illuminated by each of the multiple moving bodies are connected or close to each other, and the connected or close road markings 30 sandwich the convoy 400 on both sides.

FIG. 5 is a schematic diagram showing an example of a traveling state of a convoy 400 according to this embodiment, viewed from above.
5 , the road marking 30 illuminated by the display illumination unit 150 has a front end 311 located on the roadway 300 between the front end 101 and rear end 102 of the mobile object 100. Also, a rear end 312 of the road marking 30 is located on the roadway 300 behind the rear end 102. In this way, the display illumination unit 150 illuminates the road marking 30 on the roadway 300 on both sides behind the mobile object 100 or on both sides close to the rear.

The road markings 30 are also irradiated onto the road 300 on both sides behind the moving body 100, sandwiching the rear of the moving body 100 from both the left and right sides.
The road surface marking 30 includes a characteristic portion 31 that serves as a landmark indicating the position of the mobile object 100, and direction display portions 32 that extend from the characteristic portion 31 in front of and behind the direction of travel of the mobile object 100. The characteristic portion 31 is a portion of the road surface marking 30 that has a characteristic shape.

In Figure 5, the road markings 30 are projected in an L-shape on both sides of the vehicle 100, sandwiching the vehicle from both the left and right sides. In other words, the road markings 30 form a pair of opposing doglegs. In the road markings 30 in Figure 5, the area including the corners of the L-shape is the characteristic area 31, and the straight line extending from the characteristic area 31 in the forward and backward directions is the direction indicator 32.

FIG. 6 is a schematic diagram showing an example of the traveling state of a convoy 400 according to this embodiment, viewed from above.
The road marking 30 may have a shape other than that shown in FIG.
6, the road markings 30 may be projected in a curved shape on both sides of the moving body 100 so as to sandwich the moving body 100 from both the left and right sides. In this case, the portion including the apex of the curve becomes the characteristic portion 31, and the curve extending in the forward and backward directions from the characteristic portion 31 becomes the direction display portion 32.

The road surface marking 30 may be of any shape as long as it has a characteristic feature 31 that serves as a landmark indicating the position of the moving body 100 and a direction display section 32 extending from the characteristic feature 31 in front of and behind the direction of travel in which the moving body 100 is traveling.
5 and 6 , the direction display unit 32 extends from the characteristic portion 31 toward the moving object 100. However, the direction display unit 32 may extend in a direction gradually moving away from the moving object 100 from the characteristic portion 31. Furthermore, the direction display unit 32 may extend from the characteristic portion 31 substantially parallel to the trajectory 310.
Furthermore, the direction display unit 32 may extend continuously from the characteristic portion 31, or may extend in contact with the characteristic portion 31, or may extend from a position close to the characteristic portion 31.

Furthermore, the characteristic portion 31 may be a mark having a characteristic shape such as a circle, a triangle, a square, or a star.
Furthermore, the characteristic portion 31 may be a portion including an intersection of two straight lines, an intersection of two curved lines, a bend of a straight line, or an inflection point of a curve. An inflection point is a point where a straight line bends. An inflection point is a point where a curve changes from concave to convex or vice versa.

FIG. 7 is a schematic diagram showing an example of the traveling state of the convoy 400 according to the present embodiment and a comparative example, as viewed from above.
As shown in Figure 7, the road markings 30 according to this embodiment are displayed slightly further behind the moving body than in the comparative example. Therefore, when the moving body is at the front, it is easy to identify the leading moving body. For moving bodies other than the leading moving body, the road markings 30 are illuminated on the entire roadway on the side of the moving body. On the other hand, for the leading moving body, the road markings 30 are illuminated only on the roadway on the side behind the moving body.
Furthermore, by displaying the road markings 30 slightly behind the moving object, it is easier to identify that the moving object is the rearmost object compared to the comparative example. For the rearmost moving object, the road markings 30 are illuminated on the road from the rear side of the moving object to the rear of the moving object. If the road markings 30 extending to the rear of the moving object end, it is clear that the moving object is the rearmost object.

The road markings 30 of each moving body in the convoy 400 are connected consecutively or closely together, forming an overall arcuate or straight trajectory. Because the road markings 30 are displayed as a series of distinctively shaped landmarks, the convoy is easily recognizable by nearby people and other nearby vehicles.

Furthermore, the road markings 30 are not simply straight lines, but are shaped to consist of characteristic features 31 that serve as markers indicating the position of the moving body, and direction indicators 32. As a result, the road markings 30 of the convoy 400 are made up of a series of distinctively shaped markers, compared to the comparative example, which is simply a series of straight lines. The road markings 30, made up of a series of distinctively shaped markers, are highly visible or distinguishable to sensors in other vehicles or people in the vicinity. It is also easier for people in the vicinity to grasp the position of the convoy or the sense of distance from the convoy. Here, the sensors refer to sensors mounted on other slow-moving vehicles, or sensors carried by pedestrians to prevent collisions, etc.

In addition, the road markings 30 are displayed on both sides of the moving bodies slightly behind them, and because they are displayed as a series of distinctively shaped markers, it is easy to understand how the bodies are arranged in formation. For example, even when a moving body convoy is traveling around a curve, the trajectory is easy to understand, making it possible to avoid collisions. It also makes it easier for people in the vicinity to recognize the state of the moving bodies in the convoy, such as whether the gaps within the convoy are too close or too far apart. In addition, because the distinctively shaped markers are displayed as a series of markers, it is easy for people in the vicinity to recognize the state of the convoy even if they are somewhat separated from the convoy.

FIG. 8 is a schematic diagram showing a state in which the convoy 400 according to this embodiment is moved backward.
The upper diagram shows PMVs or AMRs traveling in a convoy.
A case will be described where the convoy 400 moves forward in the opposite direction from the upper stage. Moving forward in the opposite direction means moving backward.

If the moving object 100 is a PMV, the control device causes the PMVs traveling in the platoon to move backward or travel along a reverse route, as shown in the middle diagram. As shown in the middle diagram, all PMVs in the platoon are made to turn on the spot before moving forward.
This allows the rear vehicle to become the leading vehicle, eliminating the need to switch the road surface indication 30 depending on the direction of travel.
In addition, since the PMV's occupant (operator) may feel uneasy if the vehicle is driven backwards autonomously, it is preferable to rotate the vehicle on the spot before moving forward.

When the mobile object 100 is an AMR, as shown in the lower diagram, the control device causes the AMR traveling in a convoy to move backward. In the case of a trash can-type AMR such as the one shown in Figure 3, the concept of forward and backward directions is eliminated depending on how the equipment is installed. Therefore, when the mobile object 100 is an AMR, road markings 30 are displayed that extend forward and backward in the direction of travel, with the direction of travel as the reference.

FIG. 9 is a diagram showing an example of a trajectory display and an example of a communication status display in a convoy 400 according to this embodiment.
As described above, in the convoy 400 according to this embodiment, the display projection unit 150 can change the number of trajectories to be projected, the type of line, pattern, color, shape, etc. This makes it possible to display information such as the trajectory of the convoy 400, the communication status, and the distinction of the convoy to which each moving object belongs.

In Figure 9, the road markings 30 are displayed as arrows, indicating the direction of the trajectory of the convoy 400. Solid lines indicate good communication conditions, while dotted lines indicate poor communication conditions. The manner in which convoys are distinguished by the number of road markings will be described later.

In this way, the road surface display of the platoon according to this embodiment makes it easier for nearby people or slow-moving vehicles to understand the direction of the trajectory and communication status of the mobile bodies traveling in the platoon, thereby helping to avoid collisions. Furthermore, in the case of AMR in particular, this enables cooperative action between people and the AMR.

<Control Example 1 of Platooning System 500>
FIG. 10 is a diagram showing a first control example of the vehicle platooning system 500 according to this embodiment.
Control example 1 of the vehicle platooning system 500 is as follows.
The mobile object 100 follows the planned route transmitted from the control device 200 and travels along it. The mobile object 100 performs self-location and route tracking by SLAM processing using sensor detection data and digital map information, i.e., point cloud data. SLAM is an abbreviation for Simultaneous Localization and Mapping.
The rear moving body adjusts the distance to the forward moving body so that it falls within a specified range based on sensor information (distance image information, shape information (light position and arrangement, etc.)) that captures the forward moving body.
- People or vehicles in the vicinity recognize the specific formation and recognize the front and rear by looking at the road markings 30. They also recognize specific moving objects participating in the formation from the positional relationship between the characteristic features 31 and the moving objects.

<Control Example 2 of Platooning System 500>
FIG. 11 is a diagram showing a second control example of the vehicle platooning system 500 according to this embodiment.
Control example 2 of the vehicle platooning system 500 is as follows.
The following moving body adjusts its position so that at least a part of the following moving body is within the area sandwiched between the road markings 30 on both sides of each moving body.
- The moving body in front performs self-location and path tracking using SLAM processing using detection data from sensors (lidar, IR/near-infrared cameras, etc.) and digital map information, i.e., point cloud data.
The characteristic portions of the road markings on both sides of the moving body in front are included within the sensor detection area (camera angle of view) of the moving body.
The characteristic parts of the road surface markings 30 of the forward moving body, as well as the position and azimuth angle (and the position of the front part) of the rear moving body captured by the rear sensor (camera) of the forward moving body, are transmitted to the rear moving body. SLAM processing is unnecessary or reduced for the rear moving body. Image SLAM is not required for the rear moving body at night.

***Other configurations***
<Modification 1>
FIG. 12 is a diagram showing an example in which an abnormality indicator 35 is illuminated in a formation 400 according to the first modification of this embodiment.
In a first modification of this embodiment, a case will be described in which a mobile object in which an abnormality has been detected is present among the mobile objects traveling in a formation while displaying road surface markings 30.
When the display projection unit 150 of the mobile body 100 detects an abnormality in the mobile body 100, it projects an abnormality display 35 onto the travel path 300 between the front and rear ends of the mobile body 100. The travel path 300 between the front and rear ends of the mobile body 100 is the travel path 300 corresponding to the side of the mobile body 100. The abnormality display 35 indicates that an abnormality has been detected. It is preferable that the abnormality display 35 has a shape different from the road surface markings 30 displayed by other normal mobile bodies. In FIG. 12 , a triangular display is projected onto the travel path 300 as the road surface marking 30.

When the moving body 100 detects an abnormality in its own vehicle, the moving body 100 may display the abnormality display 35 by the display projection unit 150 itself.
Alternatively, as described in FIG. 1, when each of the mobile bodies 100 transmits the status of its own vehicle to the control device 200, the control device 200 may detect an abnormality in the mobile body and cause the display illumination unit 150 of the mobile body that has detected the abnormality to display an abnormality display 35.
Alternatively, if the leading moving body in the convoy 400 aggregates information on the following moving bodies and transmits it to the control device 200, the control device 200 may detect an abnormality based on the information on the moving bodies transmitted from the leading moving body, and instruct the leading moving body to display an abnormality display 35 on the moving body that detected the abnormality.

If one vehicle in the convoy 400 is acting independently or has a communication abnormality, that vehicle will project a specific pattern as an abnormality indicator 35 to indicate that it is abnormal. This will prevent people in the vicinity from approaching the abnormal vehicle, contributing to the safety of those around and the vehicle. The abnormality indicator 35 may also be used to notify those around that the vehicle has switched from autonomous driving to manual driving.

<Modification 2>
FIG. 13 is a diagram showing another example in which the abnormality display 35 is illuminated in a formation 400 according to the second modification of the present embodiment.
In the first modification of the present embodiment, a case where an abnormality is detected in a moving body traveling in a formation while displaying road surface markings 30 has been described. In the second modification, a case where a plurality of moving bodies are traveling in a formation without displaying road surface markings, and the display projection unit 150 of a moving body in which an abnormality has been detected displays the abnormality mark 35, will be described.

When a display illumination unit 150 of a mobile unit 100 included in a group of multiple mobile units traveling in formation on a travel path detects an abnormality in the mobile unit 100, it illuminates an abnormality display 35 indicating that an abnormality has been detected on the travel path 300 between the front and rear ends of the mobile unit 100. Even if a mobile unit 100 included in a group of multiple mobile units traveling in formation simply displays the abnormality display 35 when it detects an abnormality, it has the effect of alerting those in the vicinity.

The mobile objects may have a function to display a pattern indicating normality when normal and a pattern indicating abnormality when abnormal, in addition to the road surface markings 30 described in embodiment 1. In other words, the mobile objects may travel in formation while displaying either a pattern indicating normality or a pattern indicating abnormality.
The mobile body may also display the road surface markings 30 described in the first embodiment while displaying the abnormality markings 35 in the event of an abnormality.

<Modification 3>
In a third modification of this embodiment, an example of how to deal with a case where one vehicle in the convoy 400 is acting independently or in a communication abnormality state will be described.
The abnormality will be handled as follows:
(a1) A mobile unit belonging to the convoy detects an abnormal mobile unit. For example, an abnormality such as a sensor malfunction, poor communication status, or a low battery is detected in one of the mobile units in the convoy. The abnormality can be detected, for example, by the abnormal behavior of the mobile unit.
(a2) A mobile unit that detects an abnormality notifies the control device of the abnormality.
(a3) The control device receives the notification of the abnormality and issues a command to respond to the notification of the abnormality.
The abnormality display 35 is illuminated either at the time of detection (a1) or at the time of air traffic control response (a3).

The response of the control device in (a3) above is, for example, as follows.
In response to a moving object that has become separated from the formation due to a movement that differs from the formation, the abnormal moving object is returned to its normal position, and the other normal moving objects are made to wait until the abnormal moving object is reunited.
If recovery is possible, the abnormal moving object will wait for it to catch up and move in formation.
On the other hand, if recovery is not possible, the abnormal mobile unit is moved to a maintenance space and a replacement mobile unit is sent there.

<Modification 4>
FIG. 14 is a diagram showing an example of use of a formation 400 according to the fourth modification of the present embodiment.
In a fourth modification of this embodiment, the use of a convoy 400 will be described.
The control device can operate the formation order of the mobile bodies, the formation route, road surface markings or abnormality markings in the formation, and stopping positions for each formation.
By managing each convoy in this way, the convoy can be used as route guidance signs in emergencies, and to define dangerous areas, etc. In emergencies, signs and route guidance can be displayed using moving vehicles, and surrounding pedestrians can be guided to safety.
Furthermore, the platooning system 500 can also provide performances using the moving bodies. For example, by running the platoon 400 at night, the platooning system 500 can produce elaborate attractions, such as guiding passengers aboard the moving bodies 100 on a night tour.

<Modification 5>
FIG. 15 is a diagram showing an example of a convoy of a plurality of vehicles 400 traveling in a convoy according to a third modification of the present embodiment.
The platooning system 500 controls a plurality of platoons 400 .
The control unit 210 of the control device 200 causes the display projection unit 150 of each moving body to display the road surface markings 30 so that different road surface markings 30 are projected for each of the multiple convoys 400 .
In Figure 15, a triple-line road surface marking 30 is displayed for convoy A, a double-line road surface marking 30 is displayed for convoy B, and a single-line road surface marking 30 is displayed for convoy C. The dotted lines for convoys A and B indicate poor communication conditions, while the solid lines for convoy C indicate good communication conditions.

As shown in Figure 15, by displaying road surface markings 30 that distinguish the platoon 400 based on the number of tracks, nearby people or vehicles can visually determine which platoon 400 each of the multiple moving objects traveling in the platoon belongs to. Note that nearby people or vehicles include pedestrians, passengers in following vehicles, and passengers in surrounding vehicles. They also include sensors on following vehicles or surrounding vehicles.

***Description of the Effects of This Embodiment***
According to the mobile body of this embodiment, the trajectory of the formation, the communication status of the formation, the formation to which each mobile body belongs, and abnormal individuals in the formation can be communicated to those around in an easy-to-understand manner, thereby providing the following effects.
- People in the vicinity can understand the trajectory or any abnormalities of the platoon, and can prevent collisions with moving vehicles.
-If multiple convoys are assumed, people in the vicinity will be able to understand which convoy each moving object belongs to, preventing collisions with the convoys.
-If one vehicle in the convoy is acting independently or has an abnormal communication status, not only the administrator but also those around it will be able to identify the abnormal vehicle, allowing safety measures to be taken, such as preventing people from getting close to dangerous moving vehicles.
- It becomes possible to act in coordination with people around and with mobile devices, especially AMRs.

FIG. 16 is a diagram showing a state in which an abnormal PMV is present in a convoy 400 according to this embodiment.
The moving body according to this embodiment makes it easier for people in the vicinity to recognize a moving body in the convoy 400 that has become abnormal or switched to manual driving. A moving body that has become abnormal or manually driven can be quickly identified, and collisions with that moving body can be reliably avoided. People in the vicinity can notice a convoy that includes an abnormal moving body and will not approach the convoy, thereby avoiding accidents.

For example, as shown in FIG. 16, passengers in a following vehicle can easily notice an abnormality in the preceding vehicle and can take safety measures.
Furthermore, by combining it with a traffic control system, it is possible to enhance response to abnormalities in the platoon. When nearby PMVs approach an abnormal PMV, they can take measures such as making an emergency stop, contributing to the safety of surrounding people and vehicles. For example, if the vehicle in front becomes abnormal, an emergency stop switch can be activated to prevent an accident.

The mobile body according to this embodiment can display road surface markings to clearly show the trajectory of the convoy. This allows the trajectory of the entire convoy of mobile bodies to be grasped, making it possible to avoid collisions. Even when the mobile bodies are traveling around curves, the trajectory can be seen, making it possible to avoid collisions.

The mobile body according to this embodiment can display road markings to indicate the communication status. This allows people in the vicinity to understand the communication status of all mobile bodies traveling in a convoy, helping to avoid collisions. For example, safety measures can be taken, such as warning people not to get too close because poor communication conditions may lead to unexpected behavior. In addition, by controlling the control device, a convoy with poor communication conditions can be guided to an area with good communication conditions, allowing the condition to be restored.

The moving object according to this embodiment can mark the road surface so that each moving object in the formation can be distinguished from the others, allowing people nearby to recognize the multiple moving objects traveling in the formation and preventing others from cutting in on the formation.
In addition, it becomes easier to adjust routes when multiple convoys are moving in parallel. As shown in Figure 14, when multiple convoys are traveling, the routes of each convoy can be clearly understood, making it easier to adjust the routes. This allows for safety measures such as ensuring that the convoys do not overlap.
In addition, even if there is a large distance between vehicles in one part of the convoy, it is clear that they are still in the same convoy, which can prevent vehicles from cutting in unreasonably.

Embodiment 2.
In this embodiment, differences from and additions to the first embodiment will be mainly described.
In this embodiment, components having the same functions as those in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

In the first embodiment, a moving object included in a plurality of moving objects traveling in a convoy has been mainly described.
In this embodiment, a single moving body 100 having the same functions as those in the first embodiment will be described.

FIG. 17 is a diagram showing an example of a single moving body 100 according to this embodiment.
The mobile body 100 according to this embodiment is a single mobile body that is not traveling in a platoon, and is, for example, an AMR.

The display projection unit 150 of the moving body 100 projects road markings 30 onto the road 300 on both sides of the moving body 100. The road markings 30 include a characteristic portion 31 that serves as a landmark indicating the position of the moving body, and direction display portions 32 that extend from the characteristic portion 31 in front of and behind the direction of travel of the moving body 100. The road markings 30 are shaped to sandwich the moving body 100 from both the left and right sides. Also in this embodiment, the display projection unit 150 of the moving body 100 can project an abnormality display 35.
The shapes and types of the road markings 30 and the abnormality markings 35 are the same as those in the first embodiment.

***Description of the Effects of This Embodiment***
According to the mobile body 100 of this embodiment, it is possible to grasp the status of the mobile body 100, such as the movement route of the mobile body 100, the communication status, and whether there are any abnormalities, making it easier for people in the vicinity to use the mobile body 100.
For example, Fig. 16 shows a trash can-type AMR that functions as a mobile trash can. A user of the trash can-type AMR can grasp the trash can-type AMR's movement route, communication status, and whether there are any abnormalities, so that the user can use the trash can-type AMR with peace of mind.

<Explanation of the Hardware Configuration of the Computer Used in the First and Second Embodiments>
A computer is mounted on each of the moving bodies 100 and the control device 200 included in the platooning system 500 described above in the first and second embodiments. The hardware configuration of the computer will be described.
Here, the computer of the control device 200 will be described as an example.

***Hardware Configuration Description***
FIG. 18 is a diagram showing a first example of the hardware configuration of a computer used in the above embodiment.

The control device 200 is a computer. The control device 200 includes a processor 910 as well as other hardware such as memory 921, an auxiliary storage device 922, an input/output interface 930, and a communication interface 950. The processor 910 is connected to other hardware via signal line 80 and controls this other hardware.

The processor 910 is a device that executes a platooning program. The platooning program is a program that realizes the functions of the control device 200. The platooning program is also a program that realizes the functions of the mobile object 100.
The processor 910 is an IC that performs arithmetic processing. Specific examples of the processor 910 are a CPU, a DSP, and a GPU. IC is an abbreviation for Integrated Circuit. CPU is an abbreviation for Central Processing Unit. DSP is an abbreviation for Digital Signal Processor. GPU is an abbreviation for Graphics Processing Unit.

The memory 921 is a storage device that temporarily stores data. Specific examples of the memory 921 are SRAM and DRAM. SRAM is an abbreviation for Static Random Access Memory. DRAM is an abbreviation for Dynamic Random Access Memory.
The auxiliary storage device 922 is a storage device that stores data. A specific example of the auxiliary storage device 922 is an HDD. The auxiliary storage device 922 may also be a portable storage medium such as an SD (registered trademark) memory card, CF, NAND flash, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD. Note that HDD is an abbreviation for Hard Disk Drive. SD (registered trademark) is an abbreviation for Secure Digital. CF is an abbreviation for CompactFlash (registered trademark). DVD is an abbreviation for Digital Versatile Disk.

The input/output interface 930 is an interface for connecting input/output devices. Specific examples of the input/output interface 930 include USB and HDMI (registered trademark) ports. USB stands for Universal Serial Bus. HDMI (registered trademark) stands for High-Definition Multimedia Interface.

The communication interface 950 is an interface for communicating with external devices. Specific examples of the communication interface 950 include an Ethernet (registered trademark) port or a device for wireless communication.

The vehicle platooning program is executed by the control device 200. The vehicle platooning program is read into and executed by the processor 910. Memory 921 stores not only the vehicle platooning program but also the OS. OS is an abbreviation for Operating System. Processor 910 executes the vehicle platooning program while running the OS. The vehicle platooning program and OS may be stored in the auxiliary storage device 922. The vehicle platooning program and OS stored in the auxiliary storage device 922 are loaded into memory 921 and executed by the processor 910. Note that part or all of the vehicle platooning program may be incorporated into the OS.

The control device 200 may be equipped with multiple processors that replace processor 910. These multiple processors share the execution of the platooning program. Each processor is a device that executes the platooning program in the same way as processor 910.

Data, information, signal values, and variable values used, processed, or output by the platooning program are stored in memory 921, auxiliary storage device 922, or registers or cache memory within processor 910.

The "part" of each part of the control device 200 may be read as a "circuit,""process,""procedure,""process," or "circuitry." The platooning program causes a computer to execute each process, with the "part" of each part of the control device 200 read as a "process." The "process" of each process of the control device 200 may be read as a "program,""programproduct,""computer-readable storage medium storing a program," or "computer-readable recording medium recording a program." Furthermore, the platooning method is a method performed by the control device 200 executing the platooning program.
The vehicle platooning program may be provided by being stored in a computer-readable recording medium, or may be provided as a program product.

In the first example of the hardware configuration, the functions of the respective units of the control device 200 are implemented by software. As a modification, the functions of the respective units of the control device 200 may be implemented by hardware.
Specifically, the control device 200 includes an electronic circuit 909 instead of a processor 910 .

FIG. 19 is a diagram showing a second example of the hardware configuration of a computer used in the above embodiment.
The electronic circuit 909 is a dedicated electronic circuit that realizes the functions of each part of the control device 200. Specifically, the electronic circuit 909 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA, an ASIC, or an FPGA. GA is an abbreviation for Gate Array. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field-Programmable Gate Array.

The functions of each part of the control device 200 may be realized by a single electronic circuit, or may be distributed across multiple electronic circuits.

As another variation, some of the functions of each part of the control device 200 may be implemented by electronic circuits, with the remaining functions implemented by software. Also, some or all of the functions of each part of the control device 200 may be implemented by firmware.

Each of the processor and electronic circuitry is also called a processing circuitry. In other words, the functions of each part of the control device 200 are realized by the processing circuitry.
Although the computer of the control device 200 has been described as an example, the same explanation can be applied to a computer installed in the moving body 100.

Embodiment 3.
In this embodiment, a detailed description will be given mainly of the path following control based on the position and planned position of each moving body in the platooning system 500 described in the first embodiment.
In this embodiment, components having the same functions as those in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

FIG. 20 is a diagram showing a specific example of the configuration of each device provided in the moving body 100 according to this embodiment.
FIG. 20 shows a specific example of the configuration of each of the integrated sensor unit 110, the GNSS positioning device 120, the control device 130, and the autonomous mobile device 140 shown in FIG.

The integrated sensor unit 110 includes a 3D lidar, a depth camera, and an ultrasonic sensor. The depth camera is a camera that visualizes distance information to an object in a camera image, such as an infrared spectroscopy (IR) or near-infrared camera.
The GNSS positioning device 120 is a high-precision positioning device equipped with a GNSS receiving antenna and a GNSS receiver.
The control device 130 is a control PC (Personal Computer).
The autonomous mobile device is equipped with a speed steering control device.

The mobile unit 100 includes, as functional elements, a self-positioning unit, a formation data recognition unit, a route tracking control unit, a map data unit, and a SLAM control unit. The functions of each functional element will be described later.
The self-positioning unit is realized by a lidar, a depth camera, and a GNSS positioning device.
The formation data recognition unit is realized by a depth camera and a control PC.
The path following control unit is realized by a control PC.
The map data section is realized by a storage device in the control PC.
The SLAM control unit is realized by a lidar and a control PC.
The mobile units recognize and follow the vehicle ahead. The formation data is transmitted from the control device to each mobile unit and stored in the control PC.

FIG. 21 is a diagram illustrating the path following control in the vehicle platooning system 500 according to this embodiment.
The following describes the path following control based on the position and planned position of each moving body in the platooning system 500, and the correction of the inter-vehicle distance based on the distance to the surrounding vehicle measured by a sensor.

The control device manages the platoon data of each vehicle. The control device manages the platoon group ID of each platoon vehicle group and the vehicle ID corresponding to the column number of each platoon vehicle group. For example, platoon group 1 consists of vehicles with column numbers 1, 2, ..., N. Vehicles with different vehicle IDs are assigned to the column number N of each platoon group M. M and N are positive integers.
For example, in platoon group 1, the vehicle in row number 1 is assigned vehicle ID i, the vehicle in row number 2 is assigned vehicle ID j, and the vehicle in row number N is assigned vehicle ID k (i ≠ j, k ≠ i, k ≠ j). Similarly, platoon group 2 consists of row numbers 1, 2, ..., N, each assigned a different vehicle ID. i, j, and k are positive integers.

The control device generates and manages a driving route plan for each vehicle ID corresponding to the column number of each platoon group for each platoon group ID of each platoon vehicle. The control device transmits the generated driving route plan for each vehicle ID to each vehicle. The route following control unit of each vehicle's control PC generates a route plan so that each vehicle passes each passing point in sequence according to the driving route plan. For example, the driving route data wMN of the driving route plan corresponding to a platoon vehicle with platoon group ID M and column number N (N = 1 is the first) is composed of multiple three-dimensional coordinate data wMNi = (xMNi, yMNi, zMNi) (i = 1 to P) (P is a positive integer) that represent the passing points of the planned driving route.

The platoon vehicle 11 of platoon group M, column number 1, passes through the coordinates w111 = (x111, y111, z111) during movement process K1. At this time, the platoon vehicle 12 of column number 2 passes through w121 = (x121, y121, z121), and the platoon vehicle 13 of column number 3 passes through w131 = (x131, y131, z131). Next, during movement process K2, the platoon vehicle 11 passes through w112 = (x112, y112, z112), the platoon vehicle 12 passes through w122 = (x122, y122, z122), and the platoon vehicle 13 passes through w132 = (x132, y132, z132). In this way, a travel route plan is created so that vehicles 11, 12, and 13 form a convoy in order and pass through the passing points on each vehicle's travel route in sequence. Figure 21 shows that they move in the order of travel steps K1 → K2 → K3.

Furthermore, the difference d1 between w111 and w121, and the difference d2 between w121 and w131 are each set to a predetermined standard inter-vehicle distance. This standard inter-vehicle distance differs depending on the characteristics of the vehicle. The standard inter-vehicle distance may also be set to vary depending on the vehicle's traveling speed. For example, d1 and d2 at speed v are d1(v) and d2(v). d1(6) at a speed of 6 km/h is larger by f(v) than d1(0) at zero speed. For example, f(v) = v^2 + bv + c may be used.

The map data unit of each vehicle stores map data in a storage device of the control PC.
The vehicle's self-positioning unit determines its own position and attitude based on a combination of a lidar, a depth camera, and a GNSS positioning device, as well as map data. The attitude is a direction, such as a roll angle, pitch angle, or yaw angle relative to a vehicle-based local coordinate system, or a vehicle-based direction vector. The GNSS positioning device determines its own position by tightly combining observation data of satellite positioning signals from the GNSS, positioning augmentation information, and measurement data of acceleration and angular velocity information measured by the IMU. IMU is an abbreviation for inertial measurement unit.

The SLAM control unit performs SLAM processing using point cloud data of surrounding features and objects measured by the lidar, point cloud data of surrounding features and objects measured by the depth camera, and point cloud data from pre-obtained map data to estimate the vehicle's position and orientation. Hybrid positioning is performed based on the observation data used to obtain the vehicle's position and orientation measured by the GNSS positioning device and the observation data used to obtain the vehicle's position and orientation obtained by SLAM processing, and the vehicle's position and attitude are determined.

Each vehicle transmits its observed position and attitude to the control device, corresponding to its vehicle ID. The control device then stores and preserves the vehicle ID, the convoy group ID M corresponding to the vehicle ID, the convoy number N, the driving route data wMNi, the observed position and attitude, and the time of measurement in the server's vehicle position management data section.

The platoon data recognition unit uses a depth camera mounted at the front of the vehicle to perform image recognition of a mark on the back of the leading vehicle and track the image of the mark. Image tracking detects the distance to the leading vehicle's mark, as well as the relative orientation or lateral deviation of the leading vehicle's mark. At night, a light mounted on the front of the vehicle illuminates the back of the leading vehicle to perform image recognition of the mark, and identifies whether the mark in the tracking image relates to a vehicle that makes up the platoon. Identification can also be performed by comparing it with a pre-set recognition pattern image.

The platoon data recognition unit detects the area where the rear of the vehicle in front is located using point cloud data observed from the area around the mark on the rear of the vehicle in front, which is image-tracked by the lidar. The point cloud is a group of laser points observed from the distance and direction from the vehicle body around the mark on the rear of the vehicle in front. The platoon data recognition unit may then determine the distance and direction to the detected area where the rear is located and/or the vehicle shape, and detect the distance to the vehicle in front, and the relative direction or lateral deviation of the vehicle in front.
The platoon data recognition unit may also estimate the relative azimuth angles of the vehicles from the vehicle shapes corresponding to the vehicles that have been obtained in advance.
If the mark in the tracking image is identified as being related to a vehicle in the platoon as a result of mark identification, the approximate position of the vehicle in front is estimated from the distance to the mark of the vehicle being tracked in the image and the relative orientation (lateral deviation) of the vehicle in front. The approximate position is estimated by taking into account the relative position of the mark with respect to the vehicle's position reference (center of gravity position, sensor installation position, vehicle body reference position, etc.).

In addition, the platoon data recognition unit may obtain position information of the nearest passing points of the vehicle itself and the vehicle ahead by communicating with the control device, calculate the difference in position and direction, etc., and add this difference to the position and direction, etc. observed by the vehicle itself to determine the estimated approximate position of the vehicle ahead.
Specifically, the platoon data recognition unit obtains position information of the nearest passing points of the own vehicle and the preceding vehicle by storing in the vehicle data periodically distributed from the control device, or by storing in the vehicle data distributed from the control device in response to a request from the vehicle.More specifically, the platoon data recognition unit obtains position information of the nearest passing points of the own vehicle and the preceding vehicle from the platoon vehicle group ID corresponding to the vehicle ID of the own vehicle, the column numbers of the own vehicle and the preceding and following vehicles in the platoon, and the driving route data wMN of the own vehicle and the preceding and following vehicles in the platoon.

The platoon data recognition unit also communicates with the control device to reference position data for the platoon vehicle group ID corresponding to the vehicle ID of the vehicle itself and the vehicle IDs corresponding to the column numbers of the vehicle itself and the vehicles ahead and behind it in the platoon. This position data is stored in the vehicle position management data of the control device in association with each vehicle ID. The platoon data recognition unit then obtains the latest (most recent) position data of the vehicle itself and the vehicles ahead based on the referenced position data.
The platoon data recognition unit may detect the distance to the leading vehicle and the relative direction or lateral deviation of the leading vehicle from the position difference and attitude angle difference between the own vehicle and the leading vehicle based on the acquired position data. Alternatively, the platoon data recognition unit may obtain estimated values of the position and attitude of the leading vehicle through communication between the own vehicle and the leading or trailing vehicle, and detect the distance difference and direction difference between the own vehicle and the leading vehicle.

In addition, the platoon data recognition unit recognizes that a vehicle other than the platoon vehicle managed by the platoon data has cut in under the following circumstances.
- When the position of the vehicle ahead of your vehicle stored in the position data of the control device and the position of the vehicle ahead estimated from the distance and direction to the vehicle ahead measured by the vehicle's integrated sensor unit's 3D lidar + ultrasonic sensor + depth camera deviate more than the specified amount at the same time or in the vicinity of the time. - When the mark on the back of the vehicle is different from that of the pre-set vehicle in the platoon. - When communication is performed between your vehicle and a vehicle ahead or behind it, and a vehicle with a vehicle ID different from the vehicle in the platoon managed in the platoon data is mixed in.

The path following control unit corrects the distance to the vehicle ahead based on its positional relationship and the distance to the vehicle ahead, using the results of detection of the distance to the vehicle ahead and the relative orientation (lateral deviation) of the vehicle ahead, detected by a depth camera, lidar, or a combination sensor mounted at the front of the vehicle. Based on these detection results, the path following control unit corrects the distance to the vehicle ahead and adjusts the steering angle so that the distance to the vehicle ahead and the relative orientation are within a preset tracking distance range. When the second vehicle from the front adjusts its distance, the following vehicles (third and fourth) further adjust their distances, and the distance between each vehicle is corrected.

In the above first to third embodiments, each unit of each device of the vehicle platooning system 500 has been described as an independent functional block. However, the configuration of each device of the vehicle platooning system 500 does not have to be the same as that of the above-described embodiments. The functional blocks of each device of the vehicle platooning system 500 may have any configuration as long as they can realize the functions described in the above-described embodiments.
Furthermore, it is possible to combine multiple parts of the first to third embodiments. Alternatively, it is possible to implement only one part of this embodiment. In addition, it is possible to implement this embodiment in any combination, either as a whole or in part.
That is, in the first to third embodiments, the embodiments can be freely combined, or any of the components in each embodiment can be modified, or any of the components in each embodiment can be omitted.

The above-described embodiments are essentially preferred examples and are not intended to limit the scope of the present disclosure, the scope of applications of the present disclosure, or the scope of use of the present disclosure. The above-described embodiments can be modified in various ways as needed.

The various aspects of this disclosure are summarized below as appendices.

(Appendix 1)
In a moving object traveling on a road,
A road surface marking comprising a characteristic feature that serves as a landmark indicating the position of the moving body and direction display units extending from the characteristic feature in front of and behind the direction of travel of the moving body, the road surface marking having a shape that sandwiches the moving body from both left and right sides, and a display illumination unit that illuminates the roadway on both sides of the moving body.
(Appendix 2)
The display illumination unit is
A moving body as described in Appendix 1, in which the road surface markings are projected in an L-shape on both sides of the moving body so as to sandwich the moving body from both left and right sides, with a portion including a corner of the L-shape being the characteristic portion, and a straight line extending from the characteristic portion forward and backward in the direction of movement being the direction indicator.
(Appendix 3)
The display illumination unit is
A moving body as described in Appendix 1, in which the road surface markings are projected in a curved shape on both sides of the moving body so as to sandwich the moving body from both left and right sides, with a portion including an apex of the curved shape being the characteristic portion, and curves extending from the characteristic portion forward and backward in the direction of movement being the direction indicator.
(Appendix 4)
The display illumination unit is
A mobile body as described in any one of Supplementary Note 1 to Supplementary Note 3, wherein when an abnormality is detected in the mobile body, an abnormality indication indicating that the abnormality has been detected, which is different from the road surface indication, is illuminated on the road between the front end and the rear end of the mobile body.
(Appendix 5)
The display illumination unit is
5. The moving body according to claim 1, wherein the trajectory of the moving body is represented by an arrow indicating the direction of movement in the road marking.
(Appendix 6)
The display illumination unit is
6. The mobile body according to claim 1, wherein the road marking indicates a communication status of the mobile body by a type of line.
(Appendix 7)
In a moving object included in a plurality of moving objects traveling in a platoon on a travel path,
A moving body provided with a display illumination unit that illuminates road markings onto the roadway on both sides behind the moving body, the road markings extending in front and behind the direction of travel in which the moving body is traveling, with the front end of the road marking in the direction of travel being located on the roadway between the front and rear ends of the moving body and the rear end of the road marking in the direction of travel being located on the roadway behind the rear end of the moving body.
(Appendix 8)
8. The moving body according to claim 7, wherein the road markings are illuminated onto the road on both sides behind the moving body in the direction of movement so as to sandwich the road on both left and right sides behind the moving body in the direction of movement.
(Appendix 9)
The display illumination unit is
9. The moving body according to claim 8, wherein the road marking is provided with a characteristic feature that serves as a landmark indicating the position of the moving body, and a direction indicator extending from the characteristic feature before and after the direction of movement.
(Appendix 10)
The display illumination unit is
A moving body as described in any one of Supplementary Note 7 to Supplementary Note 9, wherein the road surface markings are illuminated in an L-shape on both sides of the moving body so as to sandwich the moving body from both left and right sides, with areas including corners of the L-shape being characteristic areas that serve as landmarks indicating the position of the moving body, and straight lines extending from the characteristic areas forward and backward in the direction of movement being the direction indicators.
(Appendix 11)
The display illumination unit is
A moving body according to any one of Supplementary Note 7 to Supplementary Note 9, wherein the road surface markings are projected in a curved shape on both sides of the moving body so as to sandwich the moving body from both left and right sides, with a portion including an apex of the curved shape being a characteristic portion that serves as a landmark indicating the position of the moving body, and curves extending from the characteristic portion forward and backward in the direction of movement being the direction indicator.
(Appendix 12)
The display illumination unit is
A mobile body as described in any one of Appendix 7 to Appendix 11, which, when an abnormality is detected in the mobile body, illuminates an abnormality mark on the road between the front end and rear end of the mobile body to indicate that the abnormality has been detected, the abnormality mark being different from the road markings displayed by other normal mobile bodies.
(Appendix 13)
The display illumination unit is
13. The moving body according to any one of Supplementary Note 7 to Supplementary Note 12, wherein the trajectory of the moving body is represented by an arrow indicating the direction of movement in the road marking.
(Appendix 14)
The display illumination unit is
14. The mobile body according to claim 7, wherein the road marking indicates a communication status of the mobile body by a type of line.
(Appendix 15)
In a moving object included in a plurality of moving objects traveling in a platoon on a travel path,
A mobile body including a display illumination unit that, when an abnormality is detected in the mobile body, illuminates an abnormality display on the travel path between the front end and rear end of the mobile body, indicating that the abnormality has been detected.
(Appendix 16)
The mobile body according to any one of Supplementary Note 1 to Supplementary Note 15, wherein the mobile body is a PMV (Personal Mobility Vehicle) or an AMR (Autonomous Mobile Robot) that travels at a low speed on the travel path within a facility.
(Appendix 17)
A platooning system includes a plurality of moving bodies that travel in a platoon on a travel path and a control device that communicates with each of the plurality of moving bodies, and controls the plurality of platoons by treating the plurality of moving bodies that travel in a platoon as a platoon,
A moving body included in the plurality of moving bodies is
a display illumination unit that illuminates road markings extending forward and backward in the direction of travel of the moving body on the road on both sides of the moving body,
The control device
A convoy driving system including a control unit that causes the display illumination unit of each of the plurality of moving bodies included in the convoy to display the road surface markings so as to illuminate different road surface markings for each of the plurality of moving bodies included in the convoy.

30 Road surface marking, 31 Characteristic part, 32 Direction display unit, 35 Abnormality display, 311 Front end, 312 Rear end, 100 Mobile body, 101 Front end, 102 Rear end, 110 Integrated sensor unit, 120 GNSS positioning device, 130 Control device, 140 Autonomous mobile device, 150 Display illumination unit, 200 Control device, 210 Control unit, 300 Travel path, 400 Platoon, 909 Electronic circuit, 910 Processor, 921 Memory, 922 Auxiliary storage device, 930 Input/output interface, 950 Communication interface.

Claims (18)

In a moving object traveling on a road,
A moving body having a display illumination unit that illuminates the road surface marking, which has a characteristic feature that serves as a landmark indicating the position of the moving body and direction indicators extending from the characteristic feature in front of and behind the direction of travel in which the moving body is traveling, and whose front end in the direction of travel is located on the road surface between the front and rear ends of the moving body and whose rear end in the direction of travel is located on the road surface behind the rear end of the moving body, onto the road surface on both sides of the moving body. The display illumination unit is
The light is irradiated in an L-shape on both sides of the moving body so as to sandwich the moving body from both left and right sides,
2. The vehicle according to claim 1, wherein the road marking is illuminated with a characteristic portion including a corner of the L-shape, and a straight line extending from the characteristic portion forward and backward in the direction of travel as the direction indicator. The display illumination unit is
The light is irradiated in a curved shape on both sides of the moving body so as to sandwich the moving body from both left and right sides,
2. The vehicle according to claim 1, wherein the road marking is illuminated with a characteristic portion including a vertex of the curved shape, and a curve extending from the characteristic portion forward and backward in the direction of travel as the direction indicator. The display illumination unit is
When an abnormality is detected in the moving body, a
The moving body according to claim 1 , wherein an abnormality indication, which indicates that the abnormality has been detected and is different from the road surface indication, is illuminated. The display illumination unit is
The moving body according to any one of claims 1 to 3, wherein the trajectory of the moving body is represented by an arrow indicating the direction of movement in the road marking. The display illumination unit is
4. The mobile body according to claim 1, wherein the road marking indicates a communication state of the mobile body by a type of line. In a moving object traveling on a road,
a road surface marking including a characteristic portion serving as a landmark indicating the position of the moving body and direction display portions extending from the characteristic portion in front of and behind the moving direction in which the moving body is traveling, the road surface marking including a shape sandwiching the moving body from both left and right sides, and a display illumination portion illuminating the road surface marking onto the traveling path on both sides of the moving body;
The display illumination unit is
The road surface marking indicates the communication status of the mobile unit by the type of line.
Mobile object. In a moving object included in a plurality of moving objects traveling in a platoon on a travel path,
A moving body provided with a display illumination unit that illuminates road markings onto the roadway on both sides behind the moving body, the road markings extending in front and behind the direction of travel in which the moving body is traveling, with the front end of the road marking in the direction of travel being located on the roadway between the front and rear ends of the moving body and the rear end of the road marking in the direction of travel being located on the roadway behind the rear end of the moving body. The moving body according to claim 8 , wherein the road markings are illuminated on the road on both sides behind the moving body in the moving direction so as to sandwich the road on both left and right sides behind the moving body in the moving direction. The display illumination unit is
The moving body according to claim 9 , wherein the road markings are provided with a characteristic portion serving as a landmark indicating the position of the moving body, and direction indicators extending from the characteristic portion before and after the moving direction. The display illumination unit is
The light is irradiated in an L-shape on both sides of the moving body so as to sandwich the moving body from both left and right sides,
11. A moving body according to claim 8, wherein a portion including a corner of the L-shape is a characteristic portion that serves as a landmark indicating the position of the moving body, and the road marking is illuminated with a direction indicator that is a straight line extending from the characteristic portion forward and backward in the direction of movement. The display illumination unit is
The light is irradiated in a curved shape on both sides of the moving body so as to sandwich the moving body from both left and right sides,
11. A moving body according to claim 8, wherein a portion including a vertex of the curved shape is a characteristic portion that serves as a landmark indicating the position of the moving body, and the road marking is illuminated with a direction indicator that is a curve extending from the characteristic portion in front of and behind the moving direction. The display illumination unit is
When an abnormality is detected in the moving body, a
The mobile body according to any one of claims 8 to 10 , wherein an abnormality indication indicating that the abnormality has been detected is illuminated, the abnormality indication being different from the road surface indications displayed by other normal mobile bodies. The display illumination unit is
The moving body according to any one of claims 8 to 10 , wherein the trajectory of the moving body is represented by an arrow indicating the direction of movement in the road marking. The display illumination unit is
11. The mobile body according to claim 8 , wherein the road marking indicates a communication status of the mobile body by a type of line. In a moving object included in a plurality of moving objects traveling in a platoon on a travel path,
A mobile body including a display illumination unit that, when an abnormality is detected in the mobile body, illuminates an abnormality display on the travel path between the front end and rear end of the mobile body, indicating that the abnormality has been detected. 9. The mobile body according to claim 1 , wherein the mobile body is a PMV (Personal Mobility Vehicle) or an AMR (Autonomous Mobile Robot) that travels at a low speed on the travel path within a facility. A platooning system includes a plurality of moving bodies that travel in a platoon on a travel path and a control device that communicates with each of the plurality of moving bodies, and controls the plurality of platoons by treating the plurality of moving bodies that travel in a platoon as a platoon,
A moving body included in the plurality of moving bodies is
a display illumination unit that illuminates road markings extending forward and backward in the direction of travel of the moving body on the road on both sides of the moving body,
The control device
A convoy driving system including a control unit that causes the display illumination unit of each of the plurality of moving bodies included in the convoy to display the road surface markings so as to illuminate different road surface markings for each of the plurality of moving bodies included in the convoy.