WO2016139757A1 - 交通管制サーバ及びシステム - Google Patents
交通管制サーバ及びシステム Download PDFInfo
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- WO2016139757A1 WO2016139757A1 PCT/JP2015/056256 JP2015056256W WO2016139757A1 WO 2016139757 A1 WO2016139757 A1 WO 2016139757A1 JP 2015056256 W JP2015056256 W JP 2015056256W WO 2016139757 A1 WO2016139757 A1 WO 2016139757A1
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
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- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
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Definitions
- the present invention relates to a traffic control server and system, and more particularly to a technique for controlling interference between vehicles traveling in a mine.
- unmanned vehicles such as dump trucks that transport excavated ore in open pit mines, etc.
- dozers and graders that maintain roads, sprinklers that sprinkle water to prevent dust, service cars that patrol, etc. It is necessary to control so that manned vehicles and unmanned vehicles do not interfere.
- Patent Document 1 states that “the unmanned vehicle is based on the position P (position at a certain point in time) based on the position data of the manned vehicle last acquired (received) by the inter-vehicle communication device. A circle having a radius r as a distance when moving at a maximum speed from this position P to a predetermined time in the future is obtained, and an area in the circle on the planned traveling path is estimated as the existence range of the manned vehicle. The unmanned vehicle determines whether or not its own vehicle position interferes with this circle (summary excerpt).
- Patent Document 1 while communication between unmanned vehicles, manned vehicles, and control stations is interrupted, the mutual positional relationship cannot be grasped and appropriate control cannot be performed. Processing such as stopping is necessary. For this reason, there exists a subject that work efficiency will fall if there is communication interruption. In particular, when a manned vehicle and an unmanned vehicle pass each other on the transport path, the opposing speed is large and the distance between the vehicles is short, so if a manned vehicle deviates from the traveling path and interferes with the oncoming vehicle, it will be damaged greatly. There is a fear. Therefore, there is a need for a technique for further reducing the influence of communication interruption when safely passing unmanned vehicles and manned vehicles on a conveyance path.
- the present invention has been made in view of the above circumstances, and in particular, a manned vehicle and an unmanned vehicle can be used without causing a decrease in work efficiency even when communication is interrupted due to a gap between the unmanned vehicle and the manned vehicle on a conveyance path.
- the object is to provide a controllable technique so as not to interfere.
- the present invention provides an outbound lane and a return lane in parallel in a mine, and the first vehicle traveling in the outbound lane and the first vehicle traveling in the return lane have attributes.
- a traffic control server for controlling traffic of different second vehicles, wherein the first vehicle is permitted to travel on the first vehicle in the forward lane, and the second vehicle in the return lane.
- a travel permission section setting unit that sets a second travel permission section that is a partial section that permits the travel of the vehicle, and the travel permission section setting section is configured such that when the first vehicle and the second vehicle pass each other, The first travel permission section and the second travel permission section are set so that the first vehicle travels with the vehicle stopped or decelerated.
- the present invention provides a traffic control of a first vehicle that travels in the forward lane and a second vehicle that has different attributes than the first vehicle that travels in the forward lane, in which a forward lane and a return lane are provided in parallel in the mine.
- a traffic control system in which a traffic control server, a first in-vehicle terminal device mounted in the first vehicle, and a second in-vehicle terminal device mounted in the second vehicle are connected in communication,
- the control server is a first travel permitted section that is a partial section that permits the travel of the first vehicle in the forward lane, and a second travel that is a partial section that permits the travel of the second vehicle in the return lane.
- a permitted travel section setting unit for setting a permitted section, wherein when the first vehicle and the second vehicle pass each other, the second vehicle is stopped or decelerated so that the first vehicle travels.
- Run permission section and the above A travel permission section setting unit that sets two travel permission sections, and first section response information indicating the first travel permission section to the first in-vehicle terminal device, and the second in-vehicle terminal apparatus
- a server side communication control unit that transmits second section response information indicating a second travel permitted section
- the first in-vehicle terminal device includes a first terminal side communication control unit that receives the first section response information.
- the second in-vehicle terminal device includes a second terminal side communication control unit that receives the second section response information.
- FIG. 1 The figure which shows schematic structure of the traffic control system which concerns on this embodiment It is the figure which detailed the conveyance path 60 of FIG. 1, and shows the structural example of the open pit mine site where the dump truck 20 and the manned vehicle 70 drive
- Hardware configuration diagram of traffic control server and dump terminal device Hardware configuration diagram of manned vehicle terminal device It is a figure which shows the example of the data stored in a driving
- Functional block diagram showing main functions of traffic control server and dump terminal device Functional block diagram showing the main functions of the manned vehicle terminal device It is a figure which shows a driving
- the flowchart which shows the flow of a process of the traffic control system which concerns on 1st embodiment.
- the forward lane and the return lane are provided in parallel in the mine, and the first vehicle that travels in the forward lane and the second vehicle that travels in the backward lane and has different attributes from the first vehicle are controlled.
- the present invention relates to a traffic control system.
- the first vehicle here is a vehicle that travels preferentially over the second vehicle, and when a manned vehicle and an unmanned vehicle are mixed, the presence or absence of an operator is adopted as an attribute, and the first vehicle is a manned vehicle,
- the second vehicle is an unmanned vehicle.
- a manned vehicle is a vehicle on which an operator gets on board, and includes, for example, a dozer, a grader, a watering vehicle, and a service car.
- An unmanned vehicle is an autonomous vehicle, and in this embodiment, an autonomous vehicle dump truck for mining will be described.
- the dump truck is equipped with a mechanism for the operator to steer in addition to the autonomous running function
- the dump truck that is running with the autonomous running function is regarded as an unmanned vehicle, and the case where the operator is boarded and steered is regarded as a manned vehicle.
- the present invention may be applied. Thereby, even if it is a dump truck of the same vehicle case (size of a vehicle body), traffic control can be performed with different attributes.
- the dump truck loading status may be used as a difference in attributes.
- the first vehicle may be an empty dump truck
- the second vehicle may be a dump truck loaded with a load
- the first vehicle may be a dump truck loaded with a load
- the second vehicle may be an empty dump truck. Good.
- the forward lane is a name for the lane in which the first vehicle travels
- the opposite lane is referred to as a return lane and is not fixedly determined, and is appropriately changed based on the traveling direction of the first vehicle.
- the lane going to the excavation site is called an outward lane
- the lane is called an outgoing lane.
- the first embodiment is an embodiment in which when a manned vehicle and a dump truck that autonomously travels pass each other, a travel permission is given to the dump truck by avoiding a travel permission suppression section and a pseudo travel permission section (which will be described later). is there.
- FIG. 1 is a diagram showing a schematic configuration of a traffic control system according to the present embodiment.
- a traffic control system 1 shown in FIG. 1 is loaded from an excavator 10 and an excavator 10 that perform loading work of earth and sand ore at a loading site 61 as a work site including a quarry and loading site such as a mine.
- Installed in a dump truck 20 (corresponding to an unmanned vehicle) consisting of autonomous vehicles for transporting loads such as earth and sand or ore, and manned vehicles 70 such as service cars, and in the vicinity of a quarry or a remote control center 30
- the control server 31 is connected to each other via a wireless communication line 40.
- the dump truck 20 reciprocates between the loading place 61 and the unloading ground (not shown) along the conveyance path 60 set in advance in the mine, and carries the load.
- radio base stations 41-1, 41-2, 41-3 are installed. Then, radio communication radio waves are transmitted and received through these radio base stations 41-1, 41-2, and 41-3.
- the excavator 10, each dump truck 20, and the manned vehicle 70 receive positioning radio waves from at least three navigation satellites 50-1, 50-2, 50-3 of the Global Navigation Satellite System (GNSS).
- GNSS Global Navigation Satellite System
- a position calculation device (not shown in FIG. 1) for obtaining the position of the host vehicle is provided.
- GNSS for example, GPS (Global Positioning System), GLONASS, or GALILEO may be used.
- GPS Global Positioning System
- GLONASS Global Navigation Satellite System
- GALILEO Global System
- the dump truck 20 is equipped with an in-vehicle terminal device (hereinafter abbreviated as “dump terminal device”) 26 for autonomous traveling in accordance with an instruction from the control server 31.
- dump terminal device an in-vehicle terminal device
- the in-vehicle terminal device (hereinafter abbreviated as “manned vehicle terminal device”) 76 for receiving and displaying an instruction from the control server 31 is also mounted on the manned vehicle 70.
- the control server 31 is connected to an antenna 32 for connecting to the wireless communication line 40.
- the control server 31 communicates with the dump terminal device 26 and the manned vehicle terminal device 76 via the antenna 32 and the wireless communication line 40.
- FIG. 2 is a detailed diagram of the conveyance path 60 of FIG. 1 and shows a configuration example of an open pit mine site where the dump truck 20 and the manned vehicle 70 travel.
- the conveyance path 60 connects the loading place 61, the earthing place 62 and the earthing place 63.
- the dump truck 20 loads topsoil and ore at the loading field 61, travels on the conveyance path 60, and conveys them to the earthing field 62 or 63.
- the loading place 61 is a work site where the topsoil and ore excavated by the excavator 10 are loaded onto the dump truck 20.
- the earthmoving field 62 is a work site where the topsoil and the like transported from the excavation site by the dump truck 20 are earthed at this location and developed into layers or radials.
- the earthmoving ground 63 is a work site where a crusher (not shown) for crushing ore is installed.
- the ore crushed by the crusher is transported to a freight car loading place or processing facility by a belt conveyor or the like.
- Two lanes with different traveling directions of the dump truck 20 are provided on the conveyance path 60.
- a travel route 64 that is a target to be traced when the dump truck 20 travels autonomously is set.
- the lane may be referred to as a travel route.
- the travel route 64 is given as a coordinate value of each point (node) 65 set on the map.
- a path between adjacent nodes is called a sublink 66.
- the map information of the travel route 64 (corresponding to the map information of each lane) is defined including the node 65 and the sublink 66. This map information is used in common by the control server 31, the dump terminal device 26, and the manned vehicle terminal device 76, and the same map information is stored in the above three components.
- the dump truck 20 autonomously travels along the travel path 64 by controlling acceleration / deceleration and steering while comparing the self-position specified by the position sensor (GPS) and the coordinate value of the travel path.
- GPS position sensor
- FIG. 3 is a hardware configuration diagram of the traffic control server and the dump terminal device.
- FIG. 4 is a hardware configuration diagram of the manned vehicle terminal device.
- FIG. 5 is a diagram illustrating an example of data stored in the travel-permitted section information database, in which (a) illustrates an example of vehicle management information for managing a vehicle traveling on the conveyance path 60, and (b). Shows an example of section information indicating a travel permission section assigned to each vehicle.
- the control server 31 includes a server-side control device 311, a server-side input device 312, a server-side display device 313, a server-side communication device 314, a bus 315, a master map information database (hereinafter referred to as “DB”). 316) and travel permission section information DB 317 (hereinafter abbreviated as “section information DB”).
- DB master map information database
- section information DB travel permission section information DB
- the server-side control device 311 controls the operation of each component of the control server 31, and stores a program executed by the control server 31 in addition to a calculation / control device such as a CPU (Central Processing Unit). It is configured using hardware including a storage device such as (Read Only Memory) and HDD (Hard Disk Drive), and a RAM (Random Access Memory) serving as a work area when the CPU executes a program.
- a CPU Central Processing Unit
- HDD Hard Disk Drive
- RAM Random Access Memory
- the server side input device 312 includes input devices such as a mouse and a keyboard.
- the server side display device 313 is composed of a liquid crystal monitor or the like, and functions as an interface for displaying and providing information to the operator.
- the server side communication device 314 is configured by a device for communication connection to a wired communication line or a wireless communication line 40.
- the bus 315 electrically connects each component to each other.
- the master map information DB 316 is configured using a storage device such as an HDD that stores information in a fixed manner, and is defined by position information (coordinate values) of each node on the conveyance path 60 and sublinks that connect the nodes. Memorize the map information. Further, it may include mine topographic information and absolute coordinates of each node (three-dimensional actual coordinates calculated based on positioning radio waves). Each node is given position identification information (hereinafter referred to as “node ID”) that uniquely identifies the node.
- node ID position identification information
- the section information DB 317 is configured using a storage device such as an HDD that stores information in a fixed manner, and stores vehicle management information (see FIG. 5A) and section information (see FIG. 5B).
- the vehicle management information includes “vehicle identification information” that uniquely identifies each vehicle, “vehicle type” that indicates the type of each vehicle, and “manned vehicle identification flag” that identifies whether or not the vehicle is a manned vehicle.
- the value is “1” and the value of the unmanned vehicle is “0”), and when the dump truck 20 is a transport vehicle that can handle both autonomous driving and manual driving driven by an operator,
- the “running mode” representing the set mode is stored in association with each other.
- the dump truck 20 according to the present embodiment has an autonomous traveling function and a manned traveling function by an operator's steering, and is handled as a manned vehicle even if it is a dump truck during manual traveling. Therefore, in FIG. 5A, the value of the manned vehicle flag of the dump truck “ID20-2” is set to “1”.
- the section information includes “vehicle identification information”, “front boundary point” and “rear boundary point” of the travel permission section currently set for each vehicle, a travel permission suppression section set in association with the travel permission section, and The “front boundary point” and “rear boundary point” of the pseudo travel permission section, “lane” indicating whether the travel path currently being traveled is the forward path or the return path, and “vehicle speed” indicating the speed in each travel permission section , And store them in association.
- the node IDs (N11, N12, N23, N24, J31, and J32) of each front boundary point and rear boundary point for the ID 70 in FIG. 5B are the same as those shown in FIG.
- the area may be set with the coordinate used as the front or back boundary point.
- Each of the above databases includes only a storage unit that stores map information and section information, and the server-side control device 311 may perform update / search processing of those databases, or update / search processing of information in each DB. It may be equipped with an engine that performs the following.
- the dump truck 20 is an electrically driven dump truck, as shown in FIG. 3, in addition to the dump terminal device 26, a vehicle control device 27 that controls acceleration / deceleration and steering in response to an instruction from the dump terminal device 26, and the outside world A sensor device 28 and a position detection device 29 are provided.
- the dump terminal device 26 includes a terminal-side control device 261, a terminal-side input device 262, a terminal-side display device 263, a terminal-side communication device 264, a bus 265, and a terminal-side map information DB 266.
- the terminal side control device 261, the terminal side input device 262, the terminal side display device 263, the terminal side communication device 264, the bus 265, and the terminal side map information DB 266 are respectively a server side control device 311, a server side input device 312, a server Since the configuration is the same as that of each of the side display device 313, the server side communication device 314, the bus 315, and the master map information DB 316 (corresponding to the map data storage unit), redundant description is omitted.
- the vehicle control device 27 includes a retarder brake (regenerative brake) 271, a service brake (mechanical brake) 272, a steering control device 273, and an acceleration control device 274.
- the vehicle control device 27 is electrically connected to the dump terminal device 26 and causes the dump truck 20 to autonomously travel according to an instruction from the control server 31.
- the external sensor device 28 is a sensor for detecting the surrounding environment of the dump truck 20 such as a millimeter wave radar or a front camera, and the type thereof is not limited.
- the position calculation device 29 is a device that calculates the current position of the host vehicle, such as GPS.
- the manned vehicle terminal device 76 includes a terminal side control device 761, a terminal side input device 762, a terminal side display device 763, a terminal side communication device 764, and a bus 765, similarly to the dump terminal device 26. It is connected to a position calculation device 79 mounted on the manned vehicle 70. Since each of these components is the same as the configuration of the dump terminal device 26, a duplicate description is omitted.
- FIG. 6 is a functional block diagram showing main functions of the traffic control server and the dump terminal device.
- FIG. 7 is a functional block diagram illustrating main functions of the manned vehicle terminal device.
- the server-side control device 311 of the control server 31 includes a vehicle allocation management unit 311a, a travel permission section setting unit 311b, a dynamic path generation unit 311c, and a server-side communication control unit 311d.
- the vehicle allocation management unit 311a sets the destination of the dump truck 20, and refers to the map information stored in the master map information DB 316 to determine the travel route from the current position to the destination.
- the travel permission section setting unit 311b refers to the map information and section information (see FIG. 5B) stored in the master map information DB 316 for the dump truck 20 and the manned vehicle 70, and the manned vehicle 70 in the forward lane.
- a first travel permission section that is a partial section that permits the travel of the vehicle and a second travel permission section that is a partial section of the return lane that permits the travel of the dump truck 20 are set.
- the travel permission section setting unit stops the dump truck 20 or decelerates (this will be described in the third embodiment) so that the manned vehicle travels.
- a travel permission section and a second travel permission section are set.
- the travel permission section setting section 311b sets the first travel permission section
- the travel permission section setting section 311b sets a partial section parallel to the first travel permission section in the return lane as a travel permission suppression section associated with the first travel permission section.
- the travel permission section setting unit 311b has a junction or intersection in the forward lane, and when the first travel permitted section including the junction or intersection is set, the intersection lane that intersects the forward lane or the intersection lane that intersects the forward lane The approach section to the forward lane on the line is set as a pseudo travel permission section associated with the first travel permission section.
- the travel permission section setting unit 311b avoids the travel permission suppression section and the pseudo travel permission section, that is, the second travel permission section newly set in the travel permission suppression section and the pseudo travel permission section does not overlap. Set the two travel permitted section.
- the travel permission section setting unit 311b sets the vehicle speed of the dump truck 20 traveling in the partial section corresponding to the first travel permission section to be set in the opposite lane from a predetermined vehicle speed threshold. If larger, the setting of a new first travel permission section is suppressed.
- a new first travel permission section is set only when the predetermined vehicle speed threshold is zero, that is, when the dump truck 20 in the corresponding section is stopped.
- the travel permitted section setting unit 311b refers to the vehicle speed included in the section information set in the dump truck 20, or determines that the vehicle speed is zero if no new second travel permitted section is set in the dump truck 20.
- the vehicle speed (including whether or not the vehicle is stopped) of the dump truck 20 is acquired as a judgment material for setting the first travel permission section.
- the travel permission section setting unit 311b sets the first and second travel permission sections, the travel permission suppression section, and the pseudo travel permission section
- the travel permission section setting unit 311b writes the section information.
- the first and second travel permission sections are cancelled, the information on the first and second travel permission sections released and the travel permission suppression section and pseudo travel permission section associated therewith are deleted from the section information.
- the dynamic path generation unit 311c generates a travel route (referred to as “dynamic path”) that follows the loading point and the movement of the earthing point in the loading field 61 and the earthing grounds 62 and 63, and dynamically This is transmitted to the dump truck 20 as a path generation target.
- dynamic path a travel route
- the server-side communication control unit 311d performs wireless communication control between the control server 31, the dump terminal device 26, and the manned vehicle terminal device 76. For example, request information for setting a new travel permitted section (referred to as “section request information”), first section response information indicating the position of the first travel permitted section, and the position of the second travel permitted section The second section response information and the non-permission response information shown are transmitted.
- section request information request information for setting a new travel permitted section
- first section response information indicating the position of the first travel permitted section
- second section response information and the non-permission response information shown are transmitted.
- the terminal side control device 261 of the dump terminal device 26 includes an autonomous travel control unit 261a, a terminal side communication control unit 261b, and a request information processing unit 261c.
- the autonomous travel control unit 261a acquires the current position of the host vehicle from the position calculation device 29, refers to the map information in the terminal-side map information DB 266, and follows the second travel permitted section included in the second section response information.
- the vehicle control device 27 is controlled to drive the vehicle.
- the terminal-side communication control unit 261b controls wireless communication performed with the control server 31.
- the terminal-side communication control unit 261b transmits section request information and receives second section response information and non-permission response information.
- the request information processing unit 261c determines whether the dump truck 20 has reached a point where the section request information is transmitted. When the request point is reached, section request information is generated and section request information is transmitted to the control server 31 via the terminal side communication control unit 261b.
- the terminal-side control device 761 of the manned vehicle terminal device 76 includes a display control unit 761a, a terminal-side communication control unit 761b, and a request information processing unit 761c.
- the display control unit 761a When receiving the first section response information from the control server 31, the display control unit 761a displays the position on the terminal side display device 763.
- the terminal-side communication control unit 761b and the request information processing unit 761c are the same as the configuration of the dump terminal device 26, a duplicate description is omitted. Note that the position information indicating the current position of the host vehicle calculated by the position calculation device 79 mounted on the manned vehicle 70 is included in the section request information and transmitted to the control server 31 via the terminal side communication control unit 761b.
- the vehicle allocation management unit 311a, the travel-permitted section setting unit 311b, the dynamic path generation unit 311c, and the server-side communication control unit 311d provided in the control server 31 have a server-side control device 311 shown in FIG. This is realized by being executed by (hardware).
- the autonomous traveling control unit 261a, the terminal side communication control unit 261b, and the request information processing unit 261c provided in the dump terminal device 26, and the display control unit 761a and the terminal side communication control unit 761b provided in the manned vehicle terminal device 76 are provided.
- the request information processing unit 261c is realized by a program that realizes these functions being executed by the terminal-side control devices 261 and 761 (hardware) shown in FIG.
- Each element configured by cooperation of the hardware and software may be configured using an integrated circuit (ASIC: application specific integrated circuit) for realizing the function of each element.
- ASIC application specific integrated circuit
- Dump trucks 20-1 and 20-2 shown in FIG. 8A are dump trucks that are traveling in the direction of arrow A.
- the travel permission section 83a is a travel permission section set for the dump truck 20-1.
- the travel permission section 83b is a travel permission section set for the dump truck 20-2.
- D1 is a travel permission remaining distance indicating a distance along the travel route from the current position of the dump truck 20-1 to the front boundary point (terminal) of the travel permission section 83a.
- D2 is a travel permission request start distance for starting transmission of section request information.
- the dump trucks 20-1 and 20-2 are not distinguished, they are referred to as a dump truck 20.
- the travel permission request start distance D2 is longer than the distance at which the dump truck 20 can stop (hereinafter referred to as “stoppable distance”, expressed as UVSL), and is, for example, a distance obtained by adding a predetermined offset distance m to UVSL. Defined.
- the travel permission request start distance D2 can be expressed by the following equation (1).
- UVSL is calculated based on the distance that can be stopped from the current speed of the dump truck 20, and can be expressed by the following equation (2), for example.
- m margin
- c coefficient determined to determine the distance at which the dump truck can stop M: mass including dump truck load
- v current speed of the dump truck f: braking force of the dump truck
- the value of the predetermined offset distance m is set in consideration of, for example, the time required for wireless communication or the occurrence of a failure in wireless communication.
- the speed v of the dump truck 20 may be a value obtained by measuring the current speed of the dump truck 20 from the number of rotations of the wheels, and the master map information DB 316 and the terminal side with respect to the current travel position of the dump truck 20.
- the maximum allowable speed set in the map information stored in the map information DB 266 may be used.
- the dump truck 20 transmits section request information to the control server 31 when the travel permission remaining distance D1 of the dump truck 20 becomes equal to or less than the travel permission request start distance D2.
- the section request information includes the current position information of the dump truck 20.
- the travel permission section setting section 311b When the travel permission section setting unit 311b receives the section request information from the dump truck 20-1, the travel permission section setting section 311b includes a section where the dump truck 20-1 exists (between adjacent nodes) based on the positional information included in the transmitted section request information. Corresponding to the travel route). Then, traveling permission is given to a section that is longer than the traveling permission grant length from the end of the section where the dump truck 20-1 exists toward the front in the traveling direction of the dump truck 20-1. However, if there is a section for which permission is given to another vehicle, a travel permission section is given up to that point.
- the section where the dump truck 20-1 exists is 90, and the sections included in the travel permission grant length 95 from the end are sections 91, 92, 93, and 94. .
- the sections 93 and 94 are already given to the dump truck 20-2 as the travel permission section 83b. Therefore, the candidates for the permitted travel section that can be newly set for the dump truck 20-1 are the sections 91 and 92.
- the section 91 is included in the travel permitted section 83a that has already been set for the dump truck 20-1. It is. Therefore, the travel permission section setting unit 311b sets only the section 92 as a new travel permission section.
- the travel permission section setting unit 311b releases the section through which the dump truck 20 has passed among the sections permitted to travel at a predetermined timing. Specifically, as shown in FIG. 8C, the travel permission section setting unit 311b determines that the distance D4 from the end of the section to be canceled to the position of the dump truck 20-2 is a predetermined travel distance. It is canceled when the permission cancellation distance D3 is exceeded. The canceled section can be set as a travel permission section of the subsequent dump truck 20-1.
- the process of acquiring the travel permission by transmitting a message requesting the travel permission is the request information processing unit 261c in the dump terminal device 26.
- the request information processing unit 761c executes.
- the facing speed is high and the distance between the vehicles is short.
- the manned vehicle 70 travels out of the travel route and interferes with the oncoming vehicle. Then there is a risk of serious damage.
- a travel permission restraint section is introduced.
- FIG. 9 is a diagram illustrating a setting example of the travel permission suppression section, where (a) illustrates a state where the travel permission suppression section does not overlap with the travel permission section of the oncoming vehicle, and (b) illustrates the travel permission suppression section. This shows a state where the dump truck is stopped because a new permitted travel section cannot be set due to being blocked.
- FIG. 10 is a diagram illustrating a setting example of a travel permission suppression section, where (a) illustrates a state in which a travel permission suppression section of a manned vehicle is set to be superimposed on a travel permission section of a dump truck.
- reference numeral 64a indicates a travel route set in the forward lane
- reference numeral 64b indicates a travel route set in the return lane.
- the travel permission suppression section 110 is set.
- the second travel permission section 200 is set in the dump truck 20 traveling in the oncoming lane.
- the dump truck 20 When the dump truck 20 reaches a point where the travel permission remaining distance of the second travel permission section 200 is away from the travel permission request start distance L, the dump truck 20 receives section request information for requesting setting of the next new travel permission section. Send. At this time, since the section 201a that is a candidate for the next travel permission section overlaps the travel permission suppression section 110, a new travel permission section cannot be set. Therefore, the dump truck 20 cannot obtain a new second travel permitted section and stops at the front boundary point of the second travel permitted section 200 (see FIG. 9B).
- the section request information for requesting the setting of a new travel permission section is transmitted.
- a new first travel permission section 101 is set for the manned vehicle 70, and it continues by moving to the first travel permission section 101.
- the vehicle can be run (FIG. 10 (a)).
- Note that a new travel permission suppression section 111 is set in association with the setting of the first travel permission section 101, but this travel permission suppression section 111 may be superimposed on the stopped dump truck 20.
- the manned vehicle 70 transmits the section request information, if the dump truck 20 is traveling at a vehicle speed greater than a predetermined vehicle speed threshold in the second travel permission section 200 set for the host vehicle, the manned vehicle The new first travel permission section is not set to 70, but is stopped at the front boundary point of the travel permission section 100 currently set.
- the first travel permission is granted. Sections 100 and 101 are released. At the same time, since the travel permission suppression sections 110 and 111 are also released, a travel permission for the dump truck 20 is given (a new travel permission section 201 is set), and the dump truck 20 resumes traveling (FIG. 10). (B)).
- FIG. 11 is a flowchart showing a process flow of the traffic control system according to the first embodiment.
- a section is set on the map information of the master map information DB 316 (S12).
- the travel permission section setting unit 311b receives the current position of the manned vehicle 70 (included in the section request information) and the master map. Using the map information and the section information in the information DB 316, the partial section on the travel road that is longer than the travel permission grant length from the front boundary point of the travel permission section where the manned vehicle 70 exists with respect to the traveling direction of the manned vehicle 70 As long as the dump truck 20 is stopped when no permission is given to another vehicle and the dump truck 20 is in the corresponding section of the oncoming lane, or permission is given to another dump truck.
- the travel permission section setting unit 311b sets a travel permission suppression section in a partial section on the opposite lane corresponding to the new travel permission section (S14).
- step S12 and step S13 when there is a travel permission section to which permission should be given (S15 / Yes), the server-side communication control unit 311d first section response indicating a section that permits travel to the vehicle that transmitted the section request information. Information or second section response information is transmitted (S16).
- the pseudo travel permission section is a travel permission setting for blocking the entry of the opponent vehicle at the time of merging or crossing, and can also be considered as a kind of travel permission suppression section.
- the pseudo travel permission section is set there regardless of whether the partner vehicle is traveling or stopped. It cannot be set.
- the travel permission suppression section may not be exclusive as long as the opponent vehicle is stopped, and therefore the pseudo travel permission section and the travel permission suppression section differ in this respect.
- a node J30 on the forward lane (main line) 320 shown in FIG. 12 (a) indicates a merging point of travel routes set in the forward lane 320 and the merge lane (branch line) 330, respectively.
- the node J31 is an entry point from the merge lane 330 to the forward lane 320.
- the node J30 and the nodes J31 and J32 on the confluence lane 330 adjacent thereto are associated with each other and stored in the master map information DB 316.
- the travel permission section setting unit 311b refers to the master map information DB 316 and includes all the nodes of the merge lane 330 associated with the node J30.
- the pseudo travel permission section 145 is set.
- symbol 115 in a figure shows the driving
- the second travel permission section 205 is between the nodes N11 to N12 or the nodes N15 to N16.
- 206 are also set, the pseudo travel permission sections 145, 146 are set in the same manner as described above.
- the travel permission suppression sections 115 and 116 are not set.
- the travel permission setting unit 311b displays the travel permission section of the passed section on the map data. Release (S19).
- the travel permission section setting unit 311b also cancels them (S20).
- the control server 31 repeats the above processing.
- the manned vehicle when a dump truck exists in the opposite lane of the manned vehicle, the manned vehicle does not pass the running dump truck while traveling, so the relative speed should be lowered even in the event of interference. The degree of damage can be further reduced.
- the processing after each in-vehicle terminal device mounted on the manned vehicle and the dump truck obtains the travel permitted section is a processing that is performed only by each in-vehicle terminal device, wireless communication with the control server is interrupted. Even so, each vehicle can continue to travel to the end of the travel-permitted section, and a reduction in work efficiency can be prevented.
- the travel permission section setting unit 311b does not set a travel permission suppression section in step S14 of FIG. 11, instead, on the map data of the master map information DB 316,
- the node N22 on the opposite lane corresponding to the node N12 at the front boundary point of the first travel permitted section 105 and the node N21 on the opposite lane corresponding to the node N11 at the rear boundary point of the travel permitted section 105 are selected, and the node N22 To invalidate the map data indicating the travel route from the node N21 to the node N21.
- the sublinks and nodes of the invalidation part are illustrated by dotted lines.
- the invalidation here means that a partial section of the opposite lane corresponding to a travel permission section set for a manned vehicle is a section in which a new travel permission section cannot be set for a dump truck (unmanned vehicle).
- the travel permitted section setting unit 311b selects the nodes C41 and C43 on the intersection associated with the nodes C40 and C42 serving as the intersection, and the node C40
- the map data from the node C41, the node C42 to the node C43 is invalidated.
- the invalidation of the map data is executed by an internal process of the control server 31.
- FIG. b) may be displayed on the screen of the server-side display device 313 in such a manner that it can be distinguished from the section in which the invalidated map information is valid.
- the travel permission is also given to the section that is the travel permission suppression section, and the dump truck 20 is the travel permission section in the travel permission suppression section.
- the dump truck 20 travels at a speed equal to or lower than a predetermined value (hereinafter referred to as “predetermined low speed”) when traveling in the travel permission section in the travel permission suppression section.
- predetermined low speed a predetermined value
- the second section response information includes information indicating that it is a travel permission section in the travel permission suppression section, so that it travels at a predetermined low speed.
- the vehicle travel control device 27 may be controlled.
- the travel permission section setting unit 311b may transmit the second section response information generated by itself including information indicating that the travel speed of the dump truck 20 in the travel permission section is a predetermined low speed. Good.
- step S13 in FIG. 11 when the dump truck 20 is in the corresponding section of the oncoming lane, the travel permission is given when the speed of the dump truck 20 is equal to or lower than a predetermined value. Good.
- the dump truck 20 is in a state of traveling at a predetermined low speed. The risk of damage when the track 20 interferes can be reduced.
- an empty dump truck may be preferentially run to shorten the standby time of the excavator 10.
- the lane toward the excavation site may be defined as the forward lane
- the lane toward the dumping ground may be defined as the return lane.
- the priority of the dump truck in the loaded state may be increased to reduce the brake load, and this may be used as a target vehicle for setting the first travel permission section.
- the forward lane and the return lane are defined on the map data.
- the traveling state information including the information including the distinction between loading and empty cargo is included in the traveling state information of the dump truck, and the traveling state information is transmitted to the control server 31 and loaded state Depending on, the setting target vehicle of the first travel permission section may be determined.
- the dump truck in the manual running mode operated by the operator may be preferentially run.
- a travel permission section is newly set for the dump truck in the manual travel mode
- a travel permission suppression section may be set accompanying it.
- a dump truck has been described as an example of an unmanned vehicle, it is not limited to a dump truck, and may be a transport vehicle such as a tank lorry.
- manned vehicles and unmanned vehicles are not intended to be limited to vehicles, and may be traveling bodies. Therefore, a manned vehicle includes a manned work machine having no wheels, and an unmanned vehicle also includes an unmanned work machine having no wheels.
- Traffic control system 10 Excavators 20, 20-1, 20-2 Unmanned dump trucks (unmanned vehicles) 26 Dump terminal device 31
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Abstract
Description
第一実施形態は、有人車両と自律走行するダンプトラックとがすれ違う際に、走行許可抑制区間及び疑似走行許可区間(これらについては後述する)を避けてダンプトラックに走行許可を付与する実施形態である。
M:ダンプトラックの積荷を含めた質量
v:ダンプトラックの現在速度
f:ダンプトラックの制動力
第二実施形態は、走行許可抑制区間及び疑似走行許可区間に代わり、地図データの部分区間を無効化して走行中の有人車両と走行中の無人車両との干渉を回避する実施形態である。第一実施形態と同様の構成及び処理については重複説明を省略する。
第三実施形態は、走行中の有人車両が対向車線上の無人車両とすれ違う際に、無人車両を停止させるのではなく、減速走行させる実施形態である。第一実施形態と同一の構成、処理については重複説明を省略する。
10 ショベル
20、20-1、20-2 無人ダンプ(無人車両)
26 ダンプ端末装置
31 交通管制サーバ
70 有人車両
76 有人車両端末装置
Claims (9)
- 鉱山内に往路車線及び復路車線を並行に設け、前記往路車線を走行する第一車両(70)、及び前記復路車線を走行する前記第一車両(70)とは属性が異なる第二車両(20)の交通管制を行う交通管制サーバ(31)であって、
前記往路車線のうち前記第一車両(70)の走行を許可する部分区間である第一走行許可区間(100)、及び前記復路車線のうち前記第二車両(20)の走行を許可する部分区間である第二走行許可区間(200)を設定する走行許可区間設定部(311b)を備え、
前記走行許可区間設定部(311b)は、前記第一車両(70)及び前記第二車両(20)がすれ違う際に、前記第二車両(20)を停止又は減速させて前記第一車両(70)を走行させるように前記第一走行許可区間(100)及び前記第二走行許可区間(200)を設定する、
ことを特徴とする交通管制サーバ。 - 請求項1に記載の交通管制サーバであって、
前記走行許可区間設定部(311b)は前記第一走行許可区間(100)を設定すると、前記復路車線における前記第一走行許可区間(100)と並行な部分区間を前記第一走行許可区間(100)に付随する走行許可抑制区間(110)として設定し、当該走行許可抑制区間(110)が設定されている部分区間に新たな第二走行許可区間(201)を重ねて設定することを抑制する、
ことを特徴とする交通管制サーバ。 - 請求項2に記載の交通管制サーバであって、
前記走行許可区間設定部は、新たな第一走行許可区間(101)を設定する際に、前記復路車線における前記新たな第一走行許可区間(101)に対応する部分区間を走行する前記第二車両(20)の車速が所定の車速閾値よりも大きい場合、前記新たな第一走行許可区間(101)の設定を抑制する、
ことを特徴とする交通管制サーバ。 - 請求項3に記載の交通管制サーバであって、
前記所定の車速閾値はゼロである、
ことを特徴とする交通管制サーバ。 - 請求項1に記載の交通管制サーバであって、
前記往路車線に合流点(J30)又は交差点(C40、C42)があり、前記走行許可区間設定部(311b)は当該合流点(J30)又は交差点(C40、C42)を含む前記第一走行許可区間(105、106)を設定すると、前記往路車線に合流する合流車線(330)又は前記往路車線に前記交差する交差車線(340)上における前記往路車線への進入区間を前記第一走行許可区間(105、106)に付随する疑似走行許可区間(145、146)として設定し、当該疑似走行許可区間(145、146)内へのいずれの車両の進入も抑制し、
前記復路車線に合流点(J30)又は交差点(C40、C42)があり、前記走行許可区間設定部(311b)は当該合流点(J30)又は交差点(C40、C42)を含む前記第二走行許可区間(205、206)を設定すると、前記復路車線に合流する合流車線(330)又は前記往路車線に前記交差する交差車線(340)上における前記復路車線への進入区間を前記第二走行許可区間(205、206)に付随する疑似走行許可区間(145、146)として設定し、当該疑似走行許可区間(145、146)内へのいずれの車両の進入も抑制する、
ことを特徴とする交通管制サーバ。 - 請求項1に記載の交通管制サーバであって、
前記往路車線及び前記復路車線の位置を示す地図データを格納した地図データ記憶部(316)を更に備え、
前記走行許可区間設定部(311b)は、前記地図データを参照して前記第一走行許可区間(105)及び前記第二走行許可区間(200)を設定し、前記第一走行許可区間(105)を設定すると、前記復路車線において前記設定された第一走行許可区間(105)と並行な部分区間の前記地図データを無効化し、当該無効化された地図データ上における新たな第二走行許可区間の設定を抑制する、
ことを特徴とする交通管制サーバ。 - 鉱山内に往路車線及び復路車線を並行に設け、前記往路車線を走行する第一車両(70)、及び前記復路車線を走行する前記第一車両(70)とは属性が異なる第二車両(20)の交通管制を行う交通管制サーバ(31)と、前記第一車両(70)に搭載された第一車載端末装置(76)と、前記第二車両(20)に搭載された第二車載端末装置(26)と、を通信接続した交通管制システムであって、
前記交通管制サーバは、
前記往路車線のうち前記第一車両(70)の走行を許可する部分区間である第一走行許可区間(100)、及び前記復路車線のうち前記第二車両(20)の走行を許可する部分区間である第二走行許可区間(200)を設定する走行許可区間設定部(311b)であって、前記第一車両(70)及び前記第二車両(20)がすれ違う際に、前記第二車両(20)を停止又は減速させて前記第一車両(70)を走行させるように前記第一走行許可区間(100)及び前記第二走行許可区間(200)を設定する走行許可区間設定部(311b)と、
前記第一車載端末装置(76)に対して前記第一走行許可区間(100)を示す第一区間応答情報を送信し、前記第二車載端末装置(26)に対して前記第二走行許可区間(200)を示す第二区間応答情報を送信するサーバ側通信制御部(311d)と、を備え、
前記第一車載端末装置(76)は、前記第一区間応答情報を受信する第一端末側通信制御部(761b)を備え、
前記第二車載端末装置(26)は、前記第二区間応答情報を受信する第二端末側通信制御部(261b)を備える、
ことを特徴とする交通管制システム。 - 請求項7に記載の交通管制システムであって、
前記第一車両(70)はオペレータが搭乗して運転する有人車両であり、前記第二車両(20)は自律走行車両である、
ことを特徴とする交通管制システム - 請求項7に記載の交通管制システムあって、
前記第一車両(70)は空荷のダンプトラックであり、前記第二車両(20)は積荷を積載したダンプトラックである、又は前記第一車両(70)は積荷を積載したダンプトラックであり、前記第二車両(20)は空荷のダンプトラックである、
ことを特徴とする交通管制システム。
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EP15883925.8A EP3267417B1 (en) | 2015-03-03 | 2015-03-03 | Traffic control server and system |
CA2959474A CA2959474C (en) | 2015-03-03 | 2015-03-03 | Traffic control server and system |
JP2017503258A JP6302596B2 (ja) | 2015-03-03 | 2015-03-03 | 交通管制サーバ及びシステム |
AU2015385012A AU2015385012B2 (en) | 2015-03-03 | 2015-03-03 | Traffic control server and system |
CN201580045268.XA CN106663369B (zh) | 2015-03-03 | 2015-03-03 | 交通管制服务器以及交通管制*** |
US15/506,262 US10339806B2 (en) | 2015-03-03 | 2015-03-03 | Traffic control server and system |
PCT/JP2015/056256 WO2016139757A1 (ja) | 2015-03-03 | 2015-03-03 | 交通管制サーバ及びシステム |
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JP6284212B1 (ja) * | 2017-03-07 | 2018-02-28 | 三菱ロジスネクスト株式会社 | 荷役作業割当システム及び方法 |
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JP6302596B2 (ja) | 2018-03-28 |
AU2015385012A1 (en) | 2017-03-16 |
EP3267417B1 (en) | 2020-02-12 |
CA2959474C (en) | 2018-12-11 |
CA2959474A1 (en) | 2016-09-09 |
JPWO2016139757A1 (ja) | 2017-06-22 |
US20180068561A1 (en) | 2018-03-08 |
EP3267417A1 (en) | 2018-01-10 |
CN106663369B (zh) | 2020-03-20 |
AU2015385012B2 (en) | 2018-11-08 |
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US10339806B2 (en) | 2019-07-02 |
CN106663369A (zh) | 2017-05-10 |
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