WO2016143369A1 - 車載端末装置及び交通管制システム - Google Patents
車載端末装置及び交通管制システム Download PDFInfo
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- WO2016143369A1 WO2016143369A1 PCT/JP2016/050740 JP2016050740W WO2016143369A1 WO 2016143369 A1 WO2016143369 A1 WO 2016143369A1 JP 2016050740 W JP2016050740 W JP 2016050740W WO 2016143369 A1 WO2016143369 A1 WO 2016143369A1
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- 238000004891 communication Methods 0.000 claims abstract description 54
- 238000012545 processing Methods 0.000 claims abstract description 29
- 238000000034 method Methods 0.000 claims description 9
- 230000006870 function Effects 0.000 description 15
- 230000010365 information processing Effects 0.000 description 11
- 230000004044 response Effects 0.000 description 10
- 238000012544 monitoring process Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000001172 regenerating effect Effects 0.000 description 4
- 239000004576 sand Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- 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
- 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
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries
Definitions
- the present invention relates to an in-vehicle terminal device and a traffic control system, and more particularly to a technique for controlling so that vehicles traveling in a mine do not interfere with each other.
- a vehicle monitoring system that includes a monitoring station that transmits instruction data for instructing driving, stopping, etc. to a plurality of vehicles while monitoring the mutual positional relationship of the plurality of vehicles based on data is known. (See Patent Document 1).
- the monitoring station constantly grasps the positional relationship between the vehicles, and executes a preset control to avoid the interference between the vehicles according to the positional relationship. I am doing so.
- the monitoring station cannot grasp the mutual positional relationship between the vehicles, and appropriate control is performed. It becomes difficult to execute. Therefore, even if the monitoring station actually has a low possibility of interference between vehicles, it is necessary to perform processing such as stopping each vehicle in consideration of work safety. As a result, there is a problem that work efficiency is lowered.
- the present invention has been made based on the actual situation of the prior art as described above, and an object thereof is an in-vehicle terminal device capable of suppressing the interference between vehicles and improving the work efficiency even if a failure occurs in the communication environment. And providing a traffic control system.
- the present invention is connected to a traffic control server for performing traffic control for avoiding interference between vehicles including unmanned vehicles that autonomously run in a mine via a wireless communication line.
- a vehicle-mounted terminal device mounted on the vehicle on which the person is boarded and travels, wherein a partial section of the travel route of the vehicle is assigned to a travel permission section allocated as a section permitting travel of the vehicle by the traffic control server.
- a travel instruction processing device that performs a process of instructing the driver to travel the host vehicle, the travel instruction processing device acquiring the host vehicle from a position acquisition device connected to the travel instruction processing device.
- a travel permission remaining distance indicating a distance along the travel route from the current position of the host vehicle to the end of the travel permission section is calculated.
- an existing distance calculation unit an upper limit speed calculation unit that calculates an upper limit speed of the host vehicle in the travel permission section based on the remaining travel permission remaining distance calculated by the remaining distance calculation unit, and the upper limit speed calculation unit
- an information presentation unit that outputs the predetermined warning information corresponding to the upper limit speed and the predetermined warning information corresponding to the upper limit speed from an output device connected to the travel instruction processing device and presents the information to the driver.
- FIG. 3 It is a figure showing the schematic structure of the traffic control system concerning a 1st embodiment of the present invention. It is a figure which shows the detail of the conveyance path shown in FIG. It is a figure which shows the structure of the dump truck containing the hardware constitutions of the control server which concerns on 1st Embodiment of this invention, and the hardware constitutions of a dump terminal device. It is a figure which shows the structure of the map information stored in master map information DB shown in FIG. 3, (a) A figure is a figure which shows the structure of node information, (b) A figure is a figure which shows the structure of link information. It is a figure which shows the structure of the area information stored in area information DB shown in FIG.
- FIG. 7 It is a figure which shows the structure of the manned vehicle containing the hardware constitutions of the manned vehicle terminal device which concerns on 1st Embodiment of this invention. It is a functional block diagram which shows the main functions of the control server and dump terminal device shown in FIG. It is a figure explaining the setting process of the driving
- FIG. 9 It is a figure which shows the relationship between the position N of the manned vehicle which drive
- a first embodiment of the present invention is a dump truck (corresponding to an unmanned vehicle) that transports earth and sand or ore loaded by a loader such as an excavator or a wheel loader in a mine and travels autonomously without a driver boarding. ), Manned vehicles (including the case where the driver is on an unmanned vehicle) on which a driver such as a dozer, grader, watering vehicle, and service car travels, and these dump trucks and manned vehicles interfere with each other.
- a loader such as an excavator or a wheel loader in a mine and travels autonomously without a driver boarding.
- Manned vehicles including the case where the driver is on an unmanned vehicle
- a driver such as a dozer, grader, watering vehicle, and service car travels
- control server for convenience
- a traffic control system that connects a traffic control server (hereinafter abbreviated as “control server” for convenience) with a wireless communication line to avoid traffic, especially a driver on a manned vehicle Is characterized in that it gives an instruction to the vehicle to travel.
- the traffic control system 1 is a loading place 61 as a work place including a quarry and a loading place such as a mine, and loading work such as earth and sand or ore.
- a dump truck 20 (corresponding to an unmanned vehicle) composed of an autonomous vehicle for transporting loads such as earth and sand and ore loaded from the excavator 10, and another similar to the dump truck 20 Installed in manned vehicles 70 such as dump truck 71, dozer (not shown), water truck (not shown), service car 72, etc. on which the driver is boarded, and in the control center 30 near or in the quarry.
- the control server 31 is configured to communicate with each other via a wireless communication line 40.
- the dump truck 20 reciprocates between the loading field 61 and the earthing grounds 62 and 63 (see FIG. 2) along the conveyance path 60 set in advance in the mine, and conveys the cargo.
- 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, the dump truck 20, and the manned vehicle 70 receive positioning radio waves from at least three navigation satellites 50-1, 50-2, 50-3 such as GPS (Global Positioning System) and calculate the position of the own vehicle.
- a position calculating device (not shown in FIG. 1). That is, these navigation satellites 50-1, 50-2, 50-3 and the position calculation device function as a position acquisition device that acquires the current position of the vehicle.
- the dump truck 20 is equipped with an in-vehicle terminal device (hereinafter abbreviated as “dump terminal device” for convenience) 26 for autonomous traveling in accordance with an instruction from the control server 31.
- dump terminal device hereinafter abbreviated as “dump terminal device” for convenience
- the manned vehicle 70 receives an instruction from the control server 31 so that the manned vehicle 70 does not interfere with other vehicles 20, and an in-vehicle terminal device (hereinafter referred to as manned vehicle for convenience) for giving the driver an instruction to drive the vehicle.
- manned vehicle for convenience
- a terminal device for giving the driver an instruction to drive the vehicle.
- the control server 31 is connected to an antenna 32 for connecting to the wireless communication line 40.
- the control server 31 communicates with each of the dump terminal device 26 and the manned vehicle terminal device 76 via the antenna 32 and the radio base stations 41-1, 41-2, 41-3.
- FIG. 2 is a diagram showing the details 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, ore, and the like at the loading field 61, travels on the conveyance path 60, and conveys them to the earthing field 62 or the earthing field 63.
- the loading place 61 is a work place where the topsoil or the ore dug by the excavator 10 is loaded on the dump truck 20.
- the earthmoving field 62 is a worksite where the topsoil and the like transported from the excavation site by the dump truck 20 are earthed at this place and deployed in layers or radiates.
- the earthmoving place 63 is a work place where a crusher (not shown) for crushing ore is installed.
- the ore crushed by the crusher is conveyed by a belt conveyor or the like to a freight car loading site or a processing facility.
- an operator gets on the dozer and places the spilled earth and sand in a position that does not interfere with the running of the dump truck 20, or rides on a measurement vehicle that measures position information and runs in the workplace. Measure location information.
- Each travel route 64 constitutes an up lane and a down lane.
- Each traveling path 64 interconnects the entrances or exits of the respective workplaces.
- the travel route of each work place is generated at any time with the movement of the stop position of the dump truck 20 in the work place, for example, the movement of the loading point or the movement of the earthing point.
- the travel route 64 is given as a coordinate value set on the map.
- the dump truck 20 travels unmanned along the travel route 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 route 64.
- Information on the travel route 64 and the node 65 is stored as the map data of the control server 31 and the map data of the dump truck 20.
- the control server 31 grants / cancels the travel permission for each travel section defined as between the nodes 65 and notifies the dump truck 20 of the information to control the travel so as to avoid interference between the dump trucks 20.
- the adjacent nodes 65 are called links 66.
- 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 communication bus 315, a master map information database (hereinafter referred to as convenience). 316 and a travel-permitted section information DB (hereinafter abbreviated as “section information DB” for convenience) 317.
- 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 an arithmetic / control device such as a CPU (Central Processing Unit). (Read Only Memory) and HDD (Hard Disk Drive), etc., and hardware including RAM (Random Access Memory) that is a work area when the CPU executes the program.
- an arithmetic / control device such as a CPU (Central Processing Unit). (Read Only Memory) and HDD (Hard Disk Drive), etc., and hardware including RAM (Random Access Memory) that is a work area when the CPU executes the program.
- the functional configuration of the program executed by the control server 31 will be described later with reference to FIG. Further, the server-side control device 311 may be configured using an integrated circuit (ASIC: application specific integrated circuit) for realizing a function executed by the control server 31.
- ASIC application specific integrated circuit
- the server-side input device 312 includes input devices such as a mouse and a keyboard.
- the server-side input device 312 performs an operation of inputting information necessary for controlling the autonomous traveling of the dump truck 20 or instructing the traveling of the manned vehicle 70. It functions as a user interface for the operator.
- 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 the wired communication line 33 or the wireless communication line 40.
- the server-side communication device 314 receives section request information described later from the dump truck 20 and the manned vehicle 70 and transmits section response information and non-permitted response information described later to the dump truck 20 and the manned vehicle 70.
- the communication bus 315 electrically connects the components 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.
- the master map information DB 316 includes position information (coordinate values) of each node 65 on the conveyance path 60 and links 66 that connect the nodes 65.
- the map information defined by is stored.
- the terrain information of a mine and the absolute coordinate (three-dimensional real coordinate calculated based on a positioning radio wave) of each node 65 may be included.
- Each node 65 and link 66 is given position identification information that uniquely identifies the node 65 and link 66 (hereinafter referred to as “node ID” and “link ID” for convenience).
- the map information includes node information 400 that associates the node ID 401 with the node coordinates 402, and as shown in FIG. 4B, the link ID 421 and the front end of the link. It includes link information 420 in which a node (front node ID) 422, a rear end node (rear node ID) 423, and link attribute information such as a speed limit 424 and a curvature 425 of the conveyance path 60 are associated. .
- the map information may include the direction of the dump truck 20 that travels on the travel route 64.
- Section information DB317 is comprised using memory
- the section information is stored.
- this section information includes a vehicle ID 501 that uniquely identifies each vehicle, and a front boundary point of the travel permission section set for the vehicle (the rear boundary point indicated by the node ID is the same). ) 502, the rear boundary point 503, the destination 504 indicating the final destination coordinates currently set for each vehicle, the actual traveling speed 505 of the vehicle, and the vehicle travels forward or backward.
- the traveling direction 506 indicating whether or not the vehicle is in association with the current position 507 of the vehicle that is notified from each vehicle periodically or as necessary.
- Each master map information DB 316 and section information DB 317 having such a configuration may include only a storage unit that stores map information and section information, and the server-side control device 311 may perform update / search processing of these DBs.
- Each DB may be equipped with an engine for performing information update / search processing.
- the dump truck 20 is an electrically driven dump truck.
- a vehicle control device 27 that controls acceleration / deceleration and steering in response to an instruction from the dump terminal device 26, a sensor A device 28 and a position calculation 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 communication 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 communication bus 265, and the terminal side map information DB 266 are respectively a server side control device 311, a server side input device 312, Since it is the same structure as each of the server side display apparatus 313, the server side communication apparatus 314, the communication bus 315, and master map information DB316, the overlapping description is abbreviate
- the terminal-side map information DB 266 stores the same map information as the map information stored in the master map information DB 316.
- the vehicle control device 27 includes a regenerative brake 271, a 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 sensor device 28 is provided near the front wheel of the dump truck 20 and an external sensor 281 for detecting an obstacle ahead of the dump truck 20 in the traveling direction (traveling direction), such as a millimeter wave radar or a front camera, for example.
- the position calculation device 29 calculates the current position of the host vehicle based on positioning radio waves from the navigation satellites 50-1, 50-2, and 50-3 (see FIG. 1). The calculated current position of the host vehicle is transmitted from the dump terminal device 26 to the control server 31.
- the manned vehicle 70 is similar to the dump truck 20 in addition to the manned vehicle terminal device 76, a vehicle control device 77 that controls acceleration / deceleration and steering by a driver's operation, a sensor device 78, and a position A calculation device 79 is provided.
- the manned vehicle terminal device 76 also includes a terminal-side control device 761, a terminal-side input device 762, a terminal-side display device (output device) 763, a terminal-side communication device 764, a communication bus 765, and terminal-side map information.
- DB 766 is included. Since each of these components is the same as the configuration of the dump terminal device 26, a duplicate description is omitted.
- the vehicle control device 77 includes a regenerative brake 771, a mechanical brake 772, a steering control device 773, and an acceleration control device 774.
- the vehicle control device 77 is electrically connected to a driving operation device 77A such as an accelerator pedal for accelerating the manned vehicle 70 and a brake pedal for decelerating the manned vehicle 70, and the driver appropriately checks the display screen of the terminal side display device 763. While operating the driving operation device 77 ⁇ / b> A, the host vehicle is caused to travel via the vehicle control device 77.
- the sensor device 78 includes an external sensor 781 and a wheel speed sensor 782. Since each component of the sensor device 78 and the position calculation device 79 is the same as that of the dump truck 20, a duplicate description is omitted.
- 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 travel control 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 the manned vehicle 70, and determines the travel route 64 from the current position to the destination by referring to the map information stored in the master map information DB 316.
- the travel permission section setting unit 311 b refers to the map information stored in the master map information DB 316 for the dump truck 20 and the manned vehicle 70, and travels the partial section of the travel path 64 on the transport path 60. Is set as a travel-permitted section in which the travel permission section is permitted, and section information indicating the position of the travel-permitted section is generated.
- the travel permission section setting unit 311b updates the section information stored in the section information DB 317 by overwriting the newly generated section information.
- the section information includes the node ID of the front boundary point 502, which is the foremost node of the travel-permitted section, and the node ID of the rear boundary point 503, which is the last node. Since the section information includes the travel permitted section set for the dump truck 20 and the manned vehicle 70, referring to the section information, in which travel permitted section the dump truck 20 and the manned vehicle 70 exist, The traveling direction of the dump truck 20 and the manned vehicle 70 is grasped by referring to the map information.
- the travel permission section setting unit 311b When the travel permission section setting unit 311b receives information requesting setting of a new travel permission section from the dump terminal device 26 (hereinafter referred to as “section request information” for convenience), the travel permission section setting unit 311b Perform the setting process.
- the travel permission section setting unit 311b generates section response information indicating the travel permission section when a new travel permission section is set, and disallows travel permission when the section response information cannot be generated. Generate response information.
- the traveling control unit 311c generates control information indicating the traveling speed of the dump truck 20 and the manned vehicle 70, the travel or start permission of the dump truck 20 and the manned vehicle 70, the display stop, the fueling time, and the like.
- the server-side communication control unit 311d controls wireless communication between the dump terminal device 26 and the manned vehicle terminal device 76. Control for transmitting / receiving section request information, section response information, non-permission response information, and control information between the dump terminal device 26 and the manned vehicle terminal device 76 is performed.
- 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 causes the host vehicle to travel according to the travel permitted section included in the section information. Control is performed on the vehicle control device 27. In addition, the autonomous traveling control unit 261a determines the presence or absence of a front obstacle based on the detection result of the sensor device 28, and also determines the presence or absence of an interference with the obstacle and a collision avoidance operation. Control for.
- the terminal-side communication control unit 261b controls wireless communication performed with the control server 31.
- the terminal-side communication control unit 261b performs transmission of section request information and reception of section response information, non-permission response information, and control information.
- the request information processing unit 261c determines whether or not the dump truck 20 has reached the 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 vehicle allocation management unit 311a, the travel permission section setting unit 311b, the travel control unit 311c, and the server-side communication control unit 311d in the control server 31 configured as described above are the servers shown in FIG. This is realized by being executed by the side control device 311 (hardware).
- the autonomous traveling control unit 261a, the terminal-side communication control unit 261b, and the request information processing unit 261c in the dump terminal device 26 configured as described above are such that the program that realizes these functions is the terminal side illustrated in FIG. This is realized by being executed by the control device 261 (hardware).
- the dump trucks 20-1 and 20-2 shown in FIG. 8A are dump trucks that are traveling in the direction of arrow A.
- the section Sa is a travel permission section set for the dump truck 20-1.
- the section Sb is a travel permission section set for the dump truck 20-2.
- the distance D is a travel permission remaining distance that indicates a distance along the travel route 64 from the current position of the dump truck 20 to the front boundary point (terminal) of the travel permission section Sa.
- the distance Da is a travel permission request start distance for starting transmission of section request information. In the following description, when the dump trucks 20-1 and 20-2 are not distinguished, they are described as the dump truck 20.
- the travel permission request start distance Da is longer than the distance at which the dump truck 20 can be stopped (hereinafter referred to as “stoppable distance”, expressed as UVSL).
- stoppable distance the distance obtained by adding a predetermined offset distance m to UVSL.
- the travel permission request start distance Da can be expressed by the following formula (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
- cu coefficient determined to determine the unattended dump stopping distance
- Mu mass including unmanned dump load
- Vu current speed of unmanned dumping fu: braking force of unmanned dumping
- the value of the predetermined offset distance m is set in consideration of, for example, the time required for wireless communication, the degree of occurrence of a failure in wireless communication, and the like.
- the speed Vu of the dump truck 20 may be a value obtained by measuring the current speed of the dump truck 20 from the rotational speed of the wheel, that is, a detection value of the wheel speed sensor 282.
- the maximum allowable speed set in the map information stored in the master map information DB 316 and the terminal side map information DB 266 may be used.
- the dump truck 20 transmits section request information to the control server 31 when the remaining travel permission distance D of the dump truck 20 becomes equal to or less than the travel permission request start distance Da.
- the section request information includes information on the current position of the dump truck 20.
- the travel permission section setting unit 311b When receiving the section request information from the dump truck 20-1, the travel permission section setting unit 311b receives the section (adjacent section) where the dump truck 20-1 exists based on the current position information included in the sent section request information. (Corresponding to the travel route 64 between the nodes 65). 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 S0
- the sections included in the travel permission grant length L from the end are sections S1, S2, S3, and S4.
- the sections S3 and S4 are already given to the dump truck 20-2 as the travel permission section Sb. Therefore, the candidates for the permitted travel section that can be newly set for the dump truck 20-1 are the sections S1 and S2.
- the section S1 is the travel permitted section Sa that has already been set for the dump truck 20-1. include. Accordingly, the travel permission section setting unit 311b sets only the section S2 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 performs a travel permission in which a distance Dc from the end of the section S3 to be canceled to the position of the dump truck 20-2 is determined in advance. When it becomes more than the cancellation
- the released section S3 can be set as the travel permission section Sa of the subsequent dump truck 20-1.
- the dump trucks 20-1 and 20-2 can be prevented from interfering with each other by the assignment of the travel permission sections Sa and Sb as described above.
- the terminal-side control device 261 can accurately travel within the travel permitted sections Sa and Sb.
- the vehicle is a manned vehicle 70, there is a possibility that it may inadvertently enter into the travel permission section of another vehicle due to a display by the driver or an oversight of an instruction. is necessary.
- the terminal-side control device 761 of the manned vehicle terminal device 76 instructs the driver to travel the host vehicle based on the travel permission section assigned by the control server 31. It has a function as a travel instruction processing device that performs processing.
- the driver of the manned vehicle 70 travels within the range of the permitted travel section assigned to the own vehicle, basically free travel is permitted, but the own vehicle is at the end of the permitted travel section. When approaching, it is required to stop reliably within the travel permitted section.
- 1st Embodiment of this invention shows the example which shows the upper limit speed
- the terminal-side control device 761 includes a remaining distance calculation unit 761a, an upper limit speed calculation unit 761b, a display control unit 761c, a request information processing unit 761d, and a terminal-side communication control unit 761e. Since the request information processing unit 761d and the terminal-side communication control unit 761e are the same as the configuration of the dump terminal device 26, a duplicate description is omitted.
- 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 transmitted to the control server 31 via the terminal-side communication control unit 761e.
- the terminal-side control device 761 has the same autonomous function as the dump terminal device 26 in addition to the above-described components.
- a travel control unit 261a is also provided.
- the remaining distance calculation unit 761a is based on the current position of the host vehicle calculated by the position calculation device 79 connected to the terminal-side control device 761 and the travel permission section assigned to the host vehicle by the control server 31.
- the distance D is calculated.
- the upper limit speed calculation unit 761b calculates the upper limit speed of the host vehicle in the travel permission section based on the travel permission remaining distance D calculated by the remaining distance calculation unit 761a.
- the upper limit speed calculation unit 761b for example, as shown in FIG. 10, the host vehicle travels from the current position N and is a target position (hereinafter referred to as the following) that is a predetermined margin distance d from the end of the travel permitted section S.
- an upper limit speed Vmax is calculated as a speed that can be stopped at a stop target position).
- the upper limit speed Vmax can be obtained using the following equation (3).
- fh braking force of manned vehicle
- Mh mass including load of manned vehicle
- the upper limit speed Vmax is obtained as a speed that can be stopped at the end of the travel permission section S.
- the upper limit speed calculation unit 761b may calculate the upper limit speed Vmax in consideration of a parameter that affects the braking distance of the host vehicle. Examples of such parameters include the gradient of the travel route 64 such as uphill or downhill, the ease of slipping on the road surface, and the like.
- the gradient of the travel route 64 can be calculated based on the height information of the travel route 64 obtained from the map information, and the slipperiness of the road surface can be calculated based on the weather and road surface state input by the driver using the terminal side input device 762. It can be calculated based on the information.
- the braking force fh of the manned vehicle 70 may be based on the braking force by the regenerative brake 771, for example.
- the upper limit speed Vmax of the host vehicle by the upper limit speed calculation unit 761b, it is possible to obtain a highly accurate calculation result of the upper limit speed Vmax by taking into account the parameter that affects the braking distance of the host vehicle. .
- the display control unit 761c causes the terminal side display device 763 connected to the terminal side control device 761 to output the upper limit speed Vmax calculated by the upper limit speed calculation unit 761b and the predetermined warning information corresponding to the upper limit speed Vmax. It functions as an information presentation unit that is presented to the driver.
- the display screen of the terminal side display device 763 regarding the upper limit speed Vmax has a current speed indicator 763 a indicating the current speed of the host vehicle, and the host vehicle is within the travel permitted section S.
- a speed suitable for traveling that is, an appropriate speed indicator 763b indicating the appropriate speed
- an upper limit speed indicator 763c indicating the upper limit speed Vmax for the current position N of the host vehicle in the travel permitted section S are displayed.
- the current speed indicator 763a is formed in a long needle shape and moves along an inner semicircular arc C1.
- the appropriate speed indicator 763b is formed in a white short needle shape
- the upper limit speed indicator 763c is formed in a black short needle shape.
- These appropriate speed indicator 763b and upper limit speed indicator 763c are formed in an outer semicircular arc C2. Move along. Further, the display screen of the terminal side display device 763 regarding the upper limit speed Vmax may be provided with a scale for the driver to grasp the speed corresponding to the position indicated by each indicator 763a to 763c as a numerical value.
- the display screen of the terminal side display device 763 relating to the warning information shows a DECELRATE light 763d that prompts the driver to decelerate when the speed of the host vehicle approaches the upper limit speed Vmax, and the speed of the host vehicle exceeds the upper limit speed Vmax.
- the BRAKE light 763e that prompts the driver to actively decelerate using the braking means such as the mechanical brake 772 and the host vehicle approach the end of the travel permission section S, and a new travel permission section S
- a STOP light 763f that prompts the driver to stop the vehicle and continue the standby state is displayed.
- the display control unit 761c rotates the current speed indicator 763a clockwise, as shown in FIG.
- the current speed indicator 763a is controlled to rotate counterclockwise.
- the display control unit 761c uses, for example, the maximum allowable speed of the travel permitted section S as the appropriate speed of the host vehicle, and performs control to rotate the appropriate speed indicator 763b to a position corresponding to the maximum allowable speed.
- the display control unit 761c turns on the DECELATE light 763d, and the speed of the host vehicle detected by the wheel speed sensor 782 is warned.
- the speed is less than Va, control is performed to turn off the DECELATE light 763d.
- the display control unit 761c turns on the BRAKE light 763e, and the speed of the host vehicle detected by the wheel speed sensor 782 is the upper limit speed Vmax. If it is less, the BRAKE light 763e is turned off.
- the display control unit 761c turns on the STOP light 763f when the travel permission remaining distance D calculated by the remaining distance calculation unit 761a is equal to or less than a predetermined threshold Ds (see FIG. 10), and the remaining distance calculation unit 761a When the calculated travel permission remaining distance D is greater than the threshold value Ds, control is performed to turn off the STOP light 763f. That is, the display control unit 761c presents stop information that prompts the host vehicle to stop by turning on the STOP light 763f.
- the threshold value Ds is set in advance to a distance from the end of the travel permission section S to a position set before the stop target position (hereinafter referred to as a target arrival determination distance for convenience). It is determined that the manned vehicle 70 has reached the vicinity of the stop target position when the travel permission remaining distance D becomes equal to or less than the target arrival determination distance Ds.
- the remaining distance calculation unit 761a, the upper limit speed calculation unit 761b, the display control unit 761c, the request information processing unit 761d, and the terminal-side communication control unit 761e provided in the manned vehicle terminal device 76 configured as described above have these functions. This is realized by executing a program to be realized by the terminal-side control device 761 (hardware) shown in FIG.
- the request information processing unit 761d of the terminal-side control device 761 in the manned vehicle terminal device 76 inputs the calculation result of the remaining distance calculation unit 761a of the terminal-side control device 761, and the travel permission calculated by the remaining distance calculation unit 761a. It is determined whether or not the remaining distance D is equal to or less than the travel permission request start distance Da ((step (hereinafter referred to as S) 1201)). At this time, when the request information processing unit 761d determines that the travel permission remaining distance D is greater than the travel permission request start distance Da (S1201 / NO), the request information processing unit 761d proceeds to the process of S1203 described later without updating the travel permission.
- the request information processing unit 761d determines that the travel permission remaining distance D is equal to or less than the travel permission request start distance Da (S1201 / YES)
- the request information processing unit 761d performs a section through the terminal side communication control unit 761e and the terminal side communication device 764.
- a new travel-permitted section S is acquired from the control server 31 and updated (S1202).
- the upper limit speed calculation unit 761b of the terminal side control device 761 inputs the calculation result of the remaining distance calculation unit 761a, and the travel permission remaining distance D calculated by the remaining distance calculation unit 761a is greater than the target arrival determination distance Ds. It is determined whether it is larger (S1203). At this time, if the upper limit speed calculation unit 761b determines that the travel permission remaining distance D is greater than the target arrival determination distance Ds (S1203 / YES), the upper limit speed calculation unit 761b determines the vehicle's own vehicle in the travel permission section S based on the travel permission remaining distance D. The upper limit speed Vmax is calculated (S1204), and the calculation result is output to the display control unit 761c of the terminal side control device 761.
- the display control unit 761c inputs the calculation result of the upper limit speed calculation unit 761b, and calculates a warning speed Va by subtracting the margin speed Vm from the upper limit speed Vmax calculated by the upper limit speed calculation unit 761b (S1205). . Then, the display control unit 761c inputs the detection result of the wheel speed sensor 782, and determines whether or not the speed V of the host vehicle detected by the wheel speed sensor 782 is less than the warning speed Va (S1206).
- the display control unit 761c determines that the speed V of the host vehicle is lower than the warning speed Va (S1206 / YES)
- the display control unit 761c turns off the DECELATE light 763d, the BRAKE light 763e, and the STOP light 763f, and then from S1201. This process is repeated.
- the display control unit 761c determines whether the speed V of the host vehicle is less than the upper limit speed Vmax ( S1207). At this time, when the display control unit 761c determines that the speed V of the host vehicle is less than the upper limit speed Vmax (S1207 / YES), the DECELATE light 763d is turned on (S1208), and the processing from S1201 is repeated.
- the driver of the manned vehicle 70 confirms the display screen of the terminal-side display device 763, and accelerates or decelerates the host vehicle according to whether the DECELATE light 763d is lit or not.
- the vehicle can be stopped without protruding from the travel permitted section S.
- the STOP light 763f is turned off, so that the driver displays the terminal side display.
- the host vehicle can be efficiently traveled within the travel permitted section S by accelerating or decelerating the host vehicle while confirming the indicators 763a to 763c displayed on the display screen of the device 763. Further, the driver can make the host vehicle stand by at an appropriate position until a new travel permission section S is acquired by stopping the host vehicle when the STOP light 763f is turned on. Then, when the host vehicle acquires a new travel permission section S, the STOP light 763f is turned off again, so that the driver can smoothly start the travel of the host vehicle.
- the traffic control system 1 and the manned vehicle terminal device 76 according to the first embodiment of the present invention configured as described above, after acquiring a new travel permission section S from the control server 31, The process of instructing the travel of the vehicle is performed by the manned vehicle terminal device 76. Therefore, even if a failure occurs in the communication environment such as the communication between the dump truck 20 and the manned vehicle 70 and the control server 31 is interrupted, the driver of the manned vehicle 70 displays each of the display screens of the terminal side display device 763. By confirming the indicators 763a to 763c and the lights 763d to 763f, the host vehicle can travel stably to the end of the travel permission section S. As described above, even if a failure occurs in the communication environment, interference between the dump truck 20 and the manned vehicle 70 can be suppressed and work efficiency can be improved.
- the upper limit speed Vmax represented by the upper limit speed indicator 763c displayed on the display screen of the terminal-side display device 763 is the end of the travel permitted section S when the host vehicle travels from the current position N. Therefore, the driver can adjust the speed of the host vehicle so that the current speed indicator 763a does not exceed the upper limit speed indicator 763c. It is possible to prevent the vehicle from protruding from within the travel permission section S.
- the manned vehicle terminal device 76A has a current speed on the display screen of the terminal side display device 763 related to the upper limit speed Vmax as shown in FIG.
- a speed display portion 763g that displays numerically the speed indicated by at least one of the indicator 763a, the appropriate speed indicator 763b, and the upper limit speed indicator 763c is displayed.
- the display control unit 761c1 displays the display of the speed display unit 763g according to the operation of the terminal side input device 762 by the driver of the manned vehicle 70, Control to switch to the speed selected by the driver among the speed and the upper limit speed Vmax is performed.
- the speed display portion 763g displays that the upper limit speed Vmax is 50 km / h.
- the other configurations of the second embodiment are the same as those of the first embodiment, and the same reference numerals are given to portions that overlap or correspond to those of the first embodiment, and redundant descriptions are omitted.
- the driver of the manned vehicle 70 can provide information on the speed of the own vehicle.
- information on the speed selected using the terminal side input device 762 is obtained from the speed display section 763g on the display screen of the terminal side display device 763.
- the case is clearly limited to a specific number in principle, etc. It is not limited to the specific number, and may be more or less than the specific number.
- the components (including processing operations and the like) included in the present embodiment are not necessarily essential, and may be omitted as appropriate unless otherwise specified or apparently essential in principle. is there.
- the manned vehicle terminal devices 76 and 76A use the indicators 763a to 763c and the lights 763d to 763f displayed on the display screen of the terminal-side display device 763 to provide the vehicle to the driver.
- the upper limit speed Vmax and the warning information are presented.
- the present invention is not limited to this case.
- the upper limit speed Vmax and the warning information can be output by distinguishing the upper limit speed Vmax and the warning information.
- the indicators 763a to 763c and the lights 763d to 763f may be combined.
- SYMBOLS 1 Traffic control system 20, 20-1, 20-2 ... Dump truck (unmanned vehicle), 30 ... Control center, 31 ... Control server (traffic control server), 40 ... Wireless communication line, 50-1, 50- 2, 50-3 ... Navigation satellite (position acquisition device), 64 ... Travel route 70 ... Manned vehicle, 71 ... Dump truck, 72 ... Service car, 76, 76A ... Manned vehicle terminal device (vehicle-mounted terminal device), 77 ... Vehicle Control device, 78 ... sensor device, 79 ... position calculation device (position acquisition device) 311 ... Server side control device, 311a ... Vehicle allocation management unit, 311b ... Travel permission section setting unit, 311c ...
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Abstract
Description
本発明の第1実施形態は、鉱山においてショベルやホイールローダ等の積込機が積込んだ土砂や鉱石等を搬送し、運転者が搭乗することなく自律走行するダンプトラック(無人車両に相当する)と、ドーザ、グレーダ、散水車、及びサービスカーのような運転者が搭乗して走行する有人車両(無人車両に運転者が搭乗する場合も含む)と、これらのダンプトラック及び有人車両が干渉するのを回避するための交通管制を行う交通管制サーバ(以下、便宜的に「管制サーバ」と略記する)とを無線通信回線で接続した交通管制システムに係り、特に有人車両に搭乗した運転者に対して自車両の走行の指示を与える点に特徴がある。以下、本発明の第1実施形態に係る交通管制システムについて、図面を参照しながら説明する。
但し m:マージン
但し cu:無人ダンプの停止可能距離を求めるために定められた係数
Mu:無人ダンプの積荷を含めた質量
Vu:無人ダンプの現在速度
fu:無人ダンプの制動力
但し fh:有人車両の制動力
Mh:有人車両の積荷を含めた質量
次に、本発明の第2実施形態に係る有人車両端末装置76Aの構成について、図13、図14を参照しながら詳細に説明する。
70…有人車両、71…ダンプトラック、72…サービスカー、76,76A…有人車両端末装置(車載端末装置)、77…車両制御装置、78…センサ装置、79…位置算出装置(位置取得装置)
311…サーバ側制御装置、311a…配車管理部、311b…走行許可区間設定部、311c…走行管制部、311d…サーバ側通信制御部、
761…端末側制御装置(走行指示処理装置)、761a…残存距離算出部、761b…上限速度算出部、761c,761c1…表示制御部(情報提示部)、761d…要求情報処理部、761e…端末側通信制御部、762…端末側入力装置、763…端末側表示装置(出力装置)、763a…現在速度インジケータ、763b…適正速度インジケータ、763c…上限速度インジケータ、763d…DECELERATEライト、763e…BRAKEライト、763f…STOPライト、763g…速度表示部、764…端末側通信装置、765…通信バス、766…端末側地図情報DB、771…回生ブレーキ、772…機械ブレーキ、773…ステアリング制御装置、774…加速制御装置、781…外界センサ、782…車輪速センサ
Claims (5)
- 鉱山内において自律走行する無人車両を含む車両同士の干渉を回避するための交通管制を行う交通管制サーバに無線通信回線を介して接続され、運転者が搭乗して走行する前記車両に搭載された車載端末装置であって、
前記交通管制サーバにより前記車両の走行経路の部分区間が前記車両の走行を許可する区間として割り当てられた走行許可区間に基づいて、前記運転者に対して自車両の走行を指示する処理を行う走行指示処理装置を備え、
前記走行指示処理装置は、
当該走行指示処理装置に接続された位置取得装置から取得した自車両の現在位置及び前記走行許可区間に基づいて、自車両の現在位置から前記走行許可区間の終端までの前記走行経路に沿う距離を示す走行許可残存距離を算出する残存距離算出部と、
前記残存距離算出部によって算出された前記走行許可残存距離に基づいて、前記走行許可区間における自車両の上限速度を算出する上限速度算出部と、
前記上限速度算出部によって算出された前記上限速度、及び当該上限速度に対応する所定の警告情報を、前記走行指示処理装置に接続された出力装置から出力させて前記運転者に提示する情報提示部とを含むことを特徴とする車載端末装置。 - 請求項1に記載の車載端末装置において、
前記情報提示部は、前記残存距離算出部によって算出された前記走行許可残存距離が所定の閾値以下であるとき、前記警告情報として自車両の停止を促す停止情報を提示することを特徴とする車載端末装置。 - 請求項1に記載の車載端末装置において、
前記上限速度算出部は、自車両が現在位置から走行して前記走行許可区間の終端から所定の距離だけ手前の目標位置で停止可能な速度として前記上限速度を算出することを特徴とする車載端末装置。 - 請求項1に記載の車載端末装置において、
前記上限速度算出部は、自車両の制動距離に影響を与えるパラメータを加味して前記上限速度を算出することを特徴とする車載端末装置。 - 鉱山内において自律走行する無人車両を含む車両同士の干渉を回避するための交通管制を行う交通管制サーバと、この交通管制サーバに無線通信回線を介して接続され、運転者が搭乗して走行する前記車両に搭載された車載端末装置とを備えた交通管制システムであって、
前記交通管制サーバは、前記車両の走行経路の部分区間を、前記車両の走行を許可する走行許可区間として設定する走行許可区間設定部を備え、
前記車載端末装置は、前記走行許可区間設定部によって設定された前記走行許可区間に基づいて、前記運転者に対して自車両の走行を指示する処理を行う走行指示処理装置を備え、
前記走行指示処理装置は、
当該走行指示処理装置に接続された位置取得装置から取得した自車両の現在位置及び前記走行許可区間に基づいて、自車両の現在位置から前記走行許可区間の終端までの前記走行経路に沿う距離を示す走行許可残存距離を算出する残存距離算出部と、
前記残存距離算出部によって算出された前記走行許可残存距離に基づいて、前記走行許可区間における自車両の上限速度を算出する上限速度算出部と、
前記上限速度算出部によって算出された前記上限速度、及び当該上限速度に対応する所定の警告情報を、前記走行指示処理装置に接続された出力装置から出力させて前記運転者に提示する情報提示部とを含むことを特徴とする交通管制システム。
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- 2016-01-12 AU AU2016230503A patent/AU2016230503A1/en not_active Abandoned
- 2016-01-12 WO PCT/JP2016/050740 patent/WO2016143369A1/ja active Application Filing
- 2016-01-12 US US15/509,216 patent/US10431083B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2003312475A (ja) * | 2002-04-18 | 2003-11-06 | Nippon Signal Co Ltd:The | Ats車上装置及びats装置 |
JP2007159309A (ja) * | 2005-12-07 | 2007-06-21 | National Traffic Safety & Environment Laboratory | 信号冒進警報装置および車載機 |
JP2007323675A (ja) * | 2007-08-27 | 2007-12-13 | Komatsu Ltd | 車両の走行管制装置 |
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JP2016170615A (ja) | 2016-09-23 |
JP6352841B2 (ja) | 2018-07-04 |
US20170278395A1 (en) | 2017-09-28 |
US10431083B2 (en) | 2019-10-01 |
AU2016230503A1 (en) | 2017-03-30 |
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