WO2017145314A1 - 移動体の制御方法、移動体及び移動体の制御システム - Google Patents
移動体の制御方法、移動体及び移動体の制御システム Download PDFInfo
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Definitions
- the present invention relates to a mobile object that moves autonomously.
- Patent Document 1 discloses a technique for calculating a travelable area based on distance measurement data and a map, and generating a travel route based on the map in the travelable area and the traveling direction.
- the autonomous traveling body can detect the surrounding environment correctly with a sensor or the like, and autonomous traveling can be performed when a traveling route can be set in the travelable area.
- the autonomous traveling body cannot determine the traveling route when the surrounding situation cannot be detected correctly and falls into a situation where the autonomous traveling cannot be continued. For example, in cases such as road construction, accidents, or disasters where autonomous traveling pairs cannot continue running unless they protrude from the center line, the autonomous traveling body generates a travel route ignoring traffic rules and other restrictions. There was a problem that autonomous driving was impossible because it was not possible.
- the present invention has been made in view of the above problems, and an object thereof is to provide an autonomous traveling body that can avoid being unable to travel due to road construction or the like.
- the present invention is a method for controlling a moving object having a processor, a memory, and a travel control unit, wherein the moving object detects position information and generates a surrounding map around the moving object from map information corresponding to the position information.
- autonomous driving can be continued even when the road environment is different from the normal time due to road construction or the like.
- 1 is a block diagram illustrating an example of an autonomous traveling vehicle according to a first embodiment of the present invention. It is a block diagram of a functional element which shows a 1st example of the present invention and shows an example of a run route calculation part. It is a surrounding map which shows the 1st Example of this invention and shows an example of the road under construction. It is a figure which shows the 1st Example of this invention and shows an example of the area information contained in map information. It is a figure which shows 1st Example of this invention and shows an example of general information among map information. It is a figure which shows 1st Example of this invention and shows an example of normal time travel area restriction
- FIG. 1 is a block diagram showing an example of an autonomous vehicle 100.
- An autonomous traveling vehicle (vehicle) 100 holds a sensor unit 110 that detects an environment around the vehicle, a GPS (Global Positioning System) 104 that detects position information of the vehicle, a CPU 101 that performs calculations, and programs and data. It includes a memory 102, a non-volatile storage device 103 that stores a map and the like, and a travel control unit 150 that controls the vehicle.
- GPS Global Positioning System
- the sensor unit 110 for example, a stereo camera 111 that monitors a predetermined direction with an image, an around view camera 112 that monitors the surroundings of the vehicle, a laser scanner 113 that detects a distance around the vehicle and measures a distance, And a millimeter wave radar 114 for detecting and measuring an object in a predetermined direction.
- the types of sensors are not limited to these, and any known or well-known sensor can be appropriately combined as long as it detects an object or measures a distance.
- a travel route calculation unit 200 that generates a travel route based on the environment detected by the sensor unit 110 and the position information detected by the GPS 104, and instructs the travel control unit 150 about the travel route and the target vehicle speed. And executed by the CPU 101. In this embodiment, it is assumed that the travel route calculation unit 200 commands a speed limit for the travel route as the target vehicle speed.
- the nonvolatile storage device 103 stores map information 160 and object information 170 and is referred to by the travel route calculation unit 200.
- the object information 170 stores travel route setting information for each type of detected object.
- the traveling control unit 150 includes an acceleration / deceleration unit 151 that controls the power source and the braking device to achieve the target vehicle speed, and a steering unit 152 that controls the steering device according to the traveling route.
- an acceleration / deceleration unit 151 that controls the power source and the braking device to achieve the target vehicle speed
- a steering unit 152 that controls the steering device according to the traveling route.
- a well-known or well-known technique can be used.
- FIG. 2 is a functional element block diagram illustrating an example of the travel route calculation unit 200.
- the travel route calculation unit 200 detects an object around the vehicle based on the sensor information from the sensor unit 110, calculates the position of the object and calculates the object detection information 215, and the GPS 104.
- Map information processing unit 220 for generating a map around the current location of the vehicle (hereinafter referred to as a peripheral map) based on the position information of the vehicle, object detection information 215 from the sensor information integration unit 210, and map information 160, and map information
- the travel area restriction information selection unit 230 that selects the restriction information 160 and the restriction information of the object information 170, and the restriction information selected by the travel area restriction information selection unit 230 are applied to the surrounding map to calculate the travel route and the target vehicle speed.
- a route generation unit 240 that performs the operation, and the travel control unit 150 instructs the travel control unit 150 to output the travel route and the target vehicle speed output by the route generation unit 240. Including the instruction generation unit 250.
- the sensor information integration unit 210 acquires sensor information from the sensor unit 110, detects an object (hereinafter referred to as an object) around the vehicle, specifies the type of the detected object, and determines a relative position and size from the vehicle. calculate. Then, the sensor information integration unit 210 holds the calculated object type and the position and size of the object in a predetermined area of the memory 102 as object detection information 215 (FIG. 6A).
- the map information processing unit 220 refers to the map information 160 from the position information detected by the GPS 104 and identifies the travel area in which the vehicle is traveling. And the map information processing part 220 acquires the general information which shows the road shape of the driving
- the vehicle surrounding map is a map in which information such as roads and buildings is drawn for a predetermined section (for example, 100 m or 60 seconds) from the reference position of the vehicle (for example, the center of the front end of the vehicle). It should be noted that the width (road width) direction of the surrounding map of the vehicle only needs to include at least the area from the travelable area to the travel prohibited area.
- the predetermined section is set by time, the surrounding map is generated at a distance corresponding to the vehicle speed of the autonomous vehicle 100. That is, the map information processing unit 220 generates a map having a predetermined section and a predetermined width as a peripheral map.
- the map information processing unit 220 draws the object of the object detection information 215 calculated by the sensor information integration unit 210 on the surrounding map, and generates a surrounding map including the surrounding environment of the vehicle.
- the travel area restriction information selection unit 230 first selects the normal travel area restriction information (FIG. 5B) of the map information 160 and the normal object restriction information (FIG. 6B) of the object information 170 and outputs them to the route generation unit 240. To do.
- the route generation unit 240 travels from the surrounding map generated by the map information processing unit 220 and the normal restriction information (normal travel area restriction information and normal object restriction information) selected by the travel area restriction information selection unit 230. Identify possible areas and prohibited areas.
- the travelable area includes a normal travelable area and a relaxed travelable area.
- the route generation unit 240 sets a target point in the travelable area as described later, and calculates a point that passes from the current vehicle position to the target point as temporary coordinates.
- the normal travel area restriction information and the normal object restriction information are referred to as normal restriction information.
- the route generation unit 240 calculates temporary coordinates at a predetermined interval from the current position to the target point in the surrounding map, and sets a line connecting the temporary coordinates as a travel route.
- the predetermined interval is a value set in advance by distance or time (distance according to the vehicle speed).
- the route generation unit 240 reads the speed limit from the map information 160 and sets it as the target vehicle speed, and outputs the travel route and the target vehicle speed to the travel execution command generation unit 250.
- the travel execution command generation unit 250 generates a command related to acceleration / deceleration and a command related to steering from the current travel state, the travel route, and the target vehicle speed, and outputs them to the travel control unit 150.
- the traveling control unit 150 controls the autonomous traveling vehicle 100 based on the received command.
- the travel area restriction information selection unit 230 relaxes the restriction information at the normal time.
- the restriction information at the time of relaxation is sequentially selected and output to the route generation unit 240.
- the travel area restriction information selection unit 230 sequentially selects the elements of the relaxation time travel area restriction information (FIG. 5C) and the elements of the relaxation time object restriction information (FIG. 6C), and the normal time travel area restriction information (FIG. 6). 5B) and normal time object restriction information (FIG. 6B) and output to the route generation unit 240.
- the route generation unit 240 calculates a travel route again with new restriction information (normal travel area restriction information and normal object restriction information) in which some (or all) restrictions are removed.
- new restriction information normal travel area restriction information and normal object restriction information
- relaxation restriction information are referred to as relaxation restriction information.
- the route generation unit 240 requests the travel area restriction information selection unit 230 to relax the restriction information again, and sets the travel route using the new normal restriction information. Recalculate.
- the travel area restriction information selection unit 230 selects the restriction information at the time of relaxation stepwise (partially or sequentially) and applies it to the restriction information at the normal time.
- the present invention is not limited to this, and the restriction information at the time of relaxation obtained by releasing all the restriction information at the normal time may be used.
- Each functional unit of the travel route calculation unit 200 is loaded into the memory 102 as a program.
- the CPU 101 operates as a functional unit that provides a predetermined function by performing processing according to a program of each functional unit.
- the CPU 101 functions as the travel route calculation unit 200 by performing processing according to the travel route calculation program.
- the CPU 101 also operates as a function unit that provides each function of a plurality of processes executed by each program.
- a computer and a computer system are an apparatus and a system including these functional units.
- Nonvolatile storage device 103 nonvolatile semiconductor memory
- hard disk drive SSD (Solid State Drive)
- IC card Secure Digital
- SD Computer-readable non-transitory data storage medium
- the map information 160 stored in the non-volatile storage device 103 includes area information 161 for specifying a travel area, general information 162 for storing road information for each travel area, and road information during normal times. It includes normal time travel area restriction information 163 for storing restriction information, and relaxation time travel area restriction information 164 for storing road restriction information at the time of relaxation.
- the road restriction information is obtained by setting in advance a travelable or prohibited travel area or boundary when setting a travel route.
- the object information 170 includes normal-time object restriction information 171 for storing restriction information about a normal-time object, and relaxation-time object restriction information 172 for storing restriction information about an object at the time of relaxation.
- the restriction information on the object is set in advance with restrictions such as a distance and a speed at which the autonomous vehicle 100 can approach when setting a travel route.
- FIG. 3 is a surrounding map 165 showing an example of a road under construction.
- the illustrated road 50 shows an example of left-hand traffic.
- the road 50 from the reference point 52 corresponding to the traveling area in which the autonomous traveling vehicle 100 is traveling to a predetermined section is shown, and is composed of one lane extending in the north-south direction.
- working area shows the partial area
- a center line 51C which is not allowed to protrude is set, and road outer lines 51L and 51R are set as boundaries at the boundary between the roadside zone and the roadway. Construction is being performed in the lane in which the autonomous vehicle 100 travels, and a person N1 and cones (or pylons) N2 to N6 are arranged on the lane.
- the reference point 52 of the surrounding map 165 is preset for each traveling area in which the autonomous vehicle 100 is traveling, and has coordinates including latitude and longitude.
- the coordinates of the reference point 52 can be included in the area information 161 although not shown. Further, an example in which the traveling route of the autonomous traveling vehicle 100 is set with reference to the vehicle tip center position 100C is shown.
- Map information and object information> 4 to 5C show detailed contents of the map information 160, and show area information 161, general information 162, normal travel area restriction information 163, and relaxation travel area restriction information 164.
- FIG. 1 A map information and object information> 4 to 5C show detailed contents of the map information 160, and show area information 161, general information 162, normal travel area restriction information 163, and relaxation travel area restriction information 164.
- FIG. 4 is a diagram illustrating an example of the area information 161 included in the map information 160.
- the area information 161 includes, in one entry, a GPS coordinate range 1611 that stores a range of position information detected by the GPS 104 and an area name 1612 that stores an identifier of a travel area that is a part in the map information 160.
- the area name 1612 is used by the travel route calculation unit 200 as a unit for reading a travel area map (general information) included in the map information 160.
- the travel route calculation unit 200 reads the map of area A.
- the area information 161 stores the coordinates of the reference point 52 for each area name 1612.
- FIG. 5A is a diagram illustrating an example of the general information 162 in the map information 160.
- area information 161 indicates general information 162 of area A.
- the general information 162 includes an ID 1621 for storing the identifier of the map component, a type 1622 for storing the type of the map component, and a starting point for storing the center position of the starting point of the component (relative position from the reference point 52).
- End position center position 1624 for storing the center position 1623, the center position of the end point of the component (relative position from the reference point 52), the width 1625 of the component, and the upper limit travel for storing the speed limit set for the component Speed 1626 is included in one entry.
- FIG. 5B is a diagram illustrating an example of the normal travel area restriction information 163 in the map information 160.
- the area information 161 indicates the normal travel area restriction information 163 of the area A.
- the normal travel area restriction information 163 stores an ID 1631 for storing an identifier of a map component, a travel direction 1632 for storing a traveling direction in the map component, and a distance to be separated from a boundary line adjacent to the component.
- One entry includes a travelable width 1633 from the adjacent boundary and a crossing permission / inhibition 1634 for setting whether or not to cross the component (boundary line).
- the traveling direction 1632 stores the traveling direction on the map component.
- the travelable width 1633 stores a distance that may approach the adjacent boundary.
- “permitted” is set when the vehicle can travel across the component (boundary line), and “impossible” is set when the vehicle cannot travel across the material.
- FIG. 5C is a diagram illustrating an example of the relaxed travel area restriction information 164 in the map information 160.
- area information 161 indicates area A relaxation time travel area restriction information 164.
- the mitigation travel area restriction information 164 stores an ID 1641 for storing an identifier of a map component, a travel direction 1642 for storing a traveling direction in the map component, and a distance to be separated from a boundary line adjacent to the component.
- One entry includes a travelable width 1643 from an adjacent boundary and a crossing permission / inhibition 1644 for setting whether or not the boundary line can be crossed.
- the traveling direction 1642 stores the traveling direction on the map components.
- the travelable width 1643 stores a distance that may approach the adjacent boundary.
- “permitted” is set when the vehicle can travel across the component (boundary line), and “impossible” is set when the vehicle cannot travel across the material.
- FIG. 5D is an example of the surrounding map 165 generated by the travel route calculation unit 200 from the general information 162 of the map information 160.
- the map information processing unit 220 of the travel route calculation unit 200 sets the center line 51C of the road 50 from the general information 162 of the map information 160 of the area A as the boundary line M6, and the roadway outer lines 51L and 51R as the boundary lines M5 and M7.
- the area where the autonomous vehicle 100 is traveling is set as the road M1, the opposite lane is set as the road M2, the outside of the boundary line M5 is set as the shoulder M3, and the outside of the boundary line M7 is set as the road shoulder M4.
- the upper limit traveling speed 1626 is set in each area of the road 50 by the general information 162, it can be set as the target vehicle speed of the autonomous traveling vehicle 100 if the traveling route is determined.
- FIG. 6A is a diagram illustrating an example of the object detection information 215 detected by the travel route calculation unit 200.
- the object detection information 215 includes an ID 2151 for storing the identifier of the object, a type 2152 for storing the type of the object, a center position 2153 for storing the relative position of the object, and an object size 2154 in one entry.
- the center position 2153 is configured by the distance and direction from the vehicle front end center position 100C of the autonomous traveling vehicle 100 to the center of the object.
- the size 2154 stores dimensions in the order of width, depth, and height.
- FIG. 6B is a diagram illustrating an example of the normal time object restriction information 171 in the object information 170.
- the normal object restriction information 171 is set in advance according to the type of object.
- the normal time object restriction information 171 includes, in one entry, an ID 1711 for storing an identifier of the object and an access prohibition range 1712 for storing a range in which the autonomous vehicle 100 is prohibited from approaching the object.
- an approach prohibition range 1712 a distance that the autonomous vehicle 100 should not approach from the side surface of the object is set.
- FIG. 6C is a diagram showing an example of the relaxed object restriction information 172 in the object information 170.
- the relaxed object restriction information 172 is preset according to the type of object.
- the relaxed object restriction information 172 includes, in one entry, an ID 1721 that stores an object identifier and an access prohibition range 1722 that stores a range in which the autonomous vehicle 100 is prohibited from approaching the object.
- 6D is a map in which the map information processing unit 220 of the travel route calculation unit 200 adds the object detection information 215 generated by the sensor information integration unit 210 to the surrounding map 165.
- the map information processing unit 220 of the travel route calculation unit 200 shows an example in which each element of the object detection information 215 generated by the sensor information integration unit 210 is added to the surrounding map 165.
- the travel route calculation unit 200 adds an object to the surrounding map 165 based on the relative distance and direction from the vehicle front end center position 100C to the center of the object.
- a person N1 and cones N2 to N6 are added to the road 50 on the road M1 in front of the autonomous vehicle 100 shown in FIG.
- FIG. 7 is a flowchart illustrating an example of processing performed by the travel route calculation unit 200. This process is executed at a predetermined timing.
- the travel route calculation unit 200 acquires the general information 162 from the map information 160 based on the position information acquired from the GPS 104, and generates a surrounding map 165 of the travel area where the vehicle is traveling.
- the map information processing unit 220 refers to the area information 161 of the map information 160 from the position information detected by the GPS 104, and identifies the travel area (area name 1612) in which the vehicle is traveling. Then, the map information processing unit 220 acquires general information 162 indicating the road shape of the travel area specified by the area information 161, and generates a surrounding map 165 of the vehicle from the reference point of the travelable area to a predetermined section. To do.
- step S2 the travel route calculation unit 200 detects an object based on the sensor information acquired from the sensor unit 110, and adds the object to the surrounding map 165.
- the sensor information integration unit 210 acquires sensor information from the sensor unit 110 to detect objects around the vehicle, specifies the type of the detected object, and performs relative detection from the vehicle.
- the position and size are calculated as object detection information 215 (non-map information), and are drawn on the map information processing unit 220.
- the sensor information integration unit 210 is not limited to the detection of objects (objects) around the vehicle, and may detect environmental information around the vehicle such as road surface conditions and weather conditions as non-map information. .
- step S3 the travel route calculation unit 200 determines the surrounding map based on the surrounding map 165, the normal restriction information (the normal traveling area restriction information 163 and the normal object restriction information 171), and the traveling direction of the vehicle.
- the travel prohibition area of 165 is calculated and set in the surrounding map 165.
- step S4 the travel route calculation unit 200 sets an area excluding the travel prohibited area set in the surrounding map 165 as a travelable area in the surrounding map 165. As a result, the travel area in which the vehicle is traveling is set as a surrounding map 165 shown in FIG. 9A.
- FIG. 9A is a map showing an example of a travel area calculated by the travel route calculation unit 200 by applying the normal restriction information (first restriction information).
- the road M1 from the center line 51C (M6) to the road outer line 51L and a part of the shoulder M3 on the left side of the road outer line 51L are set as a normal travelable area 60, and other areas are travel prohibited areas. 70 is set.
- the normal travelable area 60 is also set in a part of the shoulder M3. This is because the travelable width 1633 from the adjacent boundary of the normal travel area restriction information 163 is set to “0.3M”. Therefore, the left side of the roadway outer line 51L can travel to “0.3M”.
- the person N1 and the cones N2 to N6 on the road M1 have an area where the access prohibition range 1712 of the normal object restriction information 171 in FIG. 6B is added to the size 2154 of the object detection information 215 in FIG. 6A. 70 is set.
- step S5 the route generation unit 240 of the travel route calculation unit 200 calculates a travel route within the travel area, and sets temporary coordinates on the surrounding map 165. This process will be described in detail with reference to FIG.
- step S6 the travel route calculation unit 200 determines whether or not the travel route is successfully set in the travelable area. This determination is determined to be successful if provisional coordinates are set from the current point to a target point (described later) set in the travelable area, and otherwise determined to be unsuccessful. If it is determined to be successful, the process ends. If it is determined to be unsuccessful, the process proceeds to step S7.
- step S ⁇ b> 7 the travel route calculation unit 200 calculates the travel route by applying all of the restriction information during relaxation (the travel area restriction information 164 during relaxation and the object restriction information 172 during relaxation) to the normal restriction information. Determine whether or not.
- the travel area restriction information selection unit 230 of the travel route calculation unit 200 selects the restriction information at the time of relaxation (second restriction information) stepwise and applies it to the restriction information at the normal time.
- second restriction information An example of recalculating the travel route will be shown.
- the travel route calculation unit 200 selects an element of the relaxed travel area restriction information 164 and applies it to the normal travel area restriction information 163, and selects an element of the relaxed object limit information 172 to select the normal time object. This is applied to the restriction information 171.
- the travel area restriction information selection unit 230 selects the restriction information at the time of mitigation of the currently running area and applies it to the restriction information at the normal time. Next time, the mitigation of the area adjacent to the currently running area is performed. Select time limit information and apply it to normal time limit information.
- the travel area restriction information selection unit 230 selects the relaxed travel area restriction information 164 of the boundary line M6 adjacent to the currently traveling road M1 and applies it to the normal travel area restriction information 163.
- the ID 1631 M6 of the normal travel area restriction information 163 is relaxed so that the crossing permission / prohibition 1634 is “impossible” or “possible”.
- the road M2 on the opposite lane is the travel-prohibited area 70, it is impossible to avoid the area under construction.
- the travel area restriction information selection unit 230 selects the relaxed travel area restriction information 164 of the road M2 adjacent to the previously selected boundary line M6 and applies it to the normal travel area restriction information 163.
- the ID 1631 M2 of the normal travel area restriction information 163 indicates that the travel direction is bidirectional from “north to south” and “south to north”. As a result, the vehicle can travel on the road M2 in the opposite lane across the center line 51C, and an area under construction can be avoided.
- the order in which the travel area restriction information selection unit 230 selects the elements of the relaxed travel area restriction information 164 is not limited to sequentially selecting the elements adjacent to the current travel area, but round robin or random A known or well-known method may be employed.
- the traveling area restriction information selection unit 230 may select the elements of the relaxation object restriction information 172 in order in the same manner for the object restriction information 171 and apply them to the normal object restriction information 171 in the same manner.
- step S9 the travel route calculation unit 200 recalculates the travel prohibited area 70 based on the normal restriction information relaxed in step S8.
- the travel route calculation unit 200 outputs the travel route calculation result to the travel control unit 150 in the travelable area.
- the travel route calculation unit 200 searches for a route that avoids the fault by the travel route calculation unit 200 applying the restriction information at the time of relaxation to the restriction information at the normal time. be able to.
- the travel route calculation unit 200 calculates the optimal travel route while complying with the regulations set on the road 50 by selecting the restriction information at the time of relaxation and applying it to the restriction information at the normal time step by step. Can do.
- FIG. 9B is a map showing an example of a travel area calculated by the travel route calculation unit 200 by applying the restriction information at the time of relaxation to the restriction information at the normal time.
- the travel route calculation unit 200 has changed some travel prohibited areas 70 of the road M2 on the opposite lane to the relaxable travelable area 65. Is.
- the travel route calculation unit 200 applies the restriction information at the time of relaxation to the normal restriction information, and the vehicle can travel. Enlarge the area.
- the travel area restriction information selection unit 230 applies the restriction information at the time of relaxation to the restriction information at the normal time as described above. Thus, the travelable area of the autonomous vehicle 100 is expanded.
- the travel route calculation unit 200 sets the road M2 that was the travel prohibition area 70 as a travelable area 65 during relaxation that can travel in the section from the vehicle front end center position 100C to the target point Pg.
- the relaxable travelable area 65 indicates that the originally prohibited travel area has been changed to a temporarily travelable area.
- FIG. 8 is a flowchart showing an example of processing of the route generation unit 240 performed by the travel route calculation unit 200 in step S5 of FIG.
- the travel route calculation unit 200 sets a target point Pg for generating a travel route at a predetermined position in the travel area.
- the travel route calculation unit 200 sets the vehicle tip center position 100C, which is the current vehicle position, as the starting point (starting point) of the temporary coordinates Pn generated as the travel route. Note that n is a natural number.
- the setting of the target point Pg is, for example, coordinates that are scheduled to pass in a predetermined distance (for example, 100 m) or a predetermined time (for example, 10 seconds) in the same area as the currently traveling area (road M1).
- a predetermined distance for example, 100 m
- a predetermined time for example, 10 seconds
- the coordinate of the width direction of the target point Pg be the center of the area
- the target information Pg may be set by selecting the restriction information at the time of relaxation and applying it to the restriction information at the normal time.
- step S11 the travel route calculation unit 200 determines whether or not the generated temporary coordinate Pn has reached the target point Pg. If the generated temporary coordinate Pn is closer to the vehicle tip center position 100C than the target point Pg, the travel route calculation unit 200 determines that the calculation of the temporary coordinate Pn up to the target point Pg is not complete, and step S12 Proceed to the process.
- the travel route calculation unit 200 determines that the calculation of the temporary coordinate Pn up to the target point Pg has been completed, and proceeds to step S16. The completion of the travel route to the point Pg is determined and the process is terminated.
- step S12 the travel route calculation unit 200 determines whether or not the calculated temporary coordinate Pn is within the normal travelable area 60. If the calculated temporary coordinate Pn is within the normal travelable area, the process proceeds to step S13, and if not, the process proceeds to step S17.
- step S13 it is determined whether or not the travel route calculation unit 200 can generate the next temporary coordinate Pn + 1 in the normal travelable area 60 that has moved by the predetermined distance Xcm (or the predetermined time Y seconds) in the direction of the target point Pg. judge.
- the travel route calculation unit 200 proceeds to step S19 if the next temporary coordinate Pn + 1 obtained by adding the predetermined distance Xcm to the current temporary coordinate Pn can be set in the normal travelable area 60; otherwise, the process proceeds to step S19. Proceed to S14.
- step S14 the travel route calculation unit 200 moves by a predetermined distance Xcm (or a predetermined time Y seconds) in the direction of the target point Pg using the relaxable travelable area 65 instead of the normal travelable area 60. It is determined whether or not the next temporary coordinate Pn + 1 can be generated at the position.
- the travel route calculation unit 200 proceeds to step S19 if the next temporary coordinate Pn + 1 can be generated in the relaxable travelable area 65, and proceeds to step S15 otherwise. In step S15, it is determined that the travel route calculation unit 200 has failed to generate a travel route, and the process ends.
- step S7 in the case where the temporary coordinate Pn is not the normal travelable area 60 in the determination of step S12, the travel route calculation unit 200 has a predetermined distance Xcm (or predetermined time Y seconds) in the direction of the target point Pg. It is determined whether or not it is possible to generate the next temporary coordinate Pn + 1 in the normal travelable area 60 that has moved only by this amount.
- the travel route calculation unit 200 proceeds to step S19 if the next temporary coordinate Pn + 1 can be generated in the normal travelable area 60, and proceeds to step S18 otherwise.
- step S18 in the case where the temporary coordinates Pn + 1 cannot be set in the normal travelable area 60 in the determination of step S17, the travel route calculation unit 200 has a predetermined distance Xcm (or predetermined time Y seconds) in the direction of the target point Pg. It is determined whether or not the next temporary coordinate Pn + 1 can be generated in the relaxed travelable area 65 that has moved only by this distance.
- the travel route calculation unit 200 proceeds to step S19 if the next provisional coordinate Pn + 1 can be generated in the travelable area 65 during relaxation, and proceeds to step S15 otherwise. In step S15, it is determined that the travel route calculation unit 200 has failed to generate a travel route, and the process ends.
- step S19 executed after the determinations in steps S13, S14, S17, and S18, the travel route calculation unit 200 calculates the next temporary coordinate Pn + 1 and updates it as the end point of the travel route. That is, when the transition is made from the above steps S13 and S17, the travel route calculation unit 200 moves from the temporary coordinate Pn, which is the end point of the previous travel route, by the predetermined distance Xcm in the direction of the target point Pg. Next, the next temporary coordinate Pn + 1 is calculated and set as the end point of the travel route.
- the travel route calculation unit 200 travels by a predetermined distance Xcm from the temporary coordinate Pn, which is the end point of the previous travel route, in the direction of the target point Pg by a predetermined distance Xcm.
- the next temporary coordinate Pn + 1 is calculated and set as the end point of the travel route.
- the temporary coordinate Pn + 1 moved by the predetermined distance Xcm from the previously calculated temporary coordinate Pn toward the target point Pg is generated on the travelable area (the normal travelable area 60 or the relaxed travelable area 65).
- the autonomous vehicle 100 can be controlled while avoiding obstacles on the road 50.
- what is necessary is just to repeat the process of FIG. 7 whenever it drive
- FIG. 10A is a map showing a travel route calculated by the travel route calculation unit 200 by applying a restriction during normal times.
- FIG. 10A shows the result of the travel route calculation unit 200 calculating the travel route using only the restriction information at the normal time in the travel area shown in FIG. 9A.
- the travel route calculation unit 200 generates temporary coordinates Pn from the road shoulder M3 side to the target point Pg and sets the travel route.
- the travel route calculation unit 200 cannot generate the temporary coordinate Pn + 1. Route generation fails.
- FIG. 10B is a map showing a travel route calculated by the travel route calculation unit 200 by applying restrictions during relaxation.
- FIG. 10B shows a result of calculating a travel route by the travel route calculation unit 200 applying the restriction information at the time of relaxation to the restriction information at the normal time in the travel area shown in FIG. 9B.
- the travel route calculation unit 200 generates temporary coordinates P6 to P20 from the road M2 in the opposite lane to the target point Pg and sets the travel route.
- the travel route calculation unit 200 can travel in the original normal travelable area 60 after the temporary coordinate P20 in the opposite lane (steps S17 and S19).
- a temporary coordinate Pn is set in the normal travelable area 60 to set a travel route that reaches the target point Pg.
- the sensor information integration unit 210 detects an object in front of the vehicle as the object detection information 215.
- the present invention is not limited to this, and the sensor information integration unit 210
- the surrounding environment information can be detected as non-map information.
- road surface conditions, weather conditions, and the like can be added as non-map information in addition to the above objects.
- the sensor information integration unit 210 detects the road surface condition as an object.
- restriction information corresponding to the road surface condition is set, and a travel route may be calculated.
- the travel route calculation unit 200 calculates the travel route using the restriction information corresponding to the road surface condition. can do.
- the GPS 104 is used as the position information detection device for detecting the position information (coordinates) of the own vehicle.
- a quasi-zenith satellite system or an inertial navigation device may be used.
- Example 2 of the present invention when a temporary travel prohibition area is set at a construction site or an accident location on the road 50, the travel area mitigation information distribution device 80 is installed to ease restrictions on the autonomous vehicle 100. Is to be notified.
- FIG. 11 is a surrounding map 165 showing an example of the road 50 under construction.
- a traveling area mitigation information distribution device 80 is installed in addition to the construction site composed of objects of people N1 and cones N2 to N6, as in the first embodiment.
- Information traveling area relaxation information
- Information that relaxes area restrictions is provided by wireless communication.
- FIG. 12 is a block diagram illustrating an example of the autonomous vehicle 100.
- a communication unit 260 and a travel area mitigation information receiving unit 270 are added to the configuration of the first embodiment, and other configurations are the same as those of the first embodiment.
- the communication unit 260 communicates with the travel area mitigation information distribution device 80 on the road 50 by radio, and the travel area mitigation information reception unit 270 receives the travel area mitigation information.
- the travel area mitigation information receiving unit 270 outputs the travel area mitigation information received from the travel area mitigation information distribution device 80 to the travel area restriction information selection unit 230.
- the travel area restriction information selection unit 230 applies the received travel area mitigation information to the normal travel area restriction information 163 to generate a travel route. .
- the travel route generation process will be described later.
- FIG. 13 is a block diagram showing an example of the travel area mitigation information distribution device 80.
- the travel area mitigation information distribution device 80 includes a CPU 81 that performs calculations, a memory 82 that stores programs and data, a non-volatile storage device 83 that stores programs and data, and position information of the travel area mitigation information distribution device 80.
- GPS 84 to detect and the communication part 85 which transmits driving
- the distribution program 86 is loaded into the memory 82 and executed by the CPU 81.
- the distribution program 86 transmits the location information of the travel area mitigation information delivery device 80 and the travel area mitigation information for mitigating normal restriction information at a predetermined cycle.
- the center line 51C (boundary line M6) can be straddled, and the travel direction of the road M2 is bidirectional from south to north in addition to north to south. It contains information on sections that are relaxed and where restrictions are relaxed.
- FIG. 14 is a flowchart illustrating an example of processing performed by the travel route calculation unit 200.
- the process of FIG. 14 is obtained by adding the processes of steps S21 and S22 to the process shown in FIG. 7 of the first embodiment, and the other processes are the same as those of FIG. 7 of the first embodiment.
- Steps S7 to S9 in which the setting of the travel route has failed due to an obstacle on the road 50 or the like, if all of the restriction information at the time of relaxation is not applied, the travel route calculation unit 200 proceeds to Step S21 and travel area relaxation information
- the receiving unit 270 receives the travel area mitigation information in the travel area of the host vehicle, and determines whether or not the travel route is included in the applicable section of the travel area mitigation information.
- step S22 if the travel area mitigation information in the travel area of the host vehicle is received and the travel route is included in the applicable section of the travel area mitigation information, the travel route calculation unit 200 performs the travel area mitigation.
- the information is applied to the normal travel area restriction information 163, and the travel prohibition area 70 in the travel area is calculated again.
- the travel route calculation unit 200 receives the travel area mitigation information in advance and enters the application area of the travel area mitigation information. Then, the travel route that avoids the obstacle can be calculated smoothly by using the normal travel area restriction information 163 and the travel area relaxation information.
- the received travel area relaxation information may be applied to the normal restriction information as it is without selecting the restriction information at the time of relaxation and applying it to the normal restriction information. It is possible to quickly calculate the travel route that avoids the obstacle.
- FIG. 15 is a block diagram illustrating an example of a computer system that manages the autonomous vehicle 100.
- the autonomous traveling vehicle 100 is connected to the autonomous traveling support server 300 via the network 400 and the traveling route calculated by the autonomous traveling vehicle 100 is determined by the autonomous traveling support server 300. Indicates.
- FIG. 16 is a block diagram illustrating an example of the autonomous vehicle 100.
- a communication unit 260 In the autonomous vehicle 100, a communication unit 260, a travel route related information transmission unit 280, and a travel availability notification reception unit 290 are added to the configuration of the first embodiment.
- Other configurations are the same as those of the first embodiment. It is the same.
- the communication unit 260 communicates with the autonomous driving support server 300 via the network 400.
- the travel route related information transmission unit 280 transmits the travel route calculated by the route generation unit 240 and the restriction information at the time of relaxation selected by the travel area restriction information selection unit 230 to the autonomous travel support server 300.
- the travel permission / notification receiving unit 290 instructs the travel execution command generation unit 250 on the travel route specified by the autonomous travel support server 300 and executes the travel.
- the autonomous travel support server 300 when the autonomous travel support server 300 generates a travel route using the restriction information at the time of relaxation, that is, when there is some obstacle on the road 50, the autonomous travel support server 300 determines the travel route.
- a travel route to be selected and executed by the autonomous vehicle 100 is commanded. For example, when a plurality of travel routes are calculated in order to avoid obstacles in the autonomous vehicle 100, the optimum travel route can be determined on the autonomous travel support server 300 side.
- one or more traveling routes are calculated by applying a plurality of restriction information at the time of relaxation, and transmitted to the autonomous traveling support server 300. For this reason, when the restriction information at the time of relaxation is used, if the travel route calculation unit 200 succeeds in setting the travel route in the determination of step S6 shown in FIG. It is assumed that the process is repeated until the route is transmitted and all the restriction information at the time of relaxation is used.
- FIG. 17 is a block diagram illustrating an example of the autonomous traveling support server 300.
- the autonomous traveling support server 300 communicates with the autonomous traveling vehicle 100 through the network 400, a memory 302 that stores programs and data, a non-volatile storage device 303 that stores programs and data, and a network 400.
- the computer includes a unit 304, an output device 305 that outputs a calculation result, and an input device 306 that receives an input from an operator.
- the memory 302 includes a travel route related information receiving unit 310 that receives the travel route transmitted by the autonomous vehicle 100 and restriction information during relaxation, and an interface (Human Machine Interface) 320 that controls the input device 306 and the output device 305. , A traveling propriety notification transmitting unit 330 that transmits a command received from the input device 306.
- the interface 320 includes a travel route related information display unit 321 that displays the travel route received from the autonomous vehicle 100 and the restriction information at the time of relaxation on the output device 305, and an instruction from the operator of the autonomous travel support server 300 via the input device 306. And a travel availability notification input unit 322 that receives a travel command.
- the travel route related information receiving unit 310, the interface 320, and the travel availability notification transmitting unit 330 function as a command unit that outputs commands to the autonomous vehicle 100.
- the travel route generated from the autonomous vehicle 100 using the restriction information at the time of relaxation is displayed on the output device 305.
- the operator of the autonomous travel support server 300 selects one travel route and commands execution of travel. Further, when there is only one traveling route, a command is given to determine whether traveling is possible.
- the operator of the autonomous traveling support server 300 can determine whether the traveling route is selected or whether traveling is possible. Thereby, even when an unexpected failure occurs, the autonomous traveling vehicle 100 can be controlled.
- the travel route calculation unit 200 transmits to the autonomous travel support server 300 a travel route calculated by applying the restriction information at the time of relaxation to the restriction information at the normal time and a request for determining whether or not the travel route can be used.
- the travel support server 300 may determine whether the travel route can be used and may instruct the autonomous traveling vehicle 100.
- the travel route calculation unit 200 of the autonomous vehicle 100 receives the calculated availability of the travel route, and outputs the travel route to the travel control unit 150 if the travel route is usable.
- the present invention is applied to the autonomous vehicle 100.
- the present invention may be applied to a semi-autonomous vehicle.
- the semi-autonomous vehicle is the same as the autonomous vehicle 100 when the restriction information at the normal time is applied, but when the restriction information at the time of relaxation is used, the autonomous driving support server 300 selects the driving route or travels. Inquires whether or not The semi-autonomous traveling vehicle travels based on a response from the autonomous traveling support server 300.
- the autonomous vehicle 100 according to the fourth embodiment travels by calculating a travel route based on normal restriction information. If the autonomous vehicle 100 cannot calculate the travel route with the restriction information at the normal time, the restriction information at the time of relaxation is obtained from the autonomous driving support server 300 connected via the network 400 as in the third embodiment. Receive and calculate the travel route to continue traveling.
- FIG. 18 is a block diagram illustrating an example of the autonomous vehicle 100.
- a communication unit 260, a travel area mitigation information reception unit 270, and a vehicle information transmission unit 295 are added to the configuration of the first embodiment, and the restriction information at the time of mitigation is obtained from the surrounding map 165 and the object information 170.
- the other configurations are the same as those of the first embodiment.
- the communication unit 260 communicates with the autonomous traveling support server 300 via the network 400 as in the third embodiment.
- the vehicle information transmission unit 295 transmits the surrounding map 165, the normal restriction information, the sensor information, and the object detection information 215 to the autonomous travel support server 300, and at the time of relaxation Request restriction information.
- the travel area mitigation information receiving unit 270 outputs the mitigation restriction information received from the autonomous travel support server 300 to the travel area restriction information selection unit 230.
- the travel area restriction information selection unit 230 selects the received restriction information at the time of relaxation, and the route generation unit 240 generates a travel route with the selected restriction information at the time of relaxation.
- FIG. 19 is a block diagram showing an example of the autonomous driving support server 300.
- the autonomous traveling support server 300 includes a CPU 301, a memory 302, a nonvolatile storage device 303, a communication unit 304, an output device 305, and an input device 306.
- the memory 302 includes a vehicle information reception unit 311 that receives vehicle information (the surrounding map 165, restriction information, sensor information, and object detection information 215) transmitted by the autonomous vehicle 100, an input device 306, and an output device 305. And a travel area mitigation information transmission unit 331 that transmits the mitigation restriction information received from the input device 306.
- the interface 325 includes a vehicle information display unit 3251 that displays the surrounding map 165 received from the autonomous traveling vehicle 100, restriction information, sensor information, and object detection information 215 during normal operation on the output device 305, and an operator of the autonomous traveling support server 300.
- a travel area mitigation information input unit 3252 that accepts mitigation restriction information input or selected via the input device 306.
- the map information 160 transmitted from the autonomous vehicle 100, the normal restriction information, the sensor information, and the object detection information 215 are displayed on the output device 305.
- the operator of the autonomous traveling support server 300 selects or inputs restriction information at the time of relaxation appropriate for these vehicle information.
- the operator of the autonomous traveling support server 300 can select the restriction information at the time of relaxation. Thereby, even when an unexpected failure occurs, the autonomous traveling vehicle 100 can be controlled.
- vehicle information receiving unit 311, the interface 325, and the travel area mitigation information transmission unit 331 function as a command unit that outputs a command to the autonomous vehicle 100.
- FIG. 20 is a block diagram illustrating an example of a computer system that manages the autonomous vehicles 100 and 100-n.
- the autonomous vehicle 100 uses the restriction information at the time of relaxation to generate a travel route
- the restriction information at the time of relaxation used the position information using the restriction information at the time of relaxation, and the travel route. Is transmitted to the autonomous driving support server 300.
- the autonomous traveling support server 300 uses the restriction at the time of relaxation used by the autonomous traveling vehicle 100 to the other autonomous traveling vehicle 100-n scheduled to travel the position information using the restriction information at the time of relaxation by the autonomous traveling vehicle 100. Information, position information and travel route are transmitted.
- Other autonomous vehicles 100-n can set a travel route using the travel route of the autonomous vehicle 100 and restriction information at the time of relaxation.
- FIG. 21 is a block diagram showing an example of the autonomous driving support server 300.
- the autonomous traveling support server 300 includes a CPU 301, a memory 302, a nonvolatile storage device 303, a communication unit 304, an output device 305, and an input device 306.
- the restriction information, the travel route, and the position information at the time of relaxation transmitted from the autonomous vehicle 100 are stored in the travel restriction relaxation information database 345 of the nonvolatile storage device 303, and relaxed to the other autonomous vehicles 100-n. It includes a vehicle information management unit 340 that transmits time restriction information, travel route, and position information.
- the vehicle information management unit 340 functions as a command unit that outputs a command to the autonomous vehicle 100.
- the position information includes the start point at which the restriction information at the time of relaxation is started and the coordinates of the end point at which the use of the restriction information at the time of relaxation (position information of the GPS 104) is included.
- the autonomous vehicle 100 includes a vehicle information transmission unit 295 and a travel area mitigation information reception unit 270 as in the fourth embodiment.
- the travel area mitigation information receiving unit 270 outputs the travel route and position information received from the autonomous travel support server 300 to the route generation unit 240.
- the autonomous traveling vehicle 100-n notifies the autonomous traveling support server 300 of the traveling area in which the vehicle is traveling at a predetermined timing (for example, every time the traveling area is switched).
- the vehicle information management unit 340 of the autonomous travel support server 300 includes the travel route of the autonomous vehicle 100 from the travel restriction mitigation information database 345 if the restriction information at the time of relaxation exists in the same travel area and the planned travel position information.
- the position information and relaxation restriction information are read out and transmitted to the autonomous vehicle 100-n.
- information such as the travel route of the autonomous traveling vehicle 100 that has avoided the obstacle using the restriction information at the time of relaxation is managed by the autonomous traveling support server 300, and the other autonomous traveling vehicle 100-n is managed. By providing to, it is possible to reduce the calculation load of the other autonomous traveling vehicle 100-n.
- FIG. 22 is a block diagram illustrating an example of a computer system that manages the autonomous vehicle 100.
- the autonomous traveling vehicle 100 acquires sensor information and position information and transmits them to the autonomous traveling support server 300.
- the autonomous traveling support server 300 calculates an traveling route by detecting an object from the received sensor information and position information, and transmits the traveling route to the autonomous traveling vehicle 100.
- the autonomous vehicle 100 travels on the travel route calculated by the autonomous travel support server 300.
- the function of the travel route calculation unit 200 shown in the first embodiment is transferred to the autonomous travel support server 300.
- FIG. 23 is a block diagram illustrating an example of the autonomous vehicle 100.
- the autonomous traveling vehicle 100 of the sixth embodiment is obtained by replacing the traveling route calculation unit 200 of the first embodiment with a traveling route calculation unit 200A, and other configurations are the same as those of the first embodiment.
- the travel route calculation unit 200A transmits the position information from the GPS 104 and the sensor information detected by the sensor unit 110 to the autonomous travel support server 300 via the communication unit 260, and the communication unit 260.
- the route information receiving unit 245 outputs the travel route and target vehicle speed from the autonomous travel support server 300 to the travel execution command generation unit (output unit) 250.
- the autonomous traveling vehicle 100 After collecting the sensor information and the position information, the autonomous traveling vehicle 100 according to the sixth embodiment causes the autonomous traveling support server 300 to calculate the traveling route, and receives the traveling execution command corresponding to the traveling route of the calculation result.
- the travel control unit 150 is commanded.
- FIG. 24 is a block diagram showing an example of the autonomous driving support server 300.
- the autonomous traveling support server 300 includes a CPU 301, a memory 302, a nonvolatile storage device 303, a communication unit 304, an output device 305, and an input device 306.
- the memory 302 includes a travel route calculation unit 500 that calculates a travel route from sensor information and position information transmitted by the autonomous vehicle 100.
- the nonvolatile storage device 303 stores map information 160 and object information 170 similar to those in the first embodiment.
- FIG. 25 is a block diagram illustrating an example of functional elements of the travel route calculation unit 500 of the autonomous travel support server 300.
- the travel route calculation unit 500 is obtained by adding a position information reception unit 501, a sensor information reception unit 502, and a route information transmission unit 560 to the travel route calculation unit 200 shown in FIG.
- the configuration is the same as that of the travel route calculation unit 200 of the first embodiment.
- the location information receiving unit 501 extracts the location information of the autonomous traveling vehicle 100 from the information received by the communication unit 260 and outputs the location information to the map information processing unit 220 to generate a surrounding map 165.
- the sensor information receiving unit 502 extracts the sensor information of the autonomous traveling vehicle 100 from the information received by the communication unit 260 and outputs the sensor information to the sensor information integrating unit 210 to calculate the object detection information 215.
- the travel area restriction information selection unit 230, the route generation unit 240, and the travel execution command generation unit 250 function in the same manner as in the first embodiment to calculate a travel route and generate a travel execution command.
- the route information transmission unit 560 transmits the travel execution command calculated by the travel route calculation unit 500 to the autonomous vehicle 100.
- the main calculation function and the map information 160 and the object information 170 are prepared on the autonomous driving support server 300 side, thereby minimizing the hardware and software of the autonomous driving vehicle 100 and reducing the cost of the vehicle. It becomes possible to provide.
- each of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit.
- each of the above-described configurations, functions, and the like may be realized by software by the processor interpreting and executing a program that realizes each function.
- Information such as programs, tables, and files for realizing each function can be stored in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
- control lines and information lines indicate what is considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.
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Abstract
Description
図2は、走行経路計算部200の一例を示す機能要素のブロック図である。走行経路計算部200は、センサ部110からのセンサ情報に基づいて車両の周囲の物体の検出と、物体の位置の算出を行ってオブジェクト検出情報215を算出するセンサ情報統合部210と、GPS104からの位置情報と、センサ情報統合部210からのオブジェクト検出情報215と、地図情報160に基づいて車両の現在地周辺の地図(以下、周辺地図とする)を生成する地図情報処理部220と、地図情報160の制限情報とオブジェクト情報170の制限情報を選択する走行エリア制限情報選択部230と、走行エリア制限情報選択部230が選択した制限情報を、周辺地図に適用して走行経路と目標車速を算出する経路生成部240と、経路生成部240が出力した走行経路と目標車速を走行制御部150に指令する走行実行命令生成部250を含む。
図3は、工事中の道路の一例を示す周辺地図165である。図示の道路50は、左側通行の例を示す。図示の例では、自律走行車100が走行中の走行エリアに対応する基準点52から所定の区間までの道路50を示し、南北方向に伸びる片側1車線で構成される。なお、走行エリアは、地図情報160のうち自車が走行中の部分領域を示し、本実施例では周辺地図165の領域を示す。
図4~図5Cは、地図情報160の詳細な内容を示し、エリア情報161と、一般情報162と、通常時走行エリア制限情報163及び緩和時走行エリア制限情報164を示す。
図7は、走行経路計算部200で行われる処理の一例を示すフローチャートである。この処理は、所定のタイミングで実行される。まず、ステップS1で走行経路計算部200は、GPS104から取得した位置情報に基づいて、地図情報160から一般情報162を取得して、車両が走行中の走行エリアの周辺地図165を生成する。
なお、本発明は上記した実施例に限定されるものではなく、様々な変形例が含まれる。例えば、上記した実施例は本発明を分かりやすく説明するために詳細に記載したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、ある実施例の構成の一部を他の実施例の構成に置き換えることが可能であり、また、ある実施例の構成に他の実施例の構成を加えることも可能である。また、各実施例の構成の一部について、他の構成の追加、削除、又は置換のいずれもが、単独で、又は組み合わせても適用可能である。
Claims (17)
- プロセッサとメモリと走行制御部を有する移動体の制御方法であって、
前記移動体が位置情報を検出して、位置情報に対応する地図情報から当該移動体の周辺の周辺地図を生成する第1のステップと、
前記移動体がセンサから周囲の環境を示すセンサ情報を取得して、前記センサ情報から非地図情報を検出する第2ステップと、
前記移動体が前記周辺地図に前記非地図情報を加えて、走行経路を設定する制限を予め設定した第1の制限情報を前記周辺地図に適用し、走行経路を算出可能か否かを判定する第3のステップと、
前記移動体が前記走行経路を算出可能な場合には、第1の制限情報を前記周辺地図に適用して前記走行経路を算出する第4のステップと、
前記移動体が前記走行経路を算出できない場合には、走行経路を設定する制限を緩和する第2の制限情報を前記第1の制限情報に適用して前記走行経路を算出する第5のステップと、
前記算出された走行経路を前記走行制御部へ出力する第6のステップと、
を含むことを特徴とする移動体の制御方法。 - 請求項1に記載の移動体の制御方法であって、
前記第1の制限情報は、
前記周辺地図の要素に関して走行経路の制限情報が予め設定され、
前記第2の制限情報は、
前記周辺地図の要素に関して走行経路の制限を緩和する情報が予め設定され、
前記第5のステップは、
前記第2の制限情報の要素を順次選択して前記第1の制限情報の要素に適用して前記走行経路を算出することを特徴とする移動体の制御方法。 - 請求項1に記載の移動体の制御方法であって、
前記第1の制限情報は、
前記非地図情報の要素に関して走行経路の制限情報が予め設定され、
前記第2の制限情報は、
前記非地図情報の要素に関して走行経路の制限を緩和する情報が予め設定され、
前記第5のステップは、
前記第2の制限情報の要素を順次選択して前記第1の制限情報の要素に適用して前記走行経路を算出することを特徴とする移動体の制御方法。 - 請求項1に記載の移動体の制御方法であって、
前記第5のステップは、
前記第2の制限情報を受信するステップを含むことを特徴とする移動体の制御方法。 - 請求項1に記載の移動体の制御方法であって、
前記第5のステップは、
前記第2の制限情報を前記第1の制限情報に適用して算出した走行経路と当該走行経路の使用の可否の要求を送信するステップと、
前記使用の可否を受信し、当該走行経路が使用可能であれば当該走行経路を出力するステップと、
含むことを特徴とする移動体の制御方法。 - 請求項1に記載の移動体の制御方法であって、
前記地図情報は、
前記周辺地図の要素を予め設定した一般情報と、前記第1の制限情報のうち、前記周辺地図の要素に関して走行経路の制限情報を予め設定した通常時の制限情報と、前記第2の制限情報のうち、前記周辺地図の要素に関して走行経路の制限を緩和する緩和時の制限情報とを含むことを特徴とする移動体の制御方法。 - プロセッサとメモリと走行制御部を有する移動体であって、
位置情報を検出する位置情報検出装置と、
前記移動体の周囲の環境を示すセンサ情報を取得するセンサと、
前記センサ情報から非地図情報を検出するセンサ情報処理部と、
前記位置情報に対応する地図情報から当該移動体の周辺地図を生成し、前記非地図情報を当該周辺地図に加える地図情報処理部と、
走行経路を設定する制限を予め設定した第1の制限情報を前記周辺地図に適用し、走行経路を算出して前記走行制御部へ出力する走行経路計算部と、を有し、
前記走行経路計算部は、
前記第1の制限情報を前記周辺地図に適用して走行経路を算出可能か否かを判定し、
前記走行経路を算出可能な場合には、第1の制限情報を前記周辺地図に適用して前記走行経路を算出し、
前記走行経路を算出できない場合には、走行経路を設定する制限を緩和する第2の制限情報を前記第1の制限情報に適用して前記走行経路を算出することを特徴とする移動体。 - 請求項7に記載の移動体であって、
前記第1の制限情報は、
前記周辺地図の要素に関して走行経路の制限情報が予め設定され、
前記第2の制限情報は、
前記周辺地図の要素に関して走行経路の制限を緩和する情報が予め設定され、
前記走行経路計算部は、
前記第2の制限情報の要素を順次選択して前記第1の制限情報の要素に適用して前記走行経路を算出することを特徴とする移動体。 - 請求項7に記載の移動体であって、
前記第1の制限情報は、
前記非地図情報の要素に関して走行経路の制限情報が予め設定され、
前記第2の制限情報は、
前記非地図情報の要素に関して走行経路の制限を緩和する情報が予め設定され、
前記走行経路計算部は、
前記第2の制限情報の要素を順次選択して前記第1の制限情報の要素に適用して前記走行経路を算出することを特徴とする移動体。 - 請求項7に記載の移動体であって、
前記走行経路計算部は、前記第2の制限情報を受信することを特徴とする移動体。 - 請求項7に記載の移動体であって、
前記走行経路計算部は、
前記第2の制限情報を前記第1の制限情報に適用して算出した走行経路と当該走行経路の使用の可否の要求を送信し、
前記使用の可否を受信し、当該走行経路が使用可能であれば当該走行経路を出力することを特徴とする移動体。 - 請求項7に記載の移動体であって、
前記地図情報は、
前記周辺地図の要素を予め設定した一般情報と、前記第1の制限情報のうち、前記周辺地図の要素に関して走行経路の制限情報を予め設定した通常時の制限情報と、前記第2の制限情報のうち、前記周辺地図の要素に関して走行経路の制限を緩和する緩和時の制限情報とを含むことを特徴とする移動体。 - プロセッサとメモリと走行制御部を有する移動体と、
プロセッサとメモリを有してネットワークを介して前記移動体に接続された支援サーバと、を有する移動体の制御システムであって、
前記移動体は、
位置情報を検出する位置情報検出装置と、
前記移動体の周囲の環境を示すセンサ情報を取得するセンサと、
前記センサ情報から非地図情報を検出するセンサ情報処理部と、
前記位置情報に対応する地図情報から当該移動体の周辺地図を生成し、前記非地図情報を当該周辺地図に加える地図情報処理部と、
走行経路を設定する制限を予め設定した第1の制限情報を前記周辺地図に適用して走行経路を算出可能か否かを判定し、前記走行経路を算出可能な場合には前記第1の制限情報を前記周辺地図に適用して前記走行経路を算出し、前記第1の制限情報で走行経路を算出できない場合には、前記支援サーバに指令を要求し、前記支援サーバからの指令に応じて前記走行経路を算出して前記走行制御部へ出力する走行経路計算部と、を有し、
前記支援サーバは、
前記移動体からの要求を受け付けて、前記要求に対応する指令を出力する指令部を有することを特徴とする移動体の制御システム。 - 請求項13に記載の移動体の制御システムであって、
前記走行経路計算部は、
前記第1の制限情報を前記周辺地図に適用して前記走行経路を算出し、前記走行経路を算出できない場合には、前記支援サーバに前記センサ情報と前記周辺地図と前記非地図情報を送信して前記第2の制限情報を要求し、
前記支援サーバの前記指令部は、
前記移動体から受信した前記センサ情報と前記周辺地図と前記非地図情報から前記第2の制限情報を選択し、当該第2の制限情報を前記移動体に指令し、
前記走行経路計算部は、
前記支援サーバから受信した第2の制限情報を前記第1の制限情報に適用して走行経路を算出することを特徴とする移動体の制御システム。 - 請求項13に記載の移動体の制御システムであって、
前記走行経路計算部は、
前記第1の制限情報を前記周辺地図に適用して走行経路を算出できない場合には、走行経路を設定する制限を緩和する第2の制限情報を前記第1の制限情報に適用して前記走行経路を算出し、当該走行経路と当該走行経路の使用の可否の要求を前記支援サーバに送信し、
前記支援サーバの前記指令部は、
前記移動体から受信した前記走行経路に対する使用の可否を前記移動体に指令し、
前記走行経路計算部は、
前記支援サーバから受信した使用の可否に基づいて前記走行経路を出力することを特徴とする移動体の制御システム。 - 請求項13に記載の移動体の制御システムであって、
前記走行経路計算部は、
前記第1の制限情報を前記周辺地図に適用して走行経路を算出できない場合には、走行経路を設定する制限を緩和する第2の制限情報を前記第1の制限情報に適用して前記走行経路を算出し、当該走行経路と前記移動体の位置情報及び前記第2の制限情報を前記支援サーバに送信し、
前記支援サーバの前記指令部は、
前記移動体から受信した前記走行経路と位置情報及び第2の制限情報を記憶装置に格納し、当該位置情報を走行予定の他の移動体に前記走行経路と位置情報及び第2の制限情報を送信することを特徴とする移動体の制御システム。 - プロセッサとメモリと走行制御部を有する移動体と、
プロセッサとメモリを有してネットワークを介して前記移動体に接続された支援サーバと、を有する移動体の制御システムであって、
前記移動体は、
位置情報を検出する位置情報検出装置と、
前記移動体の周囲の環境を示すセンサ情報を取得するセンサと、
前記位置情報とセンサ情報を前記支援サーバに送信する車両情報送信部と、
前記支援サーバから走行経路を受信して前記走行制御部に出力する出力部と、を有し、
前記支援サーバは、
前記移動体から位置情報とセンサ情報を受信する受信部と、
前記センサ情報から非地図情報を検出するセンサ情報処理部と、
前記位置情報に対応する地図情報から当該移動体の周辺地図を生成し、前記非地図情報を当該周辺地図に加える地図情報処理部と、
走行経路を設定する制限を予め設定した第1の制限情報を前記周辺地図に適用して走行経路を算出可能か否かを判定し、前記走行経路を算出可能な場合には前記第1の制限情報を前記周辺地図に適用して前記走行経路を算出し、前記第1の制限情報で走行経路を算出できない場合には、走行経路を設定する制限を緩和する第2の制限情報を前記第1の制限情報に適用して前記走行経路を算出し、前記移動体に指令する走行経路計算部と、
を有することを特徴とする移動体の制御システム。
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US11887474B2 (en) | 2017-10-31 | 2024-01-30 | Waymo Llc | Detecting and responding to traffic redirection for autonomous vehicles |
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JP2021501395A (ja) * | 2017-10-31 | 2021-01-14 | ウェイモ エルエルシー | 自律型車両のための交通の再方向付けの検出および対応 |
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JP7509989B2 (ja) | 2020-07-16 | 2024-07-02 | メルセデス・ベンツ グループ アクチェンゲゼルシャフト | 少なくとも部分的に自動化された移動プラットフォーム用のナビゲーションマップ |
WO2024004453A1 (ja) * | 2022-06-28 | 2024-01-04 | ソニーグループ株式会社 | 移動体制御情報生成方法、移動体制御情報生成装置、および移動体、並びに移動体制御システム |
WO2024135198A1 (ja) * | 2022-12-20 | 2024-06-27 | 古野電気株式会社 | 航行支援装置、航行支援方法、及びプログラム |
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JPWO2017145314A1 (ja) | 2018-03-01 |
DE112016003567T5 (de) | 2018-04-19 |
JP6272559B1 (ja) | 2018-01-31 |
US20180252539A1 (en) | 2018-09-06 |
US10551201B2 (en) | 2020-02-04 |
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