JP2020055490A - Travel control device, travel control method, and automatic traveling vehicle - Google Patents

Abstract

To provide a traveling control device, a traveling control method, and an automatic traveling vehicle using the device and the method, which can realize traveling control of an automatic traveling vehicle enabling coexistence with pedestrians, and minimize as much as possible the stress of pedestrians within a predetermined traffic area where the pedestrians pass.SOLUTION: A traveling control device 6 includes: a position recognition part 721; an action prediction part 722; and a travel parameter setting part 73. The position recognition part 721 recognizes a position index related to a position of a monitoring object pedestrian WM passing through a monitored area MR on a forward side of an automatic traveling vehicle 1 on a reference traveling route RS. The action prediction part 722 recognizes action indices including a walking speed and a walking direction as indices for specifying an action of the monitoring object pedestrian WM. Further, the travel parameter setting part 73 sets travel parameters P according to the action indices including the walking speed and the walking direction as parameters related to traveling control of the automatic traveling vehicle 1, on the basis of the position index.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a traveling control device and a traveling control method for controlling automatic traveling of an automatic traveling vehicle, and an automatic traveling vehicle using the same.

  Patent Literature 1 discloses a technology related to traveling control of an automatic traveling vehicle that enables automatic driving to travel without requiring a driving operation by a driver. In the technology disclosed in Patent Literature 1, automatic traveling of an automatic traveling vehicle is controlled based on surrounding environment data detected by a sensor system including a ranging (LIDAR) device. Environmental data detected by the sensor system includes data on obstacles on the traveling route of the self-driving vehicle, distance data to the vehicle, and the like. When an obstacle or the like is detected by the sensor system during the automatic traveling of the automatic traveling vehicle, traveling control is performed to avoid the obstacle or the like.

JP 2018-132524 A

  The technology disclosed in Patent Literature 1 is a technology mainly related to traveling control of an automatic traveling vehicle on a road on which the vehicle travels, and is premised on avoiding all obstacles and the like detected during automatic traveling. It was done. When such a traveling control technology is applied to traveling control of an automatic traveling vehicle that mainly travels automatically in a traffic area where pedestrians pass, such as a public road or a sidewalk in a compact city where pedestrians pass, There are the following issues.

  That is, when a pedestrian is detected as an obstacle or the like during automatic traveling of the automatic traveling vehicle, traveling control is performed to avoid the pedestrian. The avoidance operation for avoiding a pedestrian by this traveling control is difficult for a pedestrian to predict. For this reason, when a pedestrian recognizes an autonomous vehicle that is traveling automatically, what action should be taken, such as whether to take an action to avoid the autonomous vehicle or to take an action to stop walking? I can't understand what's good and I'm confused. As a result, the pedestrian feels stress just because the self-driving vehicle exists in the traffic area. Therefore, in the present situation, it is possible to reduce the stress of the pedestrian as much as possible within a predetermined traffic area where the pedestrian passes, and to realize the traveling control of the automatic traveling vehicle that can coexist with the pedestrian. Has not been reached.

  The present invention has been made in view of such circumstances, and an object of the present invention is to reduce stress of a pedestrian as much as possible within a predetermined traffic area where the pedestrian passes. Another object of the present invention is to provide a travel control device and a travel control method capable of realizing travel control of an automatic traveling vehicle that can coexist with a pedestrian, and an automatic traveling vehicle using the same.

  The present inventors have conducted intensive studies to solve the above problems, and as a result, when recognizing an obstacle or the like, paying attention to human habit of taking an avoidance action to avoid it unconsciously, an autonomous vehicle according to the behavior of a pedestrian It has been found that by performing the travel control of the present invention, it is possible to realize travel control of an automatic traveling vehicle that can coexist with the pedestrian in a predetermined traffic area where the pedestrian passes, leading to the completion of the present invention. Was. That is, the present invention relates to the following inventions.

  A traveling control device according to one aspect of the present invention is a device that controls automatic traveling of an automatic traveling vehicle within a predetermined traffic area where a pedestrian passes. The traveling control device includes a storage unit that stores in advance a reference traveling route that is a reference route on which the automatic traveling vehicle automatically travels in the traffic area, and a traveling direction front side of the automatic traveling vehicle on the reference traveling route. The presence or absence of a monitored pedestrian that is a pedestrian passing through the monitored area, and a target distance indicating the distance from the self-driving vehicle to the monitored pedestrian, a position index related to the position of the monitored pedestrian. A position recognition unit that recognizes, a behavior prediction unit that recognizes a behavior index including a walking speed and a walking direction as an index for specifying the behavior of the monitored pedestrian; and A travel parameter setting unit configured to set travel parameters according to the action index, including travel speed and travel direction, as parameters relating to travel control.

  According to this traveling control device, a position index related to the position of the monitored pedestrian passing through the monitoring area on the front side of the automatic traveling vehicle is recognized by the position recognition unit, and an action index for specifying the behavior of the monitored pedestrian is provided. Is recognized by the action prediction unit. Then, in the travel control device, the travel parameter setting unit sets, based on the position index, travel parameters according to the behavior index, including a travel speed and a travel direction, as parameters relating to travel control of the automatic traveling vehicle. That is, in the travel control device, travel parameters relating to travel control of the automatic traveling vehicle are set according to the walking speed and the walking direction of the monitored pedestrian included in the behavior index.

  The traveling control of the automatic traveling vehicle based on the traveling parameters is a control that responds to the behavior of the monitored pedestrian. For example, when a monitored pedestrian recognizes an autonomous vehicle and takes an evasive action such as unavoidably avoiding the autonomous vehicle as a human habit, cruise control according to the pedestrian's evasive action is performed. Be executed. For this reason, the pedestrian does not need to predict the traveling behavior of the self-propelled vehicle and take a passive action conscious of the self-propelled vehicle, but only has to take an active action as intended. Even if the pedestrian takes an active action as intended, the self-propelled vehicle is controlled to run according to the pedestrian's action. Thereby, when the pedestrian recognizes the self-propelled vehicle that is traveling automatically, it is possible to reduce the pedestrian stress as much as possible without being confused about what action to take. Therefore, it is possible to realize the traveling control of the automatic traveling vehicle that can coexist with the pedestrian in a predetermined traffic area where the pedestrian passes.

  In the above traveling control device, the traveling parameter setting section partitions the monitoring area into a long-distance monitoring range, an intermediate-distance monitoring range, and a short-distance monitoring range in ascending order of the distance from the automatic traveling vehicle, and It is configured to set the traveling parameter according to the action index depending on which of the monitoring range of the long distance monitoring range, the intermediate distance monitoring range and the short distance monitoring range the target distance included in Is also good.

  In this aspect, in the monitoring area on the front side of the automatic traveling vehicle, the monitoring is performed based on which monitoring range of the long-distance monitoring range, the intermediate-distance monitoring range, and the short-distance monitoring range the monitoring target pedestrian is passing. It is possible to set running parameters according to the behavior of the target pedestrian.

  In the travel control device described above, the behavior index recognized by the behavior prediction unit further includes a predetermined walking behavior related to a behavior of the monitored pedestrian at the time of walking. Then, when the target distance belongs to the long-distance monitoring range, the traveling parameter setting unit sets the monitoring target pedestrian to an avoidance action outside the monitoring area based on the walking behavior included in the action index. Alternatively, a configuration may be adopted in which it is determined whether or not the person is a person who is eligible for avoidance that satisfies a predetermined condition that indicates that there is a possibility that the user may take the game. The traveling parameter setting unit sets the traveling speed to a reference first speed as the traveling parameter of the automatic traveling vehicle when the monitored pedestrian is the eligible person to avoid. The direction is set to a direction along the reference traveling route. Further, the traveling parameter setting unit sets the traveling speed to the first speed as the traveling parameter of the automatic traveling vehicle when the monitored pedestrian is not the avoidable person, and The direction is set to a direction along an avoidance route that can deviate from the reference traveling route and avoid the monitored pedestrian.

  In this aspect, it is determined whether or not the monitored pedestrian who passes through the long-distance monitoring range in the monitoring area on the front side of the automatic driving vehicle is an eligible person to avoid avoiding the automatic driving vehicle. Accordingly, traveling parameters related to traveling control of the automatic traveling vehicle are set. If the monitored pedestrian is, for example, a person who is eligible for avoidance such as directing forward and straight ahead, the traveling control of the automatic traveling vehicle based on the traveling parameters is performed on the reference traveling route at the first reference speed. This is control for driving the self-propelled vehicle. In this case, the traveling control of the self-propelled vehicle is such that the self-propelled vehicle runs while waiting for an active avoidance action of the monitored pedestrian who passes through the long-distance monitoring range.

  On the other hand, when the monitored pedestrian is a person who is not an evasion qualified person who is not eligible for evasion, for example, walking in a plurality of people, meandering in a direction other than forward such as below, or swinging many times, The traveling control of the automatic traveling vehicle based on the traveling parameters is control for traveling the automatic traveling vehicle at the first speed on the avoidance route. In this case, the traveling control of the self-propelled vehicle is such that the self-propelled vehicle runs while avoiding the monitored pedestrian who passes through the long-distance monitoring range.

  In the travel control device, when the target distance belongs to the intermediate distance monitoring range, the travel parameter setting unit may perform the automatic travel based on the walking direction included in the action index. It may be configured to determine whether or not the vehicle is an oncoming pedestrian who walks in a direction opposite to the traveling direction of the vehicle. Then, when the monitored pedestrian is the oncoming pedestrian, the traveling parameter setting unit determines the traveling parameter of the automatic traveling vehicle as a traveling parameter, the traveling speed being reduced to a reference first speed. A command signal related to control for setting to the second speed, setting the traveling direction to a direction along the reference traveling route, and further informing the monitored pedestrian of the position of the monitored area in the traffic area. Is output.

  In this aspect, when the pedestrian to be monitored that passes through the intermediate distance monitoring range in the monitoring area on the front side of the automatic traveling vehicle is an oncoming pedestrian, the traveling control of the automatic traveling vehicle based on the traveling parameters is based on the reference traveling route. This is a control in which the position of the monitoring area in the traffic area is notified while the automatic traveling vehicle travels at the second speed decelerated with respect to the reference first speed. In this case, the traveling control of the self-propelled vehicle is performed by the self-propelled vehicle traveling while waiting to take an active avoidance action by recognizing the notification by the monitored pedestrian walking on the opposite side in the intermediate distance monitoring range. Such control is performed.

  In the travel control device, when the target distance belongs to the intermediate distance monitoring range, the travel parameter setting unit may perform the automatic travel based on the walking direction included in the action index. It may be configured to determine whether or not a parallel pedestrian is walking in the same direction as the traveling direction of the car. The traveling parameter setting unit, in the case where the monitored pedestrian is the parallel pedestrian, when the walking speed included in the action index is equal to or higher than the second speed, as the traveling parameter of the automatic traveling vehicle, The running speed is set to the same speed as the walking speed within a range not exceeding the first speed, and the running direction is set to a direction along the reference running route, and the walking speed included in the action index is set. Is less than the second speed, the traveling speed is set to the first speed as the traveling parameter of the automatic traveling vehicle, and the traveling direction deviates from the reference traveling route to avoid the parallel pedestrian. Set the direction along the possible avoidance route.

  In this aspect, if the pedestrian to be monitored that passes through the intermediate distance monitoring range in the monitoring area on the front side of the autonomous vehicle is a parallel pedestrian, the pedestrian automatically travels according to the walking speed of the pedestrian to be monitored. The travel parameters relating to the travel control are set. When the walking speed of the monitored pedestrian is equal to or higher than the second speed, the traveling control of the automatic traveling vehicle based on the traveling parameter is performed by driving the automatic traveling vehicle on the reference traveling route at the same speed as the walking speed of the monitored pedestrian. Control. In this case, the traveling control of the automatic traveling vehicle is such that the automatic traveling vehicle follows the monitored pedestrian who walks in parallel at the intermediate speed monitoring range at the second speed or higher.

  On the other hand, when the walking speed of the monitored pedestrian is less than the second speed, the traveling control of the automatic traveling vehicle based on the traveling parameters is control for traveling the automatic traveling vehicle at the first reference speed on the avoidance route. . In this case, the traveling control of the automatic traveling vehicle is such that the automatic traveling vehicle travels while avoiding the monitored pedestrian who walks in parallel at the intermediate distance monitoring range at a speed lower than the second speed.

  In the above travel control device, when the target distance belongs to the short distance monitoring range, the travel parameter setting unit sets the travel speed to zero as the travel parameter of the automatic travel vehicle, and sets the travel speed of the automatic travel vehicle to zero. It may be configured to output a command signal to stop traveling.

  In this aspect, when the pedestrian to be monitored is present in the short-distance monitoring range in the monitoring area on the front side of the automatic driving vehicle, the driving control of the automatic driving vehicle based on the driving parameters controls the driving of the automatic driving vehicle. This is control to stop. Thus, when a pedestrian is present in the short-range monitoring range, the automatic traveling vehicle can be emergency stopped.

  A traveling control method according to another aspect of the present invention is a method for controlling automatic traveling of an automatic traveling vehicle in a predetermined traffic area where a pedestrian passes. The traveling control method includes: a route setting step of setting a reference traveling route that is a reference route on which the automatic traveling vehicle automatically travels in the traffic area; and a forward traveling direction of the automatic traveling vehicle on the reference traveling route. The presence or absence of a monitored pedestrian that is a pedestrian passing through the monitored area, and a target distance indicating the distance from the self-driving vehicle to the monitored pedestrian, a position index related to the position of the monitored pedestrian. A position recognition step for recognizing; a behavior prediction step for recognizing a behavior index including a walking speed and a walking direction as an index for specifying the behavior of the monitored pedestrian; and Travel parameter setting for setting travel parameters according to the action index, including travel speed and travel direction, as parameters relating to travel control Includes a step, a.

  According to this traveling control method, a position index relating to the position of the monitored pedestrian passing through the monitoring area on the front side of the automatic traveling vehicle is recognized in the position recognition step, and the behavior index for specifying the behavior of the monitored pedestrian. Are recognized in the action prediction step. Then, in the traveling parameter setting step, based on the position index, traveling parameters according to the action index, including a traveling speed and a traveling direction, are set as parameters relating to traveling control of the automatic traveling vehicle. That is, in the traveling control method, traveling parameters related to traveling control of the automatic traveling vehicle are set according to the walking speed and the walking direction of the monitored pedestrian included in the behavior index.

  The traveling control of the automatic traveling vehicle based on the traveling parameters is a control that responds to the behavior of the monitored pedestrian. For this reason, the pedestrian does not need to predict the traveling behavior of the self-propelled vehicle and take a passive action conscious of the self-propelled vehicle, but only has to take an active action as intended. Even if the pedestrian takes an active action as intended, the self-propelled vehicle is controlled to run according to the pedestrian's action. Thereby, when the pedestrian recognizes the self-propelled vehicle that is traveling automatically, it is possible to reduce the pedestrian stress as much as possible without being confused about what action to take. Therefore, it is possible to realize the traveling control of the automatic traveling vehicle that can coexist with the pedestrian in a predetermined traffic area where the pedestrian passes.

  An automatic traveling vehicle according to another aspect of the present invention is an automatic traveling vehicle that automatically travels in a predetermined traffic area through which a pedestrian passes, and includes a vehicle body, and a vehicle mounted on the vehicle body for traveling the vehicle body. A traveling mechanism, and the traveling control device described above, which is mounted on the vehicle body and controls the traveling of the automatic traveling vehicle by controlling the traveling mechanism.

  According to this automatic traveling vehicle, traveling in the traffic area where the pedestrian passes is controlled by the traveling control device. Thereby, when the pedestrian recognizes the self-propelled vehicle that is traveling automatically, it is possible to reduce the pedestrian stress as much as possible without being confused about what action to take. Therefore, it is possible to realize an automatic traveling vehicle that can suitably coexist with pedestrians in a predetermined traffic area where pedestrians pass.

  ADVANTAGE OF THE INVENTION According to this invention, the driving | running control of the automatic traveling vehicle which can reduce the stress of the said pedestrian as much as possible in the predetermined traffic area where a pedestrian passes, and can coexist with a pedestrian is realized. And a traveling control method, and an automatic traveling vehicle using the same.

1 is a diagram schematically illustrating a configuration of an automatic traveling vehicle equipped with a traveling control device according to an embodiment of the present invention. It is a side view of an automatic traveling vehicle. It is a figure showing a situation of an automatic run of an automatic running car. It is a figure for explaining operation of a range sensor provided in an autonomous vehicle. FIG. 2 is a block diagram illustrating a configuration of a travel control device. FIG. 4 is a diagram illustrating a data input / output state in a data processing unit of the travel control device. It is a figure showing the state of input and output of data in the analysis part of a traveling control device. It is a figure showing the state of input and output of the data in the run parameter set part and the control signal generation part of the run control device. It is a flowchart which shows the driving | running | working control method implement | achieved by control with respect to an automatic traveling vehicle of a driving | running control apparatus. It is a flowchart which shows the flow of the short distance driving | running | working control performed by a driving | running control apparatus. It is a figure for explaining short distance running control performed by a running control device. It is a flow chart which shows the flow of the 1st intermediate distance run control performed by the run control device. It is a figure for explaining the 1st intermediate distance run control performed by a run control device. It is a flow chart which shows the flow of the 2nd middle distance run control performed by the run control device. It is a figure for explaining the 2nd intermediate distance run control performed by the run control device. It is a flowchart which shows the flow of long distance driving | running | working control performed by a driving | running control apparatus. It is a figure for explaining long-distance traveling control performed by a traveling control device.

  Hereinafter, a traveling control device, a traveling control method, and an automatic traveling vehicle according to an embodiment of the present invention will be described with reference to the drawings.

[About self-driving vehicles]
FIG. 1 is a diagram schematically illustrating a configuration of an automatic traveling vehicle 1 on which a traveling control device 6 according to an embodiment of the present invention is mounted, and FIG. 2 is a side view of the automatic traveling vehicle 1. FIG. 3 is a diagram illustrating a state of the automatic traveling of the automatic traveling vehicle 1.

  The self-driving vehicle 1 is mainly used in a traffic area PA where pedestrians W mainly pass, such as a public road where pedestrians pass in a shopping district or a tourist spot, a sidewalk in a compact city, or a commercial facility. This is a new type of electric mobility in the era of autonomous driving. The automatic traveling vehicle 1 automatically travels in the traffic area PA at a traveling speed similar to the walking speed of the pedestrian W, and the user can freely get on and off as if using an "escalator" or "moving sidewalk". The traveling speed of the automatic traveling vehicle 1 is set in a speed range between a reference first speed and a predetermined second speed reduced with respect to the first speed. The reference first speed is, for example, 5 km / h, and the second speed is, for example, 3 km / h. By riding the self-propelled vehicle 1, the user is released from the consciousness of walking, and can find a store or the like that was not seen when walking.

  As shown in FIG. 3, a reference traveling route RS which is a reference route for the automatic traveling vehicle 1 to automatically travel is set in a traffic area PA where the pedestrian W passes, and on the reference traveling route RS, A monitoring region MR is set on the front side of the traveling direction DH of the automatic traveling vehicle 1. Details of the reference traveling route RS and the monitoring area MR will be described later.

  The automatic traveling vehicle 1 includes a vehicle body 2, a traveling mechanism 3 mounted on the vehicle body 2, a notification unit 4, an object monitoring unit 5, and a traveling control device 6. The vehicle body 2 is a basic structure of the self-driving vehicle 1 and has a boarding section 21 (FIG. 2) on which a user gets on.

  The traveling mechanism 3 is a mechanism for causing the vehicle body 2 to travel, and includes a driving motor 31 that is driven by being supplied with electric power, and a steering unit 32 for operating the traveling direction of the automatic traveling vehicle 1. A drive wheel 311 is connected to the drive motor 31. The driving force of the driving motor 31 is transmitted, and the driving wheel 311 rotates, so that the automatic traveling vehicle 1 travels. When the driving motor 31 stops, the rotation of the driving wheel 311 stops, and the automatic traveling vehicle 1 stops. I do. A steering wheel 321 is connected to the steering section 32. When the steered wheels 321 are operated by the steering unit 32, the traveling direction of the automatic traveling vehicle 1 can be changed. The drive motor 31 and the steering section 32 that constitute the traveling mechanism 3 are controlled by the traveling control device 6.

  Although FIG. 1 shows an example in which the front wheels on the front side in the traveling direction DH of the automatic traveling vehicle 1 are the steering wheels 321 and the rear wheels are the driving wheels 311, the configuration is not limited to such a configuration. is not. For example, a configuration in which the drive motor 31 and the steering unit 32 are connected to the front wheels so that the front wheels function as the drive wheels and the steered wheels, and the rear wheels may be the driven wheels. Further, the drive motor 31 and the steering unit 32 may be connected to both the front wheels and the rear wheels, so that both the front wheels and the rear wheels function as the drive wheels and the steered wheels.

  The notification unit 4 is disposed on the vehicle body 2 on the front side in the traveling direction DH. Although the details will be described later, the notification unit 4 monitors the position of the monitoring area MR on the reference travel route RS on which the automatic traveling vehicle 1 travels in the traffic area PA by monitoring a pedestrian who is passing through the monitoring area MR. Transmits light and sound to notify the pedestrian WM. Examples of the notification unit 4 that emits light include a light source that irradiates a laser beam to the monitoring area MR, and a device that projects a predetermined image on the monitoring area MR by a technique of projection mapping. Examples of the notification unit 4 that emits a sound include a parametric speaker (directional speaker). The parametric speaker can transmit ultrasonic waves having directivity, and can selectively emit sound to the monitored pedestrian WM passing through the monitored area MR. Note that the notification unit 4 may be configured to synchronize light and sound to transmit both. The notification unit 4 is controlled by the travel control device 6.

  The object monitoring unit 5 is disposed on the front side of the vehicle body 2 in the traveling direction DH. The object monitoring unit 5 monitors the presence of an object including the pedestrian W around the automatic traveling vehicle 1. The object monitoring unit 5 includes a camera 51 and a range sensor 52. The camera 51 captures an image of the area on the front side in the traveling direction DH of the automatic traveling vehicle 1 at predetermined intervals to acquire an image, and outputs image data corresponding to the captured image. The image data output from the camera 51 is input to the travel control device 6.

  The range measurement sensor 52 is a sensor that detects the presence or absence of an object including the pedestrian W on the front side in the traveling direction DH of the automatic traveling vehicle 1 and detects the distance from the automatic traveling vehicle 1 to the object. The range sensor 52 is configured by, for example, LIDAR (Laser Imaging Detection and Ranging). FIG. 4 is a diagram for explaining the operation of the range sensor 52. The range sensor 52 irradiates the laser beam 521 at a predetermined angle at a predetermined cycle and measures the time until the reflected light returns, thereby detecting the laser beam from the position of the sensor (the position of the automatic traveling vehicle 1). The distance to the point 522 where the light 521 is reflected is measured. The range sensor 52 outputs range data including the result of detecting the presence or absence of an object and the result of detecting the distance from the automatic traveling vehicle 1 to the object. The ranging data output from the ranging sensor 52 is input to the travel control device 6.

[About the travel control device]
The travel control device 6 controls the drive motor 31 and the steering unit 32 that constitute the travel mechanism 3 and controls the notification unit 4 based on the image data from the camera 51 and the range data from the range sensor 52. By doing so, the device controls the automatic traveling of the automatic traveling vehicle 1. The travel control device 6 is composed of a microcomputer having a built-in storage device such as a ROM (Read Only Memory) for storing a control program and a flash memory for temporarily storing data. The traveling control device 6 controls the drive motor 31 and the steering unit 32 of the automatic traveling vehicle 1 and controls the notification unit 4 by reading the control program.

  As shown in the block diagram of FIG. 5, the travel control device 6 includes a processing area 7 having a data processing unit 71, an analysis unit 72, a travel parameter setting unit 73, and a control signal generation unit 74, and a map data storage unit 81. And a storage area 8 having a traveling route storage unit 82. The configuration of the travel control device 6 will be described with reference to FIGS. 6 to 8 in addition to FIG. FIG. 6 is a diagram illustrating a data input / output state in the data processing unit 71 of the travel control device 6. FIG. 7 is a diagram illustrating a data input / output state in the analysis unit 72 of the travel control device 6. FIG. 8 is a diagram illustrating a data input / output state in the travel parameter setting unit 73 and the control signal generation unit 74 of the travel control device 6.

  The map data storage unit 81 of the storage area 8 stores map data D3 representing three-dimensional map information of the traffic area PA where the pedestrian W passes. The map data D3 stored in the map data storage unit 81 is read by the vehicle body position estimating unit 713 of the data processing unit 71 and the route planning unit 723 of the analyzing unit 72 (see FIGS. 6 and 7). The traveling route storage unit 82 of the storage area 8 stores traveling route data D4 representing a reference traveling route RS in which the automatic traveling vehicle 1 automatically travels in the traffic area PA. The traveling route data D4 stored in the traveling route storage unit 82 is read by the position recognition unit 721 and the route planning unit 723 of the analysis unit 72 (see FIG. 7).

  The data processing unit 71 is a part that processes the image data D1 from the camera 51 and the range data D2 from the range sensor 52, which are input to the travel control device 6 in the processing area 7 (see FIG. 6). . The data processing section 71 includes an object recognition section 711, an object detection section 712, and a vehicle body position estimation section 713.

  The object recognizing unit 711 performs predetermined image processing on the image data D1 from the camera 51, thereby recognizing an object including the pedestrian W existing on the front side in the traveling direction DH of the automatic traveling vehicle 1, and the result of the recognition. Is output. The object recognition data D11 includes obstacle feature data representing the feature of an obstacle such as a structure existing around the traffic area PA, pedestrian feature data representing the feature of the pedestrian W, and the like.

  The object detection unit 712 determines the distance between the object including the pedestrian W existing on the front side in the traveling direction DH of the automatic traveling vehicle 1 and the automatic traveling vehicle 1 based on the measurement range data D2 from the measurement range sensor 52. Is detected, and distance data D21 representing the detection result is output. As the distance data D21, obstacle distance data indicating the distance between the self-driving vehicle 1 and an obstacle such as a structure existing around the traffic area PA, or between the pedestrian W and the self-driving vehicle 1 Pedestrian distance data indicating the distance is included.

  The body position estimating unit 713 estimates the position of the self-driving vehicle 1 in the traffic area PA based on the range data D2 from the range sensor 52 and the map data D3 stored in the map data storage unit 81. Then, the vehicle position data D31 representing the estimation result is output. The vehicle body position estimating unit 713 calculates the shape of the plurality of points 522 (point group) shown in FIG. 4 represented by the measurement data D2 and the shape of the map of the traffic area PA represented by the map data D3. By making them coincide, the position of the automatic traveling vehicle 1 in the traffic area PA is estimated.

  In the processing area 7, the analysis unit 72 outputs the data (the object recognition data D11, the distance data D21, the vehicle body position data D31) output from the object recognition unit 711, the object detection unit 712, and the vehicle body position estimation unit 713 of the data processing unit 71. ) Is analyzed (see FIG. 7). The analysis unit 72 includes a position recognition unit 721, a behavior prediction unit 722, and a route planning unit 723.

  The position recognition unit 721 includes the object recognition data D11 output from the object recognition unit 711, the distance data D21 output from the object detection unit 712, and the travel of the reference travel route RS stored in the travel route storage unit 82. Route data D4 is input. Based on the object recognition data D11, the distance data D21, and the traveling route data D4, the position recognizing unit 721 is a monitoring target walk that passes through the monitoring region MR on the reference traveling route RS, which is ahead of the traveling direction DH of the automatic traveling vehicle 1. The position index related to the position of the person WM is recognized. Referring to FIG. 3, the position index relating to the position of the monitored pedestrian WM indicates the presence or absence of the monitored pedestrian WM in the monitored area MR and the distance from the automatic traveling vehicle 1 to the monitored pedestrian WM. And the target distance TD.

  The position recognition unit 721 extracts the pedestrian feature data representing the feature amount of the pedestrian W included in the object recognition data D11 from the object recognition data D11, thereby forming a position index. The presence or absence of the target pedestrian WM is recognized. When the pedestrian characteristic data is extracted from the object recognition data D11, the position recognition unit 721 recognizes that the monitored pedestrian WM exists in the monitored area MR. On the other hand, when the pedestrian feature data is not extracted from the object recognition data D11, the position recognition unit 721 recognizes that the monitored pedestrian WM does not exist in the monitored area MR.

  Further, when recognizing the presence of the monitored pedestrian WM in the monitored area MR, the position recognizing unit 721 composes a position index by grasping the distance data D21 corresponding to the monitored pedestrian WM. The target distance TD from the automatic traveling vehicle 1 to the monitored pedestrian WM is recognized.

  The position recognizing unit 721 outputs, to the behavior predicting unit 722, position index data DD1 indicating a recognition result of the position index regarding the position of the monitored pedestrian WM. The position index data DD1 includes, in addition to the position index relating to the presence or absence of the monitored pedestrian WM and the target distance TD, a characteristic amount of the monitored pedestrian WM based on the object recognition data D11. As the characteristic amount of the monitored pedestrian WM, a posture characteristic amount indicating whether the monitored pedestrian WM is in a forward facing posture or a backward facing facing the automatic traveling vehicle 1 and the monitored pedestrian WM are represented by: The number-of-persons characteristic amount indicating whether there are a plurality of persons, the line-of-sight characteristic amount indicating whether the monitored pedestrian WM is facing forward or in a direction other than forward, such as below, and the monitored pedestrian WM swings And the swinging behavior characteristic amount indicating whether the operation is performed.

  The behavior predicting unit 722 receives the position index data DD1 output from the position recognizing unit 721 and the distance data D21 output from the object detecting unit 712. The behavior prediction unit 722 recognizes a behavior index including a walking speed, a walking direction, and a walking behavior as an index for specifying the behavior of the monitored pedestrian WM based on the position index data DD1 and the distance data D21. The walking behavior included in the behavior index recognized by the behavior prediction unit 722 is a predetermined behavior when the monitored pedestrian WM is walking. The walking behavior of the monitored pedestrian WM is based on the number-of-persons feature amount, the line-of-sight feature amount, and the heading behavior feature amount included in the position index data DD1.

  The behavior prediction unit 722 configures a behavior index based on the distance data D2 output from the object detection unit 712 in each cycle in accordance with the measurement data D2 in each predetermined cycle from the range sensor 52. The walking speed of the monitored pedestrian WM is recognized. Further, the behavior prediction unit 722 recognizes the walking direction of the monitored pedestrian WM, which constitutes a behavior index, based on the posture feature amount included in the position index data DD1. When the posture feature value included in the position index data DD1 indicates a forward-facing posture, the behavior prediction unit 722 determines that the walking direction of the monitored pedestrian WM is opposite to the traveling direction DH of the automatic traveling vehicle 1. Recognize that there is. On the other hand, when the posture feature value included in the position index data DD1 indicates a backward facing posture, it recognizes that the walking direction of the monitored pedestrian WM is the same as the traveling direction DH of the automatic traveling vehicle 1. In addition, the behavior prediction unit 722 includes a walking behavior of the monitored pedestrian WM that forms a behavior index based on the number-of-persons feature amount, the gaze feature amount, and the heading behavior feature amount included in the position index data DD1. Recognize.

  The behavior predicting unit 722 outputs the behavior index data DD2 representing the recognition result of the behavior index for specifying the behavior of the monitored pedestrian WM, together with the position index data DD1 input from the position recognition unit 721, and the traveling parameter setting unit 73. Output to.

  The route planning unit 723 includes the vehicle body position data D31 output from the vehicle body position estimating unit 713, the map data D3 stored in the map data storage unit 81, and the reference travel route stored in the travel route storage unit 82. The driving route data D4 of the RS is input. The route planning unit 723 reads out the travel route data D4 stored in the travel route storage unit 82, and adds the vehicle body position data D31 to the travel route data D4, so that the pedestrian W can travel in the traffic area PA. The reference traveling route RS for the automatic traveling vehicle 1 to automatically travel is set in a state where the vehicle body position data D31 is added. In addition, the route planning unit 723 can avoid the monitored pedestrian WM in the monitoring area MR deviating from the reference traveling route RS based on the vehicle body position data D31 and the map data D3, which will be described in detail later. An avoidance route to which the vehicle body position data D31 is added is generated. The route planning unit 723 outputs the route planning data DD3 to which the vehicle position data D31 is added, which represents the reference traveling route RS and the avoidance route, to the traveling parameter setting unit 73.

  As shown in FIG. 8, the travel parameter setting unit 73 receives the position index data DD1 and the action index data DD2 output from the action prediction unit 722, and the route plan data DD3 output from the route plan unit 723. You. The traveling parameter setting unit 73 sets a traveling parameter P as a parameter related to traveling control of the automatic traveling vehicle 1 based on the position index data DD1, the action index data DD2, and the route planning data DD3. The traveling parameter setting unit 73 uses the action index data DD2 based on the position index related to the position of the monitored pedestrian WM represented by the position index data DD1 on the traveling route represented by the route plan data DD3. A travel parameter P is set in accordance with an action index that specifies the action of the monitored pedestrian WM. The traveling parameter P set by the traveling parameter setting unit 73 includes a traveling speed and a traveling direction of the automatic traveling vehicle 1 as parameters relating to traveling control of the automatic traveling vehicle 1.

  The traveling parameter setting unit 73 outputs the set traveling parameter P to the control signal generation unit 74. The traveling parameter setting unit 73 outputs a command signal S1 for commanding the control of the notification unit 4 to the control signal generation unit 74.

  As shown in FIG. 8, the control signal generation unit 74 generates a drive control signal SS1 for controlling the drive motor 31 based on the travel parameter P output from the travel parameter setting unit 73, and also controls the steering unit 32. Is generated. The drive control signal SS1 generated by the control signal generation unit 74 is input to the drive motor 31, and the steering control signal SS2 is input to the steering unit 32. The drive motor 31 to which the drive control signal SS1 has been input drives the drive wheels 311 so that the automatic traveling vehicle 1 travels according to the traveling speed included in the traveling parameter P. The steering section 32 to which the steering control signal SS2 has been input operates the steered wheels 321 so that the automatic traveling vehicle 1 travels in the traveling direction included in the traveling parameter P.

  Further, the control signal generation unit 74 generates a notification control signal SS3 for controlling the notification unit 4 based on the command signal S1 output from the traveling parameter setting unit 73. The notification control signal SS3 generated by the control signal generation unit 74 is input to the notification unit 4. The notification unit 4 to which the notification control signal SS3 has been input determines the position of the monitoring area MR on the reference travel route RS on which the automatic traveling vehicle 1 travels in the traffic area PA, and the monitored pedestrian WM passing through the monitoring area MR. Sends light and sound to inform.

  As described above, in the travel control device 6, the position recognition unit 721 recognizes the position index regarding the position of the monitored pedestrian WM passing through the monitoring region MR on the front side of the automatic traveling vehicle 1, and the monitored pedestrian WM. The behavior index for identifying the behavior of the behavior is recognized by the behavior prediction unit 722. In the travel control device 6, the travel parameter setting unit 73 includes, based on the position index data DD1 representing the position index, the action index including a travel speed and a travel direction as parameters related to travel control of the automatic traveling vehicle 1. Is set according to the action index data DD2 representing That is, in the travel control device 6, the travel parameters P related to the travel control of the automatic traveling vehicle 1 are set according to the walking speed, the walking direction, and the walking behavior of the monitored pedestrian WM included in the action index data DD2.

  The traveling control of the automatic traveling vehicle 1 based on the traveling parameter P is a control that responds to the behavior of the monitored pedestrian WM. For example, when the monitored pedestrian WM recognizes the self-driving vehicle 1 and takes an avoidance action to avoid the self-driving vehicle 1 unconsciously as a human habit, the pedestrian's avoidance action is taken. Travel control is performed. For this reason, the monitored pedestrian WM does not need to predict the traveling operation of the automatic traveling vehicle 1 and take a passive behavior conscious of the automatic traveling vehicle 1, and perform an active behavior as intended. Just take it. Even if the monitored pedestrian WM takes an active action as intended, the automatic traveling vehicle 1 is controlled to run according to the monitored pedestrian WM's action. Accordingly, when the monitored pedestrian WM recognizes the self-driving vehicle 1 that is automatically traveling, it is not confused what action should be taken, and the stress of the monitored pedestrian WM can be reduced as much as possible. Can be reduced. Therefore, in the predetermined traffic area PA where the pedestrian W passes, the travel control of the automatic traveling vehicle 1 which can coexist with the pedestrian W suitably can be realized.

<Specific example of operation of traveling parameter setting unit>
In the travel control device 6 described above, the travel parameter setting unit 73, as shown in FIG. 3, sets the monitoring area MR on the front side of the travel direction DH of the automatic travel vehicle 1 as the distance from the automatic travel vehicle 1 increases. It is divided into a monitoring range MRL, an intermediate distance monitoring range MRM, and a short distance monitoring range MRS. The long distance monitoring range MRL is a range in which the distance from the automatic traveling vehicle 1 is set to, for example, 5 to 10 m, and the intermediate distance monitoring range MRM is a range in which the distance from the automatic traveling vehicle 1 is set to, for example, 1 to 5 m. The short-range monitoring range MRS is a range in which the distance from the automatic traveling vehicle 1 is set, for example, within 1 m.

  Then, the traveling parameter setting unit 73 determines that the target distance TD, which is included in the position index data DD1 and indicates the distance from the automatic traveling vehicle 1 to the monitored pedestrian WM, is the long distance monitoring range MRL, the intermediate distance monitoring range MRM, and the short distance. The travel parameter P corresponding to the action index data DD2 is set depending on which of the monitoring ranges MRS the monitoring range belongs to. Thereby, in the monitoring region MR on the front side of the automatic traveling vehicle 1, which monitoring range of the long-range monitoring range MRL, the intermediate-range monitoring range MRM, and the short-range monitoring range MRS is determined by which the monitoring target pedestrian WM is passing. Based on this, it is possible to set a traveling parameter P according to the behavior of the monitored pedestrian WM.

(When the target distance belongs to the long distance monitoring range)
When the target distance TD indicating the distance from the automatic traveling vehicle 1 to the monitored pedestrian WM belongs to the long distance monitoring range MRL, the traveling parameter setting unit 73 determines the walking behavior of the monitored pedestrian WM included in the action index data DD2. It is determined whether or not the monitored pedestrian WM is a person who is eligible for avoidance that satisfies a predetermined condition indicating that there is a possibility that the monitored pedestrian WM may take an avoidance action outside the monitored area MR. Then, when the monitored pedestrian WM is the avoidable person, the traveling parameter setting unit 73 sets the traveling speed to the reference first speed (for example, 5 km / h) as the traveling parameter P of the automatic traveling vehicle 1. At the same time, the traveling direction is set to a direction along the reference traveling route RS. When the monitored pedestrian WM is not the avoidable person, the traveling parameter setting unit 73 sets the traveling speed to the first speed as the traveling parameter P of the automatic traveling vehicle 1 and sets the traveling direction. It is set in a direction along an avoidance route that can deviate from the reference traveling route RS and avoid the monitored pedestrian WM.

  As described above, the monitoring target pedestrian WM passing through the long-distance monitoring range MRL in the monitoring region MR on the front side of the automatic driving vehicle 1 is a person who is eligible to avoid avoiding the automatic driving vehicle 1 and may take an avoidance action. A travel parameter P relating to travel control of the automatic traveling vehicle 1 is set depending on whether or not there is the travel parameter P. If the monitored pedestrian WM is a person who is eligible for avoidance, for example, heading straight ahead straight ahead, the traveling control of the automatic traveling vehicle 1 based on the traveling parameter P is based on the reference traveling route RS. This is control for causing the automatic traveling vehicle 1 to travel at the first speed. In this case, the traveling control of the automatic traveling vehicle 1 is a control such that the automatic traveling vehicle 1 travels while waiting for an active avoidance action of the monitored pedestrian WM passing through the long distance monitoring range MRL.

  On the other hand, when the monitored pedestrian WM is an evasive disqualified person who is not eligible for evasion, for example, walking in a plurality of people, meandering in a direction other than forward such as downward, or swinging frequently, etc. The control of the automatic traveling vehicle 1 based on the traveling parameter P is control for traveling the automatic traveling vehicle 1 at the first speed on the avoidance route. In this case, the traveling control of the automatic traveling vehicle 1 is a control such that the automatic traveling vehicle 1 travels while avoiding the monitored pedestrian WM that passes through the long distance monitoring range MRL.

(When the target distance belongs to the intermediate distance monitoring range)
When the target distance TD indicating the distance from the automatic traveling vehicle 1 to the monitored pedestrian WM belongs to the intermediate distance monitoring range MRM, the traveling parameter setting unit 73 determines the walking direction of the monitored pedestrian WM included in the action index data DD2. It is determined whether the monitored pedestrian WM is an oncoming pedestrian who walks in a direction opposite to the traveling direction DH of the automatic traveling vehicle 1 or a parallel pedestrian who walks in the same direction based on

  When the monitored pedestrian WM passing through the intermediate distance monitoring range MRM is an oncoming pedestrian, the traveling parameter setting unit 73 sets the traveling speed as a traveling parameter P of the automatic traveling vehicle 1 with respect to the first speed based on the traveling speed. The speed is set to a predetermined second speed (for example, 3 km / h), and the traveling direction is set to a direction along the reference traveling route RS. Further, the traveling parameter setting unit 73 outputs, to the control signal generation unit 74, a command signal S1 regarding control for notifying the position of the monitoring area MR in the traffic area PA to the monitored pedestrian WM.

  In this way, when the monitored pedestrian WM that passes through the intermediate distance monitoring range MRM in the monitoring region MR on the front side of the automatic traveling vehicle 1 is an oncoming pedestrian, the traveling of the automatic traveling vehicle 1 based on the traveling parameter P The control is a control for causing the automatic traveling vehicle 1 to travel on the reference traveling route RS at a second speed reduced from the reference first speed while notifying the position of the monitoring area MR in the traffic area PA. In this case, the traveling control of the automatic traveling vehicle 1 is performed while the monitored pedestrian WM who walks on the opposite side in the intermediate distance monitoring range MRM recognizes the notification and waits to take an active avoidance action. The control is such that 1 runs.

  When the monitored pedestrian WM passing through the intermediate distance monitoring range MRM is a parallel pedestrian, the traveling parameter setting unit 73 determines that the walking speed of the monitored pedestrian WM included in the action index data DD2 is equal to or higher than the second speed. In some cases, as the traveling parameter P of the automatic traveling vehicle 1, the traveling speed is set to the same speed as the walking speed within a range not exceeding the first speed, and the traveling direction is set to a direction along the reference traveling route RS. The traveling parameter setting unit 73 determines whether the monitoring target pedestrian WM passing through the intermediate distance monitoring range MRM is a parallel pedestrian and the walking speed included in the action index data DD2 is lower than the second speed. As one traveling parameter P, the traveling speed is set to the first speed, and the traveling direction is set to a direction along the avoidance route that can deviate from the reference traveling route RS and avoid parallel pedestrians.

  As described above, when the monitored pedestrian WM passing through the intermediate distance monitoring range MRM in the monitoring region MR on the front side of the automatic traveling vehicle 1 is a parallel pedestrian, the monitoring target pedestrian WM is changed according to the walking speed. Thus, a traveling parameter P relating to traveling control of the automatic traveling vehicle 1 is set. When the walking speed of the monitored pedestrian WM is equal to or higher than the second speed, the traveling control of the automatic traveling vehicle 1 based on the traveling parameter P is performed on the reference traveling route RS at the same speed as the walking speed of the monitored pedestrian WM. This is control for causing the automatic traveling vehicle 1 to travel. In this case, the traveling control of the automatic traveling vehicle 1 is such that the automatic traveling vehicle 1 follows the monitored pedestrian WM that walks in parallel at the intermediate speed monitoring range MRM at the second speed or higher.

  On the other hand, when the walking speed of the monitored pedestrian WM is lower than the second speed, the traveling control of the automatic traveling vehicle 1 based on the traveling parameter P is performed by traveling the automatic traveling vehicle 1 at the first speed based on the avoidance route. Control. In this case, the traveling control of the automatic traveling vehicle 1 is a control such that the automatic traveling vehicle 1 travels while avoiding the monitored pedestrian WM that walks in parallel at the intermediate distance monitoring range MRM at less than the second speed.

(When the target distance belongs to the short-range monitoring range)
The traveling parameter setting unit 73 sets the traveling speed to zero as the traveling parameter P of the automatic traveling vehicle 1 when the target distance TD indicating the distance from the automatic traveling vehicle 1 to the monitored pedestrian WM belongs to the short distance monitoring range MRS. Then, a command signal for stopping the traveling of the automatic traveling vehicle 1 is output. When the monitoring target pedestrian WM exists in the short-distance monitoring range MRS in the monitoring region MR on the front side of the automatic traveling vehicle 1, the traveling control of the automatic traveling vehicle 1 based on the traveling parameter P is performed by the automatic traveling vehicle 1 This is control for stopping the traveling of the vehicle. Thereby, when the pedestrian W exists in the short-range monitoring range MRS, the automatic traveling vehicle 1 can be emergency stopped.

[About driving control method]
The traveling control method for controlling the automatic traveling of the automatic traveling vehicle 1 is realized by the control of the traveling control device 6 for the automatic traveling vehicle 1 described above. The travel control method includes a route setting step, a data processing step, a position recognition step, an action prediction step, a route planning step, a travel parameter setting step, and a control signal generation step.

  The route setting step is a step of setting a reference traveling route RS that is a reference route for the automatic traveling vehicle 1 to automatically travel within the traffic area PA where the pedestrian W passes, and is executed by the route planning unit 723 described above. You. The data processing step is a step of processing the image data D1 from the camera 51 and the range data D2 from the range sensor 52, and is performed by the object recognition unit 711, the object detection unit 712, and the vehicle body position estimation unit 713. Be executed.

  The position recognition step is a step of recognizing a position index related to the position of the monitoring target pedestrian WM that passes through the monitoring area MR in the traveling direction DH ahead of the automatic traveling vehicle 1 on the reference traveling route RS. This is executed by the unit 721. The behavior prediction step is a step of recognizing a behavior index including a walking speed, a walking direction, and a walking behavior as an index for specifying the behavior of the monitored pedestrian WM, and is executed by the behavior prediction unit 722. The route planning step is a step of generating and planning an avoidance route capable of avoiding the monitored pedestrian WM traveling in the monitoring area MR, and is executed by the route planning unit 723 described above.

  The travel parameter setting step is a step of setting, based on the position index data DD1, a travel parameter P corresponding to the action index data DD2, including a travel speed and a travel direction, as parameters relating to travel control of the automatic traveling vehicle 1. This is executed by the running parameter setting unit 73 described above. The control signal generation step is a step of generating a control signal for controlling the drive motor 31, the steering unit 32, and the notification unit 4 based on the traveling parameter P, and is executed by the control signal generation unit 74 described above.

  The travel control method executed by the travel control device 6 will be described with reference to the flowchart of FIG.

  In a state where the automatic traveling vehicle 1 is arranged in the traffic area PA where the pedestrian W passes, traveling control for controlling automatic traveling of the automatic traveling vehicle 1 is started. In this state, the map data D3 of the traffic area PA is stored in the map data storage unit 81 of the travel control device 6 in advance, and the travel route representing the reference travel route RS of the automatic traveling vehicle 1 is stored in the travel route storage unit 82. Data D4 is stored in advance.

  First, the route planning unit 723 reads the travel route data D4 stored in the travel route storage unit 82 to set the reference travel route RS for the automatic traveling vehicle 1 to automatically travel in the traffic area PA (step a1). , Route setting step). When the reference traveling route RS is set, the traveling parameter setting unit 73 sets the traveling speed to the first reference speed (for example, 5 km / h) and sets the traveling direction as the reference traveling parameter P of the automatic traveling vehicle 1. The direction is set along the reference traveling route RS (traveling parameter setting step). When the travel parameter P is set, the control signal generation unit 74 generates a drive control signal SS1 for controlling the drive motor 31 based on the travel parameter P, and performs a steering operation for controlling the steering unit 32. A control signal SS2 is generated (control signal generation step).

  When the drive control signal SS1 is input to the drive motor 31 and the steering control signal SS2 is input to the steering unit 32, the automatic traveling vehicle 1 starts automatic traveling on the reference traveling route RS at the first speed. (Step a2). When the automatic traveling of the automatic traveling vehicle 1 is started, the image data D1 is output from the camera 51 and the range data D2 is output from the range sensor 52 at predetermined intervals (step a3). The image data D1 from the camera 51 and the range data D2 from the range sensor 52 are processed by the data processing unit 71 (data processing step). In this data processing step, the object recognition unit 711 recognizes an object existing on the front side of the automatic traveling vehicle 1 based on the image data D1 and outputs the object recognition data D11. Further, in the data processing step, the object detection unit 712 detects the distance between the automatic traveling vehicle 1 and the object based on the area measurement data D2, and outputs distance data D21. In the data processing step, the vehicle body position estimating unit 713 estimates the position of the self-driving vehicle 1 in the traffic area PA based on the area measurement data D2 and the map data D3 stored in the map data storage unit 81. And outputs vehicle body position data D31.

  Each data output from the object recognition unit 711, the object detection unit 712, and the vehicle body position estimation unit 713 is analyzed by the analysis unit 72. Specifically, based on the object recognition data D11, the distance data D21, and the traveling route data D4, the position recognition unit 721 determines whether or not the monitoring target pedestrian WM exists in the monitoring region MR on the front side of the automatic traveling vehicle 1, The position index including the target distance TD from the automatic traveling vehicle 1 to the monitored pedestrian WM is recognized, and the position index data DD1 is output to the action prediction unit 722 (position recognition step). In addition, the behavior prediction unit 722 recognizes a behavior index for specifying the behavior of the monitored pedestrian WM based on the position index data DD1 and the distance data D21, and runs the behavior index data DD2 together with the position index data DD1. Output to the parameter setting unit 73 (action prediction step).

  During the automatic traveling of the automatic traveling vehicle 1, the traveling parameter setting unit 73 stores the position index data DD1 and the behavior index data DD2 output from the behavior prediction unit 722 and the vehicle body position data D31 output from the route planning unit 723. The added route plan data DD3 is input at predetermined intervals. The cycle at which the position index data DD1, the action index data DD2, and the route plan data DD3 are input to the traveling parameter setting unit 73 substantially coincides with the output cycle of data from the camera 51 and the range sensor 52.

  The traveling parameter setting unit 73 determines whether or not the monitoring target pedestrian WM exists in the short-range monitoring range MRS in the monitoring area MR based on the position index data DD1 (step a4). That is, the traveling parameter setting unit 73 determines whether or not the target distance TD included in the position index data DD1 belongs to the short-range monitoring range MRS. When the target distance TD belongs to the short distance monitoring range MRS, the travel control device 6 executes “short distance travel control b1”. Details of the “short-distance running control b1” will be described later.

  When the target distance TD does not belong to the short distance monitoring range MRS, the traveling parameter setting unit 73 determines whether or not the monitoring target pedestrian WM exists in the intermediate distance monitoring range MRM in the monitoring area MR based on the position index data DD1. A determination is made (step a5). That is, the traveling parameter setting unit 73 determines whether or not the target distance TD included in the position index data DD1 belongs to the intermediate distance monitoring range MRM.

  When the target distance TD belongs to the intermediate distance monitoring range MRM, the traveling parameter setting unit 73 determines whether the monitored pedestrian WM is a parallel pedestrian based on the walking direction of the monitored pedestrian WM included in the action index data DD2. Is determined (step a51). When the monitored pedestrian WM is a parallel pedestrian, the travel control device 6 executes “first intermediate distance travel control c1”. Details of the “first intermediate distance traveling control c1” will be described later.

  On the other hand, when the target distance TD belongs to the intermediate distance monitoring range MRM and the monitored pedestrian WM is not a parallel pedestrian, the traveling parameter setting unit 73 recognizes that the monitored pedestrian WM is an oncoming pedestrian. (Step a52). When the monitored pedestrian WM is recognized as an oncoming pedestrian, the travel control device 6 executes the “second intermediate distance travel control d1”. Details of the "second intermediate distance traveling control d1" will be described later.

  When the target distance TD does not belong to the intermediate distance monitoring range MRM, the traveling parameter setting unit 73 determines whether or not the monitoring target pedestrian WM exists in the long distance monitoring range MRL in the monitoring area MR based on the position index data DD1. A determination is made (step a6). That is, the traveling parameter setting unit 73 determines whether or not the target distance TD included in the position index data DD1 belongs to the long distance monitoring range MRL.

  When the target distance TD belongs to the long distance monitoring range MRL, the traveling parameter setting unit 73 determines whether the monitored pedestrian WM is a parallel pedestrian based on the walking direction of the monitored pedestrian WM included in the action index data DD2. Is determined (step a61). If the monitored pedestrian WM is a parallel pedestrian, the process proceeds to step a7 described below.

  When the target distance TD belongs to the long distance monitoring range MRL and the monitored pedestrian WM is not a parallel pedestrian, the traveling parameter setting unit 73 recognizes that the monitored pedestrian WM is an oncoming pedestrian (step a62). When the monitored pedestrian WM is recognized as an oncoming pedestrian, the travel control device 6 executes “long-distance travel control e1”. Details of the “long-distance running control e1” will be described later.

  When the target distance TD does not belong to the long distance monitoring range MRL, the traveling parameter setting unit 73 does not change the traveling parameter P of the automatic traveling vehicle 1. Therefore, the automatic traveling vehicle 1 continues the automatic traveling on the reference traveling route RS at the reference first speed (step a7).

  During the automatic traveling of the automatic traveling vehicle 1, the traveling parameter setting unit 73 determines whether the automatic traveling vehicle 1 is in the reference traveling route RS based on the vehicle body position data D31 added to the route planning data DD3 input at predetermined intervals. It is determined whether the vehicle has arrived at the above destination (step a8). When the automatic traveling vehicle 1 arrives at the destination, the traveling parameter setting unit 73 outputs the traveling parameter P whose traveling speed is set to zero to the control signal generation unit 74. Thereby, the traveling of the automatic traveling vehicle 1 is stopped, and the traveling control of the automatic traveling vehicle 1 ends. On the other hand, if the automatic traveling vehicle 1 has not arrived at the destination, the process returns to step a3, and the traveling control is repeated.

<About short-distance driving control>
As described above, when the traveling parameter setting unit 73 determines that the target distance TD indicating the distance from the automatic traveling vehicle 1 to the monitored pedestrian WM belongs to the short distance monitoring range MRS, the traveling control device 6 performs the short distance. The running control b1 is executed. FIG. 10 is a flowchart showing a flow of the short-distance traveling control b1 executed by the traveling control device 6. FIG. 11 is a diagram for explaining the short-distance traveling control b1 executed by the traveling control device 6.

  In the short-distance traveling control b1, the traveling parameter setting unit 73 sets the traveling parameter P at which the traveling speed is zero, and outputs the traveling parameter P to the control signal generation unit 74 (Step b11, traveling parameter setting step). . The control signal generator 74 generates the drive control signal SS1 based on the travel parameter P whose travel speed is set to zero, and outputs the drive control signal SS1 to the drive motor 31 (step b12, control signal generation). Steps). The drive motor 31 to which the drive control signal SS1 has been input stops driving, and accordingly the drive wheels 311 stop. Thereby, when the pedestrian W is present in the short-range monitoring range MRS, the automatic traveling vehicle 1 can be emergency stopped as shown in FIG. 11A (step b13).

  After the emergency stop of the automatic traveling vehicle 1, the traveling parameter setting unit 73 determines the presence or absence of the monitoring target pedestrian WM in the short-range monitoring range MRS based on the position index data DD1 input every predetermined cycle ( Step b14). That is, the traveling parameter setting unit 73 determines whether the monitoring target pedestrian WM has left the short distance monitoring range MRS.

  As illustrated in FIG. 11B, when the monitoring target pedestrian WM continuously exists in the short-range monitoring range MRS, the route planning unit 723 performs the following based on the vehicle body position data D31 and the map data D3. An avoidance route RA that deviates from the reference traveling route RS and that can avoid the pedestrian WM in the short-range monitoring range MRS is generated (step b15, route planning step). The route planning unit 723 outputs the generated route planning data DD3 representing the avoidance route RA to the traveling parameter setting unit 73.

  When the route plan data DD3 representing the avoidance route RA is input, the traveling parameter setting unit 73 sets the traveling speed as the reference first speed and sets the traveling direction along the avoidance route RA as the traveling parameter P for avoidance. Is set (step b16, running parameter setting step). The traveling parameter setting unit 73 outputs the set traveling parameter P for avoidance to the control signal generation unit 74. The control signal generator 74 generates the drive control signal SS1 and the steering control signal SS2 based on the avoidance travel parameter P (step b17, control signal generation step). The control signal generation unit 74 outputs the drive control signal SS1 to the drive motor 31 and outputs the steering control signal SS2 to the steering unit 32.

  The drive motor 31 to which the drive control signal SS1 is input drives the drive wheels 311 so that the automatic traveling vehicle 1 travels according to the traveling speed (first speed) included in the avoidance traveling parameter P. The steering unit 32 to which the steering control signal SS2 has been input operates the steered wheels 321 so that the automatic traveling vehicle 1 travels in a direction along the avoidance route RA included in the avoidance travel parameter P. As a result, after traveling on the avoidance route RA, the automatic traveling vehicle 1 automatically travels back to the reference traveling route RS (step b18).

  After the emergency stop of the automatic traveling vehicle 1, as illustrated in FIG. 11C, when the monitored pedestrian WM leaves the short-range monitoring range MRS, the traveling parameter setting unit 73 sets the traveling speed as a reference based on the traveling speed. A traveling parameter P for resuming traveling with one speed and a traveling direction along the reference traveling route RS is set (step b141, traveling parameter setting step). The traveling parameter setting unit 73 outputs the set traveling parameter P for resuming traveling to the control signal generation unit 74. The control signal generation unit 74 generates the drive control signal SS1 and the steering control signal SS2 based on the travel parameter P for restarting travel (step b142, control signal generation step). The control signal generation unit 74 outputs the drive control signal SS1 to the drive motor 31 and outputs the steering control signal SS2 to the steering unit 32.

  The drive motor 31 to which the drive control signal SS1 is input drives the drive wheels 311 so that the automatic traveling vehicle 1 travels according to the traveling speed (first speed) included in the traveling parameter P for resuming traveling. The steering unit 32 to which the steering control signal SS2 is input operates the steered wheels 321 so that the automatic traveling vehicle 1 travels in the direction along the reference traveling route RS included in the traveling parameter P for resuming traveling. Thereby, the automatic traveling vehicle 1 restarts the automatic traveling on the reference traveling route RS (step b143).

<About the first intermediate distance traveling control>
As described above, the traveling parameter setting unit 73 determines that the target distance TD indicating the distance from the automatic traveling vehicle 1 to the monitored pedestrian WM belongs to the intermediate distance monitoring range MRM, and the monitored pedestrian WM is a parallel pedestrian. When it is determined that there is, the first intermediate distance traveling control c1 is executed by the traveling control device 6. FIG. 12 is a flowchart showing a flow of the first intermediate distance traveling control c1 executed by the traveling control device 6. FIG. 13 is a diagram for explaining the first intermediate distance traveling control c1 executed by the traveling control device 6.

  As shown in FIG. 13A, when there is a monitored pedestrian WM that walks in parallel in the direction WH in the same direction as the traveling direction DH of the automatic traveling vehicle 1 in the intermediate distance monitoring range MRM, the first The intermediate distance running control c1 is executed. In the first intermediate distance traveling control c1, the traveling parameter setting unit 73 determines whether the walking speed of the monitored pedestrian WM, which is a parallel pedestrian, is equal to or smaller than the walking speed of the monitored pedestrian WM included in the action index data DD2. It is determined whether the speed is equal to or higher than two speeds (for example, 3 km / h) (step c11).

  As illustrated in FIG. 13B, when the walking speed of the monitored pedestrian WM (parallel pedestrian) is equal to or higher than the second speed, the traveling parameter setting unit 73 determines the traveling speed as a reference first speed (for example, A running parameter P for following running is set to be the same speed as the walking speed within a range not exceeding 5 km / h and the running direction is a direction along the reference running route RS (step c12, running parameter setting step). The traveling parameter setting unit 73 outputs the set traveling parameter P for following traveling to the control signal generation unit 74. The control signal generator 74 generates the drive control signal SS1 and the steering control signal SS2 based on the traveling parameter P for following traveling (step c13, control signal generating step). The control signal generation unit 74 outputs the drive control signal SS1 to the drive motor 31 and outputs the steering control signal SS2 to the steering unit 32.

  The drive motor 31 to which the drive control signal SS1 has been input drives the drive wheels 311 so that the automatic traveling vehicle 1 travels in accordance with the traveling speed (same as the walking speed) included in the traveling parameter P for following traveling. The steering unit 32 to which the steering control signal SS2 is input operates the steered wheels 321 such that the automatic traveling vehicle 1 travels in a direction along the reference traveling route RS included in the traveling parameter P for following traveling. Thereby, the automatic traveling vehicle 1 automatically travels on the reference traveling route RS so as to follow the monitored pedestrian WM (parallel pedestrian) (step c14).

  As shown in FIG. 13 (C), when the walking speed of the monitored pedestrian WM (parallel pedestrian) is lower than the second speed, the route planning unit 723 determines based on the vehicle body position data D31 and the map data D3. Then, an avoidance route RA capable of avoiding the monitored pedestrian WM in the intermediate distance monitoring range MRM deviating from the reference traveling route RS is generated (step c111, route planning step). The route planning unit 723 outputs the generated route planning data DD3 representing the avoidance route RA to the traveling parameter setting unit 73.

  When the route plan data DD3 representing the avoidance route RA is input, the traveling parameter setting unit 73 sets the traveling speed as the reference first speed and sets the traveling direction along the avoidance route RA as the traveling parameter P for avoidance. Is set (step c112, travel parameter setting step). The traveling parameter setting unit 73 outputs the set traveling parameter P for avoidance to the control signal generation unit 74. The control signal generator 74 generates the drive control signal SS1 and the steering control signal SS2 based on the avoidance travel parameter P (step c113, control signal generation step). The control signal generation unit 74 outputs the drive control signal SS1 to the drive motor 31 and outputs the steering control signal SS2 to the steering unit 32.

  The drive motor 31 to which the drive control signal SS1 is input drives the drive wheels 311 so that the automatic traveling vehicle 1 travels according to the traveling speed (first speed) included in the avoidance traveling parameter P. The steering unit 32 to which the steering control signal SS2 has been input operates the steered wheels 321 so that the automatic traveling vehicle 1 travels in a direction along the avoidance route RA included in the avoidance travel parameter P. Thereby, the automatic traveling vehicle 1 automatically travels to return to the reference traveling route RS after traveling on the avoidance route RA (step c114).

<About the second intermediate distance running control>
As described above, the traveling parameter setting unit 73 determines that the target distance TD indicating the distance from the automatic traveling vehicle 1 to the monitored pedestrian WM belongs to the intermediate distance monitoring range MRM, and the monitored pedestrian WM is an oncoming pedestrian. When it is determined that there is, the second intermediate distance traveling control d1 is executed by the traveling control device 6. FIG. 14 is a flowchart showing the flow of the second intermediate distance traveling control d1 executed by the traveling control device 6. FIG. 15 is a diagram for explaining the second intermediate distance traveling control d1 executed by the traveling control device 6.

  As shown in FIG. 15 (A), if there is a monitored pedestrian WM that walks in the direction WH opposite to the traveling direction DH of the automatic traveling vehicle 1 in the intermediate distance monitoring range MRM, the second The intermediate distance running control d1 is executed. In the second intermediate distance traveling control d1, the traveling parameter setting unit 73 sets the traveling speed to a predetermined second speed (for example, 3 km / h) reduced from the reference first speed, and sets the traveling direction along the reference traveling route RS. The traveling parameter P for decelerating traveling in the deviated direction is set (step d11, traveling parameter setting step). The traveling parameter setting unit 73 outputs the set traveling parameter P for deceleration traveling to the control signal generation unit 74. Furthermore, the traveling parameter setting unit 73 outputs a route display notification command signal S1 for notifying the position of the monitoring area MR in the traffic area PA to the monitoring target pedestrian WM to the control signal generation unit 74 ( Step d12).

  The control signal generation unit 74 generates the drive control signal SS1 and the steering control signal SS2 based on the traveling parameter P for deceleration traveling, and generates the notification control signal SS3 based on the route display notification command signal S1 ( Step d13, control signal generation step). The control signal generation unit 74 outputs the drive control signal SS1 to the drive motor 31, outputs the steering control signal SS2 to the steering unit 32, and outputs the notification control signal SS3 to the notification unit 4.

  The drive motor 31 to which the drive control signal SS1 is input drives the drive wheels 311 so that the automatic traveling vehicle 1 travels according to the traveling speed (second speed) included in the traveling parameter P for decelerating traveling. The steering unit 32 to which the steering control signal SS2 is input operates the steered wheels 321 so that the automatic traveling vehicle 1 travels in a direction along the reference traveling route RS included in the traveling parameter P for decelerating traveling. The notification unit 4 to which the notification control signal SS3 is input transmits route display notification information J1 of light or sound for notifying the position of the monitoring area MR in the traffic area PA to the pedestrian WM to be monitored. Accordingly, as shown in FIG. 15B, the automatic traveling vehicle 1 automatically travels on the reference traveling route RS at the second speed while transmitting the route display information J1 (step d14).

  During automatic traveling of the automatic traveling vehicle 1 while transmitting the route display notification information J1, the traveling parameter setting unit 73 performs monitoring in the intermediate distance monitoring range MRM based on the position index data DD1 input at predetermined intervals. The presence or absence of the target pedestrian WM is determined (step d15). That is, the traveling parameter setting unit 73 determines whether the monitored pedestrian WM has left the intermediate distance monitoring range MRS.

  When the monitoring target pedestrian WM continues to exist in the intermediate distance monitoring range MRM, the traveling parameter setting unit 73 determines whether or not the monitoring target pedestrian WM is in the short distance monitoring range MRS based on the position index data DD1 input every predetermined cycle. It is determined whether there is a monitored pedestrian WM (step d16). If the monitored pedestrian WM exists in the short-range monitoring range MRS, the process proceeds to the above-described “short-distance running control b1”, and if the monitored pedestrian WM does not exist in the short-range monitoring range MRS. Then, the processing shifts to step d15, and the processing shown in each step after step d15 is repeated.

  As shown in FIG. 15C, when the monitored pedestrian WM leaves the intermediate distance monitoring range MRM during the automatic traveling of the automatic traveling vehicle 1 while transmitting the route display notification information J1, the traveling parameter setting is performed. The unit 73 outputs a command signal S1 for appreciation notification for notifying the appreciation of the appreciation to the monitored pedestrian WM to the control signal generation unit 74 (step d151). The control signal generator 74 generates the notification control signal SS3 based on the command signal S1 for appreciation notification, and outputs the notification control signal SS3 to the notification unit 4 (step d152). The notification unit 4 to which the notification control signal SS3 has been input transmits a light or sound thank-you notification information J2 for notifying a willingness to thank the monitored pedestrian WM. Thus, as shown in FIG. 15C, the automatic traveling vehicle 1 automatically travels on the reference traveling route RS at the second speed while transmitting the appreciation notification information J2 (step d153).

<About long-distance driving control>
As described above, the traveling parameter setting unit 73 determines that the target distance TD indicating the distance from the automatic traveling vehicle 1 to the monitored pedestrian WM belongs to the long distance monitoring range MRL, and the monitored pedestrian WM is an oncoming pedestrian. When it is determined that there is, the travel control device 6 executes the long-distance travel control e1. FIG. 16 is a flowchart showing the flow of the long-distance traveling control e1 executed by the traveling control device 6. FIG. 17 is a diagram for explaining the long-distance traveling control e1 executed by the traveling control device 6.

  As shown in FIGS. 17 (A) and 17 (B), within the long distance monitoring range MRL, there is a monitored pedestrian WM who walks in a direction WH opposite to the traveling direction DH of the automatic traveling vehicle 1 in the opposite direction. If so, the long-distance traveling control e1 is executed. In the long-distance traveling control e1, the traveling parameter setting unit 73 prevents the monitored pedestrian WM who walks on the opposite side from going outside the monitoring area MR based on the walking behavior of the monitored pedestrian WM included in the action index data DD2. It is determined whether or not the person is a person who is eligible to avoid avoiding a predetermined condition indicating that there is a possibility of taking an action.

  As illustrated in FIG. 17A, when the walking behavior of the monitored pedestrian WM is such that the pedestrian moves forward straight forward alone, the traveling parameter setting unit 73 sets the monitoring parameter of the monitored pedestrian WM. It is determined that WM is a person eligible for avoidance. When the monitored pedestrian WM is a person who is eligible for avoidance, the traveling parameter setting unit 73 determines whether or not the monitored pedestrian WM exists in the long-distance monitoring range MRL based on the position index data DD1 input at predetermined intervals. A determination is made (step e12). That is, the traveling parameter setting unit 73 determines whether or not the monitored pedestrian WM (eligible for avoidance) has left the long distance monitoring range MRL.

  When the monitored pedestrian WM (eligible for avoidance) has left the long distance monitoring range MRL, the process proceeds to step a3 shown in FIG. 9, and the processes shown in each step after step a3 are repeated.

  On the other hand, if the monitored pedestrian WM (eligible for avoidance) continues to exist in the long-distance monitoring range MRL, the traveling parameter setting unit 73 sets the traveling speed to the first reference speed and sets the traveling direction to the reference traveling speed. A reference traveling parameter P is set as a direction along the route RS (step e13, traveling parameter setting step). The traveling parameter setting unit 73 outputs the set reference traveling parameter P to the control signal generation unit 74. The control signal generator 74 generates the drive control signal SS1 and the steering control signal SS2 based on the reference traveling parameter P (step e14, control signal generation step). The control signal generation unit 74 outputs the drive control signal SS1 to the drive motor 31 and outputs the steering control signal SS2 to the steering unit 32.

  The drive motor 31 to which the drive control signal SS1 has been input drives the drive wheels 311 so that the automatic traveling vehicle 1 travels according to the traveling speed (first speed) included in the reference traveling parameter P. The steering unit 32 to which the steering control signal SS2 is input operates the steered wheels 321 such that the automatic traveling vehicle 1 travels in a direction along the reference traveling route RS included in the reference traveling parameter P. Thereby, the automatic traveling vehicle 1 continues the automatic traveling at the reference first speed on the reference traveling route RS (step e15). In this case, the traveling control of the automatic traveling vehicle 1 is controlled such that the automatic traveling vehicle 1 travels while waiting for an active avoidance action of a monitored pedestrian WM (eligible for avoidance) passing through the long-distance monitoring range MRL. Become.

  During the continuation of the automatic traveling of the automatic traveling vehicle 1, the traveling parameter setting unit 73 sets the monitoring target pedestrian WM (eligible for avoidance) in the intermediate distance monitoring range MRM based on the position index data DD1 input at predetermined intervals. ) Is determined (step e16). If the monitored pedestrian WM (eligible for avoidance) exists in the intermediate distance monitoring range MRS, the processing shifts to the above-described “second intermediate distance traveling control d1”, and the monitoring target is set in the intermediate distance monitoring range MRS. If there is no pedestrian WM (eligible for avoidance), the process proceeds to step e12, and the processes shown in the steps after step e12 are repeated.

  As shown in FIG. 17B, the walking behavior of the monitored pedestrian WM is a behavior such as walking by a plurality of persons, meandering in a direction other than forward such as downward, or swinging frequently. In this case, the traveling parameter setting unit 73 determines that the monitored pedestrian WM is an evasive disqualified person who is not an evasive qualified person. When the monitored pedestrian WM is a disqualified person, the route planning unit 723 deviates from the reference traveling route RS and is in the long-distance monitoring range MRL based on the vehicle body position data D31 and the map data D3. An avoidance route RA capable of avoiding a WM (disqualified avoidance person) is generated (step e111, route planning step). The route planning unit 723 outputs the generated route planning data DD3 representing the avoidance route RA to the traveling parameter setting unit 73.

  When the route plan data DD3 representing the avoidance route RA is input, the traveling parameter setting unit 73 sets the traveling speed as the reference first speed and sets the traveling direction along the avoidance route RA as the traveling parameter P for avoidance. Is set (step e112, travel parameter setting step). The traveling parameter setting unit 73 outputs the set traveling parameter P for avoidance to the control signal generation unit 74. The control signal generator 74 generates the drive control signal SS1 and the steering control signal SS2 based on the avoidance travel parameter P (step e113, control signal generation step). The control signal generation unit 74 outputs the drive control signal SS1 to the drive motor 31 and outputs the steering control signal SS2 to the steering unit 32.

  The drive motor 31 to which the drive control signal SS1 is input drives the drive wheels 311 so that the automatic traveling vehicle 1 travels according to the traveling speed (first speed) included in the avoidance traveling parameter P. The steering unit 32 to which the steering control signal SS2 has been input operates the steered wheels 321 so that the automatic traveling vehicle 1 travels in a direction along the avoidance route RA included in the avoidance travel parameter P. As a result, after traveling on the avoidance route RA, the automatic traveling vehicle 1 automatically travels back to the reference traveling route RS (step e114). In this case, the traveling control of the automatic traveling vehicle 1 is a control such that the automatic traveling vehicle 1 travels while avoiding the monitored pedestrian WM (disqualified person avoiding) that passes through the long distance monitoring range MRL. When the automatic traveling vehicle 1 returns to the reference traveling route RS after avoiding the monitored pedestrian WM (disqualified person avoiding the evasion), the process proceeds to step a3 shown in FIG. It is.

  As described above, the embodiment of the present invention has been described, but the present invention is not limited to this. For example, the following modified embodiment can be adopted.

  In the above embodiment, the configuration in which the automatic traveling vehicle 1 automatically travels based on the control of the travel control device 6 has been described, but the present invention is not limited to this. The automatic traveling vehicle 1 may be configured to be able to switch the traveling mode between the automatic traveling mode and the driver operation mode. When the automatic traveling mode is set, the automatic traveling vehicle 1 automatically travels based on the control of the traveling control device 6 as described above. When set to the driver operation mode, the driver can operate the automatic traveling vehicle 1. The driver can drive the automatic traveling vehicle 1 by operating the traveling mechanism 3.

DESCRIPTION OF SYMBOLS 1 Automatic traveling vehicle 2 Body 3 Running mechanism 31 Drive motor 32 Steering unit 4 Reporting unit 5 Object monitoring unit 51 Camera 52 Range sensor 6 Travel control device 7 Processing area 71 Data processing unit 711 Object recognition unit 712 Object detection unit 713 Body position Estimation unit 72 Analysis unit 721 Position recognition unit 722 Behavior prediction unit 723 Route planning unit 73 Running parameter setting unit 74 Control signal generation unit 8 Storage area (storage unit)
81 Map data storage unit 82 Travel route storage unit MR monitoring area MRL Long-distance monitoring range MRM Intermediate distance monitoring range MRS Short-distance monitoring range PA Traffic area RS Reference traveling route RA Avoidance route W Pedestrian WM Pedestrian to be monitored

A traveling control device according to one aspect of the present invention is a device that controls automatic traveling of an automatic traveling vehicle within a predetermined traffic area where a pedestrian passes. The traveling control device includes a storage unit that stores in advance a reference traveling route that is a reference route on which the automatic traveling vehicle automatically travels in the traffic area, and a traveling direction front side of the automatic traveling vehicle on the reference traveling route. The presence or absence of a monitored pedestrian that is a pedestrian passing through the monitored area, and a target distance indicating the distance from the self-driving vehicle to the monitored pedestrian, a position index related to the position of the monitored pedestrian. An action index including a position recognition unit to be recognized , a walking speed and a walking direction, and a predetermined walking behavior related to a behavior of the monitored pedestrian when walking, as an index for specifying the behavior of the monitored pedestrian; recognizing behavior prediction unit, said monitoring area, far monitoring range in the order distance is far from the automatic traveling vehicle, is divided into middle distance monitoring range and short-range monitoring range, the position finger The object distance is the far monitoring range, the by belongs to one of the monitoring range of the intermediate distance monitoring range and the near monitoring range, as a parameter relating to the travel control of the automatic vehicle traveling speed and a traveling direction contained in the And a driving parameter setting unit that sets a driving parameter according to the action index. The travel parameter setting unit, when the target distance belongs to the long distance monitoring range, based on the walking behavior included in the action index, the monitored pedestrian takes an avoidance action outside the monitoring area. It is determined whether it is a person who is eligible for avoidance that satisfies a predetermined condition indicating that there is a possibility, and if the monitored pedestrian is the person who is eligible for avoidance, as the traveling parameter of the automatic traveling vehicle, The traveling speed is set to a first reference speed, the traveling direction is set to a direction along the reference traveling route, and if the monitored pedestrian is not the eligible person for avoidance, the automatic traveling vehicle The traveling speed is set to the first speed as the traveling parameter, and the traveling direction deviates from the reference traveling route and follows an avoidance route that can avoid the monitored pedestrian. To set the direction.

On the other hand, when the monitored pedestrian is a person who is not an evasion qualified person who is not eligible for evasion, for example, walking in a plurality of people, meandering in a direction other than forward such as below, or swinging many times, The traveling control of the automatic traveling vehicle based on the traveling parameters is control for traveling the automatic traveling vehicle at the first speed on the avoidance route. In this case, the traveling control of the self-propelled vehicle is such that the self-propelled vehicle runs while avoiding the monitored pedestrian who passes through the long-distance monitoring range.
In addition, the traveling control device performs, as the feature amount of the monitored pedestrian, a number of people feature amount indicating whether the pedestrian is walking by a plurality of people, a gaze feature amount indicating a feature of a gaze direction, and a swing. A configuration may further include an object recognizing unit that acquires a swinging behavior feature amount indicating a feature of whether or not the subject is waving. Then, the behavior prediction unit recognizes the walking behavior included in the behavior index based on at least one of the number-of-persons characteristic amount, the gaze characteristic amount, and the heading behavior characteristic amount.

A traveling control method according to another aspect of the present invention is a method for controlling automatic traveling of an automatic traveling vehicle in a predetermined traffic area where a pedestrian passes. The traveling control method includes: a route setting step of setting a reference traveling route that is a reference route on which the automatic traveling vehicle automatically travels in the traffic area; and a forward traveling direction of the automatic traveling vehicle on the reference traveling route. The presence or absence of a monitored pedestrian that is a pedestrian passing through the monitored area, and a target distance indicating the distance from the self-driving vehicle to the monitored pedestrian, a position index related to the position of the monitored pedestrian. as an index for specifying the position recognition step recognizes the behavior of the monitoring target pedestrian behavior indicators including the walking speed and walking direction, and a predetermined walking behavior on the behavior during walking of the monitored pedestrian recognizing behavior prediction step, said monitoring area, far monitoring range distance is farthest from the automatic traveling vehicle, an intermediate distance monitoring range and short-range monitoring range Compartment, and the target distance is the far monitoring range included in the position indicator, depending belongs to one of the monitoring range of the intermediate distance monitoring range and the near monitoring range, as a parameter relating to the travel control of the automatic vehicle , A traveling parameter setting step of setting traveling parameters according to the action index, including a traveling speed and a traveling direction. In the travel parameter setting step, when the target distance belongs to the long distance monitoring range, the monitored pedestrian takes an avoidance action outside the monitoring area based on the walking behavior included in the action index. It is determined whether it is a person who is eligible for avoidance that satisfies a predetermined condition indicating that there is a possibility, and if the monitored pedestrian is the person who is eligible for avoidance, as the traveling parameter of the automatic traveling vehicle, The traveling speed is set to a first reference speed, the traveling direction is set to a direction along the reference traveling route, and if the monitored pedestrian is not the eligible person for avoidance, the automatic traveling vehicle An avoidance route that can set the traveling speed to the first speed as the traveling parameter and avoid the monitored pedestrian by deviating from the reference traveling route in the traveling direction. Set in along the direction.

A traveling control device according to one aspect of the present invention is a device that controls automatic traveling of an automatic traveling vehicle within a predetermined traffic area where a pedestrian passes. The traveling control device includes a storage unit that stores in advance a reference traveling route that is a reference route on which the automatic traveling vehicle automatically travels in the traffic area, and a traveling direction front side of the automatic traveling vehicle on the reference traveling route. The presence or absence of a monitored pedestrian that is a pedestrian passing through the monitored area, and a target distance indicating the distance from the self-driving vehicle to the monitored pedestrian, a position index related to the position of the monitored pedestrian. An action index including a position recognition unit to be recognized, a walking speed and a walking direction, and a predetermined walking behavior related to a behavior of the monitored pedestrian when walking, as an index for specifying the behavior of the monitored pedestrian; The monitoring area is partitioned into a long-distance monitoring range, an intermediate-distance monitoring range, and a short-distance monitoring range in ascending order of the distance from the self-driving vehicle, and Depending on which of the monitoring range of the long-distance monitoring range, the intermediate-distance monitoring range and the short-distance monitoring range the target distance included in, the traveling speed and the traveling direction as parameters related to the traveling control of the automatic traveling vehicle And a driving parameter setting unit that sets a driving parameter according to the action index. The traveling parameter setting unit, when the target distance belongs to the long distance monitoring range , based on the walking direction included in the action index, the monitored pedestrian in the same direction as the traveling direction of the automatic traveling vehicle It is determined whether or not the pedestrian is a parallel pedestrian who walks. If the monitored pedestrian is the parallel pedestrian, the traveling speed is set to a first reference speed as the traveling parameter of the automatic traveling vehicle. And, the traveling direction is set to a direction along the reference traveling route, and if the monitored pedestrian is not the parallel pedestrian, the monitored pedestrian is moved with respect to the traveling direction of the automatic traveling vehicle. recognizes that the opposing pedestrian to walk in the opposite direction Te, based on the walking behavior included in the action indicator, the monitoring target pedestrian is likely to take evasive action to the monitoring area outside this Determines whether suggesting a predetermined condition is satisfied avoiding competent person and wherein when the monitored pedestrian of the avoidance qualified person, as the travel parameter of the automatic traveling vehicle, the said running speed While setting to the first speed, the traveling direction is set to a direction along the reference traveling route, and if the monitored pedestrian is not the avoidance qualified person, as the traveling parameter of the automatic traveling vehicle, The traveling speed is set to the first speed, and the traveling direction is set to a direction along an avoidance route that can deviate from the reference traveling route and avoid the monitored pedestrian.

In the above traveling control device, the traveling parameter setting unit may be configured such that, when the target distance belongs to the intermediate distance monitoring range, the monitored pedestrian is the opposite pedestrian based on the walking direction included in the action index. It may be configured to determine whether or not. Then, when the monitored pedestrian is the oncoming pedestrian, the traveling parameter setting unit determines the traveling parameter of the automatic traveling vehicle as a traveling parameter, the traveling speed being reduced to a reference first speed. A command signal related to control for setting to the second speed, setting the traveling direction to a direction along the reference traveling route, and further informing the monitored pedestrian of the position of the monitored area in the traffic area. Is output.

In the above running control apparatus, the running parameter setting unit, wherein when the target distance belongs to the middle distance monitoring range, based on the walking direction included in the action indicator, the monitoring target pedestrian the parallel pedestrian It may be configured to determine whether or not. The traveling parameter setting unit, in the case where the monitored pedestrian is the parallel pedestrian, when the walking speed included in the action index is equal to or higher than the second speed, as the traveling parameter of the automatic traveling vehicle, The running speed is set to the same speed as the walking speed within a range not exceeding the first speed, and the running direction is set to a direction along the reference running route, and the walking speed included in the action index is set. Is less than the second speed, the traveling speed is set to the first speed as the traveling parameter of the automatic traveling vehicle, and the traveling direction deviates from the reference traveling route to avoid the parallel pedestrian. Set the direction along the possible avoidance route.

A traveling control method according to another aspect of the present invention is a method for controlling automatic traveling of an automatic traveling vehicle in a predetermined traffic area where a pedestrian passes. The traveling control method includes: a route setting step of setting a reference traveling route that is a reference route on which the automatic traveling vehicle automatically travels in the traffic area; and a forward traveling direction of the automatic traveling vehicle on the reference traveling route. The presence or absence of a monitored pedestrian that is a pedestrian passing through the monitored area, and a target distance indicating the distance from the self-driving vehicle to the monitored pedestrian, a position index related to the position of the monitored pedestrian. A behavior index including a recognition step of a position to be recognized, and a walking speed and a walking direction, and a predetermined walking behavior related to a behavior of the monitoring target pedestrian when walking, as an index for specifying the behavior of the monitored pedestrian. An action prediction step of recognizing the monitoring area, and setting the monitoring area to a long-distance monitoring range, an intermediate-distance monitoring range, and a short-distance monitoring range in the order of increasing distance from the automatic driving vehicle. According to whether the target distance included in the position index belongs to the monitoring range of the long distance monitoring range, the intermediate distance monitoring range and the short distance monitoring range, , A traveling parameter setting step of setting traveling parameters according to the action index, including a traveling speed and a traveling direction. In the traveling parameter setting step, when the target distance belongs to the long distance monitoring range, the monitored pedestrian is moved in the same direction as the traveling direction of the automatic traveling vehicle based on the walking direction included in the action index. It is determined whether or not the pedestrian is a parallel pedestrian who walks. If the monitored pedestrian is the parallel pedestrian, the traveling speed is set to a first reference speed as the traveling parameter of the automatic traveling vehicle. And, the traveling direction is set to a direction along the reference traveling route, and if the monitored pedestrian is not the parallel pedestrian, the monitored pedestrian is moved with respect to the traveling direction of the automatic traveling vehicle. It recognizes that the opposing pedestrian to walk in the opposite direction Te, based on the walking behavior included in the action indicator, the monitoring target pedestrians, may take evasive action to the monitoring area outside It is determined whether or not the pedestrian to be monitored satisfies a predetermined condition to indicate that the pedestrian to be monitored is the evaded eligible person. Is set to the first speed, and the traveling direction is set to a direction along the reference traveling route. If the monitored pedestrian is not the avoidable person, the traveling parameter of the automatic traveling vehicle is set. The traveling speed is set to the first speed, and the traveling direction is set to a direction along an avoidance route that can deviate from the reference traveling route and avoid the monitoring target pedestrian.

Claims (8)

A traveling control device that controls automatic traveling of an automatic traveling vehicle in a predetermined traffic area where a pedestrian passes,
A storage unit that stores in advance a reference traveling route that is a reference route on which the automatic traveling vehicle automatically travels in the traffic area,
On the reference traveling route, the presence or absence of a monitored pedestrian who is a pedestrian passing through a monitoring area on the front side in the traveling direction of the automatic traveling vehicle, and a target distance indicating a distance from the automatic traveling vehicle to the monitored pedestrian. Including, a position recognition unit that recognizes a position index related to the position of the monitored pedestrian,
A behavior prediction unit that recognizes a behavior index including a walking speed and a walking direction as an index for specifying the behavior of the monitored pedestrian,
A travel parameter setting unit configured to set a travel parameter according to the action index, including a travel speed and a travel direction, as parameters relating to travel control of the automatic traveling vehicle based on the position index. The traveling parameter setting unit includes:
The monitoring area is partitioned into a long-distance monitoring range, an intermediate-distance monitoring range, and a short-distance monitoring range in order of distance from the self-driving vehicle,
Depending on which of the monitoring ranges of the target distance included in the position index belongs to the long distance monitoring range, the intermediate distance monitoring range, and the short distance monitoring range, the travel parameter according to the action index is set. The travel control device according to claim 1. The behavior index recognized by the behavior prediction unit further includes a predetermined walking behavior related to the behavior of the monitored pedestrian when walking,
The traveling parameter setting unit, when the target distance belongs to the long distance monitoring range,
Based on the walking behavior included in the action index, whether or not the monitored pedestrian is a qualified evasive person who satisfies a predetermined condition indicating that there is a possibility of taking an evasive action outside the monitored area. Judge
When the monitored pedestrian is the avoidable person, the traveling speed is set to a first reference speed as the traveling parameter of the automatic traveling vehicle, and the traveling direction is set along the reference traveling route. Set the direction,
When the monitored pedestrian is not the avoidable person, the traveling speed is set to the first speed as the traveling parameter of the automatic traveling vehicle, and the traveling direction deviates from the reference traveling route. The traveling control device according to claim 2, wherein the monitoring target pedestrian is set in a direction along an avoidable route that can avoid the pedestrian. The traveling parameter setting unit, when the target distance belongs to the intermediate distance monitoring range,
Based on the walking direction included in the action index, determine whether the monitored pedestrian is an oncoming pedestrian who walks in a direction opposite to the traveling direction of the automatic traveling vehicle,
When the monitored pedestrian is the oncoming pedestrian, the traveling parameter of the automatic traveling vehicle is set to a predetermined second speed that is reduced from a reference first speed as the traveling parameter, The driving direction is set to a direction along the reference traveling route, and further, a command signal relating to control for notifying the position of the monitoring area in the traffic area to the monitored pedestrian is output. A travel control device according to claim 1. The traveling parameter setting unit, when the target distance belongs to the intermediate distance monitoring range,
Based on the walking direction included in the behavior index, it is determined whether the monitored pedestrian is a parallel pedestrian walking in the same direction as the traveling direction of the automatic traveling vehicle, and the monitored pedestrian is determined. Is the parallel pedestrian,
When the walking speed included in the action index is equal to or higher than the second speed, the running speed is set to the same speed as the walking speed within a range not exceeding the first speed as the running parameter of the automatic traveling vehicle. Along with setting, set the traveling direction to a direction along the reference traveling route,
When the walking speed included in the action index is lower than the second speed, the traveling speed is set to the first speed as the traveling parameter of the automatic traveling vehicle, and the traveling direction is set to the reference traveling route. The traveling control device according to claim 4, wherein the traveling control device is set in a direction along an avoidance route capable of avoiding the parallel pedestrian outside of the vehicle.   The traveling parameter setting unit, when the target distance belongs to the short distance monitoring range, sets the traveling speed to zero as the traveling parameter of the automatic traveling vehicle, and issues a command signal to stop traveling of the automatic traveling vehicle. The travel control device according to any one of claims 2 to 5, which outputs the information. A traveling control method for controlling automatic traveling of an automatic traveling vehicle within a predetermined traffic area where a pedestrian passes,
A route setting step of setting a reference traveling route that is a reference route on which the automatic traveling vehicle automatically travels in the traffic area;
On the reference traveling route, the presence or absence of a monitored pedestrian who is a pedestrian passing through a monitoring area on the front side in the traveling direction of the automatic traveling vehicle, and a target distance indicating a distance from the automatic traveling vehicle to the monitored pedestrian. A position recognition step of recognizing a position index related to the position of the monitored pedestrian,
A behavior prediction step of recognizing a behavior index including a walking speed and a walking direction as an index for specifying the behavior of the monitored pedestrian;
A travel parameter setting step of setting a travel parameter according to the behavior index, including a travel speed and a travel direction, as parameters relating to travel control of the automatic traveling vehicle based on the position index. An automatic traveling vehicle that automatically travels in a predetermined traffic area where pedestrians travel,
The body and
A traveling mechanism mounted on the vehicle body for traveling the vehicle body;
An automatic traveling vehicle, comprising: the traveling control device according to any one of claims 1 to 6, which is mounted on the vehicle body and controls automatic traveling of the automatic traveling vehicle by controlling the traveling mechanism.