JP2020076663A - Unmanned mobile object and method for controlling unmanned mobile object - Google Patents

Abstract

To provide an unmanned mobile object with suppressed increase in its equipment cost, capable of performing autonomous travel without any trouble even when traveling toward the direction of the sun at a low altitude and surely detecting an overhanging obstacle if any, and a method for controlling an unmanned mobile object.SOLUTION: The unmanned mobile object comprises: a laser range finder 31; a self-location date time measurement part; and a vehicle control computer 10 processing travel direction information and self-location information. The vehicle control computer 10 comprises: sun position calculation means 10a for preventing direct light from the sun Su from being erroneously detected as an obstacle; sensor visual field range calculation means 10b; sunlight determination means 10c; and intensity value determination means 10d and range finding value determination means 10e separating data formed when an overhanging obstacle T comes into a visual field range of the laser range finder 31 and data formed when the direct light from the sun Su comes into the visual field range of the laser range finder 31.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an unmanned vehicle capable of autonomous or semi-autonomous movement, and in particular, an unmanned vehicle and a control of the unmanned vehicle equipped with a laser sensor for irradiating a semiconductor laser beam as a laser sensor for acquiring information on a traveling direction. It is about the method.

  BACKGROUND ART Conventionally, as an autonomous or semi-autonomous movable unmanned vehicle equipped with a laser sensor for acquiring information on the traveling direction as described above, for example, there is an autonomous traveling vehicle described in Patent Document 1.

  This autonomous vehicle includes a traveling mechanism for autonomous traveling, a laser range finder (laser sensor) that scans a laser beam to obtain information on the traveling direction, and a self-position and a self-orientation angle that are self-position information. And a self-position measuring unit such as GPS and IMU (inertial measuring device) for acquiring the self-direction, and a control unit to which the information on the traveling direction obtained by the laser range finder and the self-position information obtained by the self-position measuring unit are input. I have it.

  For the laser range finder, a laser range finder that irradiates a semiconductor laser beam is used due to cost reasons, and the control unit controls the traveling direction information acquired by this laser range finder and the self-position information obtained by the self-position measurement unit. Is generated to generate a travel route, a travel speed is set based on the travel route, and a steering actuator and a brake / accelerator actuator are set in accordance with the travel route and the travel speed via a motor driver that is a travel mechanism. Is designed to operate.

  Here, when this autonomous vehicle travels in the morning or evening toward the direction of the sun at a low altitude or climbs a slope toward the sun, direct light from the sun is emitted by the laser range finder. Frequently entering the field of view of

  Since the wavelength of the semiconductor laser light used in the laser range finder is included in the frequency band of sunlight, when the direct light from the sun enters the field of view of the laser range finder as described above, the laser of FIG. As shown in the optical scanning result, the direct light from the sun becomes noise N and erroneous measurement occurs, and the direct light from the sun is erroneously detected as an obstacle, which hinders the autonomous traveling of the autonomous vehicle 100. There is a possibility.

A vehicle forward obstacle detection device described in Patent Document 2, for example, is known as a traveling direction information acquisition unit that has been conventionally provided with a measure to prevent erroneous detection of direct light from the sun as an obstacle.
This vehicle front obstacle detection device also includes a laser sensor, calculates the position of the sun based on its own position and date and time, and determines whether the straight line connecting the laser sensor and the sun is within the field of view of the laser sensor. Is calculated based on the self attitude.

  Then, in this vehicle forward obstacle detection device, when the straight line connecting the laser sensor and the sun is within the field of view of the laser sensor, it is determined that direct light from the sun may be erroneously detected as an obstacle. When the straight line connecting the laser sensor and the sun is not in the field of view of the laser sensor, the measurement data is invalidated, and it is determined that the obstacle is not caused by the direct light of the sun and the measurement data is validated. ..

JP2012-159954A JP 2005-180994

  However, in an autonomous vehicle equipped with the vehicle front obstacle detection device described above, although it is possible to prevent erroneous detection of direct light from the sun as an obstacle, the straight line connecting the laser sensor and the sun is a laser sensor. If there is an overhanging obstacle such as a tree branch or a large rock that is protruding to cover the travel route generated by the control unit when it is in the visual field range, if it is in the visual field range of the laser sensor, it is measured by the laser sensor. Since the data of the obstacle acquired by the above is also invalidated, there is a problem that the obstacle of this overhang may not be detected.

  At this time, in order to compensate for this demerit, there is a problem that when using a fiber laser of a wavelength not included in the frequency band of sunlight, for example, the equipment cost increases, which is not preferable, and these problems are solved. This has been a conventional problem.

  The present invention has been made by paying attention to the above-mentioned conventional problems, and is expensive even when traveling in the direction of the sun with a low altitude or climbing a slope in the direction of the sun. Not only can you run autonomously without using a special laser sensor, but you can also see overhanging obstacles such as tree branches and large rocks that stick out over the travel route and the range of view of the laser sensor. It is an object of the present invention to provide an unmanned vehicle and a method for controlling the unmanned vehicle capable of surely detecting the obstacle of the overhang and avoiding danger.

  A first aspect of the present invention is an unmanned vehicle that travels autonomously or semi-autonomously, and a traveling mechanism for autonomously or semi-autonomously traveling, and semiconductor laser light scanning to provide information on a traveling direction. A laser sensor to acquire, a self-position and self-position information and self-orientation angle and self azimuth which are self-position information, and a self-position date and time measuring unit to acquire date and time, and the traveling mechanism based on the traveling direction information and the self-position information In the unmanned vehicle including a control unit, the control unit includes a self-position, a self-orientation angle, and a self-direction measured by the self-position date / time measurement unit, and a sun altitude and a sun direction that are positions of the sun based on the time and date. A solar position calculation means for calculating, and a self-position measured by the self-position date / time measuring section of the field of view of the laser sensor capable of receiving direct light from the sun of the sun altitude and sun direction calculated by the sun position calculation means. A sensor visual field range calculation means for calculating based on the self-attitude angle and self azimuth, and date and time, and whether the measurement point acquired by the laser sensor is within the visual field range of the laser sensor calculated by the sensor visual field range calculation means. If it is determined that the measurement point acquired by the laser sensor is not within the field of view of the laser sensor and does not match the position of the sun calculated by the sun position calculation means, the measurement point data is valid. The solar light determining means is provided, and when the measurement point acquired by the laser sensor is within the visual field range of the laser sensor and coincides with the position of the sun calculated by the sun position calculating means, the sunlight When it is determined by the determination means, it is determined whether the received light intensity value of the measurement point data is less than a predetermined intensity threshold value, and it is determined that the received light intensity value of the measurement point data is not less than the intensity threshold value. In this case, intensity value determination means for validating the data of the measurement point, and whether or not the distance measurement value of the data of the measurement point is less than a predetermined distance measurement threshold value, and the distance measurement is performed. If it is determined that the value is not less than the distance measurement threshold value, the data of the measurement point is validated, and if it is determined that the distance measurement value is less than the distance measurement threshold value, the data of the measurement point is invalidated. At least one of the distance measurement value determining means is provided.

  On the other hand, a second aspect of the present invention is a method for controlling an unmanned moving body that autonomously or semi-autonomously travels, wherein the unmanned moving body is scanned by scanning a semiconductor laser beam from a laser sensor mounted on the unmanned moving body. A control method for an unmanned vehicle that acquires information on a traveling direction and autonomously or semi-autonomously travels by acquiring self position, self attitude angle, self azimuth and date and time that are self position information of the unmanned vehicle, The laser capable of receiving the direct light from the sun of the calculated sun altitude and sun direction, by calculating the sun position and sun direction which are the position of the sun based on the self position, self attitude angle and self direction of the moving body and the date and time. The field-of-view range of the sensor is calculated based on the self-position, the self-orientation angle, the self-azimuth, and the date and time, and it is determined whether or not the measurement point acquired by the laser sensor is within the calculated field-of-view of the laser sensor, When it is determined that the measurement point acquired by the laser sensor does not match the calculated position of the sun because it is not within the field of view of the laser sensor, the measurement point data is validated, and the measurement point acquired by the laser sensor is When it is determined that the position of the sun in the field of view of the laser sensor coincides with the calculated, it is determined whether the received light intensity value of the data of the measurement point is less than a predetermined intensity threshold, and, If at least one of the determination whether the distance measurement value of the measurement point data is less than a predetermined distance measurement threshold value is determined and the received light intensity value of the measurement point data is not less than the intensity threshold value. When it is determined or when the distance measurement value of the measurement point data is not less than the distance measurement threshold value, the measurement point data is validated, and the received light intensity value of the measurement point data is the intensity threshold value. When it is determined that the measurement point data is less than or when the distance measurement value of the measurement point data is less than the distance measurement threshold value, the measurement point data is invalidated.

  In the unmanned vehicle and the method for controlling the unmanned vehicle according to the present invention, when the semiconductor laser beam from the laser sensor is scanned while autonomously or semi-autonomously traveling, direct light from the sun enters the visual field range of the laser sensor. The data measured in this case is noise, and this data has a small distance measurement value and a small intensity value (the laser sensor usually has a built-in high-pass filter for removing sunlight components, When it is directly affected by light, the intensity of received light becomes smaller.)

  On the other hand, if there is an overhanging obstacle such as a tree branch or a large rock protruding over the traveling route, the data measured when the obstacle enters the range of the laser sensor Has a large distance measurement value and a large intensity value.

  In the control method of the unmanned vehicle and the unmanned vehicle according to the present invention, when the direct light from the sun enters the visual field range of the laser sensor, and when the obstacle of the overhang enters the visual field range of the laser sensor By using the difference in the characteristics of each data, each data of the direct light of the sun and the obstacles of the overhang are separated.

  In the control method of the unmanned vehicle according to the first aspect of the present invention and the unmanned vehicle according to the second aspect of the present invention, the vehicle travels in the direction of the sun at a low altitude, or climbs up a slope in the direction of the sun. Even if it does, you can run autonomously or semi-autonomously without any trouble without using expensive laser sensors, and in addition, you can overhang tree branches or large rocks that overhang the running route. When there is a hang obstacle, it is possible to reliably detect this overhang obstacle without misjudging it as noise due to direct sunlight and avoid the danger. ..

FIG. 1 is a schematic configuration explanatory view (a) and a plan explanatory view (b) of an autonomous traveling vehicle as an unmanned vehicle according to an embodiment of the present invention. It is a connection block diagram of the control apparatus of the autonomous vehicle in FIG. 3 is an operation flowchart of an environment recognition module in the method of controlling the autonomous vehicle shown in FIG. 1. It is a laser beam scanning result explanatory drawing containing the noise measured when the direct light from the sun enters into the visual field range of a laser sensor.

Embodiments of the present invention will be described below with reference to the drawings.
1 to 3 show an unmanned vehicle and a method of controlling the unmanned vehicle according to an embodiment of the present invention.

  In this embodiment, the unmanned vehicle is an autonomous vehicle A that can travel autonomously, and as shown in FIGS. 1 and 2, a vehicle control computer (control unit) 10 and this vehicle control computer 10. It is controlled by an autonomously traveling computer (control unit) 30 connected via the LAN 11.

  A wireless LAN 13 connected to an antenna 12 is connected to an input side of the vehicle control computer 10 via an input / output circuit 15, and self-position information (including attitude angle, azimuth and date and time in addition to self-position). A GPS 16, a vertical gyro 17 for attitude control, a vehicle speed pulse 18 for moving speed measurement, and an IMU (inertial measurement device) not shown are connected to each other via a serial line.

  Further, a steering actuator 22 and a brake / accelerator actuator 23 are connected to the output side of the vehicle control computer 10 via a motor driver 21, and the motor driver 21, the actuators 22 and 23, and the wheels 24 drive the vehicle. The mechanism 20 is configured.

  The vehicle control computer 10 has a function of transmitting various kinds of information acquired by the GPS 16 and the vertical gyro 17 to a command station (not shown) via the LAN 11, the wireless LAN 13, and the antenna 12, and an emergency etc. It has a function of operating and stopping the steering actuator 22 and the brake / accelerator actuator 23 via the motor driver 21 based on the command transmitted to the.

  On the other hand, on the input side of the computer 30 for autonomous traveling, a laser range finder (laser sensor) 31 suitable for acquiring short-distance information of unevenness of the terrain in the traveling direction, and for autonomous traveling suitable for acquiring wide-angle information at a long distance. Is connected to a stereo camera 32 and an obstacle laser range finder (laser sensor) 33 for detecting an obstacle standing upright above the vehicle height. The laser range finder 31, 33 is a laser for emitting a semiconductor laser beam. A range finder is used. The computer 30 for autonomous driving has a function of transmitting the distance measurement data acquired by the laser range finder 31, the stereo camera 32, and the laser range finder 33 for obstacles to the vehicle control computer 10 via the LAN 11. There is.

  Then, the vehicle control computer 10 analyzes the distance measurement information in the traveling direction acquired by the laser range finder 31 and the self-position information obtained by the GPS 16 or the vertical gyro 17 of the self-position date / time measuring unit to generate a travel route. In addition, it has an environment recognition module 10A that sets the traveling speed based on this traveling route, and through the motor driver 21 that is the traveling mechanism 20 according to the traveling route and the traveling speed created and set by this environment recognition module 10A. Thus, the steering actuator 22 and the brake / accelerator actuator 23 are operated.

  In this case, in order to prevent erroneous detection of direct light from the sun Su as an obstacle, the environment recognition module 10A of the vehicle control computer 10 includes a sun position calculation means 10a and a sensor visual field range calculation means 10b. And the sunlight determination means 10c.

  The sun position calculating means 10a is a means for calculating the sun altitude and the sun azimuth, which is the position of the Sun Su with respect to the self, and is the self position (latitude / longitude) measured by the GPS 16 or the vertical gyro 17 of the self position date / time measuring unit. ), Self attitude angle (pitch angle / roll angle), self azimuth (yaw angle) and date and time, the sun altitude and sun azimuth are calculated.

The sensor visual field range calculation means 10b is a visual field range (viewing angle θ of the laser range finder 31 suitable for obtaining short-distance information that can receive direct light from the sun Su of the sun altitude and the sun direction calculated by the sun position calculation means 10a. , Φ) is calculated based on the self position, the self attitude angle, the self azimuth, and the date and time measured by the GPS 16 or the vertical gyro 17 of the self position date / time measuring unit. Here, the visual field range of the laser range finder 31 is a range within the laser light scanning range of the laser range finder 31 that receives the direct light from the sun Su.
Since the laser range finder 33 for obstacles that detects standing obstacles higher than the vehicle height irradiates the laser light in a substantially horizontal direction, the calculation of the visual field range capable of receiving the direct light from the sun Su is particularly important. Not performed.

  The sunlight determination means 10c determines whether or not the measurement point acquired by the laser range finder 31 is within the visual field range of the laser range finder 31 calculated by the sensor visual field range calculation means 10b, that is, the measurement point is the sun position calculation. It is determined whether or not the position of the sun Su calculated by the means 10a matches.

  In the sunlight determination means 10c in the environment recognition module 10A of the vehicle control computer 10, the measurement point acquired by the laser range finder 31 is not in the visual field range of the laser range finder 31, that is, the measurement point is the sun position calculation means 10a. When it is determined that the calculated position of the sun Su does not match, the data of the measurement point is validated.

  On the other hand, when it is determined that the measurement point acquired by the laser range finder 31 is in the visual field range of the laser range finder 31, that is, the measurement point coincides with the position of the sun Su calculated by the sun position calculation means 10a, this time point is determined. The data at the measurement point is invalidated, that is, even if the data at the measurement point is represented as an obstacle, it is assumed that the direct light from the sun Su is used.

  Here, when it is determined that the measurement point acquired by the laser range finder 31 coincides with the position of the sun Su, an overhanging obstacle (for example, it is pushed out so as to cover the traveling route) in the visual field range of the laser range finder 31. In order to prevent the data of the obstacle T from being invalidated when the tree branch) T actually exists, the environment recognition module 10A of the vehicle control computer 10 includes the strength value determination means 10d. The distance measurement value determination means 10e is provided.

  In the noise data measured when the direct light from the sun Su enters the visual field range of the laser range finder 31, the distance measurement value and the received light intensity value are small (the laser range finder 31 is usually Since it has a built-in high-pass filter that removes light components, the received light intensity value decreases when it is affected by the direct light of the Sun Su.) On the other hand, there is an obstacle in the field of view of the laser range finder 31. The data measured when T is entered is characterized by a large distance measurement value and a large received light intensity value.

  In the intensity value determination means 10d and the distance measurement value determination means 10e, based on both of the above characteristics, the data when the obstacle T of the overhang is included in the visual field range of the laser range finder 31 is determined by the visual field of the laser range finder 31. It is arranged to be separated from the data when the direct light from the sun Su enters the range.

  Specifically, in the intensity value determination means 10d, the measurement point acquired by the laser range finder 31 is in the visual field range of the laser range finder 31 in the sunlight determination means 10c, that is, the measurement point coincides with the position of the sun Su. When the determination is made, it is determined whether the received light intensity value of the measurement point data is less than a predetermined intensity threshold value, and the received light intensity value of the measurement point data is not less than the intensity threshold value (the received light intensity value is large. ), The measurement point data is validated, and if the received light intensity value is less than the intensity threshold value, the measurement point data is invalidated.

  On the other hand, when the intensity value determination means 10e determines that the received light intensity value of the measurement point data is less than the intensity threshold value, the distance measurement value determination means 10e determines whether the distance measurement value is less than a predetermined distance measurement threshold value. If it is determined that the distance measurement value is not less than the distance measurement threshold value (the distance measurement value is large), the data at the measurement point is validated and it is determined that the distance measurement value is less than the distance measurement threshold value. In some cases, invalidate the measurement point data.

  It should be noted that if the intensity value determination means 10d and the distance measurement value determination means 10e are equipped with at least one of the determination means, it is possible to avoid invalidating the data of the obstacle T that actually exists. However, in order to reliably detect the overhanging obstacle T without erroneously determining it as noise due to the direct light of the sun Su, both the intensity value determining means 10d and the distance measuring value determining means 10e may be provided. desirable.

  Therefore, the control procedure by the vehicle control computer 10 will be specifically described. First, as shown in FIG. 3, in step S1, the semiconductor laser light from the laser range finder 31 mounted on the autonomous traveling vehicle A is scanned to determine whether road surface irregularities or obstacles are present in the traveling direction of the autonomous traveling vehicle A. After acquiring the information such as, the latitude and longitude of the self-position of the autonomous vehicle A are acquired by the GPS 16 and the vertical gyro 17 of the self-position date and time measurement unit, and the self-direction and the self-orientation angle of the autonomous vehicle A are acquired. Also, get the current date and time.

Next, in step S2, the sun altitude and the sun azimuth, which are the positions of the sun Su, are calculated based on the self position, the self azimuth, the self attitude angle, and the date and time of the autonomous vehicle A acquired in step S1.
The self-position (latitude / longitude), self-direction and self-orientation angle of the autonomous vehicle A, and the sun altitude and sun direction based on the date and time can be calculated by a known calculation procedure.

  Next, in step S3, the field of view of the laser range finder 31 that can receive the direct light from the sun Su having the sun altitude and the sun direction calculated in step S2 is acquired by step S1. The measurement point is calculated based on the attitude angle, the self-orientation, and the date and time, and in step S4, the measurement point acquired by the laser range finder 31 capable of receiving the direct light from the sun Su is within the visual field range of the laser range finder 31, that is, the measurement. It is determined whether the point matches the calculated position of the Sun Su.

  If it is determined in step S4 that the measurement point acquired by the laser range finder 31 does not match the calculated position of the Sun Su (No), the data of the measurement point is validated in step S5, and the laser range finder 31 When it is determined that the measurement point acquired in step 3 coincides with the calculated position of the Sun Su (Yes), it is determined in step S6 whether the received light intensity value of the measurement point data is less than a predetermined intensity threshold value. judge.

  Then, when it is determined in step S6 that the received light intensity value of the measurement point data is not less than the intensity threshold value (No), the measured point data is validated in step S5, and the received light intensity value of the measurement point data is When it is determined that it is less than the intensity threshold value (Yes), it is determined in step S7 whether or not the distance measurement value of the measurement point data is less than a predetermined distance measurement threshold value.

  Next, when it is determined in step S7 that the distance measurement value is not less than the distance measurement threshold value (No), the data of the measurement point is validated in step S5, and the distance measurement value is less than the distance measurement threshold value (Yes). If determined, the data at the measurement point is invalidated in step S8.

  As described above, in the autonomous vehicle A according to this embodiment, the strength is added to the environment recognition module 10A of the vehicle control computer 10 including the sun position calculation means 10a, the sensor visual field range calculation means 10b, and the sunlight determination means 10c. By providing the value determination means 10d and the distance measurement value determination means 10e, the data when the obstacle T of the overhang enters the visual range of the laser range finder 31 and the sun Su in the visual range of the laser range finder 31. The data is separated from the data when the direct light enters.

  Therefore, in the autonomous vehicle A according to this embodiment, even if the vehicle travels in the direction of the sun Su having a low altitude or climbs the slope in the direction of the sun Su, the expensive laser range finder. Therefore, the vehicle can be autonomously driven without any trouble.

  In addition, even when there is an overhanging obstacle T such as a tree branch or a large rock that sticks out so as to cover the traveling route, the overhanging obstacle T is affected by the direct light of the sun Su. It is possible to detect the vehicle without making an erroneous determination, and to autonomously drive while avoiding danger.

  In the above-mentioned embodiment, the case where the unmanned vehicle is the autonomous traveling vehicle A is shown, but the present invention is not limited to this, and the unmanned vehicle is a semi-autonomous traveling vehicle traveling semi-autonomously, or an unmanned traveling vehicle. It may be a robot whose body walks autonomously.

  The configurations of the unmanned vehicle and the method for controlling the unmanned vehicle according to the present invention are not limited to the above-described embodiments.

10 Vehicle control computer (control unit)
10a Sun position calculation means (vehicle control computer)
10b Sensor visual field range calculating means (vehicle control computer)
10c Sunlight determination means (vehicle control computer)
10d Strength value determination means (vehicle control computer)
10e Distance measurement value determining means (vehicle control computer)
16 GPS (self-location date / time measurement unit)
17 Vertical gyro (Self-position date / time measurement unit)
18 vehicle speed pulse (self-position date and time measurement unit)
21 Motor driver (travel mechanism)
22 Steering actuator (travel mechanism)
23 Brake / accelerator actuator (travel mechanism)
24 wheels (running mechanism)
31 Laser range finder (laser sensor)
A Autonomous vehicle (unmanned vehicle)
Su Sun T Overhang Obstacle

Claims (2)

An unmanned vehicle that runs autonomously or semi-autonomously,
A traveling mechanism for autonomously or semi-autonomously traveling,
A laser sensor that scans a semiconductor laser beam to obtain information on a traveling direction,
A self-position date / time measuring unit for acquiring self-position, self-posture angle, self-orientation, and date / time which are self-position information,
In an unmanned vehicle including a control unit that operates the traveling mechanism based on the traveling direction information and the self-position information,
In the control unit, a self position, a self position measured by the self position date and time measuring unit, a self position angle and a self direction, and a sun position calculating means for calculating a sun altitude and a sun direction which are positions of the sun based on the time and date,
The self-position, self-attitude angle, self-direction and date and time measured by the self-position date and time measurement unit of the field of view of the laser sensor capable of receiving direct light from the sun at the sun altitude and sun direction calculated by the sun position calculation means. A sensor visual field range calculation means for calculating based on
It is determined whether or not the measurement point acquired by the laser sensor is within the field of view of the laser sensor calculated by the sensor field of view range calculation means, and the measurement point acquired by the laser sensor is within the field of view of the laser sensor. Without the sun determination means for validating the data of the measurement point when it is determined that the sun position calculated by the sun position calculation means does not match the position of the sun, and
The received light intensity of the measurement point data when the sunlight determination means determines that the measurement point acquired by the laser sensor is within the field of view of the laser sensor and matches the position of the sun calculated by the sun position calculation means. It is determined whether or not the value is less than a predetermined intensity threshold value, and if it is determined that the received light intensity value of the measurement point data is not less than the intensity threshold value, the intensity value that validates the measurement point data. Determination means, and
It is determined whether or not the distance measurement value of the measurement point data is less than a predetermined distance measurement threshold value, and when it is determined that the distance measurement value is not less than the distance measurement threshold value, the measurement point data is At least one of the distance measurement value determination means that validates and invalidates the data of the measurement point when it is determined that the distance measurement value is less than the distance measurement threshold value is provided. Unmanned moving body. A method for controlling an unmanned vehicle that autonomously or semi-autonomously travels, comprising:
The semiconductor laser beam from the laser sensor mounted on the unmanned vehicle is scanned to obtain information on the traveling direction of the unmanned vehicle, and the self-position, self-attitude angle, and self that are self-position information of the unmanned vehicle are acquired. In the control method of the unmanned mobile body that autonomously or semi-autonomously travels by acquiring the direction and date and time,
Calculating the sun altitude and sun azimuth, which is the position of the sun, based on the self position of the unmanned vehicle, the self attitude angle and the self azimuth, and the date and time,
Calculate the field of view of the laser sensor capable of receiving direct light from the sun of the calculated sun altitude and sun direction based on self position, self attitude angle and self direction and date and time,
It is determined whether or not the measurement point acquired by the laser sensor is in the calculated visual field range of the laser sensor, and the measurement point acquired by the laser sensor is not in the visual field range of the laser sensor and the calculated sun If it is determined that the position does not match, validate the data at the measurement point,
When it is determined that the measurement point acquired by the laser sensor is in the visual field range of the laser sensor and coincides with the calculated position of the sun, the received light intensity value of the measurement point data is less than a predetermined intensity threshold value. Whether at least one of the determination of whether or not and the distance measurement value of the data of the measurement point is less than a predetermined distance measurement threshold value,
If it is determined that the received light intensity value of the measurement point data is not less than the intensity threshold value and if the distance measurement value of the measurement point data is not less than the distance measurement threshold value, the measurement point data is Enable,
When it is determined that the received light intensity value of the measurement point data is less than the intensity threshold value and when the distance measurement value of the measurement point data is determined to be less than the distance measurement threshold value, both of the measurement point A method for controlling an unmanned vehicle that invalidates data.

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