JP2011150516A - Semiautonomous traveling system for unmanned vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To properly travel an unmanned vehicle regardless of a difference of a traveling environment or a change of communication environment. <P>SOLUTION: This semiautonomous traveling system for an unmanned vehicle includes: the unmanned vehicle having a ranging part for acquiring ranging data in a travel area capable of autonomously traveling based on the ranging data acquired by the ranging part; and a remote control device connected with the unmanned vehicle via a wireless communication line for performing the remote control of the unmanned vehicle. The semiautonomous traveling system for the unmanned vehicle also includes: a traveling environment evaluation means 10c evaluating the traveling environment in the travel area based on the ranging data acquired by the ranging part; a mixing ratio determination means 50a determining a mixing ratio between an autonomous traveling function and the remote control of shouldering the traveling of the unmanned vehicle based on an evaluation result of the traveling environment; and a mixing traveling means 30a traveling the unmanned vehicle according to the autonomous traveling function and the remote control of the determined mixing ratio. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a semi-autonomous traveling system for unmanned vehicles that allows autonomous traveling and remote control to run in a mixed manner.

As this type of prior art, there is one disclosed in Patent Document 1 under the name “Unmanned Vehicle”.
The unmanned vehicle described in Patent Document 1 has both a means for autonomously traveling according to a travel route connecting previously given nodes and a means for remotely operating a steering angle and a vehicle speed. In a switchable unmanned vehicle, means for detecting an obstacle on the travel route, means for generating a plurality of avoidance routes to avoid the detected obstacle, and the plurality of avoidance routes and the state of the vehicle body Means for presenting to the remote control system; means for selecting any one of these avoidance routes by the remote control system; and when an obstacle is detected on the travel route in the autonomous travel mode, the vehicle body Stop, present the plurality of avoidance routes to the remote control system and select any one of the plurality of avoidance routes to avoid the obstacle in the autonomous driving mode or It is of the structure and means for selecting whether to switch to maneuvering mode executes avoided by operator manipulation.

JP 2007-310698 A

  Although the above configuration is intended to avoid obstacles that reflect the driver's intention while suppressing the burden on the driver, it avoids obstacles in the autonomous driving mode using any of the avoidance routes generated above. When it is determined that it cannot be performed, the operator switches to the remote control mode in which the pilot performs remote control by himself (override).

  However, since the content of the autonomous traveling mode disclosed in Patent Document 1 is fixed, when there is a difference in the traveling environment or in the communication environment, autonomous traveling corresponding to those changes is performed. There is a problem that it cannot be done properly.

  SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a semi-autonomous traveling system for an unmanned vehicle that can easily travel an unmanned vehicle even when a difference occurs in a traveling environment or a communication environment.

  The present invention for achieving the above object has a distance measuring unit for acquiring distance measurement data in the traveling area, and an unmanned vehicle capable of autonomous traveling based on the distance measurement data acquired by the distance measuring unit, In a semi-autonomous traveling system of an unmanned vehicle that is connected to the unmanned vehicle via a wireless communication line and has a remote control device for remotely maneuvering the unmanned vehicle, based on distance measurement data acquired by a distance measurement unit, A driving environment evaluation unit that evaluates the driving environment in the driving region, and a hybrid ratio determination unit that determines a hybrid ratio between the autonomous driving function that is responsible for driving an unmanned vehicle and remote control based on the evaluation result of the driving environment; It is characterized by having a hybrid running means for running an unmanned vehicle according to the autonomous running function of the mixed ratio and remote control.

  According to the present invention, it is possible to easily travel an unmanned vehicle by adapting to a change in a travel environment or a change in a communication environment.

It is explanatory drawing which shows schematic structure of the semi-autonomous traveling system of the unmanned vehicle which concerns on one Embodiment of this invention. It is a block diagram of the control circuit of the unmanned vehicle which forms a part of the semiautonomous traveling system of the unmanned vehicle. It is explanatory drawing which shows the data structure of a database. It is explanatory drawing which shows the hybrid ratio which concerns on an example of the autonomous running function and remote control which bear driving | running | working of an unmanned vehicle. (A) is a block diagram showing the functions of the vehicle control computer, (B) is a block diagram showing the functions of the hybrid ratio determining computer, and (C) is a block showing the functions of the autonomous running computer. FIG. It is a block diagram which shows the function which the computer for remote control provided in the remote control device with the structure of the remote control device which forms a part of the semi-autonomous traveling system of unmanned vehicles same as the above. It is a control flowchart of the unmanned vehicle which forms a part of semiautonomous traveling system of the unmanned vehicle same as the above.

EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated with reference to drawings. FIG. 1 is an explanatory diagram showing a schematic configuration of an entire semi-autonomous traveling system for an unmanned vehicle according to an embodiment of the present invention, and FIG. 2 is a control circuit for the unmanned vehicle forming a part of the semi-autonomous traveling system for the unmanned vehicle. FIG.
In the unmanned vehicle B shown in FIG. 1, only the arrangement states of a distance measuring unit 31, a remote control camera 13, a steering actuator 18, and a brake / accelerator actuator 19, which will be described later, are shown.

  As shown in FIG. 1, an unmanned vehicle semi-autonomous traveling system A according to an embodiment of the present invention wirelessly communicates an unmanned vehicle (UGV (Unmanned Ground Vehicle)) B capable of autonomous traveling with a remote control device C. It can be connected via a line.

  The unmanned vehicle B includes various actuators for controlling the steering wheel / accelerator / brake provided on a general vehicle by the vehicle control computer 10, the autonomous traveling computer 30, and the hybrid ratio determining computer 50 shown in FIG. The details are as follows.

  The vehicle control computer 10, the autonomous running computer 30, and the hybrid ratio determining computer 50 are each composed of a CPU (Central Processing Unit), an interface circuit (none of which are shown), etc. ) 11 is connected.

A distance measuring unit 31 for acquiring distance measurement data in the traveling area is connected to the input port of the autonomous traveling computer 30.
The distance measuring unit 31 includes an autonomous traveling camera 32 and a laser sensor (hereinafter referred to as “LRF”) 33 (see FIG. 2).

The LRF 33 performs distance measurement by a time-of-flight method for measuring the time from projecting to receiving light of a laser beam. In the present embodiment, the one shown in this embodiment uses one laser light source and the optical axis is optical or It is of a scan type that acquires a three-dimensional shape of an object by mechanically sweeping.
The autonomous traveling camera 32 is for acquiring image data necessary for autonomous traveling, and is arranged in the traveling direction.

The input port of the vehicle control computer 10 has a wireless LAN 12 and a remote control camera 13 via an Ethernet (registered trademark) 11, and a GPS (Global Positioning System) 14 and a vertical gyro 15 via serial lines, respectively. It is connected. Reference numeral 16 denotes an antenna connected to the wireless LAN 12.
The remote control camera 13 is for acquiring an image in the traveling area.

In addition, a steering actuator 18 and a brake / accelerator actuator 19 are connected to the output port via a motor driver 17, respectively.
“9” shown in FIG. 1 is a traveling wheel, and together with these traveling wheels 9, a motor driver 17, a steering actuator 18, and a brake / accelerator actuator 19 constitute a drive mechanism.

The vertical gyroscope 15 acquires the tilt attitude in the vertical plane of the unmanned vehicle B, and thus the optical axis attitude (orientation) information of the autonomous traveling camera 32, the LRF 33, and the remote control camera 13.
The GPS 14 is for acquiring positioning information of the unmanned vehicle B.

The vehicle control computer 10 has a function of transmitting various information acquired by the GPS 14 and the vertical gyroscope 15 to the remote control device C through the Ethernet (registered trademark) 11, the wireless LAN 12, and the antenna 16, and the remote control device. Based on a steering command (command input) transmitted from C, the steering actuator 18 and the brake / accelerator actuator 19 are driven and controlled via the motor driver 17.
That is, it has a function of driving the steering actuator 18 and the brake / accelerator actuator 19 based on a plurality of control commands for the unmanned vehicle B transmitted from the remote control device C.

The storage unit provided inside the hybrid ratio determination computer 50 stores a required program and the like together with the database 51.
FIG. 3 is an explanatory diagram showing a data structure of a database, and FIG. 4 is an explanatory diagram showing a hybrid ratio according to an example of an autonomous traveling function responsible for traveling an unmanned vehicle and remote control.

As shown in FIG. 3, the database 51 associates the hybrid ratio of the autonomous traveling function responsible for traveling of the unmanned vehicle B and the remote control with each evaluation of the traveling environment and the communication environment. The communication environment is represented by “communication environment condition (F _C )”, and the travel environment is represented by “travel environment condition (F _E )”. In FIG. 3, the hybrid ratio is expressed as “autonomous level”.

The “communication environment condition (F _C )” is a standard for evaluating the communication environment, and in this embodiment, the communication environment condition (F _C ) is divided into a plurality of stages from a predetermined low band to a wide band.
The “running environment condition (F _E )” is a standard for evaluating the running environment. In the present embodiment, a predetermined high difficulty level to a low difficulty level are divided into a plurality of stages.
The “mixed ratio” is a degree to which the autonomous traveling function and the remote control contribute to the traveling of the unmanned vehicle B.

  As shown in FIG. 4, in the present embodiment, the hybrid ratio (autonomous level) is divided into 10 levels of levels 1 to 10, and the contents of each level are as follows. In FIG. 4, the autonomous level is simply described as “level”.

Autonomous level 1: All are determined and executed by a human (operator) without the assistance of the computer 50 for determining the hybrid ratio.
Autonomous level 2: The hybrid ratio determination computer 50 presents all options, and the human (operator) selects and executes one of them.
Autonomous level 3: The hybrid ratio determination computer 50 presents all possible options to a human (operator) and selects and proposes one of them. Whether or not to execute it is determined by a human (pilot).

Autonomous level 4: The hybrid ratio determination computer 50 selects one of the possible options and presents it to the human (operator). Whether or not to execute it is determined by a human (pilot).
Autonomous level 5: The hybrid ratio determination computer 50 presents one plan to a human (operator). If a human (pilot) approves it, the computer executes it.
Autonomous level 6: The hybrid ratio determination computer 50 presents one plan to a human (operator). As long as a human (pilot) does not command execution stop within a certain time, the hybrid ratio determination computer 50 executes the plan.

Autonomous level 7: The hybrid ratio determination computer 50 does everything and reports what it has done to the human (operator).
Autonomous level 8: The hybrid ratio determination computer 50 determines and executes all. When asked by a human (pilot), it reports (notifies) what it has done to the human (pilot).
Autonomous level 9: The hybrid ratio determination computer 50 determines and executes all. It is only when the hybrid ratio determination computer 50 recognizes the necessity to report (notify) what has been executed to the human (pilot).
Autonomous level 10: The hybrid ratio determination computer 50 determines and executes all.

  That is, the contents of the autonomous levels 1 to 10 are summarized as follows. From the autonomous level in which the unmanned vehicle B travels only by the pilot's operation, the autonomous vehicle B travels only by the automatic travel function of the vehicle control computer 10. The level is divided into arbitrary stages. Therefore, it is needless to say that the category is not limited to the above-described example.

  The vehicle control computer 10 and the hybrid ratio determination computer 50 described above exhibit the following functions by executing the required programs. FIG. 5A is a block diagram illustrating functions of the vehicle control computer, FIG. 5B is a block diagram illustrating functions of the hybrid ratio determination computer, and FIG. 5C illustrates functions of the autonomous traveling computer. FIG.

<Functions of the vehicle control computer 10>
(1) A function for receiving a command input by waypoint setting or remote control transmitted from the remote control device C. This function is referred to as “reception means 10a”.
(2) A function of inputting the received waypoint setting or command input by remote control. This function is referred to as “command input processing means 10b”.

(3) A function for evaluating the traveling environment in the traveling area based on the distance measurement data acquired by the distance measuring unit 31. This function is referred to as “traveling environment evaluation means 10c”.
In the present embodiment, the driving environment condition (F _E ) indicating the ease of driving is calculated as shown in the following a) to d).

a) Road surface roughness (roughness, unevenness)
By measuring distance measurement data acquired by the distance measuring unit 31, that is, a profile of the road surface by the LRF 33, traveling environment data for autonomous traveling is collected. The profile data (traveling environment data) is utilized to determine the roughness (roughness, unevenness) of the traveling road surface. As an example of the evaluation formula, for example, there is a method using power spectral density.
S _R (Ω) = A / (Ω ² + α ² )
Ω: Road surface frequency (number of irregularities per unit length c / m)
A: Smoothness parameter (cm ² / (m / c)) indicating the flatness of the road surface
α: Parameter determined by actual measurement considering distribution shape so as not to diverge In ISO 8608, the road surface condition is classified into 5 classes according to the spectral density value when “Ω” is 1 / (2π). ing.

b) Road width and slope The ease of driving and the maximum speed that can be output vary depending on whether the road width (w) of the road is narrow or wide. The slopes (left and right yaw directions (y) and front and rear pitch directions (p)) are also indicators of ease of travel.
c) Curvature In the case of a straight road, a curved road, or a curved road, the magnitude of the curvature (r).
d) Obstacles An index determined by the ease of traveling on the avoidance route a) to c), which is determined by the position and size of the obstacle in the traveling direction of the unmanned vehicle B.
In this case, a function (obstacle detection means) for detecting an obstacle that hinders autonomous travel is provided based on the distance measurement data in the movement area acquired by the distance measurement unit 31.

An indicator of the driving environment condition is calculated in consideration of all of the above a) to d).
F _E = F (s) + F (w, y, p) + F (r)
F _E : Driving environment condition evaluation index (however, if there is an obstacle, it will be an evaluation index for the avoidance route)
F (s): Evaluation index in road surface roughness F (w, y, p): Evaluation index determined from road width, road body yaw direction inclination, and body pitch direction inclination F (r): From road curvature in driving direction Evaluation index to be determined In addition, it is not limited to calculating the indicator of the driving environment condition in consideration of all of the above a) to d), and of course, any one of a) to d) or a combination thereof may be used. It is.

(4) A function for evaluating the communication environment of the wireless communication line connecting the unmanned vehicle B and the remote control device C. This function is referred to as “communication environment evaluation means 10d”.
In the present embodiment, the communication environment condition (F _c ) indicating the ease of communication is calculated as shown in the following a) to c).
a) Method using electric field strength (detection at radio wave level)
The reception electric field strength from the communication partner side is measured with a wireless device (wireless LAN or the like), and the communication environment conditions are classified into a plurality of stages according to the sensitivity.
b) Method using packet error rate (PER) (detection at communication protocol level)
The communication state is estimated from the UDP / TCP packet loss rate with a wireless device (wireless LAN or the like), and the communication environment conditions are classified into a plurality of stages.

c) Method using command transmission / reception status (detection at communication application level)
Communication between the unmanned vehicle B and the remote control device C is performed at a constant cycle.
That is, a special ID (identification information) is assigned to the control command transmitted from the remote control device C side and transmitted to the unmanned vehicle B.
As a response to the control command received from the unmanned vehicle B, the ID (identification information) received together with the state data of the unmanned vehicle B is returned.
The remote control device C measures the elapsed time from when a specific ID (identification information) is transmitted until it is received, and calculates a communication delay time. Based on the results, the communication environment conditions are classified into a plurality of stages.

The final determination of the communication environment condition may be made by selecting any one of the above a) to c), or may arbitrarily combine the items shown in a) to c). Specifically, the average is taken or the worst is taken, and an example is as follows.
Example: F _C = Min (F _ef , F _per , F _ce )
F _c : Communication environment condition evaluation index F _ef : Communication environment condition based on electric field strength F _per : Communication environment condition based on packet error rate F _ce : Communication environment condition based on command transmission / reception state

In the present embodiment, the hybrid ratio (autonomous level) is determined from the two parameters of the communication environment condition (F _c ) and the travel environment condition (F _E ) described above, but these are not seamless and seamless, and to some extent It can be categorized and classified / classified. Therefore, the above-described database 51 for switching the hybrid ratio (autonomous level) is set, and a multistage mode switching method is adopted.
Note that “mode” is synonymous with the multi-level autonomous level described above.

<Relationship between travel speed / travel route and travel environment conditions>
The travel speed and travel route differ depending on the mission (purpose) to be performed. That is, it is assumed that the unmanned vehicle B travels at the specified travel speed and travel route, but the traveling environment condition and the communication environment condition in the middle change dynamically. Level) is automatically switched. However, there are the following characteristics regarding the traveling speed.

・ Relationship between driving speed and driving environment conditions Driving speed: Low High Environmental conditions: High difficulty Low difficulty

If the driving environment conditions are complex and the difficulty level (many obstacles, road surface unevenness, etc.) is high, the driving speed must be reduced, while the driving environment conditions such as a wide paved road are easy. If so, the running speed can be increased.
As a result, the maximum speed condition is determined in conjunction with the driving environment condition. For example, it is assumed that a mission that travels at a high speed on an uneven road on rough terrain is not designated as a travel route. However, it is possible to have a mission that travels at a lower traveling speed for reconnaissance and monitoring with respect to the highest speed possible as a traveling environment condition on a traveling route having a difficulty level.

(5) A function of generating one or more traveling routes for autonomous traveling in the traveling region. This function is referred to as “travel route generation means 10e”.
The “travel route” is a travel route of the unmanned vehicle B in the travelable area, and is calculated by applying a clothoid curve or a spline curve using the potential method in the present embodiment.
Further, when an obstacle that hinders autonomous traveling in the travelable area is detected by the obstacle detection means described above, a movement route for avoiding the obstacle is created.

(6) A function for planning a traveling speed according to each generated traveling route. This function is referred to as “travel speed planning means 10f”.
The “traveling speed according to the travel route” means, for example, a speed at which the vehicle can travel safely according to the curvature of the curve of the travel route, and the travel speed is lowered for a small curve compared to a large curve.

(7) A function of transmitting the hybrid ratio change information including the hybrid ratio of the change destination to the remote control device when it is determined that the hybrid ratio is to be changed by the hybrid ratio change determining means described later. This function is referred to as “transmission means 10g”.
“Hybrid ratio change information” shown in the present embodiment is the fact that the hybrid ratio is changed and the hybrid ratio of the change destination, but is not limited to this, and may be, for example, only the hybrid ratio of the change destination.
“Meaning of changing hybrid ratio” includes a message notifying the hybrid ratio of the change destination.
For example, if the autonomous level before the change is “1” and the autonomous level after the change is “3”, the message is “change from autonomous level 1 to 3”.
Thus, by notifying that the autonomous level will be changed, the pilot can recognize the changed autonomous level, and smoothly maneuver the unmanned vehicle B according to the autonomous level. Can do.

<Functions of the computer 50 for determining the hybrid ratio>
(1) A function for determining a hybrid ratio between the autonomous traveling function responsible for traveling of the unmanned vehicle B and the remote control based on the evaluation results of the traveling environment and the communication environment. This function is referred to as “mixed ratio determining means 50a”.
In the present embodiment, the hybrid ratio of the autonomous traveling function responsible for traveling of the unmanned vehicle B and the remote control is determined based on the calculation results of the traveling environment condition and the communication environment condition.
Specifically, referring to the hybrid ratio associated with the travel environment condition and the communication environment condition stored in the database 51 described above, the hybrid ratio of the autonomous travel function responsible for the travel of the unmanned vehicle B and the remote control is determined. Has been decided.

(2) A function for determining whether or not to change the hybrid ratio. This function is referred to as “mixed ratio change determination means 50b”.
In this embodiment, whether or not to shift to an autonomous level with a different hybrid ratio is used as a criterion.

<Functions of the computer 30 for autonomous driving>
(1) A function of causing the unmanned vehicle B to travel according to the hybrid ratio of the autonomous traveling function responsible for traveling of the unmanned vehicle B and remote control. This function is referred to as “mixed travel means 30a”.
Below, the specific example of the level 1, 2 and level 10 shown in FIG.
<Level 1>
Manual input processing of the steering wheel and accelerator remote control is performed, and the unmanned vehicle B travels according to the command input transmitted from the remote control device C.

<Level 2>
Environment recognition and travel route planning are performed by the autonomous travel computer 30 and the steering wheel (steering wheel) turns so that travel route choices can be displayed with an arrow superimposed on the camera image of the remote control device C or the calculated route can be traveled. Display quantity goals.
In addition, manual input processing of the steering wheel (handle) and accelerator remote control is performed, and the unmanned vehicle B is caused to travel according to the command input transmitted from the remote control device C.

<Level 10>
The autonomous traveling computer 30 performs environment recognition and travel route planning, calculates the steering wheel (handle) and accelerator control amount of the unmanned vehicle B, and in accordance with the command input transmitted from the remote control device C, the unmanned vehicle B To run.

  Next, the remote control device C will be described with reference to FIGS. FIG. 6 is a block diagram showing the functions of a remote control computer provided in the remote control device together with the configuration of the remote control device that forms part of the semi-autonomous traveling system for unmanned vehicles according to an embodiment of the present invention. FIG. 7 is a control flowchart of the unmanned vehicle forming a part of the semi-autonomous traveling system for the unmanned vehicle according to the embodiment of the present invention.

The remote control device C includes a device main body 70 and a radio communication antenna 71 that is separate from the device main body 70.
The apparatus main body 70 has a configuration in which a wireless LAN 73, a display unit (hereinafter referred to as “display”) 74, an accelerator / brake lever 75, and a control unit 77 including a joystick 76 are connected to a remote control computer 72. .
The control unit 77 outputs a control command according to the control operation of the accelerator / brake lever 75 and the joystick 76, and details thereof are as follows.

  The accelerator / brake lever 75 is used to increase / decrease the traveling speed of the unmanned vehicle B. By tilting the accelerator / brake lever 75 forward, the traveling speed of the unmanned vehicle B increases, It is set so that the traveling speed of the unmanned vehicle B is reduced by the tilting operation.

  The joystick 76 is used for turning the unmanned vehicle B to the left and right. By tilting the joystick 76 to the left, the unmanned vehicle B is turned to the left and tilted to the right. To turn right.

The remote control computer 72 includes a CPU (Central Processing Unit), an interface circuit, and the like, and exhibits the following functions by executing a required program.
(1) A function of receiving the hybrid ratio change information transmitted from the unmanned vehicle B. This function is referred to as “reception means 72a”.
The “mixed ratio change information” is as described above.
(2) A function of superimposing and displaying the received hybrid ratio change information on the image 80. This function is referred to as “superimposition display means 72b”.
Specifically, two or more travel route candidates and the like are superimposed on the image 80.

(3) A function of selecting one travel route from two or more travel route candidates displayed on the display 74. This function is referred to as “travel route selection means 72c”.
In the present embodiment, selection can be made by tilting the joystick 76.

(4) A function of generating vehicle speed command information for increasing or decreasing the traveling speed of the unmanned vehicle B in accordance with the operation of the control unit 77. This is referred to as “vehicle speed command information generating means 72d”.
Specifically, the vehicle speed command information is generated so that the vehicle speed conforms to the tilt angle of the accelerator / brake lever 75.
The brake / accelerator actuator 19 disposed in the unmanned vehicle B is driven and controlled by the vehicle speed command information.

(5) A function of transmitting the selected travel route and vehicle speed command information to the unmanned vehicle B. This function is referred to as “transmission means 72e”.

  Next, a control flowchart will be described with reference to FIG. FIG. 7 is a control flowchart of the unmanned vehicle forming a part of the semi-autonomous traveling system for the unmanned vehicle according to the embodiment of the present invention.

Step 1 (abbreviated as “S1” in FIG. 7, the same applies hereinafter): An input process of a travel route and speed command input (command input by waypoint setting or remote control) is performed.
Step 2: Evaluate the driving environment. That is, the driving environment condition (F _E ) is calculated as described above.
Step 3: Evaluate the communication environment. That is, the communication environment condition (F _C ) is calculated as described above.
Step 4: Refer to the database 51 of the autonomous level.
Step 5: It is determined whether or not the mode (autonomous level) is to be switched. If it is determined that the mode is to be switched, the process proceeds to Step 6. Otherwise, the process returns to Step 1.
Step 6: The fact that the mode is to be switched and the mode to be switched to are displayed on the display 74 of the remote control device C to notify a driver (not shown).
Step 7: Branch to the switched mode destination processing system.

<Autonomous level 1>
Step 8: The steering wheel and the accelerator of the unmanned vehicle B are manually remotely controlled by the remote control device C.
Step 9: Drive by controlling the steering wheel / accelerator of the unmanned vehicle B by command input.

<At autonomous level 2>
Step 10: The travel route is recognized and the travel route is recognized by the computer 30 for autonomous travel, so that the travel route choices can be displayed with an arrow superimposed on the camera image of the remote control device C, or the selected travel route can be traveled. The target of the turning amount of the steering wheel is displayed on the display 74.
Step 11: The steering wheel and accelerator of the unmanned vehicle B are manually remotely controlled by the remote control device C.
Step 12: Drive by controlling the steering wheel / accelerator of the unmanned vehicle B by command input.

<At autonomous level 10>
Step 13: Environment recognition and travel route planning are performed by the autonomous traveling computer 30, and the control amount of the steering wheel and the accelerator of the vehicle is calculated.
Step 14: Drive by controlling the steering wheel / accelerator of the unmanned vehicle B by command input.

The present invention is not limited to the above-described embodiments, and the following modifications can be made.
(1) In the above-described embodiment, there is a database in which the hybrid ratio of the autonomous traveling function responsible for driving an unmanned vehicle and remote control is associated with each evaluation of the traveling environment and the communication environment, and the hybrid ratio determining means However, with reference to each evaluation of the driving environment and communication environment stored in the database, the example of determining the hybrid ratio of the autonomous driving function responsible for driving unmanned vehicles and remote control has been described. May be.
a) It has a database in which the hybrid ratio of the autonomous driving function responsible for driving an unmanned vehicle and remote control is associated with the evaluation of the driving environment, and the hybrid ratio determining means evaluates the driving environment stored in the database. Referring to Fig. 4, the hybrid ratio between the autonomous driving function that takes the driving of the unmanned vehicle and the remote control is determined.

b) It has a database in which the hybrid ratio of the autonomous driving function for driving unmanned vehicles and remote control is associated with the evaluation of the communication environment, and the hybrid ratio determination means evaluates the communication environment stored in the database. Referring to Fig. 4, the hybrid ratio between the autonomous driving function that takes the driving of the unmanned vehicle and the remote control is determined.

(2) In the above-described embodiment, a radio communication line that connects a driving environment evaluation unit that evaluates the driving environment in the driving area based on the distance measurement data acquired by the distance measuring unit, and the unmanned vehicle and the remote control device. Communication environment evaluation means for evaluating the communication environment, and based on each evaluation result of the travel environment and the communication environment, a hybrid ratio determination means for determining a hybrid ratio between the autonomous driving function responsible for driving an unmanned vehicle and remote control, Although the configuration having the hybrid running means for running the unmanned vehicle according to the autonomous running function of the determined hybrid ratio and remote control has been described as an example, the following configuration may be used.

a) A traveling environment evaluation unit that evaluates the traveling environment in the traveling area based on the distance measurement data acquired by the distance measuring unit, and an autonomous traveling function that is responsible for traveling the unmanned vehicle based on the evaluation result of the traveling environment and the remote A configuration comprising: a hybrid ratio determining means for determining a hybrid ratio with maneuvering; and a hybrid running means for driving an unmanned vehicle according to the autonomous running function of the determined hybrid ratio and remote control.

b) Communication environment evaluation means for evaluating the communication environment of the wireless communication line connecting the unmanned vehicle and the remote control device, and based on the evaluation result of the communication environment, A configuration comprising: a hybrid ratio determining means for determining a hybrid ratio; and a hybrid running means for running an unmanned vehicle according to the autonomous running function of the determined hybrid ratio and remote control.

10c Travel environment evaluation means 10d Communication environment evaluation means 10e Travel route generation means 10f Travel speed planning means 10g Transmission means 30a Hybrid travel means 31 Distance measuring unit 50a Hybrid ratio determination means 50b Hybrid ratio change determination means 51 Database 72b Display means 72c Travel path Selection means 74 Display B Unmanned vehicle C Remote control device

Claims (8)

It has a distance measurement unit for acquiring distance measurement data in the driving area, and is connected to an unmanned vehicle that can autonomously travel based on the distance measurement data acquired by the distance measurement unit via a wireless communication line. A semi-autonomous traveling system for an unmanned vehicle having a remote control device for remotely controlling the unmanned vehicle,
Based on the distance measurement data acquired by the distance measurement unit, driving environment evaluation means for evaluating the driving environment in the driving area,
Based on the evaluation result of the driving environment, a hybrid ratio determining means for determining a hybrid ratio between the autonomous driving function responsible for driving an unmanned vehicle and remote control,
A semi-autonomous traveling system for unmanned vehicles, comprising: a hybrid traveling means for traveling an unmanned vehicle according to an autonomous traveling function of a determined hybrid ratio and remote control. It has a distance measurement unit for acquiring distance measurement data in the driving area, and is connected to an unmanned vehicle that can autonomously travel based on the distance measurement data acquired by the distance measurement unit via a wireless communication line. A semi-autonomous traveling system for an unmanned vehicle having a remote control device for remotely controlling the unmanned vehicle,
A communication environment evaluation means for evaluating a communication environment of a wireless communication line connecting the unmanned vehicle and the remote control device;
Based on the evaluation result of the communication environment, a hybrid ratio determining means for determining a hybrid ratio between the autonomous driving function responsible for driving an unmanned vehicle and remote control,
A semi-autonomous traveling system for unmanned vehicles, comprising: a hybrid traveling means for traveling an unmanned vehicle according to an autonomous traveling function of a determined hybrid ratio and remote control. It has a distance measurement unit for acquiring distance measurement data in the travel area, and is connected to an unmanned vehicle capable of autonomous driving based on the distance measurement data acquired by the distance measurement unit, and the unmanned vehicle via a telecommunication line. A semi-autonomous traveling system for an unmanned vehicle having a remote control device for remotely controlling the unmanned vehicle,
Based on the distance measurement data acquired by the distance measurement unit, driving environment evaluation means for evaluating the driving environment in the driving area,
A communication environment evaluation means for evaluating a communication environment of a wireless communication line connecting the unmanned vehicle and the remote control device;
Based on each evaluation result of the driving environment and the communication environment, a hybrid ratio determining means for determining a hybrid ratio of the autonomous driving function responsible for driving the unmanned vehicle and remote control,
A semi-autonomous traveling system for unmanned vehicles, comprising: a hybrid traveling means for traveling an unmanned vehicle according to an autonomous traveling function of a determined hybrid ratio and remote control. It has a database that correlates the hybrid ratio of autonomous driving function that handles unmanned vehicles and remote control to each evaluation of driving environment and communication environment,
The hybrid ratio determining means refers to each evaluation of the driving environment and the communication environment stored in the database, and determines the hybrid ratio between the autonomous driving function responsible for driving the unmanned vehicle and the remote control. Item 4. An unmanned vehicle semi-autonomous traveling system according to any one of items 1 to 3. A hybrid ratio change determination means for determining whether or not to change the hybrid ratio is provided,
When it is determined that the hybrid ratio is to be changed, transmission means for transmitting the hybrid ratio change information including the hybrid ratio of the change destination to the remote control device is provided in the unmanned vehicle, while the hybrid ratio change information transmitted from the unmanned vehicle is provided. The unmanned vehicle according to any one of claims 1 to 4, wherein a receiving means for receiving and a display means for displaying the received mixed ratio change information on a display are arranged in the remote control device. Semi-autonomous driving system.   The semi-autonomous traveling system for unmanned vehicles according to claim 5, wherein the hybrid ratio change information includes a message to change the hybrid ratio. The unmanned vehicle is provided with a travel route generating means for generating one or more travel routes for autonomous travel in the travel region, and a travel speed planning means for planning a travel speed according to each generated travel route. The transmission means transmits the generated one or more travel route candidates to the remote control device,
In the remote control device, the receiving means receives one or more travel route candidates transmitted from the unmanned vehicle, and the display means can select the received one or more travel route candidates on the display. 7. A travel route selection means for selecting one travel route from two or more travel route candidates displayed on the display is provided. A semi-autonomous traveling system for unmanned vehicles as described in the paragraph.   The semi-autonomous traveling system for unmanned vehicles according to claim 7, wherein the display means displays on the display a target of a steering wheel turning amount for traveling along the selected traveling route.

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