JP2015230692A - Controlling system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controlling system capable of improving safety if autonomous travel vehicles and general vehicles share roads.SOLUTION: A controlling system 1 for controlling an autonomous travel vehicle 101 autonomously traveling along a route 201, comprises: position acquisition means acquiring a position P of the autonomous travel vehicle; in-area A general vehicle determination means determining whether a general vehicle is present in an area A in front of the autonomous travel vehicle; and travel indication transmission means transmitting a travel indication up to a travel indication position 207 on the route in front of the area A to the autonomous travel vehicle on condition that no general vehicle is present in the area A.

Description

  The present invention relates to a control device.

  In recent years, automatic traveling vehicles have attracted attention. Patent Document 1 proposes a system for providing a dedicated route for an autonomous vehicle.

JP 2000-264207 A

  In practical application of an autonomous vehicle, it may be necessary for an autonomous vehicle and a general vehicle to share at least some roads. The present invention has been made in view of the above points, and an object of the present invention is to provide a control device capable of improving safety when an autonomous vehicle and a general vehicle share a road.

  The control device of the present invention is a control device that controls an autonomous vehicle that automatically travels along a route. The control device according to the present invention includes position acquisition means for acquiring a position P of an autonomous vehicle, and an area A that is set according to the position P and that determines whether there is a general vehicle in the area A in front of the autonomous vehicle. On the condition that there is no general vehicle in the area A and the general vehicle determination means, a traveling instruction to a traveling instruction position on the route in front of the area A (for example, immediately before the area A) is transmitted to the automatic traveling vehicle. Traveling instruction transmission means for performing the above-described operation.

  According to the control device of the present invention, it is difficult to cause a situation in which an autonomous vehicle and a general vehicle approach each other, and safety of the autonomous vehicle and the general vehicle can be improved.

FIG. 2 is a block diagram illustrating configurations of the control device 1, the autonomous traveling vehicle 101, the boundary monitoring device 103, the entrance gate 105, the exit gate 107, and the general vehicle 109. FIG. 5 is an explanatory diagram showing a path 201. It is explanatory drawing showing arrangement | positioning of the boundary monitoring apparatus 103, the approach gate 105, and the exit gate 107. FIG. It is explanatory drawing showing the structure of the entrance gate 105 and the exit gate 107. FIG. 2 is an explanatory diagram illustrating a configuration of a boundary monitoring device 103. FIG. It is a flowchart showing the whole process which the control apparatus 1 performs. It is a flowchart showing the automatic traveling vehicle control which the control apparatus 1 performs. It is a flowchart showing the approach gate control which the control apparatus 1 performs. It is a flowchart showing the exit gate control which the control apparatus 1 performs. It is a flowchart showing the general vehicle condition update process which the control apparatus 1 performs. It is a flowchart showing the process which the approach gate 105 performs. It is a flowchart showing the process which the leaving gate 107 performs. It is explanatory drawing showing the case where the general vehicle 109 exists in the area 211N2, or the general vehicle 109 in the state of waiting for entry exists before the approach gate 105 connected to the area 211N2. It is explanatory drawing showing the case where the general vehicle 109 exists in the area 211N1, or the general vehicle 109 permitted to enter the area 211N1 exists.

Embodiments of the present invention will be described with reference to the drawings.
1. Configuration of Control Device 1 The configuration of the control device 1 will be described with reference to FIG. The control device 1 is a device that controls an automatic traveling vehicle 101 that automatically travels along a route. The control device 1 includes a control communication device 3, a control unit 5, an interface 7, a route DB (database) 9, and a vehicle DB 11.

  The control communication device 3 performs wireless communication with the autonomous mobile vehicle 101. The control unit 5 is a known computer that includes a CPU, a RAM, a ROM, and the like. The control unit 5 controls each unit in the control device 1 and executes processing to be described later using various information acquired using the control communication device 3 and the interface 7.

  The interface 7 communicates with the boundary monitoring device 103, the entrance gate 105, and the exit gate 107. The route DB 9 stores a plurality of routes when the automatic traveling vehicle 101 performs automatic traveling. Each route is assigned an identification number. The vehicle DB 11 stores various information related to the automatic traveling vehicle 101 and the specific general vehicle 109A. The specific general vehicle 109A and the non-specific general vehicle 109B are both vehicles that are not provided with an automatic traveling function and are driven by a driver. The specific general vehicle 109A includes a wireless communication device 111 that can wirelessly communicate with the boundary monitoring device 103, the entry gate 105, and the exit gate 107, and the non-specific general vehicle 109B does not include such a wireless communication device. . Hereinafter, the specific general vehicle 109A and the non-specific general vehicle 109B may be collectively referred to as a general vehicle 109.

  The control communication device 3 is an example of a position acquisition unit. The control unit 5 is an example of a general vehicle determination unit in the area A, a travel instruction transmission unit, a stop condition determination unit, and a stop instruction transmission unit.

2. Configuration and Function of Automated Running Vehicle 101 The configuration and function of the automated running vehicle 101 will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, the automatic traveling vehicle 101 includes a route DB 113, a periphery monitoring sensor 115, a GPS 117, a speed sensor 119, a control communication device 121, and a control unit 123. In addition, the automatic traveling vehicle 101 also includes various general configurations included in the vehicle.

  Similar to the route DB 9, the route DB 113 stores a plurality of routes when the automatic traveling vehicle 101 performs automatic traveling. Each route is assigned an identification number. The route stored in the route DB 113 is the same as the route stored in the route DB 9, and the identification number attached is also the same.

  The surrounding monitoring sensor 115 is a well-known millimeter wave sensor, and detects a target (another vehicle, a pedestrian, an obstacle, etc.) existing around the automatic traveling vehicle 101. The GPS 117 acquires position information of the automatic traveling vehicle 101. The speed sensor 119 detects the vehicle speed of the automatic traveling vehicle 101. The control communication device 121 performs wireless communication with the control communication device 3 of the control device 1.

  The control unit 123 is a known computer that includes a CPU, a RAM, a ROM, and the like. The control unit 123 controls each part of the automatic traveling vehicle 101, and performs automatic traveling as follows based on an instruction transmitted from the control device 1.

  The control device 1 transmits a route number used for automatic travel and a travel instruction up to the first travel instruction position using the control communication device 3. The control unit 123 uses the control communication device 121 to receive a route number used for automatic travel and a travel instruction to the first travel instruction position, and reads a route with the corresponding number from the route DB 113. Then, automatic traveling to the first traveling instruction position is started along the read route.

  Here, as shown in FIG. 2, the route 201 is a group of continuous travel points from the start point 203 to the goal point 205 of automatic travel. The automatic traveling vehicle 101 performs automatic traveling along the route 201.

  Further, the travel instruction position 207 is a position on the route 201 and is a position between the start point 203 and the goal point 205, and the first travel instruction position is an automatic one of the travel instruction positions 207. This is a travel instruction position that is first instructed after the start of travel. The travel instruction instructs the automatic traveling vehicle 101 to travel to the travel instruction position specified by the travel instruction.

  When the automatic traveling vehicle 101 receives the traveling instruction up to the first traveling instruction position 207, the automatic traveling vehicle 101 performs automatic traveling to the first traveling instruction position 207. If the travel instruction to the second travel instruction position 207 is not received before reaching the first travel instruction position 207, the automatic traveling vehicle 101 stops at the first travel instruction position 207 and waits for the next travel instruction. . On the other hand, if a travel instruction to the second travel instruction position 207 is received before reaching the first travel instruction position 207, the second travel instruction position 207 is not stopped at the first travel instruction position 207. Autonomous driving towards

  Similarly, if the travel instruction to the (n + 1) th travel instruction position 207 is not received before reaching the n (n is a natural number) travel instruction position 207, the automatic traveling vehicle 101 is Stops at the second travel instruction position 207 and waits for the next travel instruction. On the other hand, if the travel instruction to the (n + 1) th travel instruction position 207 is received before reaching the nth travel instruction position 207, the vehicle stops without stopping at the nth travel instruction position 207 ( Automatic traveling is performed toward the (n + 1) th traveling instruction position 207.

In this way, the automatic traveling vehicle 101 performs automatic traveling while sequentially receiving a traveling instruction up to the next traveling instruction position 207.
Further, the control device 1 transmits a stop instruction using the control communication device 3. When the automatic traveling vehicle 101 receives the stop instruction, the automatic traveling vehicle 101 stops even if the current position is before the travel instruction position.

  In addition, the automatic traveling vehicle 101 uses the control communication device 121 during automatic traveling, and includes information including the position P, the vehicle speed, the traveling direction, and the vehicle ID of the automatic traveling vehicle 101 (hereinafter referred to as automatic traveling vehicle transmission information). ) Is repeatedly transmitted every predetermined time (for example, 0.1 to 1 second). The control device 1 receives the automatic traveling vehicle transmission information using the control communication device 3.

3. Configuration and Function of Boundary Monitoring Device 103 The configuration and function of the boundary monitoring device 103 will be described with reference to FIG. 1, FIG. 3, and FIG. As shown in FIG. 3, a plurality of boundary monitoring devices 103 are installed along the road 209 at predetermined intervals. The route 201 passes through this road 209.

  Note that, on the road 209, a section 211 is defined between an arbitrary boundary monitoring device 103 and an adjacent boundary monitoring device 103. That is, the road 209 is divided into a plurality of sections 211. In particular, in the section 211, a section where the automated traveling vehicle 101 exists is referred to as a section 211P with reference to the position of the automated traveling vehicle 101 at that time. In addition, when the autonomous traveling vehicle 101 travels along the route 201, the section that is n ahead from the section 211P is defined as a section 211Nn (n is a natural number). For example, the next section after the section 211P is the section 211N1, the section that is second from the section 211P is the section 211N2, and the section that is three sections ahead from the section 211P is the section 211N3.

  As shown in FIGS. 1 and 5, the boundary monitoring apparatus 103 includes a vehicle sensor 125, a wireless communication receiver 127, and a control unit 129. The vehicle sensor 125 detects the presence of the general vehicle 109 passing through the boundary monitoring apparatus 103 and the traveling direction of the general vehicle 109. The wireless communication receiver 127 receives information (position information, vehicle speed, traveling direction, vehicle ID) of the specific general vehicle 109A from the wireless communication device 111 of the specific general vehicle 109A that passes through the boundary monitoring device 103. Hereinafter, the detection result of the vehicle sensor 125 and the information received by the wireless communication receiver 127 are collectively referred to as passing vehicle information.

  Since the boundary monitoring device 103 is at the boundary between two adjacent sections 211, the passing vehicle information indicates that the general vehicle 109 exits from one section 211 of the two sections 211, and the general information to the other section 211. This is information indicating that the vehicle 109 has entered.

  The control unit 129 is a known computer that includes a CPU, a RAM, a ROM, and the like. The control unit 129 controls each unit of the boundary monitoring device 103 to acquire passing vehicle information and transmit the acquired passing vehicle information to the control device 1.

4). Configurations of the entrance gate 105 and the exit gate 107 The configurations of the entrance gate 105 and the exit gate 107 will be described with reference to FIGS. 1, 3, and 4. As shown in FIG. 3, the entrance gate 105 and the exit gate 107 are provided near the road 209 in the road 213 that joins the road 209. A road 213 is an approach road to the road 209.

  The entrance gate 105 regulates the entry of the general vehicle 109 from the road 213 to the road 209 based on an instruction from the control device 1, and the general vehicle 109 that has reached the entrance gate 105 and the general vehicle that has passed through the entrance gate 105 109 information is transmitted to the control device 1.

  In order to realize the above function, the entrance gate 105 includes a wireless communication receiver 131, a vehicle sensor 133, a display device 135, a control unit 137, and a circuit breaker 139, as shown in FIGS.

  The wireless communication receiver 131 receives information (position information, vehicle speed, traveling direction, vehicle ID) of the specific general vehicle 109A from the wireless communication device 111 of the specific general vehicle 109A that has approached the entrance gate 105.

The vehicle sensor 133 detects a general vehicle 109 approaching the entry gate 105.
The display device 135 is composed of a liquid crystal display and can display an image.
The control unit 137 is a known computer that includes a CPU, a RAM, a ROM, and the like. The control unit 137 controls each part of the entrance gate 105 and executes processing to be described later.

The circuit breaker 139 is configured to realize either a state where the road 213 is blocked or a state where the road 213 is opened according to an instruction from the control unit 137.
Further, the exit gate 107 regulates the exit of the general vehicle 109 from the road 209 to the road 213 based on an instruction from the control device 1 and passes through the general vehicle 109 that has reached the exit gate 107 and the exit gate 107. Information on the general vehicle 109 is transmitted to the control device 1.

  The exit gate 107 has a configuration similar to that of the entrance gate 105 in order to realize the above function. Note that specific processing executed by the entry gate 105 and the exit gate 107 will be described later.

5). Processing Performed by Control Device 1 The processing that the control device 1 (particularly the control unit 5) repeatedly executes every predetermined time will be described with reference to FIGS.

  In step 1 of FIG. 6, automatic traveling vehicle control is executed. This automatic traveling vehicle control will be specifically described with reference to FIG. In Step 11 of FIG. 7, the control communication device 3 is used to receive the automatic traveling vehicle transmission information transmitted by the automatic traveling vehicle 101 and acquire the position P of the automatic traveling vehicle 101 included in the automatic traveling vehicle transmission information. To do.

  In Step 12, first, based on the position P acquired in Step 11, among the roads 209 on which the automatic traveling vehicle 101 is automatically traveling, a section 211P in which the automatic traveling vehicle 101 exists at that time, and the next sections 211N1, 2 The next section 211N2 and the third section 211N3 are specified (see FIG. 3).

  Next, it is determined whether or not the general vehicle 109 exists in the section 211P or the section 211N1. This determination is made based on the status of the general vehicle updated in the general vehicle status update process described later. When the general vehicle 109 does not exist in the section 211P and the section 211N1, the process proceeds to step 13, and when the general vehicle 109 exists in the section 211P or the section 211N1, the process proceeds to step 19.

  In step 13, it is determined whether there is a general vehicle 109 permitted to enter the section 211P or the section 211N1. This determination is made based on the status of the general vehicle updated in the general vehicle status update process described later. When there is no general vehicle 109 permitted to enter the section 211P and the section 211N1, the process proceeds to step 14, and when there is a general vehicle 109 permitted to enter the section 211P or the section 211N1, the process proceeds to step 19.

  In step 14, it is determined whether or not the position P acquired in step 11 is within a predetermined distance to the latest travel instruction position. If it is within the predetermined distance, the process proceeds to step 15, and if it is outside the predetermined distance, this process is terminated.

  In step 15, it is determined whether or not the general vehicle 109 exists in the section 211N2. This determination is made based on the status of the general vehicle updated in the general vehicle status update process described later. When the general vehicle 109 does not exist in the section 211N2, the process proceeds to step 16, and when it exists, the process proceeds to step 18.

  In step 16, it is determined whether or not there is a general vehicle 109 waiting for entry at the entry gate 105 connected to the section 211N2. This determination is made based on the status of the general vehicle updated in the general vehicle status update process described later. If there is no general vehicle 109 waiting for entry at the entry gate 105 connected to the section 211N2, the process proceeds to step 17, and if it exists, the process proceeds to step 18.

In step 17, a travel instruction for instructing to travel to the travel instruction position immediately before the section 211N2 (an example of the front) is transmitted.
On the other hand, if an affirmative determination is made in steps 15 and 16, the process proceeds to step 18 to transmit a travel instruction for instructing travel to the travel instruction position immediately before the section 211N1 (an example in front).

If an affirmative determination is made in steps 12 and 13, the process proceeds to step 19 and a stop instruction is transmitted. The automatic traveling vehicle 101 that has received the stop instruction stops at that location.
Returning to FIG. 6, in step 2, entry gate control is performed. This approach gate control will be specifically described with reference to FIG. In step 21, it is determined whether or not entry waiting vehicle information has been received from the entry gate 105. In addition, approach waiting vehicle information is information which the approach gate 105 transmits, when the general vehicle 109 exists in front of the entrance gate 105 so that it may mention later. If entry waiting vehicle information is received, the process proceeds to step 22; otherwise, the process ends.

  In step 22, it is determined whether or not the vehicle ID included in the approach waiting vehicle information determined to have been received in step 21 is that of a registration-permitted vehicle. That is, the vehicle ID included in the entry waiting vehicle information is compared with the vehicle ID of the registration-permitted vehicle stored in the vehicle DB 11, and if they match, the vehicle ID of the registration-permitted vehicle is determined and must match. For example, it is determined that the vehicle ID is not the vehicle ID of the registration-permitted vehicle. If it is the vehicle ID of the registration-permitted vehicle, the process proceeds to step 23, and if not, the process proceeds to step 28.

  In step 23, it is determined whether the vehicle ID included in the approach waiting vehicle information determined to have been received in step 21 is that of a priority vehicle (for example, an emergency vehicle). That is, the vehicle ID included in the approach waiting vehicle information is compared with the vehicle ID of the priority vehicle stored in the vehicle DB 11, and if the vehicle ID matches, the vehicle ID of the priority vehicle is determined. It is determined that the vehicle ID is not the priority vehicle. If it is the vehicle ID of the priority vehicle, the process proceeds to step 24; otherwise, the process proceeds to step 25.

In step 24, a stop instruction is transmitted to the automatic traveling vehicle 101 traveling around the priority vehicle.
In step 25, it is determined whether there is an automatic traveling vehicle 101 that is traveling around the registration-permitted vehicle. If it does not exist, the process proceeds to step 26, and an entry permission instruction is transmitted to the entry gate 105. On the other hand, if there is an automatic traveling vehicle 101 that is traveling around the registration-permitted vehicle, the process proceeds to step 27, and a standby instruction is transmitted to the entry gate 105.

On the other hand, if a negative determination is made in step 22, the process proceeds to step 28, and an entry impossible instruction is transmitted to the entry gate 105.
Returning to FIG. 6, in step 3, exit gate control is performed. This exit gate control will be specifically described with reference to FIG. In step 31, it is determined whether or not exit waiting vehicle information is received from the exit gate 107. The exit waiting vehicle information is information transmitted by the exit gate 107 when the general vehicle 109 is in front of the exit gate 107, as will be described later. If the exit waiting vehicle information is received, the process proceeds to step 32, and if not received, the process is terminated.

  In step 32, it is determined whether or not the vehicle ID included in the leaving waiting vehicle information determined to have been received in step 31 is that of a registration-permitted vehicle. That is, the vehicle ID included in the leaving waiting vehicle information is checked against the vehicle ID of the registration-permitted vehicle stored in the vehicle DB 11, and if they match, the vehicle ID of the registration-permitted vehicle is determined and must match. For example, it is determined that the vehicle ID is not the vehicle ID of the registration-permitted vehicle. If it is the vehicle ID of the registration-permitted vehicle, the process proceeds to step 33, and if not, the process proceeds to step 35.

  In step 33, it is determined whether there is another vehicle entering the road 213 ahead of the exit gate 107. If there is no such other vehicle, the process proceeds to step 34, and an exit permission instruction is transmitted to the exit gate 107. On the other hand, if such other vehicle exists, the process proceeds to step 35, and a standby instruction is transmitted to the exit gate 107.

Returning to FIG. 6, in step 4, general vehicle status update processing is executed. This process will be specifically described with reference to FIG.
In step 41, entry waiting vehicle information is received from each entry gate 105.

  In step 42, a vehicle entry completion notification is received from each entry gate 105. Note that the vehicle entry completion notification is a notification that the entry gate 105 transmits to the control device 1 when a general vehicle passes through an arbitrary entry gate 105, as will be described later.

  In step 43, a vehicle exit completion notification is received from each exit gate. The vehicle exit completion notification is a notification that the exit gate 107 transmits to the control device 1 when a general vehicle passes through an arbitrary exit gate 107, as will be described later.

In step 44, passing vehicle information is received from each boundary monitoring device 103.
In step 45, the number X of general vehicles 109 existing in the section 211P at that time is calculated and updated by the following equation (1).

Formula (1) X = X ′ + α−β + γ−δ
Here, X ′ is the number X when the processing of this step 45 was performed last time. Further, α is the number of general vehicles 109 newly entered into the section 211P through the entry gate 105, which is specified from the vehicle entry completion notification received in step 42. Further, β is the number of general vehicles 109 that have newly exited from the section 211P through the exit gate 107, which is specified from the vehicle exit completion notification received in step 43. Further, γ is the number of general vehicles 109 newly entered into the section 211P through the boundary monitoring device 103, which is specified from the passing vehicle information received in step 44. Further, δ is the number of general vehicles 109 newly exiting from the section 211P through the boundary monitoring device 103, which is specified from the passing vehicle information received in step 44.

Similarly, for the section 211N1 and the section 211N2, the number of general vehicles 109 existing in the section at that time is calculated and updated.
Further, based on the approach waiting vehicle information received in step 41, the presence / absence of the general vehicle 109 in the approach waiting state is determined for each approach gate 105, and the determination result is stored. Further, it is determined whether the general vehicle 109 in the waiting state for entry is a registration-permitted vehicle or a priority vehicle, and the determination result is stored.

  The number of the general vehicles 109 existing in the section 211P and the section 211N1 updated as described above is used in the process of step 12. The presence / absence of the general vehicle 109 in the waiting state for entry at the entry gate 105 connected to the section 211P and the section 211N1 and the determination result as to whether or not the vehicle is a registration-permitted vehicle stored as described above are as described above. Used in 13 processes.

  Further, the number of general vehicles 109 existing in the section 211N2 updated as described above is used in the process of step 15. Further, the presence / absence of the general vehicle 109 in the entry waiting state at the entry gate 105 connected to the section 211N2 stored as described above is used in the process of step 16.

6). Processing Performed by the Entrance Gate 105 The processing performed by the entrance gate 105 will be described with reference to FIG. In step 51, it is determined whether or not there is a general vehicle 109 that is in an entry waiting state before the entrance gate 105. Specifically, if the general vehicle 109 is detected by the vehicle sensor 133, it is determined that there is a general vehicle 109 that is waiting for entry before the entrance gate 105. Otherwise, the vehicle is waiting for entry. It is determined that there is no general vehicle 109.

  When one or a plurality of specific general vehicles 109A are detected by the vehicle sensor 133, the wireless communication receiver 131 is used to detect information (position information, position information, 109A) from the one or more specific general vehicles 109A. Vehicle speed, traveling direction, vehicle ID). Then, the position information included in the information is compared with the detectable position of the vehicle sensor 133, and it is determined that the specific general vehicle 109A that has transmitted the matching position information is in an entry waiting state.

  If there is a general vehicle 109 that is waiting for entry, the process proceeds to step 52. On the other hand, if there is no general vehicle 109 that is waiting for entry, the process proceeds to step 57 where the breaker 139 is closed and nothing is displayed on the display 135.

In step 52, the approach waiting vehicle information is transmitted to the control device 1.
In step 53, it is determined whether any instruction is received from the control device 1. This instruction is one of an entry permission instruction (see step 26), a standby instruction (see step 27), and an entry impossible instruction (see step 28). If any instruction is received, the process proceeds to step 54. On the other hand, if any instruction has not been received, the process proceeds to step 58 where the circuit breaker 139 is closed and “inquiry” is displayed on the display unit 135.

  In step 54, it is determined whether or not an entry prohibition instruction has been received from the control device 1. If an entry prohibition instruction has not been received, the process proceeds to step 55. On the other hand, if an entry impossibility instruction is received, the process proceeds to step 59, where the breaker 139 is closed and “no entry” is displayed on the display unit 135.

  In step 55, it is determined whether or not a standby instruction has been received from the control device 1. If no standby instruction has been received, the process proceeds to step 56. On the other hand, if a standby instruction is received, the process proceeds to step 60 where the circuit breaker 139 is closed and “standby” is displayed on the display unit 135.

  In step 56, it is determined whether or not an entry permission instruction has been received from the control device 1. If the entry permission instruction has not been received, this process ends. On the other hand, if an entry permission instruction has been received, the process proceeds to step 61 where the breaker 139 is opened and “entry permitted” is displayed on the display unit 135.

  Next, in step 62, it is determined whether the general vehicle 109 has passed the entrance gate 105 and the entry to the road 209 has been completed. Specifically, if the vehicle sensor 133 no longer detects the general vehicle 109, it is determined that the approach to the road 209 has been completed. If the vehicle sensor 133 still detects the general vehicle 109, the approach to the road 209 is determined. Is determined to be incomplete. When the approach to the road 209 is completed, the process proceeds to step 63, and when the approach is not completed, this process is terminated.

In step 63, a vehicle approach completion notification is transmitted to the control device 1.
7). Processing Performed by Exit Gate 107 The processing performed by exit gate 107 will be described with reference to FIG. In step 71, it is determined whether or not there is a general vehicle 109 in the exit waiting state before the exit gate 107. Specifically, if the general vehicle 109 is detected by the vehicle sensor 133, it is determined that there is a general vehicle 109 that is in an entry waiting state before the exit gate 107, and in other cases, an exit waiting state is present. It is determined that there is no general vehicle 109.

  When one or a plurality of specific general vehicles 109A are detected by the vehicle sensor 133, the wireless communication receiver 131 is used to detect information (position information, position information, 109A) from the one or more specific general vehicles 109A. Vehicle speed, traveling direction, vehicle ID). Then, the position information included in the information is compared with the detectable position of the vehicle sensor 133, and it is determined that the specific general vehicle 109A that has transmitted the matching position information is in an exit waiting state.

  If there is a general vehicle 109 in the exit waiting state, the routine proceeds to step 72. On the other hand, if there is no general vehicle 109 that is in the exit waiting state, the process proceeds to step 76 where the breaker 139 is closed and nothing is displayed on the display unit 135.

In step 72, the leaving waiting vehicle information is transmitted to the control device 1.
In step 73, it is determined whether or not any instruction is received from the control device 1. This instruction is either an exit permission instruction (see step 34) or a standby instruction (see step 35). If any instruction is received, the process proceeds to step 74. On the other hand, if any instruction has not been received, the process proceeds to step 77 where the circuit breaker 139 is closed and “inquiry” is displayed on the display unit 135.

  In step 74, it is determined whether or not a standby instruction is received from the control device 1. If no standby instruction has been received, the process proceeds to step 75. On the other hand, if a standby instruction has been received, the process proceeds to step 78 where the circuit breaker 139 is closed and “standby” is displayed on the display unit 135.

  In step 75, it is determined whether an exit permission instruction is received from the control device 1. If no exit permission instruction has been received, this process ends. On the other hand, if an exit permission instruction has been received, the process proceeds to step 79, where the circuit breaker 139 is opened and “exit permission” is displayed on the display unit 135.

  Next, in step 80, it is determined whether the general vehicle 109 passes through the exit gate 107 and the exit from the road 209 is completed. Specifically, if the general vehicle 109 is not detected by the vehicle sensor 133, it is determined that the exit from the road 209 has been completed. If the general sensor 109 is still detected by the vehicle sensor 133, the exit from the road 209 is determined. Is determined to be incomplete. If the exit from the road 209 is completed, the process proceeds to step 81. If the exit is not completed, the process is terminated.

In step 81, a vehicle exit completion notification is transmitted to the control device 1.
8). The effect which the control apparatus 1 exhibits The control apparatus 1 has the following effects.

  (1) The control device 1 acquires the position P of the automatic traveling vehicle 101. Then, the presence / absence of the general vehicle 109 in the section 211N2 set according to the position P and the presence / absence of the general vehicle 109 waiting for entry before the entrance gate 105 connected to the section 211N2 are determined (see above). Steps 15 and 16).

  Then, on the condition that there is no general vehicle 109 in the section 211N2 and there is no general vehicle 109 waiting to enter before the entry gate 105 connected to the section 211N2, the section 211N2 A travel instruction to the travel instruction position 207 on the route 201 just before is transmitted (see step 17).

  For example, as shown in FIG. 13, when the general vehicle 109 exists in the section 211N2 or the general vehicle 109 that is waiting to enter in front of the entrance gate 105 connected to the section 211N2, the control device 1 The travel instruction to the travel instruction position 207 on the route 201 just before the section 211N1 is not transmitted, and the travel instruction to the travel instruction position 207 on the path 201 just before the section 211N1 is transmitted.

  As a result, it is difficult for the automatic traveling vehicle 101 and the general vehicle 109 to travel in the same section 211, and the safety of the automatic traveling vehicle 101 and the general vehicle 109 can be improved.

The section 211N2 and the position before the entrance gate 105 connected to the section 211N2 are examples of the area A.
(2) The control device 1 acquires the vehicle entry completion notification transmitted from the entry gate 105, the vehicle exit completion notification transmitted from the exit gate 107, and the passing vehicle information transmitted from the boundary monitoring device 103, Based on the information, the presence / absence of the general vehicle 109 in the section 211N2 is determined. In addition, the control device 1 acquires the entry waiting vehicle information transmitted from the entry gate 105 and, based on the information, determines whether there is a general vehicle 109 that is waiting for entry before the entry gate 105 connected to the section 211N2. to decide. As a result, the presence / absence of the general vehicle 109 can be easily and accurately determined.

  The boundary monitoring device 103, the entry gate 105, and the exit gate 107 are examples of detection devices. Further, the vehicle approach completion notification, the vehicle exit completion notification, the passing vehicle information, and the approach waiting vehicle information are examples of detection information.

  (3) The boundary monitoring device 103, the entry gate 105, and the exit gate 107 can receive information on the specific general vehicle 109A from the specific general vehicle 109A by wireless communication. Thereby, the information of the specific general vehicle 109A can be acquired easily and accurately.

(4) The control device 1 determines whether or not the following stop condition is satisfied (see Steps 12 and 13).
Stop condition: Whether the general vehicle 109 exists in the section 211P or the section 211N1 (the area in front of the automatic traveling vehicle 101 and closer to the position P of the automatic traveling vehicle 101 than the section 211N2), the section 211P or the section There is a general vehicle 109 permitted to enter 211N1.

When the above stop condition is satisfied, the control device 1 transmits a stop instruction to the automatic traveling vehicle 101 (see step 19).
For example, as shown in FIG. 14, if there is a general vehicle 109 in the section 211 N 1 or there is a general vehicle 109 permitted to enter the section 211 N 1, the control device 1 stops at the automatic traveling vehicle 101. Send instructions.

The section 211P and the section 211N1 are examples of the region B.
9. Modification The control device 1 and a system including the same may be as follows.

  (1) The boundary monitoring device 103, the entrance gate 105, and the exit gate 107 may detect the general vehicle 109 by other methods. For example, a display that the general vehicle 109 can easily detect with the vehicle sensors 125 and 133 may be displayed and detected with the boundary monitoring device 103, the entrance gate 105, and the exit gate 107.

  (2) Instead of providing the boundary monitoring device 103 at the boundary of the section 211, the position of the general vehicle 109 may be directly acquired, and the section 211 where the general vehicle 109 exists may be determined based on the position.

(3) Areas A and B may be set based on the distance and relative speed between the autonomous vehicle 101 and the general vehicle 109 without providing the section 211.
(4) At least a part of the entrance gate 105 and the exit gate 107 may be provided with a traffic signal instead of the circuit breaker 139.

  (5) The communication means between the specific general vehicle 109A and the boundary monitoring device 103, the entrance gate 105, and the exit gate 107 is a public line, wireless LAN, wireless communication for inter-vehicle communication, or a newly established dedicated wireless communication. Communication may be used. When using wireless communication for vehicle-to-vehicle communication, the wireless device can be installed outside the vehicle as a wireless device dedicated to reception. Also, by using wireless communication for vehicle-to-vehicle communication installed in the vehicle to reduce traffic accidents, there is no need to install a dedicated radio device in a general vehicle, and no additional cost is added to the general vehicle. Can do.

  (6) The region A may be in the section 211Nm and a position in front of the entrance gate 105 connected to the section 211Nm. Here, m is any one of 3, 4, 5,.

DESCRIPTION OF SYMBOLS 1 ... Control apparatus, 3 ... Control communication machine, 5 ... Control part, 7 ... Interface, 9 ... Path | route DB, 11 ... Vehicle DB, 101 ... Auto-traveling vehicle, 103 ... Boundary monitoring apparatus, 105 ... Entrance gate, 107 ... Exit 109, general vehicle, 109A, specific general vehicle, 109B, non-specific general vehicle, 111, wireless communication device, 113, route DB, 115, peripheral monitoring sensor, 117, GPS, 119, speed sensor, 121, control communication 123, control unit, 125 ... vehicle sensor, 127 ... wireless communication receiver, 129 ... control unit, 131 ... wireless communication receiver, 133 ... vehicle sensor, 135 ... display, 137 ... control unit, 139 ... breaker , 201 ... route, 203 ... start point, 205 ... goal point, 207 ... travel instruction position, 209 ... road, 211, 211P, 211N1, 211N2 ... While, 213 ... road

Claims (8)

A control device (1) for controlling an automatic traveling vehicle (101) that automatically travels along a route (201),
Position acquisition means (3) for acquiring the position P of the automatic traveling vehicle;
A general vehicle determination means (5) in the area A that determines whether or not there is a general vehicle (109) in the area A (211N2) in front of the autonomous vehicle set according to the position P;
A travel instruction transmitting means for transmitting a travel instruction to the travel instruction position (207) on the route in front of the area A to the autonomous traveling vehicle on condition that the general vehicle does not exist in the area A. (5) and
A control device comprising:   The area A general vehicle determination means obtains detection information from a detection device (103, 105, 107) that detects the general vehicle entering or exiting the area A, and based on the detection information, The control device according to claim 1, wherein presence or absence of a general vehicle is determined.   The control device according to claim 2, wherein the detection device detects the general vehicle by wireless communication with the general vehicle.   The control device according to claim 2, wherein the detection device detects the general vehicle by detecting a display performed by the general vehicle.   The control device according to claim 2, wherein at least a part of the detection device includes a traffic light. The road (209) on the route is divided into a plurality of sections (211),
The area A is an n-th section with respect to the position P, or an approach path (213) to the section,
The control device according to any one of claims 1 to 5, wherein the travel instruction position is in a section of (n-1) ahead. (N is a natural number of 2 or more).   6. The control device according to claim 1, wherein the region A is set based on a distance or a relative speed between the autonomous vehicle and the general vehicle. Stop condition determining means (5) for determining whether or not the following stop condition is satisfied;
When the stop condition is satisfied, stop instruction transmission means (5) for transmitting a stop instruction to the automatic traveling vehicle;
The control device according to any one of claims 1 to 7, further comprising:
Stop condition: The general vehicle exists in a region B (211P, 211N1) that is closer to the position P than the region A, and is allowed to enter the region B. There is a general vehicle.