JP2016018409A - Vehicle travel control device, vehicle travel control system, and vehicle travel control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle travel control device, a vehicle travel control system, and a vehicle travel control method that can control a travel of a vehicle only by an RFID tag reader as one kind of device without using any camera.SOLUTION: A vehicle travel control device is provided with an RFID tag reader driving motor (4c) which rotates an RFID tag reader (6) forward in a vehicle travel direction reciprocally to the right and left alternately so as to make a scan; and a control unit (10) which adjusts a traveling direction of a vehicle (1) on the basis of a detected angle (β) to the traveling direction of the vehicle (1) and an RFID tag read view angle (α) of the RFID tag reader (6) when an RFID tag (20) is read by the RFID tag reader (6).SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle travel control device, a vehicle travel control system, and a vehicle travel that enable an automatic travel of a vehicle by reading RFID tags placed on the road with an RFID tag reader mounted on the vehicle. It relates to a control method.

  2. Description of the Related Art Conventionally, a vehicle traveling direction control device that enables automatic traveling of a vehicle by wirelessly reading RFID tags that are installed on a road with an RFID (Radio Frequency IDentification) tag reader mounted on the vehicle. It has been known.

  As this type of vehicle travel control device, for example, an automatic travel device disclosed in Patent Document 1 wirelessly reads data written in an RFID tag with an RFID tag reader, and performs travel control such as speed adjustment, left and right turn, and stop. Is going. This automatic travel device is equipped with a camera, and when making a left or right turn of the vehicle, it captures the scenery before the direction is changed by the camera, and analyzes the image to determine the direction in which the vehicle should change the direction. It has become.

  Moreover, in the automatic traveling wheelchair 100 disclosed in Patent Document 2, when information on a destination is input as shown in FIG. 13, a route from a guidance chip 111 installed on the guidance route 110 is determined from the information on the departure point and the destination. It is designed to automatically travel by acquiring information. In addition, an in-vehicle camera, an ultrasonic sensor, and an infrared sensor are provided to monitor the obstacle, and when there is an obstacle on the guide path 110, an obstacle avoiding operation is performed. This provides an automatic traveling wheelchair that is safe and easy to operate and can be used in places where the use of wheelchairs is expected, such as apartment houses for the elderly and nursing homes.

JP 2011-76215 A (published April 14, 2011) JP 2004-313587 A (published on November 11, 2004)

  However, the conventional vehicle travel control device has the following problems.

  First, in the automatic traveling device disclosed in Patent Document 1, two devices, an RFID reader and a camera, are required for controlling the traveling direction of the vehicle, and the captured image obtained by the camera must be image-analyzed. It has the problem of increasing.

  Further, Patent Document 2 discloses an obstacle avoiding operation, but does not disclose a specific vehicle running control.

  The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide a vehicle travel control device that can control the travel of a vehicle using only an RFID tag reader that is one type of device without using a camera. A control system and a vehicle travel control method are provided.

  In order to solve the above-described problem, a vehicle travel control apparatus according to an aspect of the present invention reads a travel control command written on an RFID tag installed at an interval on a road with an RFID tag reader to control the travel of the vehicle. In the vehicle travel control device, the RFID tag reader is scanned by rotating the RFID tag reader alternately in the left-right direction toward the front in the vehicle traveling direction, and the RFID when the RFID tag is read by the RFID tag reader. The tag reader is provided with vehicle travel control means for adjusting the traveling direction of the vehicle based on the rotation angle with respect to the traveling direction of the vehicle and the reading viewing angle of the RFID tag reader.

  In order to solve the above-described problem, a vehicle travel control system according to an aspect of the present invention is a vehicle travel control system including the vehicle travel control device described above, and includes a travel control command written in the RFID tag. Includes at least a straight travel command and a curve command, and the vehicle travel control means determines the vehicle traveling direction and the vehicle speed based on the travel control commands written in the two RFID tags closest to the front of the vehicle. It is characterized by adjusting.

  In order to solve the above-described problem, a vehicle travel control system according to an aspect of the present invention is a vehicle travel control system including the vehicle travel control device described above, and an RFID tag installed on the road includes Travel direction information is written as a travel control command to a farther RFID tag installed adjacent to the RFID tag in the vehicle travel direction, and the vehicle travel control means is in the RFID tag closest to the front of the vehicle. The traveling direction of the vehicle is adjusted based on the written traveling direction information.

  In order to solve the above-described problem, a vehicle travel control method according to one aspect of the present invention reads a travel control command written on an RFID tag installed at an interval on a road with an RFID tag reader to control the travel of the vehicle. In the vehicle travel control method, the RFID tag reader is scanned by rotating the RFID tag reader alternately in the left-right direction toward the front in the vehicle travel direction, and the RFID when the RFID tag is read by the RFID tag reader. And a vehicle travel control step of adjusting the traveling direction of the vehicle based on the rotation angle of the tag reader with respect to the traveling direction of the vehicle and the reading viewing angle of the RFID tag reader.

  Advantageous Effects of Invention According to one aspect of the present invention, there is provided an effect of providing a vehicle travel control device, a vehicle travel control system, and a vehicle travel control method that can control the travel of a vehicle using only an RFID tag reader that is one type of device without using a camera. Play.

(A) is a top view which shows the structure of the vehicle carrying the vehicle travel control apparatus in Embodiment 1 of this invention, (b) is a block diagram which shows the structure of the said vehicle travel control apparatus. It is a top view which shows an example of the course by which the vehicle carrying the said vehicle travel control apparatus drive | works, and the RFID tag was embed | buried with the predetermined installation space | interval. It is a top view for demonstrating the outline | summary of the reading method of a RFID tag, and the advancing direction adjustment method, Comprising: RFID tag reading angle. FIG. 10 is a plan view for explaining an overview of an RFID tag reading method and an advancing direction adjusting method, illustrating a detection angle that is an orientation of an RFID tag reader when a second RFID tag is read. FIG. 10 is a plan view for explaining an overview of an RFID tag reading method and an advancing direction adjustment method, and for explaining an advancing direction adjustment angle calculated after reading a second RFID tag. It is a flowchart which shows operation | movement of the vehicle travel control method in the said vehicle travel control apparatus. It is a top view which shows the structure of the vehicle travel control system in Embodiment 2 of this invention, Comprising: It is a top view which shows an example of the course by which the vehicle drive | works and the RFID tag was embed | buried with the predetermined installation space | interval. It is a top view which shows the structure of the vehicle travel control system in Embodiment 3 of this invention, Comprising: It is a top view which shows an example of the course by which the vehicle drive | works and the RFID tag was embedded with the predetermined | prescribed installation space | interval. It is a top view which shows the RFID tag installation course in which the straight line and curve in Example 1 exist. It is a top view which shows the RFID tag installation course in which a branch exists in the middle of the straight course in Example 2. FIG. It is a top view which shows the course comprised only with the RFID tag which has a straight advance command which is a straight course in Example 3. FIG. FIG. 9 is a plan view showing a course installed on a zigzag, in which the RFID tag for a straight course in Example 4 is not straight, but is displaced at the time of installation. It is a top view which shows the structural example of the guidance path along which the automatic traveling wheelchair disclosed by the conventional patent document 2 passes.

[Embodiment 1]
An embodiment of the present invention will be described below with reference to FIGS.

  A configuration of a vehicle on which the vehicle travel control device of the present embodiment is mounted will be described with reference to FIGS. FIG. 1A is a plan view showing a configuration of a vehicle equipped with the vehicle travel control device of the present embodiment. FIG. 1B is a block diagram showing the configuration of the vehicle travel control device of the present embodiment.

  As shown in FIG. 1A, a vehicle 1 equipped with the vehicle travel control device of the present embodiment includes a vehicle body 2 that is a housing and four front right wheels 3 a that are provided at the bottom of the vehicle body 2. The front left wheel 3b, the rear right wheel 3c, the rear left wheel 3d, the wheel driving motors 4a and 4b connected to the rear right wheel 3c and the rear left wheel 3d of the vehicle body 2, and the wheel driving motors 4a and 4b A battery 5 that is connected and supplies electric power to the wheel driving motors 4 a and 4 b is provided, and has a basic configuration as the vehicle 1.

  In the vehicle 1 according to the present embodiment, the contents of an RFID (Radio Frequency IDentification) tag 20 embedded at intervals on the road ahead of the vehicle are read, and data necessary for the travel control of the vehicle 1 An RFID tag reader 6 is provided as a sensor for acquiring. Here, RFID refers to information that is exchanged by radio communication at a short distance (several centimeters to several meters depending on the frequency band) using an electromagnetic field or radio wave from an RF tag in which ID information is embedded, and general technology. Point to. Therefore, as the RFID tag 20, a non-contact IC chip embedded in the floor surface of the taxiway at a distance or a magnetic tape attached to the floor surface of the taxiway can be applied. As the RFID tag reader 6, an IC chip reader for reading a non-contact IC chip or a magnetic sensor for reading a magnetic tape can be applied.

  In the present embodiment, the RFID tag reader 6 performs scanning in the left-right direction with respect to the front in the vehicle traveling direction. In other words, the RFID tag reader 6 is swung alternately left and right at a predetermined angle in the scanning direction toward the traveling direction. This preset angle is, for example, ± 60 ° with respect to the traveling direction of the vehicle 1. In addition, this rotation angle is not necessarily limited to this, and may be ± 45 ° with respect to the traveling direction of the vehicle 1 and may be ± 30 ° as necessary.

  For this reason, in this embodiment, an RFID tag reader driving motor 4c is provided as a reader scanning means for alternately swinging the RFID tag reader 6 left and right, and is set by receiving power supply from the battery 5. The RFID tag reader 6 is swung at an angle.

  The vehicle 1 having the above configuration is equipped with a vehicle travel control device for reading the content of the RFID tag 20 with the RFID tag reader 6 and automatically running the vehicle 1 based on the read content. This vehicle travel control device includes an RFID tag reader 6, an RFID tag reader driving motor 4c, and a control unit 10 as vehicle travel control means.

  The structure of the control part 10 of the vehicle travel control apparatus in this Embodiment is demonstrated based on (b) of FIG.

  As illustrated in FIG. 1B, the control unit 10 includes an RFID tag reader control unit 11, a storage unit 12, a traveling direction adjustment angle calculation unit 13, and a vehicle drive control unit 14.

  The RFID tag reader control unit 11 drives the RFID tag reader driving motor 4c to swing the RFID tag reader 6 with respect to the traveling direction at a predetermined angle. The RFID tag reader control unit 11 decodes the content of the RFID tag 20 read by the RFID tag reader 6 and calculates the detection angle β of the RFID tag reader 6 when the RFID tag 20 is read.

  The storage unit 12 includes an RFID tag reading field angle storage unit 12a and a detection angle storage unit 12b. The RFID tag reading field angle storage unit 12a stores the RFID tag reading field angle α obtained in advance in the RFID tag reading field angle storage unit 12a. Further, as described above, the detection angle storage unit 12b stores the detection angle β of the RFID tag reader 6 when the RFID tag 20 calculated by the RFID tag reader control unit 11 is read. The detection angle storage unit 12b may not exist.

  The traveling direction adjustment angle calculation unit 13 calculates a traveling direction adjustment angle γ (= β−α / 2) from the RFID tag reading field angle α and the detection angle β of the RFID tag reader 6 when the RFID tag 20 is read. It is supposed to be.

  The vehicle drive control unit 14 drives the wheel drive motors 4a and 4b based on the travel direction adjustment angle γ (= β−α / 2) calculated by the travel direction adjustment angle calculation unit 13, respectively. The direction and speed are controlled.

  A vehicle travel control method in the vehicle travel control apparatus having the above configuration will be described with reference to FIGS. FIG. 2 is a plan view showing an example of a course in which the RFID tag 20 is laid with a predetermined installation interval in which the vehicle 1 on which the vehicle travel control device of the present embodiment is mounted travels. 3 to 5 are plan views for explaining the outline of the reading method of the RFID tag 20 and the traveling direction adjustment method.

  First, an example of a course composed of RFID tags on which the vehicle 1 on which the vehicle travel control device of the present embodiment is mounted travels will be described with reference to FIG.

  As shown in FIG. 2, RFID tags 20 are sequentially embedded with a predetermined installation interval in a course on which the vehicle 1 on which the vehicle travel control device of this embodiment is mounted travels. These RFID tags 20 are assigned a unique tag number and a command for running control is written.

  The travel control commands include a straight travel command, a curve command, a curve travel command, and a branch command. When these commands are read by the RFID tag reader 6, the vehicle 1 travels straight at a medium speed with a straight travel command, and travels at a low speed by determining that the current position is immediately before a curve with a curve command. Further, the curve travel command travels straight at a low speed, and the branch command travels at a low speed.

  The installation interval of the RFID tag 20 is a maximum of 1 meter, the traveling speed of the vehicle 1 is a medium speed of 40 meters / minute, and a low speed of 20 meters / minute.

  An outline of the tag reading method and the traveling direction adjustment method of the RFID tag 20 by the RFID tag reader 6 will be described below.

  First, as the operation algorithm of the tag reading method and the traveling direction adjusting method in the RFID tag reader 6 of the present embodiment, the vehicle 1 is controlled to travel at medium speed, low speed, etc. based on the command of the RFID tag 20 read first. Subsequently, the traveling direction adjustment angle is derived from the rotation direction of the RFID tag reader 6 when the second RFID tag 20 is read, the current traveling direction of the vehicle, and the RFID tag reading viewing angle α. Control the direction of travel.

  Specifically, as shown in FIG. 3, first, the RFID tag reading viewing angle α is set based on the maximum RFID tag reading range width of the RFID tag reader 6. Here, the maximum width of the RFID tag reading range is indicated by the minor axis of the elliptical RFID tag reading range of FIG. Therefore, the RFID tag reading viewing angle α is expressed as an angle formed between lines connecting the rotation center of the RFID tag reader 6 and both ends of the minor axis of the ellipse. The RFID tag reading field angle α is determined when the RFID tag reading range is set, and is stored in the RFID tag reading field angle storage unit 12a.

  After the vehicle 1 starts traveling, the RFID tag reader 6 always scans the RFID tag 20 by alternately rotating in the left and right directions at a preset angle toward the front in the vehicle traveling direction during scanning. Search for.

  Then, when the first RFID tag 20 is detected, a command written in the first RFID tag 20 is read, and traveling control such as medium speed and low speed is performed according to the command. Next, as shown in FIG. 4, the RFID tag reader 6 detects the second RFID tag 20, and the RFID tag reader control unit 11 calculates a detection angle β when the second RFID tag 20 is detected. For example, it is stored in the detected angle storage unit 12b.

  Next, as shown in FIG. 5, from the detection angle β when the second RFID tag 20 is detected and the set RFID tag reading field angle α, the traveling direction adjustment angle γ (= β−α / 2) is derived.

  Here, in the present embodiment, the detection angle β when the second RFID tag 20 is detected is positive in the counterclockwise direction with respect to the vehicle traveling direction and negative in the clockwise direction. The RFID tag reading viewing angle α is a negative angle when the RFID tag reader 6 is swung from the right to the left when reading the second RFID tag 20, and the RFID tag reader 6 is swung from the left to the right. Is a positive angle.

  The calculation formula of the above-described traveling direction adjustment angle γ (= β−α / 2) will be described in detail. That is, as shown in FIG. 4, it is assumed that the RFID tag reader 6 rotates the reading direction from the left to the right when the vehicle 1 faces the vehicle traveling direction before the traveling direction adjustment. In this state, the RFID tag reader 6 can detect the second RFID tag 20 by matching the right edge of the reading range of the elliptical RFID tag shown in FIG. 4 with the second RFID tag 20. The angle of the second RFID tag 20 at this time is represented by a detection angle β with respect to the vehicle traveling direction.

  Here, the RFID tag reading view angle α is indicated by a broken line in FIG. 4, and as described above, the second RFID tag 20 is detected at the right edge of the RFID tag reading range. The angle between the direction of the RFID tag reader 6 indicated by the chain line and the direction of the second RFID tag 20 is represented by α / 2.

  As a result, the angle between the current traveling direction of the vehicle 1 and the direction of the second RFID tag 20 is represented by β−α / 2.

  Therefore, the angle obtained by this β−α / 2 is the traveling direction adjustment angle γ (= β−α / 2) with respect to the current traveling direction of the vehicle 1.

  Therefore, the vehicle 1 adjusts the traveling direction so as to change the direction of the vehicle 1 by the derived traveling direction adjustment angle γ (= β−α / 2) from the current vehicle traveling direction. The adjustment of the traveling direction is performed by controlling the wheel driving motors 4a and 4b connected to the rear right wheel 3c and the rear left wheel 3d of the vehicle 1. By repeating these operations, the vehicle 1 travels by following the RFID tag 20 on the course while adjusting the traveling direction.

  In the vehicle travel control apparatus of the present embodiment, vehicle travel control can be realized by reading the two RFID tags 20 and 20 existing in front of the vehicle 1. For this reason, it is possible to travel while adjusting the traveling direction by the same operations as those described above even when performing curve traveling and branch traveling.

  In this case, as described above, the installation interval of the RFID tag 20 is a maximum of 1 meter, and the traveling speed of the vehicle 1 is a medium speed of 40 meters / minute to a low speed of 20 meters / minute. The deviation from the course that occurs when the vehicle 1 travels after reading 20 until the second RFID tag 20 is read is small. Therefore, it is possible to correct the deviation generated by the control.

  A control operation of the vehicle travel control method by the vehicle travel control device will be described with reference to FIG. FIG. 6 is a flowchart showing the operation of the vehicle travel control method.

  As shown in FIG. 6, first, the vehicle 1 is traveling straight at medium speed (S1). In this state, it is determined whether or not the first RFID tag 20 is detected by the RFID tag reader 6 (S2). If the first RFID tag 20 is not detected, the process returns to S1 and continues straight at medium speed.

  On the other hand, when the first RFID tag 20 is detected, the content of the first RFID tag 20 is decoded by the RFID tag reader control unit 11. Then, it is determined whether or not the content of the first RFID tag 20 is a straight-ahead command (S3). If it is a straight-ahead command, straight-ahead at a medium speed is continued (S4).

  Thereafter, it is determined whether or not the second RFID tag 20 is detected by the RFID tag reader 6 (S5).

  On the other hand, if it is determined in S3 that the content of the first RFID tag 20 is not a straight advance command, it is determined whether or not the content of the first RFID tag 20 is a curve command. (S6) If it is a curve command, the speed of the vehicle 1 is lowered to a low speed (S7). Thereafter, the process proceeds to S5, and it is determined whether or not the second RFID tag 20 is detected by the RFID tag reader 6.

  On the other hand, if it is determined in S6 that the content of the first RFID tag 20 is not a curve command, it is determined whether or not the content of the first RFID tag 20 is a branch command. (S8) If it is a branch instruction, the speed of the vehicle 1 is reduced and the branch destination tab number is read (S9). Thereafter, the process proceeds to S5, and it is determined whether or not the second RFID tag 20 is detected by the RFID tag reader 6.

  On the other hand, if it is determined in S8 that the content of the first RFID tag 20 is not a branch command, it is determined whether or not the content of the first RFID tag 20 is a curve travel command. If it is a curve travel command (S10), the speed of the vehicle 1 is lowered to a low speed (S11). Thereafter, the process proceeds to S5, and it is determined whether or not the second RFID tag 20 is detected by the RFID tag reader 6.

  In S10, if it is determined that the content of the first RFID tag 20 is not a curve travel command, it does not correspond to any of the commands set for the RFID tag 20, so in that case The vehicle 1 is stopped as an abnormal situation (S12).

  Next, in S5, it is determined whether or not the content of the second RFID tag 20 is a branch command (S13). If the content is not a branch command, the travel direction calculated by the travel direction adjustment angle calculation unit 13 is determined. The traveling direction is adjusted in accordance with the adjustment angle γ (= β−α / 2) (S14).

  On the other hand, if it is determined in S13 that the content of the second RFID tag 20 is a branch instruction, the RFID tag number of the second RFID tag 20 is written in the first RFID tag 20. It is determined whether or not it matches the branch destination tab number (S15). The RFID tag number of the second RFID tag 20 matches the branch destination tab number described in the first RFID tag 20. If so, the traveling direction is adjusted in accordance with the traveling direction adjustment angle γ (= β−α / 2) calculated by the traveling direction adjustment angle calculation unit 13 (S13).

  On the other hand, if the RFID tag number of the second RFID tag 20 does not match the branch destination tab number described in the first RFID tag 20 in S15, the process returns to S4, and the medium speed Continue straight on.

  With the above operation, in the vehicle travel control device, the vehicle travel control system, and the vehicle travel control method of the present embodiment, the vehicle 1 can be appropriately and automatically traveled.

  Here, in the present embodiment, the control blocks (particularly, the RFID tag reader control unit 11, the traveling direction adjustment angle calculation unit 13, and the vehicle drive control unit 14) of the control unit 10 of the vehicle travel control device are integrated circuits (ICs). It may be realized by a logic circuit (hardware) formed on a chip) or the like, or may be realized by software using a CPU (Central Processing Unit).

  In the latter case, the vehicle travel control device includes a CPU that executes instructions of a program that is software that realizes each function, and a ROM (Read Only Memory) in which the program and various data are recorded so as to be readable by a computer (or CPU). Alternatively, a storage device (these are referred to as “recording media”), a RAM (Random Access Memory) for expanding the program, and the like are provided. And the objective of this invention is achieved when a computer (or CPU) reads the said program from the said recording medium and runs it. As the recording medium, a “non-temporary tangible medium” such as a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. The present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

  As described above, in the vehicle travel control apparatus according to the present embodiment, the vehicle travel control for traveling the vehicle 1 by reading the travel control command written in the RFID tag 20 installed at an interval on the road with the RFID tag reader 6. In the control device, the RFID tag reader driving motor 4c that scans the RFID tag reader 6 by alternately reciprocatingly rotating in the left-right direction toward the front in the vehicle traveling direction, and the RFID tag 20 when the RFID tag reader 6 reads the RFID tag 20 A control unit 10 that adjusts the traveling direction of the vehicle 1 based on the detection angle β with respect to the traveling direction of the vehicle 1 and the RFID tag reading viewing angle α in the tag reader 6 is provided.

  According to the above configuration, the RFID tag reader driving motor 4c scans the RFID tag 20 by alternately reciprocating in the left-right direction toward the front in the vehicle traveling direction. Based on the detection angle β and the RFID tag reading viewing angle α, which is a rotation angle with respect to the traveling direction of the vehicle in the RFID tag reader 6 when the control unit 10 reads the RFID tag 20 with the RFID tag reader 6. Adjust the direction of travel of the vehicle.

That is, the reading range of the RFID tag reader 6 has a vertically long elliptical directivity that is symmetrical with respect to the detection direction of the RFID tag reader 6. For this reason, when the detection direction of the RFID tag reader 6 is changed by alternately reciprocating in the left-right direction toward the front in the vehicle traveling direction, the RFID tag reader immediately enters the detection range of the RFID tag reader 6. 6, a traveling control command is input to the RFID tag reader 6. The detection position of the RFID tag 20 at this time is the left or right edge of a horizontally elongated vertical ellipse that is the reading range of the RFID tag reader 6 and corresponds to ½ of the reading field angle of the RFID tag reader 6. Therefore, when the RFID tag reading viewing angle α is known in advance, if the RFID tag reader 6 reads the RFID tag 20 with the RFID tag reader 6, the detection angle β that is the rotation angle with respect to the traveling direction of the vehicle can be grasped. The position of the RFID tag 20 is relative to the traveling direction of the vehicle.
Traveling direction adjustment angle γ = Detection angle with respect to traveling direction of vehicle β-RFID tag reading viewing angle α × 1/2
It can be found by calculation that it exists at the rotational position.

  As a result, if the traveling direction of the vehicle 1 is adjusted so that the determined traveling direction adjustment angle γ (= β−α / 2), the vehicle 1 can travel toward the RFID tag 20.

  As described above, in the present embodiment, the RFID tag reader 6 that is one type of device is made wide by widening the detection range of the RFID tag reader 6 by alternately reciprocating and scanning the RFID tag reader 6 in the left-right direction. Thus, the traveling direction of the vehicle 1 can be adjusted.

  Therefore, it is possible to provide a vehicle travel control device that can control the travel of the vehicle 1 only by the RFID tag reader 6 that is one type of device without using a camera.

  The vehicle travel control system in the present embodiment includes the vehicle travel control device in the present embodiment, and the travel control command written in the RFID tag 20 includes at least a straight travel command and a curve command. The control unit 10 adjusts the traveling direction of the vehicle 1 and the speed of the vehicle based on the traveling control commands written in the two RFID tags 20 closest to the front of the vehicle 1.

  As a result, it is assumed that the first RFID tag 20 closest to the front of the vehicle 1 recognizes, for example, a curve command. In this case, in the present embodiment, the traveling direction of the vehicle 1 is adjusted by the second RFID tag 20 closest to the front of the vehicle 1.

  As a result, by grasping that the first RFID tag 20 in front of the vehicle 1 is a curve command, for example, in preparation for the road being curved, the control unit 10 causes the vehicle 1 to slow down. Adjust the speed by decelerating.

  In this way, by using the two RFID tags 20 closest to the front of the vehicle 1 for travel control, not only the traveling direction of the vehicle 1 but also the speed of the vehicle 1 can be adjusted.

  Therefore, it is possible to provide a vehicle travel control system including a vehicle travel control device that can control the travel of the vehicle 1 only by the RFID tag reader 6 that is one type of device without using a camera.

  Further, in the vehicle travel control method according to the present embodiment, the travel control command written in the RFID tag 20 installed at an interval on the road is read by the RFID tag reader 6 to control the travel of the vehicle 1. In the RFID tag reader 6 when the RFID tag reader 6 reads the RFID tag 20 when the RFID tag reader 6 reads the RFID tag 20 by scanning the RFID tag reader 6 by alternately reciprocatingly rotating in the left-right direction toward the front in the vehicle traveling direction. And a vehicle travel control step of adjusting the travel direction of the vehicle 1 based on the detection angle β that is a rotation angle with respect to the travel direction of 1 and the RFID tag reading viewing angle α.

  Therefore, it is possible to provide a vehicle travel control method that can control the travel of the vehicle 1 only by the RFID tag reader 6 that is one type of device without using a camera.

[Embodiment 2]
The following will describe another embodiment of the present invention with reference to FIG. The configurations other than those described in the present embodiment are the same as those in the first embodiment. For convenience of explanation, members having the same functions as those shown in the drawings of the first embodiment are given the same reference numerals, and explanation thereof is omitted.

  The vehicle travel control system of the present embodiment is different in that distance information is added as a travel control command of the RFID tag 21 in addition to the configuration of the vehicle travel control system of the first embodiment.

  The structure of the vehicle travel control system of this Embodiment is demonstrated based on FIG. FIG. 7 shows a configuration of the vehicle travel control system in the present embodiment, and is a plan view showing an example of a course in which the vehicle 1 travels and the RFID tag 21 is embedded with a predetermined installation interval. It is.

  In the vehicle travel control system of the present embodiment, as shown in FIG. 7, RFID tags 21 are embedded in a course on which the vehicle 1 travels with a predetermined installation interval. As in the RFID tag 20 of the first embodiment, a straight advance command, a curve command, a curve travel command, and a branch command are written in the RFID tag 21 travel control command. In addition, in the RFID tag 21 of the present embodiment, distance information to a farther RFID tag 21 installed adjacent to the RFID tag 21 in the vehicle traveling direction is written as a traveling control command.

  Therefore, in the present embodiment, the control unit 10 serving as the vehicle travel control means is based on the distance information written in the RFID tag 21 closest to the front of the vehicle 1 until the vehicle arrives at a farther RFID tag. Adjust the direction of travel.

  Specifically, the traveling direction adjustment angle γ (= β−α / 2) is divided by the distance to the farther RFID tag 21 to determine the traveling direction adjustment angle per distance.

  As a result, the direction is changed so that the traveling direction adjustment angle γ gradually reaches the farther RFID tag 21, so that a sudden course change of the vehicle 1 can be prevented.

  As described above, in the vehicle travel control system of the present embodiment, the RFID tag 21 includes the distance information to the farther RFID tag 21 installed adjacent to the RFID tag 21 in the vehicle travel direction as the travel control command. Has been written. And the control part 10 can adjust the advancing direction of the vehicle 1 by the time it arrives at the far RFID tag 21 based on the distance information written in the RFID tag 21 nearest to the front of the vehicle 1.

  As a result, the traveling direction of the vehicle 1 is adjusted before reaching the farther RFID tag 21 based on the distance information written in the RFID tag 21 closest to the front of the vehicle 1.

  As a result, the angle can be gradually corrected within the distance to the next RFID tag 21. Specifically, the adjustment angle per distance can be determined by dividing the adjustment angle by the distance to the next RFID tag 21.

  Therefore, a smooth course change can be performed instead of a sudden course change.

[Embodiment 3]
The following will describe still another embodiment of the present invention with reference to FIG. The configurations other than those described in the present embodiment are the same as those in the first embodiment and the second embodiment. For convenience of explanation, members having the same functions as those shown in the drawings of Embodiment 1 and Embodiment 2 are given the same reference numerals, and explanation thereof is omitted.

  In the vehicle travel control device, the vehicle travel control system, and the vehicle travel control method according to the first and second embodiments, the vehicle 1 travels based on detection of the two RFID tags 20 and 21 that are closest to the vehicle 1. The direction adjustment angle γ (= β−α / 2) was determined.

  However, the vehicle travel control system of the present embodiment is different in that the traveling direction of the vehicle 1 is determined based on the detection of one RFID tag 22 closest to the vehicle 1.

  The configuration of the vehicle travel control system of the present embodiment will be described based on FIG. FIG. 8 shows the configuration of the vehicle travel control system in the present embodiment, and is a plan view showing an example of a course in which the vehicle 1 travels and the RFID tag 22 is embedded with a predetermined installation interval. It is.

  In the vehicle travel control system of the present embodiment, as shown in FIG. 8, RFID tags 22 are embedded in a course on which the vehicle 1 travels with a predetermined installation interval. In this RFID tag 22, the traveling direction information to the farther RFID tag 22 installed adjacent to the RFID tag 22 in the vehicle traveling direction is written as a traveling control command. Note that, in the RFID tag 22 of the present embodiment, a straight command, a curve command, a curve travel command, and a branch command are written as in the RFID tag 20 of the first embodiment and the RFID tag 21 of the second embodiment. ing. However, in the present invention, the present invention is not necessarily limited to this, and it is sufficient that the traveling direction information is written at least as a traveling control command.

  Therefore, in the present embodiment, the control unit 10 serving as the vehicle travel control means is based on the traveling direction information written in the single RFID tag 21 closest to the front of the vehicle 1, and the RFID tag 21 closest to the front of the vehicle 1. The traveling direction of the vehicle 1 is adjusted based on the traveling direction information written in

  Specifically, each traveling direction information of the RFID tag 21 includes, for example, at least angle information to a farther RFID tag 21 installed adjacent to the RFID tag 21 in the vehicle traveling direction.

  Therefore, the vehicle 1 can adjust the traveling direction of the vehicle 1 based on the angle information written in the RFID tag 21 closest to the front of the vehicle 1.

  Thus, the vehicle travel control system of the present embodiment is a vehicle travel control system including the vehicle travel control device of the first embodiment, and the RFID tag 22 installed on the road has a vehicle travel direction. , The traveling direction information to the farther RFID tag 22 installed adjacent to the RFID tag 22 is written as a traveling control command, and the control unit 10 as the vehicle traveling control means is the RFID nearest to the front of the vehicle 1. The traveling direction of the vehicle 1 is adjusted based on the traveling direction information written in the tag 22.

  As a result, the RFID tag reader driving motor 4c as the reader scanning means rotates the RFID tag reader 6 back and forth alternately in the left-right direction and scans the RFID tag reader driving motor 4c to drive the RFID tag 22 travel control command. By reading, it can be understood which direction the position of the RFID tag 22 relative to the traveling direction of the vehicle 1 is.

  On the other hand, when the vehicle arrives at the position of the RFID tag 22 closest to the front of the vehicle 1, the traveling direction information up to the position of the next front RFID tag 22 is written in the RFID tag 22. For this reason, the advancing direction of the vehicle 1 can be adjusted based on the advancing direction information to the position of the next RFID tag 22 ahead.

  As a result, in the present embodiment, when traveling based on the traveling direction information of the RFID tag 22, even if the traveling direction of the vehicle 1 changes between the RFID tags 22 and 22, for example, the next RFID tag Without losing sight of the vehicle 22, it is possible to travel while adjusting the traveling direction of the vehicle in the direction of the RFID tag 22 with certainty.

  Therefore, it is possible to provide a vehicle travel control system including a vehicle travel control device that can control the travel of the vehicle 1 only by the RFID tag reader 6 that is one type of device without using a camera.

  In addition, this invention is not limited to said embodiment, A various change is possible within the scope of the present invention. For example, the vehicle travel control system described in the second embodiment uses distance information when determining the course of the vehicle 1 using the two RFID tags 20 and 21 described in the first embodiment. there were. However, the technique of the second embodiment is not necessarily limited to this, and can be applied to the case where the course of the vehicle 1 is determined using the two RFID tags 20 and 21 described in the present embodiment. is there.

[Example 1]
In this example, a case where the vehicle 1 equipped with the vehicle travel control device of the first embodiment travels on an RFID tag installation course in which straight lines and curves exist will be described with reference to FIG. FIG. 9 is a plan view showing an RFID tag installation course in which straight lines and curves exist.

  As shown in FIG. 9, for example, a total of five RFID tag numbers A and B having a straight command, RFID tag number C having a curve command, and two RFID tag numbers D and E having a curve command Consider a case where the vehicle 1 travels on a course composed of two RFID tags. Here, the RFID tag reading viewing angle α is set to 30 degrees.

  First, when the vehicle 1 is traveling at a medium speed of 40 meters / minute, the RFID tag number A is found first in front of the traveling direction adjustment position 1, and further travels straight at a medium speed. Assume that a second RFID tag B is found before this. Further, it is assumed that the detection angle β of the RFID tag reader 6 when the RFID tag number B is found second is 30 degrees, and the RFID tag reader 6 is swung from the left to the right.

  In this case, the traveling direction adjustment angle γ (= β−α / 2) is calculated as 30 degrees−30 degrees / 2 = 15 degrees, and the traveling direction of the vehicle 1 is adjusted at the traveling direction adjustment position 1.

  Thereafter, it is assumed that the RFID tag number B is found first before the traveling direction adjustment position 2, further goes straight at a medium speed, and the RFID tag number C is found second before the traveling direction adjustment position 2. Further, it is assumed that the detection angle β of the RFID tag reader 6 when the RFID tag number C is found second is −45 degrees, and the RFID tag reader 6 is swung from right to left.

  In this case, the traveling direction adjustment angle γ (= β−α / 2) is calculated as −45 degrees − (− 30 degrees / 2) = − 30 degrees, and the traveling direction adjustment position 2 adjusts the traveling direction of the vehicle 1. I do.

  Thereafter, it is assumed that the RFID tag number C is found first before the traveling direction adjustment position 3. In this case, since the RFID tag number C is a curve command, the vehicle runs at a low speed of 20 meters / minute, finds the second RFID tag number D before the traveling direction adjustment position 3, and detects the RFID tag reader 6 at that time. Assume that the angle β is 10 degrees and the RFID tag reader 6 is swung from the left to the right.

  In this case, the traveling direction adjustment angle γ (= β−α / 2) is calculated as 10 degrees− (30 degrees / 2) = − 5 degrees, and the traveling direction of the vehicle 1 is adjusted at the traveling direction adjustment position 3. .

  Finally, it is assumed that the RFID tag number D is found first before the traveling direction adjustment position 4 and travels at a low speed, and the RFID tag number E is found second before the traveling direction adjustment position 4. Further, it is assumed that the detection angle β of the RFID tag reader 6 when the RFID tag number E is found second is 15 degrees, and the RFID tag reader 6 is swung from right to left.

  In this case, the traveling direction adjustment angle γ (= β−α / 2) is calculated as 15 degrees − (− 30 degrees / 2) = 0 degrees, and the traveling direction of the vehicle 1 is adjusted at the traveling direction adjustment position 4. Continue running without.

[Example 2]
In this example, a case where the vehicle 1 equipped with the vehicle travel control device of the first embodiment travels on an RFID tag installation course in which a branch exists in the middle of a straight course will be described with reference to FIG. FIG. 10 is a plan view showing an RFID tag installation course in which a branch exists in the middle of a straight course.

  As shown in FIG. 10, for example, an RFID tag number A having a straight command, an RFID tag number B having a branch command, an RFID tag number CD having a curve travel command after the branch command, and an RFID having a straight command Consider a case where the vehicle 1 travels on a course composed of a total of five RFID tags with a tag number E. Here, the RFID tag reading viewing angle α is set to 30 degrees. Further, it is assumed that the vehicle 1 branches the traveling direction toward the RFID tag number C having the curve travel command after reading the RFID tag number B having the branch command.

  First, when the vehicle 1 is traveling at a medium speed of 40 meters / minute, the RFID tag number A is first found before the traveling direction adjustment position 1, and further travels straight at a medium speed. It is assumed that the RFID tag number B is found a second before, the detection angle β of the RFID tag reader 6 at that time is 10 degrees, and the RFID tag reader 6 is swung from right to left.

  In this case, the traveling direction adjustment angle γ (= β−α / 2) is calculated as 10 degrees − (− 30 degrees / 2) = 25 degrees, and the traveling direction adjustment position 1 adjusts the traveling direction of the vehicle 1. Do.

  Thereafter, it is assumed that the RFID tag number B is found first before the traveling direction adjustment position 2. In this case, since the RFID tag number B is a branch command, the vehicle runs at a low speed of 20 meters / minute, and the branch destination RFID tag number written in the RFID tag number B is read and stored. Here, as described above, since the traveling direction is branched to the RFID tag number C, the branch destination RFID tag number is “C”.

  Next, the RFID tag number E having a straight advance command is read second before the traveling direction adjustment position 2, and the RFID tag number E is compared with the branch destination RFID tag number C previously stored. As a result of the comparison, the RFID tag numbers do not match, so the second RFID tag is searched again.

  Thereafter, the new RFID tag number C is read, and the RFID tag number C is compared with the branch destination RFID tag number C previously stored. As a result, it is assumed that the RFID tag numbers match, the detection angle β of the RFID tag reader 6 at that time is −10 degrees, and the RFID tag reader 6 is swung from the left to the right.

  In this case, the traveling direction adjustment angle γ (= β−α / 2) is calculated as −10 degrees− (30 degrees / 2) = − 25 degrees, and the traveling direction adjustment position 2 adjusts the traveling direction of the vehicle 1. Do.

  Finally, the first RFID tag number C of the course branch destination is found in front of the traveling direction adjustment position 3, and the vehicle starts traveling at a medium speed, and then the RFID tag D is placed in front of the traveling direction adjustment position 3 in the second. It is assumed that the detection angle β of the RFID tag reader 6 at that time is 0 degree, and the RFID tag reader 6 is swung from the left to the right.

  In this case, the traveling direction adjustment angle γ (= β−α / 2) is calculated as 0 degree− (30 degrees / 2) = − 15 degrees, and the traveling direction of the vehicle 1 is adjusted at the traveling direction adjustment position 3. .

Example 3
In this example, the case where the vehicle 1 equipped with the vehicle travel control device of the first embodiment travels on a course composed only of an RFID tag having a rectilinear command, which is a straight course, will be described with reference to FIG. To do. FIG. 11 is a plan view showing a course composed of only a RFID tag having a straight command, which is a straight course. Here, an embodiment will be described in the case where the time required for adjusting the traveling direction varies depending on the distance between the RFIDs.

  As shown in FIG. 11, for example, it is composed of three RFID tag numbers A, B, and C. The distance between the RFID tags is 0.5 meter between the RFID tag numbers A and B. Suppose that the distance between C is 1 meter. Further, the RFID tag reading viewing angle α is set to 30 degrees.

  First, when the vehicle 1 is traveling at a medium speed of 40 meters / minute, the RFID tag number A is first found before the traveling direction adjustment position 1 and travels straight at a medium speed. Assume that the RFID tag number B is found second before 1, the detection angle β of the RFID tag reader 6 at that time is 15 degrees, and the RFID tag reader 6 is swung from the left to the right.

  In this case, the traveling direction adjustment angle γ (= β−α / 2) is calculated as 15 degrees− (30 degrees / 2) = 0 degrees, and the traveling direction adjustment position 1 does not adjust the traveling direction of the vehicle 1. Continue to drive. Here, if the distance between the two read RFID tags is 0.5 meters, the time required for adjusting the vehicle traveling direction is 0.5 meters / 40 meters / minute = 0.75 seconds.

  After that, the RFID tag number B is found first before the traveling direction adjustment position 2 and travels at medium speed, and the second RFID tag C is found before the traveling direction adjustment position 2, and the RFID tag reader 6 at that time It is assumed that the detection angle β is −15 degrees and the RFID tag reader 6 is swung from right to left.

  In this case, the traveling direction adjustment angle γ (= β−α / 2) is calculated as −15 degrees − (− 30 degrees / 2) = 0 degrees, and the traveling direction of the vehicle 1 is adjusted at the traveling direction adjustment position 2. Continue running without. Here, if the distance between the two read RFID tags is 1 meter, the time required for adjusting the vehicle traveling direction is 1 meter / 40 meters / minute = 1.5 seconds.

  According to this embodiment, it can be seen that the smaller the distance between the RFID tags, the shorter the time required for adjusting the traveling direction.

Example 4
In this example, when the vehicle 1 equipped with the vehicle travel control device of the first embodiment travels on a course that is installed on a zigzag because the RFID tag for the straight course is not in a straight line but is displaced at the time of installation. This will be described with reference to FIG. FIG. 12 is a plan view showing a course in which RFID tags for a straight course are not in a straight line but are displaced at the time of installation and are installed on a zigzag.

  As shown in FIG. 12, this course is composed of three RFID tag numbers A, B, and C, the bending angle ABC at the position of the RFID tag number B is 90 degrees, and between the RFID tag numbers A and B, The distance between the RFID tag numbers B and C is 1 meter. Further, the RFID tag reading viewing angle α is set to 30 degrees.

  First. The traveling vehicle 1 reads the RFID tag number A first before the traveling direction adjustment position 1 and goes straight at medium speed, and the second RFID tag number B before the traveling direction adjustment position 1 Read. In this case, since the second RFID tag number B is in the traveling direction of −45 degrees, if it is found when the RFID tag reader 6 is swung from the left to the right, the angle of the RFID tag reader 6 at that time is −30 degrees. Become.

  As a result, the traveling direction adjustment angle γ (= β−α / 2) is calculated as −30 degrees− (30 degrees / 2) = − 45 degrees, and at the traveling direction adjustment position 1, the vehicle 1 adjusts the traveling direction. I do.

  Thereafter, the RFID tag number B is read first before the traveling direction adjustment position 2, the vehicle is traveling at a medium speed, and the RFID tag reader 6 is swung from right to left before the traveling direction adjustment position 2. Assume that the number C is found second, and the angle of the RFID tag reader 6 at that time is 45 degrees.

  In this case, the traveling direction adjustment angle γ (= β−α / 2) is calculated as 45 degrees − (− 30 degrees / 2) = 60 degrees, and the vehicle 1 adjusts the traveling direction at the traveling direction adjustment position 2. Continue driving.

  According to this embodiment, the RFID tag reader 6 can be swung to the left and right to detect a wide range of RFID tags, so that it is possible to run normally as long as there is no significant deviation in the installation of the RFID tags.

[Summary]
The vehicle travel control apparatus according to the first aspect of the present invention travels the vehicle 1 by reading the travel control commands written in the RFID (Radio Frequency Identification) tags 20 to 22 installed at intervals on the road with the RFID tag reader 6. In the vehicle traveling control apparatus to be controlled, reader scanning means (RFID tag reader driving motor 4c) that scans by rotating the RFID tag reader 6 back and forth alternately in the left-right direction toward the front in the vehicle traveling direction, and the RFID tag 20 ˜22 when the RFID tag reader 6 reads the rotation angle (detection angle β) with respect to the traveling direction of the vehicle 1 and the reading field angle of the RFID tag reader 6 (RFID tag reading field angle α). Vehicle traveling control means (control unit 10) for adjusting the traveling direction of the vehicle 1 based on And is provided.

  According to the above invention, the vehicle travel control device controls the vehicle 1 by reading the travel control command written on the RFID tag installed on the road at an interval with the RFID tag reader.

  Conventionally, in this type of vehicle travel control device, when the travel control command written in the RFID tag is read by the RFID tag reader, the RFID tag reader is used to detect which direction the vehicle 1 is facing. An image obtained by another device such as a camera must be analyzed to adjust the direction. For this reason, there was a problem that the cost increased.

  On the other hand, in the present invention, the RFID tag reader is alternately reciprocated in the left-right direction and scanned by the reader scanning means toward the front in the vehicle traveling direction. Then, the traveling direction of the vehicle 1 is determined based on the rotation angle of the RFID tag reader with respect to the traveling direction of the vehicle 1 and the reading viewing angle of the RFID tag reader when the RFID tag is read by the RFID tag reader. adjust.

That is, the reading range of the RFID tag reader has a vertically long elliptical directivity that is symmetrical with respect to the detection direction of the RFID tag reader. For this reason, when the detection direction of the RFID tag reader is changed by reciprocatingly rotating back and forth alternately in the left-right direction toward the front of the vehicle traveling direction, the vehicle immediately travels from the RFID tag when entering the detection range of the RFID tag reader. A control command is input to the RFID tag reader. The detection position of the RFID tag at this time is the left or right edge of a horizontally elongated vertical ellipse that is the reading range of the RFID tag reader, and corresponds to ½ of the reading field angle of the RFID tag reader. Therefore, when the reading field angle of the RFID tag reader is known in advance, if the rotation angle of the RFID tag reader with respect to the traveling direction of the vehicle when the RFID tag is read by the RFID tag reader can be grasped, the position of the RFID tag is Against the direction of travel
Rotation angle with respect to vehicle traveling direction-RFID tag reader reading viewing angle x 1/2
It can be found by calculation that it exists at the rotational position.

  As a result, if the traveling direction of the vehicle is adjusted so that the determined traveling direction adjustment angle is obtained, the vehicle can travel toward the RFID tag.

  As described above, according to the present invention, the RFID reader is moved back and forth alternately in the left-right direction and scanned to widen the detection range of the RFID tag reader. The direction can be adjusted.

  Therefore, it is possible to provide a vehicle travel control device that can control the travel of the vehicle only by using an RFID tag reader that is one type of device without using a camera.

  A vehicle travel control system according to aspect 2 of the present invention is a vehicle travel control system including the vehicle travel control device according to aspect 1, and the travel control command written in the RFID tag 20 includes at least a straight travel command and a curve command. The vehicle travel control means (control unit 10) determines the traveling direction of the vehicle 1 and the speed of the vehicle based on the travel control commands written in the two RFID tags 20 closest to the front of the vehicle 1. Can be adjusted. The vehicle travel control system includes a vehicle travel control device and an RFID tag.

  As a result, it is assumed that the first RFID tag closest to the front of the vehicle recognizes a curve command, for example. In this case, in the present invention, the traveling direction of the vehicle is adjusted by the second RFID tag closest to the front of the vehicle.

  As a result, the vehicle travel control means, for example, slows down the speed of the vehicle, for example, in preparation for the curve of the road by grasping, for example, a curve command by the first RFID tag immediately in front of the vehicle. Adjust to slow down.

  In this way, by using the two RFID tags closest to the front of the vehicle for travel control, not only the traveling direction of the vehicle but also the speed of the vehicle can be adjusted.

  Therefore, it is possible to provide a vehicle travel control system including a vehicle travel control apparatus that can control the travel of the vehicle only by using an RFID tag reader that is one type of device without using a camera.

  A vehicle travel control system according to aspect 3 of the present invention is a vehicle travel control system including the vehicle travel control apparatus according to aspect 1, and the RFID tag 22 installed on the road includes the RFID tag 22 in the vehicle travel direction. The traveling direction information to the farther RFID tag 22 installed adjacent to the vehicle is written as a traveling control command, and the vehicle traveling control means (control unit 10) is the RFID tag 22 nearest to the front of the vehicle 1. The traveling direction of the vehicle 1 can be adjusted based on the traveling direction information written in

  In the present invention, in the RFID tag installed on the road, the traveling direction information to the farther RFID tag installed adjacent to the RFID tag in the vehicle traveling direction is written as a traveling control command. For this reason, the vehicle travel control means adjusts the traveling direction of the vehicle based on the traveling direction information written in the first RFID tag closest to the front of the vehicle.

  As a result, the reader scanning means scans the RFID tag reader by reciprocatingly turning back and forth alternately in the left-right direction toward the front in the vehicle traveling direction, and reading the RFID tag traveling control command, whereby the RFID in the traveling direction of the vehicle is read. You can see which direction the tag is located.

  On the other hand, when the vehicle arrives at the position of the RFID tag closest to the front of the vehicle, the traveling direction information up to the position of the next front RFID tag is written in the RFID tag. For this reason, the traveling direction of the vehicle can be adjusted based on the traveling direction information to the position of the next RFID tag ahead.

  As a result, in the present invention, when traveling based on the traveling direction information of the RFID tag, for example, even if the traveling direction of the vehicle changes between the RFID tags, the next RFID tag is not lost. The vehicle can travel while adjusting the traveling direction of the vehicle in the direction of the RFID tag.

  Therefore, it is possible to provide a vehicle travel control system including a vehicle travel control apparatus that can control the travel of the vehicle only by using an RFID tag reader that is one type of device without using a camera.

  The vehicle travel control system according to aspect 4 of the present invention is the vehicle travel control system according to aspect 2 or 3, wherein the RFID tag 21 has a farther RFID installed adjacent to the RFID tag 21 in the vehicle travel direction. Distance information to the tag 21 is written as a travel control command, and the vehicle travel control means (control unit 10) is based on the distance information written in the RFID tag 21 nearest to the front of the vehicle 1, It is preferable that the traveling direction of the vehicle 1 is adjusted before reaching the farther RFID tag 21.

  Thus, the vehicle travel control means adjusts the traveling direction of the vehicle until the vehicle arrives at a farther RFID tag based on the distance information written in the RFID tag closest to the front of the vehicle.

  As a result, the angle can be gradually corrected within the distance to the next RFID tag. Specifically, the adjustment angle per distance can be determined by dividing the adjustment angle by the distance to the next RFID tag.

  Therefore, a smooth course change can be performed instead of a sudden course change.

  The vehicle travel control method according to the aspect 5 of the present invention is a vehicle travel control method in which the travel control command written in the RFID tag 20 installed at intervals on the road is read by the RFID tag reader 6 to control the travel of the vehicle 1. A reader scanning step of scanning the RFID tag reader 6 by alternately reciprocatingly rotating in the left-right direction toward the front in the vehicle traveling direction, and the RFID tag reader 6 when the RFID tag 20 is read by the RFID tag reader 6 Vehicle traveling control step of adjusting the traveling direction of the vehicle 1 based on the rotation angle (detection angle β) with respect to the traveling direction of the vehicle 1 and the reading field angle (RFID tag reading field angle α) of the RFID tag reader 6 ( S1-S15).

  Therefore, it is possible to provide a vehicle travel control method that can control the travel of the vehicle by using only an RFID tag reader that is one type of device without using a camera.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the technical means disclosed in different embodiments can be appropriately combined. Such embodiments are also included in the technical scope of the present invention.

  The present invention is applied to a vehicle travel control device, a vehicle travel control system, and a vehicle travel control method mounted on an automatic travel wheelchair that travels along a taxiway in a building such as a condominium or outdoors in a park or the like. Can do. Further, the present invention can be applied to an automatic traveling system such as an automatic transfer robot or an automatic traveling robot that travels along a taxiway in a building such as a factory.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Car body 3a Front right wheel 3b Front left wheel 3c Rear right wheel 3d Rear left wheel 4a, 4b Wheel drive motor 4c RFID tag reader drive motor (reader scanning means)
5 Battery 6 RFID Tag Reader 10 Control Unit (Vehicle Travel Control Unit)
11 RFID tag reader control unit 12 Storage unit 12a RFID tag reading field angle storage unit 12b Detection angle storage unit 13 Travel direction adjustment angle calculation unit 14 Vehicle drive control units 20 to 22 RFID tag α RFID tag reading field angle β Detection angle γ Travel direction Adjustment angle

Claims (5)

In a vehicle travel control device that controls the travel of a vehicle by reading a travel control command written on an RFID tag installed at an interval on the road with an RFID tag reader,
Reader scanning means for scanning by rotating the RFID tag reader back and forth alternately in the left-right direction toward the front in the vehicle traveling direction;
Vehicle traveling control means for adjusting the traveling direction of the vehicle based on the rotation angle of the RFID tag reader with respect to the traveling direction of the vehicle and the reading viewing angle of the RFID tag reader when the RFID tag is read by the RFID tag reader; A vehicle travel control device comprising: A vehicle travel control system comprising the vehicle travel control device according to claim 1,
The travel control command written in the RFID tag includes at least a straight command and a curve command,
The vehicle travel control system adjusts the traveling direction of the vehicle and the speed of the vehicle based on a travel control command written in two RFID tags closest to the front of the vehicle. A vehicle travel control system comprising the vehicle travel control device according to claim 1,
In the RFID tag installed on the road, the traveling direction information to the farther RFID tag installed adjacent to the RFID tag in the vehicle traveling direction is written as a traveling control command, respectively.
The vehicle traveling control system adjusts the traveling direction of the vehicle based on the traveling direction information written in the RFID tag nearest to the front of the vehicle. In the RFID tag, distance information to a farther RFID tag installed adjacent to the RFID tag in the vehicle traveling direction is written as a traveling control command, respectively.
The vehicle travel control means adjusts the traveling direction of the vehicle until the vehicle arrives at a farther RFID tag based on the distance information written in the RFID tag nearest to the front of the vehicle. The vehicle travel control system according to 2 or 3. In a vehicle traveling control method for traveling control of a vehicle by reading a traveling control command written in an RFID tag installed at an interval on a road with an RFID tag reader,
A reader scanning step of scanning the RFID tag reader by alternately reciprocating in the left-right direction toward the front in the vehicle traveling direction; and
A vehicle travel control step of adjusting the traveling direction of the vehicle based on the rotation angle of the RFID tag reader when the RFID tag is read by the RFID tag reader with respect to the traveling direction of the vehicle and the reading viewing angle of the RFID tag reader; The vehicle travel control method characterized by including.