JP2018045397A - Automatic operation vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an automatic operation vehicle to perform an optimal automatic operation in the case where a guiding person provides the automatic operation vehicle with movement instruction information.SOLUTION: An automatic operation vehicle 100 includes: an on-vehicle camera 32; a movement instruction information recognition unit 12 for recognizing, from a camera image obtainable from the on-vehicle camera 32, movement instruction information that instructs the vehicle itself 100 to move; a travel plan generation unit 14 for generating a travel plan including a target route, on the basis of the recognized movement instruction information; and a travel control unit 15 for outputting a control signal to an actuator 50 in accordance with the travel plan generated in the travel plan generation unit 14, thus causing the vehicle to automatically travel.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an autonomous driving vehicle.

  2. Description of the Related Art Conventionally, an autonomous driving vehicle that autonomously travels along a preset target route while monitoring the surroundings of the vehicle is known (see, for example, Patent Document 1). On the other hand, traveling in a parking lot or the like provided with a plurality of parking spaces needs to follow movement instruction information by an instructor or a machine. For example, Patent Document 2 discloses an instructor based on a video image taken by an in-vehicle camera. An apparatus is described that is distinguished from obstacles.

Japanese Patent Laying-Open No. 2006-132352 JP 2010-254115 A

  However, the device described in Patent Document 2 merely recognizes a guide, and depending on the device described in Patent Document 2, when an instructor or a machine provides movement instruction information to an autonomous driving vehicle, An automatic driving vehicle cannot be operated optimally.

  An automatic driving vehicle according to one aspect of the present invention includes an in-vehicle camera, a movement instruction information recognizing unit that recognizes movement instruction information instructing movement with respect to the own vehicle from a camera image that can be acquired by the in-vehicle camera, The travel plan creation unit that creates a travel plan including the target route based on the movement instruction information recognized by the travel plan, and the automatic travel unit that automatically travels the vehicle according to the travel plan created by the travel plan creation unit.

  According to the present invention, the movement instruction information is recognized from the camera image that can be acquired by the in-vehicle camera, the travel plan is created based on the movement instruction information, and the vehicle is automatically driven according to the travel plan. When a guide, a machine, or the like provides movement instruction information, the automatic driving vehicle can be made to perform optimum automatic driving according to the movement instruction information.

The figure which shows an example of the road condition containing the autonomous driving vehicle which concerns on embodiment of this invention. 1 is a block diagram showing a schematic configuration of an autonomous driving vehicle according to an embodiment of the present invention. The flowchart which shows an example of the process performed by ECU of FIG.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. The self-driving vehicle according to the embodiment of the present invention is a vehicle capable of traveling by automatic driving, and this self-driving vehicle is applied in a situation where movement instruction information is provided by a guide, for example. FIG. 1 is a diagram illustrating an example of a road situation including an autonomous driving vehicle 100 according to an embodiment of the present invention. Here, a parking lot of a commercial facility or a public facility having a plurality of parking spaces is shown as an example.

  As shown in FIG. 1, a parking lot includes a host vehicle (automatic driving vehicle) 100 that travels on a road RD in the parking lot facing the parking space, and another vehicle that travels on the road RD facing the host vehicle 100 ( (Opposite vehicle) 101, another vehicle 102 in the middle of the warehousing operation from the road RD to the parking space, another vehicle 103 parked in the parking space, and a guide 110 for traffic control in the parking lot . Note that the road RD may be one-way, in which case the oncoming vehicle 101 does not exist. In FIG. 1, the parking space is provided orthogonal to the direction of the road RD, but the parking space may be provided obliquely or in parallel with the direction of the road RD.

  In the following description, a part or all of the other vehicles 101 to 103 are manually driven vehicles that travel by manual driving by a driver, and the description will be made assuming that the automatic driving vehicle 100 and the manually driven vehicle are mixed in the parking lot. The self-driving vehicle 100 is not unattended, and there is a driver in the vehicle.

  In the parking lot, the entry from the road RD to the parking space and the exit from the parking space to the road are frequently performed, and each vehicle in the parking lot has a general road (for example, to avoid collision with other vehicles) Travel rules different from those on public roads apply. For example, departure from a lane, straddling a white line, crossing of a parking line that partitions a parking space, and the like are permitted. In order to assist safe and smooth vehicle driving in such a parking lot, the guide 110 stands at the entrance of the empty parking space SP as shown in the figure, for example, and guides the vehicle 100 to the empty parking space SP with a gesture. To do.

  FIG. 2 is a block diagram showing a schematic configuration of the autonomous driving vehicle 100 according to the embodiment of the present invention. As shown in FIG. 2, an automatic operation switch 20, a sensor group 30, a navigation device 40, and an actuator 50 are connected to the ECU 10 (electronic control unit).

  The automatic driving switch 20 is a switch for instructing the start and end of automatic driving control for automatically driving the vehicle 100. That is, when the driver switches from the manual operation mode in which the vehicle 100 is manually driven in accordance with the steering operation of the driver to the automatic operation mode in which the driver automatically drives the vehicle 100 along the target route without performing the steering operation, the driver automatically operates. The switch 20 is operated to command the start of automatic operation control. The automatic driving switch 20 is provided, for example, on the steering (handle) of the driver's seat.

  The sensor group 30 includes a plurality of detection devices that detect the surrounding situation of the vehicle, for example, an obstacle detector 31 and a camera 32. The obstacle detector 31 transmits a radio wave or light around the vehicle 100, for example, receives the radio wave or light reflected by the object (person or object), detects the object, and measures the time required for reception. It consists of millimeter wave radar or laser radar that detects the distance to the object. The camera 32 is, for example, a front camera that is provided at the front of the vehicle and photographs the front of the vehicle. A rear camera that is provided at the rear of the vehicle and images the rear of the vehicle and a side camera that is provided at the side of the vehicle and images the side of the vehicle can also be used as the camera 32. The camera 32 has an image sensor such as a CCD or a CMOS sensor.

  The sensor group 30 includes not only the surrounding situation of the vehicle but also various detection devices that detect information according to the traveling state of the vehicle, such as a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The sensor group 30 further includes various detection devices that detect information corresponding to the driving operation of the driver, for example, an accelerator pedal sensor that detects the amount of depression of the accelerator pedal, a brake pedal sensor that detects the amount of depression of the brake pedal, and steering torque of the steering wheel. Alternatively, a steering sensor for detecting the steering angle is included.

  The navigation device 40 receives a signal from a GPS satellite and measures a current position of the vehicle 100, a GPS database 41 that stores map information, a map database 42 that stores map information, and a vehicle 100 on the map. Display section 43 for displaying the position information and a speaker 44 for notifying the driver of various information by voice. The map information stored in the map database 42 includes information such as the position and shape of various facilities such as a parking lot (FIG. 1) in addition to information such as the position and shape of the road. The information stored in the map database 42 may be stored in advance in the memory of the ECU 10 instead of the navigation device 40, or the information may be acquired from the outside of the vehicle 100 via a wireless or wired communication means. .

  The navigation device 40 calculates a target route from the current position to the target point based on the current position information of the vehicle 100 measured by the GPS receiver 41 and the map information in the map database 42, and the current position of the vehicle 100 is calculated. The target route information is output to the ECU 10 together with the position information. Further, the navigation device 40 displays the current position of the vehicle 100 and the target route on the display unit 43 and outputs the target route information from the speaker 44 by voice. The display unit 43 is configured by a touch panel, for example, and also functions as an input unit for inputting various information related to route search.

  The actuator 50 is driven by a control signal from the ECU 10 to realize a traveling operation including basic operations of the vehicle 100 such as running, turning, and stopping. Actuator 50 includes a drive actuator that generates a traveling drive force, a brake actuator that generates a braking force, and a steering actuator that generates a steering force. When the autonomous driving vehicle 100 is a vehicle driven by an engine, the drive actuator is configured by, for example, a throttle actuator that controls the throttle opening. In addition, when the automatic driving vehicle 100 is an electric automatic vehicle or a hybrid vehicle, the drive actuator is configured by a travel motor, for example. The braking actuator is constituted by, for example, a hydraulic device that supplies hydraulic pressure to the brake disc. The steering actuator is constituted by, for example, a steering motor that controls the steering torque of electric power steering.

  The ECU 10 includes an arithmetic processing unit having a CPU, ROM, RAM, and other peripheral circuits. The ECU 10 includes a driving mode setting unit 11, a movement instruction information recognition unit 12, a parking space recognition unit 13, a travel plan creation unit 14, and a travel control unit 15 as functional configurations.

  The operation mode setting unit 11 sets one of the manual operation mode and the automatic operation mode according to the signal from the automatic operation switch 20. The automatic operation mode includes a first automatic operation mode before the guide is recognized by the movement instruction information recognition unit 12 and a second automatic operation mode after the guide is recognized.

  The movement instruction information recognition unit 12 recognizes the guide 110 and the movement instruction information for the host vehicle 100 by the guide 110 based on the camera image acquired by the camera 32. First, the movement instruction information recognizing unit 12 identifies the guide 110 among the objects (obstacles and guides) detected by the obstacle detector 31 based on the camera video. Specifically, a pattern image representing a characteristic appearance of the guide 110 (for example, a guide bar gripped by the guide 110) is stored in the ECU 10 in advance, and a pattern matching technique for comparing the pattern image with a camera image. The guide 110 is recognized. In addition, even if the guide 110 is recognized by recognizing a predetermined mark attached to another object (for example, a uniform or a cap worn by the guide 110) as a mark of the guide 110 by pattern matching. Good.

  The guide 110 confirms the parking space availability and the driving status of each vehicle, and performs gestures such as gestures to stop the vehicle 100, move forward, reverse, turn right, turn left, decelerate, accelerate, etc. Instruct. The pattern image stored in advance in the ECU 10 includes an image corresponding to the gesture of the guide 110. The movement instruction information recognition unit 12 recognizes the instruction content by the gesture of the guide 110 together with the guide 110 using pattern matching.

  Based on the signal from the camera 32, the parking space recognition unit 13 recognizes the position, size, and shape of the empty parking space SP partitioned by the parking line, for example, by pattern matching.

  The travel plan creation unit 14 creates a travel plan including a target route in a predetermined area such as a parking lot. For example, when the location of the entrance and exit of the parking lot and the course from the entrance to the exit are stored in advance in the map database 42, the travel plan creation unit 14 generates a target route based on the stored information. A sign such as an arrow indicating the traveling direction of the vehicle in the parking lot can be recognized using a camera image, for example, and a target route can be generated according to the recognized sign. Information regarding the target route may be acquired from the parking lot side via wireless communication or the like. The travel plan creation unit 14 creates a travel plan by adding information such as a target travel speed and a target travel acceleration to the target route.

  The travel plan creation unit 14 sets the instruction content of the recognized guider 110 in the automatic driving mode, particularly in the second automatic driving mode after the vehicle 100 (the movement instruction information recognition unit 12) recognizes the guide 110. Based on this, a target route is generated. For example, as illustrated in FIG. 1, when the guide 110 instructs the vehicle 100 to travel forward toward the guide at the entrance of the empty parking space SP, the travel plan creation unit 14 directs the guide 110 to the guide 110. To generate a target route. Note that when the guide 110 indicates a direction different from that of the driver, the travel plan creation unit 14 generates a target route in the indicated direction. In the second automatic operation mode, priority is given to the instruction by the guide 110 over the general driving rule, and the target route is generated by permitting lane departure, white line straddling, parking line crossing, etc. in the parking lot.

  When the parking space recognition unit 13 recognizes an empty parking space SP (FIG. 1) during traveling in the automatic driving mode, the traveling plan creation unit 14 generates a target route toward the empty parking space SP. The target route generated by the travel plan creation unit 14 is output to the navigation device 40 and displayed on the display unit 43 together with the current position of the vehicle. When the movement instruction information recognition unit 12 recognizes the instruction content of the guide 110, the instruction content is also output to the navigation device 40, and sound corresponding to the instruction content is output from the speaker 44.

  The travel control unit 15 outputs a control signal to the actuator 50 in a manner corresponding to the operation mode, and causes the vehicle 100 to travel. For example, in the automatic operation mode, a control signal is output to the actuator 50 based on the travel plan created by the travel plan creation unit 14 to cause the vehicle 100 to travel by automatic driving. In the manual operation mode, a control signal is output to the actuator 50 based on information detected by the sensor group 30 (accelerator pedal sensor, brake pedal sensor, etc.), and the vehicle is driven by manual operation.

  In the automatic operation mode, the traveling control unit 15 detects the obstacle and the guide 110 based on the signals from the obstacle detector 31 and the camera 32 that change from moment to moment. Detect distance. Then, the actuator 50 is controlled so as to avoid contact with the obstacle and the guide 110. For example, the vehicle 100 is configured such that the distance L1 to the obstacle detected by the obstacle detector 31 satisfies a condition that the first predetermined value L1a or more and the distance L2 to the guide 110 is a second predetermined value L2a or more. Controls the running motion. The second predetermined value L2a is set to a value smaller than the first predetermined value L1a.

  When the distance L1 to the obstacle detected by the obstacle detector 31 is less than the first predetermined value L1a or the distance L2 to the guide 110 is less than the second predetermined value L2a, the traveling control unit 15 The drive of the actuator 50 is stopped and the vehicle is forcibly stopped. At the same time, an alarm signal is output to the navigation device 40 and an alarm is output from the speaker 44.

  When the parking space recognition unit 13 recognizes an empty parking space SP in front of or on the side of the vehicle while the vehicle is traveling based on the travel plan, the traveling control unit 15 performs a warehousing operation to the empty parking space SP. Actuator 50 is controlled to do so. Specifically, other vehicles, walls, curbs, and the like around the parking line and the host vehicle 100 are detected by the obstacle detector 31 and the camera 32, and the vehicle 100 is vacated while the vehicle 100 is turned over, for example. Let the SP store in the back. That is, the vehicle 100 is stored in the empty parking space SP by automatic driving according to a predetermined driving pattern.

  FIG. 3 is a flowchart showing an example of processing executed by the ECU 10 in accordance with a program stored in advance in the memory. In the processing shown in this flowchart, it is determined that the automatic driving mode is set by the driving mode setting unit 11 by the operation of the automatic driving switch 20, and that the vehicle 100 is located in a predetermined area (in the parking lot) by a signal from the navigation device 40. Will be started.

  First, in step S <b> 1, the movement instruction information recognition unit 12 determines whether or not the guide 110 has been recognized based on a signal from the camera 32. If the result in Step S1 is negative, the process proceeds to Step S2 because it is the first automatic operation mode, and the travel plan creation unit 14 generates a target route. Next, in step S4, a travel plan including the target route is created. In step S5, the travel control unit 15 outputs a control signal to the actuator 50 so that the vehicle 100 travels according to the travel plan. In this case, the travel of the vehicle 100 is limited so that the distance L1 to the obstacle detected by the obstacle detector 31 is equal to or greater than the predetermined value L1a. For this reason, the travelable area of the vehicle is a range AR indicated by a dotted line in FIG.

  On the other hand, if the guide 110 is recognized by the movement instruction information recognition unit 12, the result is affirmative in step S1, and the process proceeds to step S3 assuming that the second automatic operation mode is set. Then, in the travel plan creation unit 14, a target route is generated based on the recognized contents of the guide 110. For example, the target route generated in step S2 is corrected so that the target route reaches the guide 110. In this case, the target route is generated with priority given to the instruction by the guide 110 over the driving rule applied on a general road.

  Next, in step S4, a travel plan including the target route is created, and in step S5, a control signal is output to the actuator 50 so that the vehicle 100 travels according to the travel plan. In this case, the traveling operation of the vehicle 100 is performed such that the distance L1 to the obstacle detected by the obstacle detector 31 is not less than the predetermined value L1a and the distance L2 to the guide 110 is not less than the predetermined value L2a (<L1a). Restrict. Therefore, the travelable area AR can be expanded to the vicinity of the guide 110.

  Next, in step S6, it is determined whether the parking space recognition unit 13 has recognized the empty parking space SP based on the signal from the camera 32. Since the guide 110 guides the vehicle 100 toward the vacant parking space, when the vehicle 100 travels in accordance with the travel plan in the second automatic operation mode, the vehicle 100 moves to the vicinity of the vacant parking space SP and uses the vacant parking space SP. It can be easily recognized. If the determination in step S6 is affirmative, the process proceeds to step S7. If the determination is negative, the process returns to step S1. In step S7, the travel controller 15 controls the actuator 50 so that the vehicle 100 enters the empty parking space according to a predetermined travel pattern.

According to the embodiment of the present invention, the following effects can be obtained.
(1) The autonomous driving vehicle 100 includes an in-vehicle camera 32, a movement instruction information recognition unit 12 that recognizes movement instruction information that instructs movement with respect to the host vehicle 100 from a camera image that can be acquired by the camera 32, and a movement instruction information recognition unit. 12, a travel plan creation unit 14 that creates a travel plan including the target route based on the movement instruction information recognized by the vehicle 12, and a travel control unit 15 that automatically travels the vehicle 100 according to the travel plan created by the travel plan creation unit 14. And an actuator 50 (FIG. 2). Accordingly, when the guide 110 performs vehicle guidance to the empty parking space SP in a predetermined area such as a parking lot, the vehicle 100 automatically travels according to the instructions of the guide 110, so the vehicle 100 Thus, the empty parking space SP can be recognized, and the vehicle 100 can be parked efficiently.

(2) The movement instruction information recognizing unit 12 recognizes the guide 110 and also recognizes the movement instruction information by the recognized guide 110. As described above, the vehicle 100 (the movement instruction information recognition unit 12) automatically recognizes the guide 110, so that the movement instruction information by the recognized guide 110 is recognized even when the lane in the parking lot is unclear. Accordingly, the vehicle 100 can be automatically and smoothly driven safely.

(3) The movement instruction information recognition unit 12 further recognizes the instruction content by the gesture of the guide 110, and the travel plan creation unit 14 creates a travel plan according to the instruction content recognized by the movement instruction information recognition unit 12. (Step S3, Step S4). For this reason, it becomes possible to turn the vehicle 100 according to the instruction | indication of the guidance person 110, and the vehicle 100 can be automatically drive | worked to the empty parking space SP through the optimal path | route.

(4) The autonomous driving vehicle 100 further includes a speaker 44 that notifies the instruction content recognized by the movement instruction information recognition unit 12 (FIG. 2). Thus, it is possible to notify the occupant in advance of what automatic driving the vehicle 100 performs according to the recognition by the movement instruction information recognition unit 12. For this reason, an unexpected movement of the vehicle 100 by the occupant can be avoided, and a sense of security can be given to the occupant.

(5) The autonomous driving vehicle 100 further includes an obstacle detector 31 that detects the distance L1 to the obstacle around the vehicle and the distance L2 to the guide 110 recognized by the movement instruction information recognition unit 12 (FIG. 2). The travel control unit 15 satisfies the condition that the distance L1 detected by the obstacle detector 31 is not less than the first predetermined value L1a and the distance L2 is not less than the second predetermined value L2a that is smaller than the first predetermined value L1a. The vehicle is automatically driven based on the detection result by the obstacle detector 31 (step S5). As a result, the vehicle 100 can be brought closer to the guide 110. For this reason, it is not necessary for the guide 110 to evacuate greatly with the approach of the vehicle 100, and the labor of the guide 110 when the vehicle 100 is guided to the empty parking space SP can be reduced.

(6) The travel plan creation unit 14 corrects a preset target route based on the movement instruction information recognized by the movement instruction information recognition unit 12 (step S3), and the travel control unit 15 and the actuator 50 The vehicle 100 is automatically driven based on the target route corrected by the travel plan creation unit 14. As a result, the guidance by the guide 110 is given priority, and lane departure, white line crossing, crossing of the parking line, etc. are permitted in the parking lot, and a good target route to the empty parking space SP or its vicinity can be generated. it can.

(7) The autonomous driving vehicle 100 further includes a parking space recognition unit 13 that recognizes the parking space (FIG. 2). The movement instruction information includes parking instruction information for instructing movement to the empty parking space SP, and the travel plan creation unit 14 generates a target route over the empty parking space SP according to the parking instruction information, and the travel control unit 15 and the actuator 50. When the empty parking space SP is recognized by the parking space recognizing unit 13, the vehicle 100 is automatically driven so as to store the vehicle 100 in the empty parking space SP according to a predetermined traveling pattern (step S7). For this reason, after guiding the vehicle 100 to the entrance of the vacant parking space SP, the vehicle 100 can be automatically moved to the parking space by using sensors of the vehicle 100 such as the obstacle detector 31 and the camera 32. It becomes possible.

-Modification-
The above embodiment can be modified into various forms. Hereinafter, modified examples will be described. In the above embodiment, the movement instruction information recognition unit 12 recognizes the movement instruction information that instructs the movement with respect to the vehicle 100 from the camera image that can be acquired by the in-vehicle camera 32. However, in addition to the camera image, for example, a microphone is used. It is also possible to acquire an instruction by the voice of the guidance person and recognize the movement instruction information based on the information. That is, the movement instruction information may be recognized through a voice recognition process. In the above embodiment, the travel control unit 15 outputs the control signal to the actuator 50 so that the vehicle automatically travels. However, if the vehicle automatically travels according to the travel plan created by the travel plan creation unit, Any configuration of the automatic traveling unit may be used.

  In the above embodiment, the movement instruction information recognition unit 12 recognizes the guide 110 and the movement instruction information from the guide 110 by pattern matching of the camera image. Not limited to. For example, the driver may select an image of the guide displayed on the display unit 43 (touch panel) to identify the guide, thereby causing the movement instruction information recognition unit to recognize the guide. In other words, the guide may be recognized manually. Alternatively, the guide may be equipped with a portable device capable of communicating with the vehicle 100, and the location of the portable device may be specified to recognize the guide. The movement instruction information recognizing unit may recognize a machine or robot that guides the vehicle and movement instruction information from these machines or robots instead of or in addition to the guidance person 110.

  In the above embodiment, the dedicated guide 110 is arranged in the parking lot, but it is possible for the guide to be a passenger or the driver. In the above embodiment, the instruction content by the gesture of the guide 110 is recognized by the movement instruction information recognition unit 12, but the instruction content is not identified by the gesture but by identifying the color or type of the tool held by the guide. It can also be recognized. As described above, when the guide is equipped with the portable device, the movement instruction information can be output from the portable device, and thereby the instruction content can be recognized. In the above embodiment, the instruction content recognized by the movement instruction information recognition unit 12 is output from the speaker 44 of the navigation device 40, but the configuration of the notification unit is not limited thereto.

  In the above embodiment, the obstacle detector 31 detects the distance to the obstacle around the vehicle and the guide 110, but these may be detected based on the camera image. The configuration is not limited to that described above. In the above embodiment, the distance L1 (first distance) to the obstacle detected by the obstacle detector 31 is not less than the first predetermined value L1a, and the distance L2 (second distance) to the guide 110 is the first. The vehicle 100 is automatically driven so as to satisfy the condition of the second predetermined value L2a which is smaller than the predetermined value L1a. However, the relationship between the first predetermined value L1a and the second predetermined value L2a is not limited to that described above. .

  In the above embodiment, the travel plan creation unit 14 corrects a preset target route in a predetermined area based on movement instruction information from the guide 110. That is, when the first automatic operation mode is switched to the second automatic operation mode, the target route set in the first automatic operation mode is corrected, but the first automatic operation mode and the second automatic operation mode are changed. Without distinction, when the guide 110 is recognized, the manual operation mode may be switched to the automatic operation mode. That is, the vehicle 100 may be driven manually until the guide 110 is recognized. Therefore, the travel plan creation unit may generate the target route according to the instruction content of the guide when the guide is recognized, instead of correcting the target route.

  In the above embodiment, the automatic driving vehicle 100 traveling in the parking lot with the predetermined area as the parking lot has been described. However, the automatic driving vehicle according to the present invention may be a place where movement instruction information from a guide or a machine is provided. For example, the present invention can be applied when traveling outside the parking lot. For example, the present invention can also be applied to a case where construction is performed on a general road such as a public road or a private road, and the vehicle travels in accordance with instructions from a guide at the construction site or a machine. That is, the predetermined area includes not only the premises of the facility facing the general road but also the general road itself.

  The above description is merely an example, and the present invention is not limited to the above-described embodiments and modifications unless the features of the present invention are impaired. It is also possible to arbitrarily combine one or more of the above-described embodiments and modifications, and it is also possible to combine modifications.

DESCRIPTION OF SYMBOLS 10 ECU, 12 Movement instruction information recognition part, 13 Parking space recognition part, 14 Travel plan preparation part, 15 Travel control part, 31 Obstacle detector, 32 Camera, 43 Display part, 44 Speaker, 50 Actuator, 100 Self-driving vehicle

Claims (7)

An in-vehicle camera,
A movement instruction information recognition unit for recognizing movement instruction information for instructing movement with respect to the own vehicle from a camera image obtainable by the in-vehicle camera;
A travel plan creation unit that creates a travel plan including a target route based on the travel instruction information recognized by the travel instruction information recognition unit;
An automatic driving vehicle comprising: an automatic traveling unit that causes the vehicle to automatically travel according to the travel plan created by the travel plan creation unit. The autonomous driving vehicle according to claim 1,
The said movement instruction information recognition part recognizes the movement instruction information by the recognized guidance person while recognizing a guidance person, The automatic driving vehicle characterized by the above-mentioned. In the autonomous driving vehicle according to claim 2,
The movement instruction information recognizing unit further recognizes the instruction content by the recognized guidance of the guide,
The automatic driving vehicle, wherein the travel plan creation unit creates a travel plan according to the instruction content recognized by the movement instruction information recognition unit. In the automatic driving vehicle according to claim 3,
An autonomous driving vehicle further comprising a notifying unit for notifying an instruction content recognized by the movement instruction information recognizing unit. In the autonomous driving vehicle according to any one of claims 2 to 4,
A distance detection unit that detects a first distance to an obstacle around the vehicle and a second distance to the guide recognized by the movement instruction information recognition unit;
The automatic traveling unit satisfies a condition that the first distance detected by the distance detecting unit is not less than a first predetermined value and the second distance is not less than a second predetermined value smaller than the first predetermined value. In addition, the vehicle is automatically driven based on the detection result by the distance detection unit. In the automatic driving vehicle according to any one of claims 1 to 5,
The travel plan creation unit corrects a preset target route based on the movement instruction information recognized by the movement instruction information recognition unit,
The automatic driving vehicle automatically drives the vehicle based on the target route corrected by the travel plan creation unit. The autonomous driving vehicle according to any one of claims 1 to 6,
A parking space recognition unit for recognizing the parking space;
The movement instruction information includes parking instruction information for instructing movement to an empty parking space,
The travel plan creation unit generates the target route over the empty parking space according to the parking instruction information,
The automatic traveling unit automatically travels the vehicle so as to store the vehicle in the predetermined empty parking space according to a predetermined traveling pattern when the empty parking space is recognized by the parking space recognition unit. An autonomous driving vehicle.

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