JP2019021197A - Route determination device and route determination method - Google Patents

Abstract

To search for a route for a mobile device to move appropriately for route determination under a status which may make it difficult for the mobile device to perform a smooth travel.SOLUTION: A route determination device 30 includes: a designated reception part 31 which receives a target point and a through-point designated by a person; a search device 32 which searches for a travel route of the mobile device on the basis of the target point and the through-point. The search device 32 includes: a candidate point creation part 33 which creates a plurality of candidate points in each of a plurality of local regions including a through-point and another local region including a target point in environment map data; a combination creation part 34 which identify a plurality of combinations with a combination of candidate points made by selecting each one from the plurality of local regions as one combination; a candidate route creation part 35 which determines whether or not a candidate route passing through each candidate point interferes with an obstacle in each of the plurality of combinations; and an evaluation part 36 which determines an evaluation value of each candidate route which has been determined to have no interference with an obstacle and selects a candidate route with the best evaluation value from the plurality of candidate routes.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a route determination device and a route determination method for determining a movement route of a mobile device based on this information when a person inputs support information for determining the movement route of the mobile device.

An unmanned mobile device may be used to transport goods, perform civil engineering work, or conduct reconnaissance in areas affected by volcanic eruptions, nuclear power plant accidents, or other disaster areas.
In addition, in order to patrol a vast place such as an airport or an air base, an unmanned mobile device equipped with a monitoring sensor such as a camera may be used.

  As a method of running while controlling the unmanned mobile device, there are a remote operation method, an autonomous control method, and a semi-autonomous control method. In the remote operation method, a person operates the operating device at a position distant from the moving device while watching the environmental data (for example, image data indicating the situation around the moving device) transmitted from the moving device. Control device movement (traveling direction, speed, etc.). In the autonomous control method, the movement of the moving device is controlled so as to move to a preset position by a movement control device provided in the moving device. The semi-autonomous control method is a method corresponding to an intermediate between the remote operation method and the autonomous control method. That is, in the semi-autonomous control method, when the mobile device is automatically moving, the movement (for example, the traveling direction) of the mobile device can be controlled by a person operating the operation device at a position away from the mobile device.

  In any of the remote operation method, the autonomous control method, and the semi-autonomous control method, environmental data around the mobile device (for example, image data captured by the camera, or position data of the surrounding measurement point group acquired by the laser radar) To recognize where obstacles exist. Based on the recognition of the obstacle, the moving device is stopped before the obstacle on the traveling direction side of the moving device, or the movement of the moving device is controlled so as to avoid the obstacle.

  The traveling method of the unmanned mobile device as described above is described in, for example, the following Patent Documents 1 to 3.

Patent No. 5647905 Patent No. 5969903 Patent No. 5498178

By the way, there may be a case where smooth travel of the mobile device is likely to be difficult. In one example, this is caused by the situation of the branch path on the traveling direction side of the mobile device.
For example, when entering a branch road by turning right or left on a narrow road, entry to the branch road may fail when the direction of the moving device has to be changed more than 90 degrees. Alternatively, when the mobile device enters a narrow branch road by a right turn or a left turn, there is a possibility that entry into the branch road may fail. Such a problem may occur in any of the remote operation method, the autonomous control method, and the semi-autonomous control method.

  Accordingly, an object of the present invention is to provide a new technique capable of searching and determining a travel route suitable for a situation when smooth travel of a mobile device is likely to be difficult.

  A route determination device according to the present invention is a device that determines a movement route of a mobile device. The route determination device is configured such that when a person designates a target point and a waypoint in the environmental map data with respect to a moving route using an input device, a designated receiving unit that receives the target point and the waypoint, and a target point and a waypoint. And a search device for searching and determining a movement route of the mobile device that does not interfere with the obstacle in the environmental map data. The search device generates a plurality of candidate points in the local region including the waypoint in the environment map data, and generates a plurality of candidate points in another local region including the target point, and a plurality of candidate points A combination of candidate points selected one by one from the local region as one combination, a set generation unit that specifies a plurality of combinations, and a candidate route that passes through each candidate point for each of the specified plurality of combinations, A candidate route generation unit that determines whether or not each candidate route interferes with an obstacle, and for each candidate route that is determined not to interfere with an obstacle, an evaluation value is obtained according to a predetermined evaluation function, and a plurality of candidate routes is obtained. And an evaluation unit that selects a candidate route having the best evaluation value and determines the selected candidate route as a moving route of the mobile device.

The route determination method according to the present invention is a method for determining a movement route of a mobile device by searching for the route with the route determination device. In the route determination method, the following (A) and (B) are performed.
(A) With respect to the movement route of the mobile device, when a person designates a target point and a waypoint in the environmental map data using an input device, the target point and the waypoint are received.
(B) Based on the target point and the waypoint, search and determine the movement route of the mobile device that does not interfere with the obstacle in the environmental map data.
In (B), the following (B1) to (B4) are performed.
(B1) In environment map data, generate a plurality of candidate points in a local region including a waypoint, generate a plurality of candidate points in another local region including a target point,
(B2) A combination of candidate points selected one by one from a plurality of local regions is identified as one combination, and a plurality of combinations are identified,
(B3) For each of the plurality of identified combinations, generate candidate paths that pass through each candidate point, determine whether each candidate path interferes with an obstacle,
(B4) For each candidate route determined not to interfere with an obstacle, an evaluation value is obtained according to a predetermined evaluation function, a candidate route having the best evaluation value is selected from a plurality of candidate routes, and the selected candidate route Is determined as the movement path of the mobile device.

  According to the present invention, regarding a movement route, a target point and a waypoint in the environment map data are designated by a person, the target point and the waypoint are received as support information, and a movement route is searched based on this support information. In this way, the route determination device can search and determine a route that the mobile device can move with the assistance of a person. Therefore, even when it is difficult to search for a route that can be moved smoothly by searching only for the route determination device, the route determination device searches for a movement route suitable for the situation with the assistance of a person. You can decide.

1 shows a remote control system including a mobile device and a support device. It is a block diagram which shows the structure of a moving apparatus and an assistance apparatus. (A) shows environmental map data, and (B) shows environmental map data for which route determination support information is designated. It is a block diagram which shows the structure of the route determination apparatus by embodiment of this invention. (A) shows the environmental map data in which candidate points are generated, and (B) shows the environmental map data representing one candidate route. It is explanatory drawing which shows the switching of the mode of a movement control apparatus. The processing on the mobile device side in the autonomous mode and the semi-autonomous mode is shown. A method for supporting route determination is shown. 3 is a flowchart illustrating a route determination method according to an embodiment of the present invention.

  Embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

  FIG. 1 shows a remote operation system including a mobile device 10 and a support device 20.

  The vehicle body 1 of the moving device 10 only has to have a basic traveling function as a vehicle and moves on the ground surface 2 (for example, a paved road or an unpaved road). The vehicle body 1 may be of a wheeled type that moves when a wheel in contact with the ground surface 2 is rotationally driven as shown in FIG. 1, or an endless belt in contact with the ground surface 2 is rotationally driven. It may be of a tracked (infinite track) type that is moved by. Alternatively, the vehicle body 1 may be a hybrid type that combines a wheeled type and a track type.

  FIG. 2 is a block diagram illustrating configurations of the mobile device 10 and the support device 20.

(Configuration of mobile device)
The mobile device 10 includes an environment measurement device 3, a position detection device 5, a map data generation device 7, a route determination device 30, a movement control device 9, and a communication device 11. For example, the moving device 10 moves unattended.

  The environmental measurement device 3 acquires environmental data (data indicating an obstacle and a travelable region) indicating a situation in a range including the region on the traveling direction side of the mobile device 10. The environmental measurement device 3 may be a camera or a laser radar. The laser radar may be a device called a laser range finder (LRF) or LIDAR (Laser Imaging Detection And Ranging), for example. When the environment measuring device 3 is a camera, the environment data is image data captured by the camera. When the environment measuring device 3 is a laser radar, the environment data is data indicating a location where an object exists in the three-dimensional space.

The position detection device 5 is provided in the moving device 10. The position detection device 5 detects the current position of the vehicle body 1 of the moving device 10 (hereinafter also referred to as the current position of the moving device 10) in a coordinate system fixed to the ground surface 2 (hereinafter referred to as a fixed coordinate system). The position detection device 5 includes, for example, an IMU (Internal Measurement Unit), a GNSS (Global Navigation Satellite System) receiver, and a calculation unit. The IMU detects accelerations in the directions of the three axes fixed to the vehicle body 1 and angular velocities around these three axes. The GNSS receiver receives radio waves from a plurality of navigation satellites (for example, GPS satellites), and obtains the position of the mobile device 10 based on these radio waves. The calculation unit accurately obtains the current position of the mobile device 10 based on the acceleration and angular velocity detected by the IMU and the position of the mobile device 10 obtained by the GNSS receiver.
Note that the position detection device 5 is not limited to the above-described configuration, and may have another configuration as long as the current position of the moving device 10 in the fixed coordinate system can be detected.

  The map data generation device 7 generates environment map data in a fixed coordinate system based on the environment data acquired by the environment measurement device 3 and the current position of the mobile device 10 detected by the position detection device 5. The environmental map data is data in a range including an area on the traveling direction side of the mobile device 10, and this range is, for example, around the mobile device 10. The environmental map data indicates the current position of the mobile device 10, and indicates an area where the mobile device 10 can travel and an area of an obstacle where the mobile device 10 cannot travel with respect to the current position.

  That is, the range of the region represented by the environmental map data includes the current position of the mobile device 10, a region where the mobile device 10 can travel, and an obstacle region where the mobile device 10 cannot travel. Such a range (width) of the area represented by the environmental map data may be a range in which the environmental measurement device 3 performs measurement in order to acquire environmental data. When the environmental measurement device 3 is a camera, the range represented by the environmental map data is an imaging range of the camera. When the environmental measurement device 3 is a laser radar, the range represented by the environmental map data is It may be the measurement range of the laser radar.

  The route determination device 30 performs a basic route search process when it does not receive a designation described later as support information for route search from the support device 20. In the basic route search process, the route determination device 30 searches for a basic movement route of the mobile device 10 that does not interfere with an obstacle in the environmental map data generated by the map data generation device 7. In an example of this process, the route determination device 30 generates a basic movement route of the movement device 10 to reach a preset target position. In another example of the basic route search process, in addition to the target position, a plurality of via positions through which the moving device 10 passes until reaching the target position are set in advance. Generate a basic travel path to the passing position through.

  Acquisition of environment data by the environment measuring device 3, detection of the current position of the moving device 10 by the position detecting device 5, generation of environment map data by the map data generating device 7, and search for a basic moving route by the route determining device 30 And the determination is repeated while the mobile device 10 is moving.

  The movement control device 9 controls the movement of the movement device 10 so that the movement device 10 moves along the movement route (a basic movement route or a new movement route described later) determined by the route determination device 30. Specifically, for this control, the movement control device 9 controls the operation of a plurality of actuators that respectively operate the accelerator, brake, steering, transmission, and the like of the vehicle body 1.

  The communication device 11 wirelessly communicates with the support device 20 that is located away from the mobile device 10. For example, the communication device 11 transmits the environmental map data generated by the map data generation device 7 to the support device 20. The communication device 11 may also transmit the environmental data acquired by the environmental measurement device 3 to the support device 20. Furthermore, the communication device 11 may also transmit the above-described basic movement route and the current position of the mobile device 10 to the support device 20.

(Configuration of support device)
The support device 20 is provided for the route determination device 30 and includes a communication device 21, a display device 23, and an input device 25. The support device 20 may be used in a state where it is placed in a predetermined place (device 20A in FIG. 1) or used in a state of being held by a human hand (device 20B in FIG. 1). It may be.

  The communication device 21 receives the environment map data described above from the mobile device 10. The communication device 21 may receive the environment data, the basic movement route, and the current position of the movement device 10 from the movement device 10 in addition to the environment map data.

  The display device 23 displays the environmental map data received by the communication device 21 or the environmental map data and the environmental data on the screen 25a. When the communication device 21 also receives the basic movement route and the current position of the mobile device 10, the display device 23 also displays the basic movement route and the current position of the mobile device 10 in the environmental map data. When a person wants to assist the route generation of the mobile device 10 by looking at the displayed environmental map data or the like, the support information for that purpose can be input by operating the input device 25. FIG. 3A shows an example of environmental map data. FIG. 3A shows a state in which the mobile device 10 should bend and enter the left branch road at the branch road in the travelable area Ra, but stops immediately before the obstacle without being bent.

  The input device 25 is configured to be able to input various designations in the environmental map data as support information when operated by a person. The display device 23 and the input device 25 are arranged so that a person can operate the input device 25 while viewing the environmental map data displayed on the display device 23.

For example, the following designations (1) to (4) can be input by the input device 25.
(1) Target point: designation of a target point to which the mobile device 10 is to be reached in the displayed environmental map data (that is, the range of the area represented by the environmental map data; the same applies hereinafter) The target point may be, for example, a point in the branch path in the environmental map data, but is not limited thereto.
(2) Target point direction: designation of the target point direction indicating the direction of the moving device 10 at the target point.
(3) Via points and via point order: designation of via points through which the moving apparatus 10 passes before reaching the target point. When a plurality of (for example, two or more or three or more) waypoints are designated, the order in which these waypoints are passed by the moving device 10 (hereinafter simply referred to as a waypoint order) is also designated by the input device 25. To do.
(4) Advancing direction: For the starting point P0 (for example, the current position of the moving device 10) of the movement path to be searched and each waypoint, the movement of the moving device 10 from the starting point P0 or the waypoint is forward or backward. Specifying the direction of progress. Here, the forward means that the moving device 10 advances to the front side of the moving device 10, and the backward means that the moving device 10 advances to the rear side of the moving device 10.

  FIG. 3B shows a state in which the above (1) to (4) are specified in the environmental map data of FIG. In the example of FIG. 3 (B), it is designated as follows. In the environmental map data, the target point Pt and the via points P1 to P3 are specified, and the via point order of the via points P1 to P3 (here, the order of P1, P2, and P3) is specified. The target point direction is designated by an arrow X. The traveling direction of the moving device 10 from the current position P0 to the transit point P1 is backward, the progression direction from the transit point P1 to the transit point P2 is forward, and the progression direction from the transit point P2 to the transit point P3 is backward. Yes, the traveling direction from the via point P3 to the target point Pt is forward.

  The input device 25 may have one or both of a touch panel screen 25a and a mouse 25b.

  When the target point or the waypoint is designated on the touch panel screen 25a, for example, the following operation may be performed. A person touches the touch panel screen 25a with a finger or a touch instrument (for example, a touch pen) at a position to be set as a target point or a via point in the environmental map data displayed on the touch panel screen 25a. Thereby, a target point or a waypoint can be specified.

  When the target point or waypoint is designated by the mouse 25b, for example, the following operation may be performed. A person moves the mouse 25b to position the cursor at a position to be set as a target point or a via point in the environmental map data displayed on the screen 25a of the display device 23. In this state, the user clicks the mouse 25b. do. Thereby, a target point or a waypoint can be specified.

  The designation of the target point direction is performed as follows, for example. An initial arrow is automatically displayed on the screen 25a (for example, a target point included in the environmental map data), and the direction of this arrow is determined by the touch operation on the touch panel screen 25a described above or the mouse 25b described above. You can change the direction of the target point by clicking or moving.

  For example, the direction of travel is designated as follows. On the touch panel screen 25a, the start point P0 of the movement route (the current position P0 of the movement device 10 in FIG. 3) is displayed. The specified waypoint is also displayed on the touch panel screen 25a. In the initial state, the designation of the direction of travel from the start point P0 and the direction of travel from each waypoint is forward. On the touch panel screen 25a, the above-described touch operation is performed at the displayed start point P0 or via point, or the mouse 25b is moved by moving the mouse 25b and clicking the mouse 25b. . By such touch operation or operation of the mouse 25b, designation of the traveling direction from the start point P or the via point is switched between forward and reverse. Whether the advance direction from the start point P or the waypoint is forward or backward is displayed on the touch panel screen 25a. For example, the environmental map data of FIG. 3B is displayed on the touch panel screen 25a, and the traveling direction from the point is indicated by the color of the arrow extending from the start point P or the via point as shown in FIG. 3B. Whether the designation is forward or backward is displayed. In FIG. 3B, the black triangle arrow indicates forward movement, and the white triangle arrow indicates backward movement.

  The input device 25 only needs to be able to specify the above (1) to (4), and is not limited to the examples of the touch panel screen 25a and the mouse 25b described above, and may include a keyboard and other input devices. Good.

  The communication device 21 transmits each designation input by the input device 25 to the mobile device 10 (that is, the communication device 11) in a state in which the designation is associated with the environmental map data for which these commands have been issued.

(Configuration of the route determination device)
FIG. 4 is a block diagram illustrating a configuration of the route determination device 30. The route determination device 30 includes a basic search unit 27. When the route determination device 30 does not receive route search support information from the support device 20, the basic search unit 27 generates the basic travel route by performing the above-described basic route search processing, and sends it to the movement control device 9. Output. The basic search unit 27 may have any configuration as long as the basic route search process described above is performed. For example, the basic search unit 27 has a known configuration for searching for a movement route based on environmental map data. Good.

  When receiving each designation from the support device 20 via the communication devices 21 and 11, the route determination device 30 searches for and determines a new movement route of the mobile device 10 based on each designation. For this purpose, the route determination device 30 includes a designated reception unit 31 and a search device 32.

The designation receiving unit 31 receives the designations (1) to (4) from the support device 20 via the communication devices 21 and 11.
Based on the designations (1) to (4), the search device 32 searches and determines a new movement route that does not interfere with the obstacle in the environmental map data. At this time, the starting point P0 of the travel route to be searched is the current position of the mobile device 10 in the example of FIG.

  The search device 32 includes a candidate point generation unit 33, a set generation unit 34, a candidate route generation unit 35, and an evaluation unit 36.

  The candidate point generation unit 33 generates a plurality of candidate points Q (hereinafter also referred to as via point candidate points Q) in a local region including a via point in the environment map data, and the local region including the target point in the environmental map data A plurality of candidate points Q (hereinafter also referred to as target point candidate points Q) are generated. When the designated receiving unit 31 receives a plurality of waypoints, the candidate point generation unit 33 creates a plurality of candidate points Q for each waypoint in a local region including the waypoints.

  FIG. 5A shows the environmental map data in which the candidate point Q is generated by the candidate point generation unit 33 for each designation in FIG. 3B. In FIG. 5A, R1 to R3 indicate local regions of the via points P1 to P3, Rt indicates the local region of the target point, and each white square in each of the local regions R1 to R3 and Rt is a candidate point Q. Indicates. Each local region is, for example, a region in which a waypoint or a target point is located at the center of this local region.

  The set generation unit 34 specifies a plurality of combinations, with a combination of candidate points Q selected one by one from a plurality of local regions as one combination.

The candidate route generation unit 35 generates a candidate route that passes through each candidate point Q of the combination for each of the plurality of identified combinations. The candidate route generation unit 35 repeats the following processing (a) and processing (b) for each combination.
(A) A local route is generated.
(B) It is determined whether the local route generated in (a) interferes with an obstacle in the environmental map data.
In the first step (a), a local path extending from the generation start point to the end point is generated with the candidate point or start point P0 of the target point as the generation start point and the next candidate point of the generation start point as the end point. In (a) performed after the second time, the end point of the local route generated in the previous (a) is set as a new generation start point, and the candidate point next to the generation start point is set as an end point to extend from the generation start point to the end point. Generate the next local route. In the last (a), the local path extending from the generation start point to the end point is set with the end point of the local path generated in the previous (a) as the new generation start point and the target point candidate point or start point P0 as the end point. Generate.

  Next, the candidate route generation unit 35 specifies a plurality of combinations that satisfy the following condition (c). (C) It was determined in (b) that each local route (all local routes) constituting a route from one of the start point P0 and the target point candidate point Q to the other does not interfere with the obstacle.

  In addition, for each combination that satisfies the condition (c), the candidate route generation unit 35 sets a route that passes through each candidate point Q of this combination (that is, a route constituted by each local route) as the above-described candidate route. FIG. 5B shows one of the candidate routes generated in the case of FIG. 5A by a thick broken line.

  The evaluation unit 36 obtains an evaluation value for each generated candidate route according to a predetermined evaluation function (a specific example of the evaluation function will be described later), and selects a candidate route having the best evaluation value from a plurality of candidate routes. Then, the selected candidate route is determined as a new movement route of the mobile device 10. When there is one combination that satisfies the condition (c), the search device 32 determines a route constituted by each local route of this combination as a new travel route of the mobile device 10.

(Processing in each device)
In this embodiment, the mode of the route determination device 30 includes a normal mode, a standby mode, and a support mode.
FIG. 6 is an explanatory diagram showing mode switching of the route determination device 30.

<Standby mode>
At the initial time when the mobile device 10 is activated, the route determination device 30 is in the standby mode, and the mobile device 10 is stopped. In this state, when a person operates the input device 25 to input a normal mode command, the normal mode command is transmitted from the communication device 21 to the mobile device 10. As a result, the mode of the route determination device 30 is switched to the normal mode.

<Normal mode>
The normal mode includes an autonomous mode, a remote operation mode, and a semi-autonomous mode. Switching between these modes may be performed by a mode switching operation unit provided in the input device 25. When this operation unit is operated by a person, a mode switching command corresponding to this operation is input and transmitted from the communication device 21 to the mobile device 10, whereby the mode of the route determination device 30 is changed to an initial mode (for example, The mode is switched from the (autonomous mode) to the mode (autonomous mode, remote operation mode, or semi-autonomous mode) indicated by the mode switching command.
FIG. 7 shows processing on the mobile device 10 side in the autonomous mode and the semi-autonomous mode.
<Autonomous mode>

In the autonomous mode or the semi-autonomous mode, the mobile device 10 performs a process for generating a basic movement route. This process is a repetition of the following steps S1 to S3.
In step S <b> 1, the environment measurement device 3 acquires environment data, and the position detection device 5 detects the current position of the mobile device 10.
In step S2, the map data generation device 7 generates environmental map data based on the environmental data acquired in step S1 and the current position of the mobile device 10 detected in step S1.
In step S3, the basic search unit 27 of the route determination device 30 determines the target from the current position of the mobile device 10 based on the environmental map data generated in step S2 and the target position or the next route position given in advance. Generate a basic travel path to go to a location or the next via location.

  In the repetition of steps S1 to S3, each time a basic movement route is generated in step S3, this movement route is output from the route determination device 30 to the movement control device 9.

  In step S4, every time the movement control device 9 receives the basic movement route generated in step S3, the movement control device 9 controls the movement of the movement device 10 so that the movement device 10 moves along the movement route.

  Further, the latest environmental data is transmitted from the communication device 11 to the support device 20 (that is, the communication device 21) every time the environmental data is acquired in step S1 or at a frequency lower than the frequency at which the environmental data is acquired. Is done. The latest environmental map data is transmitted from the communication device 11 to the support device 20 every time the environmental map data is generated in step S2 or at a frequency lower than the frequency at which the environmental map data is generated. Thus, the environmental data and environmental map data transmitted from the communication device 11 are displayed on the display device 23 in the support device 20. At this time, the environment data and the environment map data may be displayed in different areas on the same screen 25a as shown in FIG.

<Semi-autonomous mode>
When the normal mode is the semi-autonomous mode, when the above steps S1 to S4 are repeatedly performed, in step S5, the person looks at the environmental data or the environmental map data displayed on the display device 23. An appropriate remote control device can be operated. The remote control device may be incorporated in the input device 25 or may be provided separately from the input device 25.

In step S5, when the remote operation device is operated by a person, an operation command corresponding to this operation is transmitted from the communication device 21 to the mobile device 10.
In this case, in step S3, the basic search unit 27 of the route determination device 30 moves the mobile device 10 that does not interfere with an obstacle based on the operation command transmitted in step S5 and the environmental map data generated in step S2. The route data representing the basic travel route is generated. The operation command indicates, for example, an accelerator operation amount, a brake operation amount, a traveling direction, and the like of the mobile device 10. The route data includes a moving route and a command speed at each point on the moving route. The command speed is determined by the route determination device 30 based on the current speed of the mobile device 10 and the accelerator operation amount or the brake operation amount. Other points in the semi-autonomous mode may be the same as the autonomous mode. In step S4, the movement control device 9 controls the movement of the moving device 10 according to the route data generated in step S3.

<Remote operation mode>
When the normal mode is the remote operation mode, the above-described route data representing the movement route of the mobile device 10 is generated based on the operation command transmitted in step S5. At this time, the environmental map data generated in step S2 is not considered. In this respect, the remote operation mode is different from the semi-autonomous mode. Other points in the remote operation mode may be the same as the semi-autonomous mode.

<Support mode>
When the mobile device 10 is moving in the normal mode, a person looks at the environmental data and the environmental map data displayed on the display device 23, and it is difficult for the mobile device 10 to enter the branch road The mode of the route determination device 30 can be switched to the support mode. That is, a person can input a mode switching command indicating that the mode of the route determination device 30 is switched to the support mode by operating the input device 25 (for example, pressing a button). As a result, the mode switching command is transmitted from the communication device 21 to the mobile device 10, and as a result, the mode of the route determination device 30 is switched to the support mode.

For example, in the following cases i) to iv), the mode of the route determination device 30 can be switched to the support mode.
i) When the mobile device 10 stops in front of an obstacle without being fully bent when entering the right or left branch road at the branch road of the travelable area Ra (for example, the state of FIG. 3A) in the case of).
ii) When the mobile device 10 is desired to enter a specific branch path different from the basic movement path generated in step S3 described above.
iii) In order for the mobile device 10 to enter the branch path along the basic travel path (for example, to enter by turning right or left), the direction of the mobile device 10 must be changed more than 90 degrees, When there is a possibility that the mobile device 10 may fail to enter.
iv) When the mobile device 10 enters a narrow branch road along the basic movement route (for example, when entering the right turn or left turn), the mobile device 10 wants to enter the branch road with a more appropriate route. If.

A route determination support method will be described based on the examples of FIGS. 3 and 5. In this example, a case will be described in which the mobile device 10 enters the left branch road in the branch road of the travelable region Ra, but the following description is applicable to other cases.
A route determination support method will be described with reference to FIG. FIG. 8 is a flowchart illustrating a route determination support method using the support device 20. The route determination support method includes steps S11 to S14.

<Processing of input device>
In step S11, the input device 25 inputs a mode switching command indicating the support mode.
In step S12, the mode switching command input in step S11 is transmitted from the communication device 21 to the mobile device 10. As a result, the mode of the route determination device 30 is switched to the support mode.
In step S13, when the person operates the input device 25, the designations (1) to (4) described above in the environmental map data are input as support information as described above. FIG. 3B shows a case where each designation in step S13 is performed on FIG.
In step S14, each designation input in step S13 is transmitted from the communication device 21 to the mobile device 10 as support information. These designations are transmitted in a state associated with the environmental map data that is the target. For example, each designation and this environmental map data may be transmitted.

<Processing of route determination device>
When the route receiving device 30 receives the support information transmitted in step S14 by the designated receiving unit 31 via the communication device 11, the route determining device 30 performs support route search processing as a route determination method according to the embodiment of the present invention based on the support information. Execute.
FIG. 9 is a flowchart showing the support route search process. The support route search process includes steps S21 to S24.

  In step S21, the candidate point generator 33 generates a plurality of candidate points Q in the local region including the waypoints for each designated waypoint in the environment map data designated as described above. A plurality of candidate points Q are generated in the local region including the target point. FIG. 5A shows a state where step S21 is performed with respect to FIG.

  The local area including the target point may be different from the local area including the waypoint in the size or shape of the local area. In addition, the local region including the target point and the local region including the via point may have different intervals between the adjacent candidate points Q (that is, the density of the candidate points Q).

  In step S21, the environmental map data in which the candidate point Q is generated may be changed as follows. Environment map data in which a plurality of candidate points Q are generated for each waypoint and target point as in step S21 may be transmitted from the communication device 11 to the support device 20 and displayed on the display device 23. A person changes the size or shape of the local area including the target point or via point by operating the input device 25 while viewing the displayed environmental map data, or includes the target point or via point. The density of candidate points Q can be changed in the local region. The changed environment map data is transmitted from the communication device 21 to the mobile device 10 and used in the next step S22.

In step S22, a combination of candidate points Q selected one by one from the plurality of local regions generated or changed in step S21 is identified as one combination, and a plurality of combinations are specified by the set generation unit 34. For example, all combinations are specified. Note that the total number of target points and via points is M (M = 4 in FIG. 3B), and N (N = 25 in FIG. 5A) candidate points Q are generated in each local region. If it has, the number of all combinations is N ^M number.

  In step S23, a candidate route that passes through each candidate point Q of the combination is generated by the candidate route generator 35 for each of the plurality of combinations specified in step S22. At this time, the candidate route generation unit 35 sequentially generates a local route that is a part of the candidate route from one of the target point candidate point and the start point P0 to the other of the target point candidate point and the start point P0. I will do it. At this time, the tangent direction of the candidate route at the candidate point Q of the target point is the target point designated as described above, and the start point P0 is based on the current position P0 received from the position detection device 5. The candidate route generation unit 35 generates the candidate route so that the tangent direction of the candidate route at is the direction of the moving device 10 (vehicle body 1) at the current position P0. In FIG. 5B, one of the candidate routes generated for the case of FIG.

  Step S23 includes steps S231 to S236. Steps S231 to S235 are repeated.

  In step S231, one combination is selected from the plurality of combinations specified in step S22.

  In the first step S232, for the combination selected in step S231, a local path extending from the generation start point to the end point is generated with the target point candidate point or start point P0 as the generation start point and the next candidate point Q of the generation start point as the end point. To do. In the second and subsequent steps S232, for the combination selected in step S231, the end point of the local route generated in the previous step S232 is set as a new generation start point, and the next candidate point Q of this generation start point is set as the end point. The next local path extending from to the end point is generated.

  When the generation starting point in the first step S232 is a candidate point of the target point, the candidate point Q next to the generation starting point is a candidate point according to the reverse order of the waypoint order included in the support information. . Details are as follows. When the candidate point of the target point is the generation start point, the next candidate point Q after the generation start point is a candidate point generated from the last via point in the via point order. When the via point candidate point Q1 is the generation start point, the next candidate point Q2 after the generation start point is one point before the via point that is the generation source of the candidate point Q1 (that is, only one starts) This is a candidate point Q2 generated from a via point on the point P0 side. When the candidate point generated from the first via point in the via point order is the generation start point, the next candidate point after the generation start point is the start point P0.

  When the generation starting point in the first step S232 is the start point P0, the next candidate point is a candidate point according to the order of the via points included in the support information. Details are as follows. When the start point P0 is the generation start point, the next candidate point Q after the generation start point is a candidate point generated from the first via point in the via point order. When the via point candidate point Q1 is the generation start point, the next candidate point Q2 of this generation start point is the next via point of the via point that is the generation source of the candidate point Q1 (that is, the next via point in the order of the via points). This is the candidate point Q2 generated from the point). When the candidate point of the last via point in the via point order is the generation start point, the next candidate point after this generation start point is the candidate point of the target point.

  The local path may be a curved path (for example, a clothoid curve). In the local route, the direction of the straight line in contact with the route at each point in the route indicates the direction of the moving device 10 (that is, the vehicle body 1) at this point.

  In step S233, it is determined whether the local route generated in step S232 interferes with an obstacle in the environmental map data associated with each designation input in step S13. Here, the interference means that the local route collides with an obstacle, and that the mobile device 10 comes into contact with the obstacle when the local route passes through a position within a set distance from the obstacle. It means that it corresponds to at least one of.

  If it is determined in step S233 that the local route interferes with the obstacle, the process for the combination selected in step S231 is interrupted, and the process proceeds to step S235. On the other hand, if it is determined in step S233 that the local route does not interfere with the obstacle, the process proceeds to step S234.

  In step S234, it is determined whether there is a next local route that has not been generated for the combination selected in step S231. Here, if there is a next local path that has not been generated, the process returns to step S232 to generate another local path and the above-described processing is performed again. If there is no next local path that has not been generated, step S235 is performed. Proceed to

  In the first or last step S232, the candidate route generation unit 35, when the target point candidate point is set as the generation start point or end point of the local route, the direction of the target point described above in which the tangent direction at the generation start point or the end point is designated Generate a local route that becomes In addition, in the first or last step S232, the candidate route generation unit 35 determines that the start point P0 is the generation start point or end point of the local route, and the tangential direction at the generation start point or end point is the moving device 10 at the current position P0. A local route with the direction of is generated. In step S232 performed after the second time, the candidate route generation unit 35 uses the tangent direction at the end point of the local route generated in the previous step S232 as a reference direction, and selects a local route whose tangent direction at the generation start point is the reference direction. Generate.

In other words:
When the target point candidate point is set as the generation start point in the first step S232, the condition that the tangent direction of the local route at the target point candidate point Q is directed to the target point specified as described above is satisfied. In addition, the local route is generated as a reference route. Next, the next local path to be combined with the reference path is generated. At this time, the tangent direction of the reference route at the connection point (candidate point) between the reference route and the next local route becomes the tangent condition. That is, the next local route is generated so that the tangent direction of the next local route satisfies the tangent condition at the connection point between the reference route and the next local route. Then, using the next local route as a new reference route, the next local route coupled to the reference route is generated in the same manner as described above. Such processing is repeated to generate a candidate route. In this case, the local route to be generated last is generated such that the tangent direction at the start point P0 is the direction of the moving device 10 (vehicle body 1) at the current position P0.
When the start point P0 is set as the generation start point in the first step S232, each local route is generated in the reverse procedure to that described above.

  In step S232, the traveling direction of each waypoint included in the above-described support information is reflected as the traveling direction of each local route. That is, for each via point in each of the above combinations, the traveling direction of the way point is the traveling direction of the local route from the way point candidate point to the next candidate point in the way point order (in other words, the way point candidate point The candidate route generation unit 35 repeats Step S232. Specifically, the candidate route generation unit 35 generates each local route by the following generation method 1 and generation method 2 according to the traveling direction of each local route in step S232 to be repeated.

(Generation method 1)
When the traveling directions of the pair of local paths coupled to each other are forward and backward, respectively, the candidate path generation unit 35 moves the coupling point between the pair of local paths as shown in FIG. The pair of local routes is generated so as to be a local turning point in the route. That is, the pair of local paths is generated so that one of the pair of local paths does not exist on the other extension line of the pair of local paths. This generation method 1 is applied to the generation of each pair of local paths whose traveling directions are opposite to each other and are coupled to each other.
(Generation method 2)
When the traveling directions of the pair of local paths coupled to each other are the same, the candidate path generation unit 35 causes one of the pair of local paths to be locally on the other extension line of the pair of local paths. The pair of local paths is generated so as to exist. This generation method 2 is applied to generation of each pair of local paths that have the same traveling direction and are coupled to each other.

  In step S235, it is determined whether there is a combination that has not yet been selected among the plurality of combinations specified in step S22. If there is a combination that has not yet been selected, the process returns to step S231, and another combination is selected and the above processing is performed again. If there is no combination that has not yet been selected, the process proceeds to step S236.

  In step S236, it is determined that all the local paths that form the path from one of the start point P0 and the target point candidate point Q to the other do not interfere with the obstacle (NO in step S233). For each of these combinations, a route that is configured by the local route repeatedly generated in step S232 and reaches the candidate point Q of the target point from the start point P0 is set as a candidate route. In this way, a plurality of candidate routes are generated in step S23.

  In step S24, the evaluation unit 36 obtains an evaluation value for each of the plurality of candidate routes generated in step S236 according to a predetermined evaluation function, and selects a candidate route having the best evaluation value from the plurality of candidate routes. Then, the selected candidate route is determined as a new movement route of the mobile device 10. If there is one candidate route generated in step S236, the search device 32 determines this candidate route as a new travel route for the mobile device 10. If there is no candidate route generated in step S236, the search device 32 outputs a signal indicating “route generation impossible”. This signal is transmitted from the communication device 11 of the mobile device 10 to the support device 20. As a result, the display device (for example, the above-described display device 23) provided in the support device 20 displays that “route generation is impossible”.

The evaluation function may be E = αT + βS, for example. Here, E is an evaluation value, α and β are weight constants, and T and S are defined as follows. T indicates that the moving device 10 moves on the candidate route from the starting point P0 of the candidate route to the candidate point Q of the target point (for example, at a constant speed or a speed that changes according to the curvature of the candidate route). This is the time required and is obtained by the evaluation unit 36. S is an integrated value of the steering angle of the steering of the moving device 10 over a period during which the moving device 10 moves on the candidate route from the starting point P0 of the candidate route to the candidate point Q of the target point. This steering angle is an absolute value of the steering angle from the reference steering angle (that is, zero degree) of the steering when the vehicle body 1 goes straight. Instead of E = αT + βS, it may be used E = T α × S ^β. The definition of each symbol in this evaluation function is the same as described above. In E = αT + βS or ^{E = T α × S β,} α> 0, in the case of beta> 0, as the absolute value of the evaluation value is smaller, the evaluation value is a good value.
The evaluation function is not limited to the above example, and various functions can be set as the evaluation function.

  In step S <b> 25, the route determination device 30 (evaluation unit 36) outputs route data representing the movement route determined in step S <b> 24 and including the traveling direction of each local route to the movement control device 9 of the movement device 10.

<Processing of movement control device>
When the route determination device 30 receives the mode switching command indicating the support mode transmitted in step S12 via the communication device 11, the route determination device 30 outputs a stop command to the movement control device 9, and the movement control device 9 thereby moves the movement device. Stop 10 moves. Thereafter, when the movement control device 9 receives the route data generated by the above-described assistance route search process and output in step S25, the movement control device 9 controls the movement of the movement device 10 according to the route data. Thereby, the moving apparatus 10 is controlled to satisfy the following (A) and (B).
(A) The moving device 10 moves on the moving route represented by the route data.
(B) The moving device 10 moves forward or backward on each local route of the moving route represented by the route data according to the traveling direction of the local route. That is, the moving device 10 moves forward on the local route if the traveling direction of the local route is forward, and moves backward on the local route if the traveling direction of the local route is backward.

  When the movement control device 9 moves the movement device 10 to the end point of the movement route (that is, the target point candidate point in the movement route determined in step S24) (for example, the movement control device 9 stops the movement device 10). The mode switching signal is output to the route determination device 30. Thereby, the mode of the route determination apparatus 30 is automatically switched to the above-mentioned normal mode.

(Effect by embodiment)
According to the above-described embodiment, a target point and a waypoint designated by a person are received as support information, and a travel route is searched based on this support information. Therefore, in a search using only the basic search unit 27, a search is made for a movable route. Even if it is likely to be difficult to do so, the route determination device 30 can search and determine a travel route suitable for the situation by receiving assistance from a person. In the above-described example, when the mobile device 10 enters the branch path, if this approach is likely to be difficult, the person branches using the input device 25 in the environmental map data displayed on the display device 23. By designating the target point in the road, it is possible to designate the position in the branch path where the moving device 10 should be reached. Furthermore, the person can designate which position is required to reach the target point by designating the waypoint in the environmental map data using the input device 25. Since the moving route is determined based on the target point and the waypoint specified in this way, it is possible to determine a new moving route that the mobile device 10 enters the branch path without failing.

  Further, a target point direction indicating the direction of the moving device 10 at the target point can be designated by the input device 25, and a new movement route is determined based on the target point direction. Thus, the direction of the target point indicating what direction the mobile device 10 should be in when entering the branch path can be designated and reflected in the new travel route. Increases the possibility of smoothly passing through the branch path.

  The input device 25 can specify the advancing direction of the waypoint indicating that the movement of the moving device 10 from the waypoint is forward or backward. ) Can be determined.

  In addition, the search device 32 passes from a point in the local area including the start point or the start point to a point in the local area including the via point or a point in the local area including the target point. Search and determine the travel route. Thus, by specifying a rough target point and waypoint using the input device 25, the search device 32 determines a movement path that reflects the designation of the target point and waypoint.

  The search device 32 generates a plurality of candidate routes, obtains an evaluation value for each generated candidate route according to a predetermined evaluation function, selects a candidate route having the best evaluation value from the plurality of candidate routes, The selected candidate route is determined as a new travel route. Therefore, a more appropriate (for example, the best) travel route can be determined.

  For each waypoint, the search device 32 generates a plurality of candidate points in a local region including the waypoint, and combines a combination of candidate points selected one by one from the plurality of local regions, Identify combinations. Further, for each combination, the search device 32 generates a local route from the starting point to the next candidate point, or a local route from any candidate point to the next candidate point, and the local route becomes an obstacle. Determine if they interfere. Therefore, when the local route is determined to interfere with the obstacle, the processing for the combination can be interrupted, so that efficient processing is possible.

  The present invention is not limited to the above-described embodiments, and various changes can be made within the scope of the technical idea of the present invention. For example, one or both of the following modified examples 1 and 2 may be adopted. In this case, the points not described below may be the same as described above.

(Modification 1)
In the above description, the environmental map data is data representing a two-dimensional space, and the start point, the target point, and each via point are two-dimensional coordinates. However, the environmental map data is data representing a three-dimensional space, and The start point, the target point, and each via point may be three-dimensional coordinates.

(Modification 2)
In the above description, the environmental map data displayed on the display device 23 is generated based on the environmental data acquired by the environmental measurement device 3, but the present invention is not limited to this. In other words, when the moving device 10 moves in a place where there is no moving obstacle (such as a person or other vehicle) other than itself and the environmental state does not change, the environmental map data indicates the location of the stationary obstacle. It may be data based on the known map data shown. In this case, each “environment map data” described above is read as “environment map data indicating the current position of the mobile device 10 in known map data”.

DESCRIPTION OF SYMBOLS 1 Car body, 2 Ground surface, 3 Environment measuring device, 5 Position detection device, 7 Map data generation device, 9 Movement control device, 10 Movement device, 11 Communication device, 20 Support device, 21 Communication device, 23 Display device, 25 Input Device, 25a screen (touch panel screen), 25b mouse, 27 basic search unit, 30 route determination device, 31 designation receiving unit, 32 search device, 33 candidate point generation unit, 34 set generation unit, 35 candidate route generation unit, 36 evaluation Part, P0 start point, P1, P2, P3 via point, Q candidate point

Claims (7)

A route determination device for determining a movement route of a mobile device,
Regarding the movement route, when a person designates a target point and a waypoint in the environmental map data using an input device, a designated receiving unit that receives the target point and the waypoint;
A search device for searching and determining the movement route that does not interfere with an obstacle in the environmental map data based on the target point and the waypoint,
The search device includes:
In the environmental map data, a candidate point generating unit that generates a plurality of candidate points in a local region including the via point, and generates a plurality of candidate points in another local region including the target point;
A combination of the candidate points selected one by one from the plurality of local regions as one combination, a set generation unit for specifying a plurality of combinations;
A candidate route generation unit that generates a candidate route that passes through each candidate point for each of the plurality of identified combinations, and determines whether each candidate route interferes with an obstacle;
For each candidate route determined not to interfere with an obstacle, an evaluation value is obtained according to a predetermined evaluation function, the candidate route is selected from a plurality of candidate routes having the best evaluation value, and the selected candidate route is selected. And an evaluation unit that determines as the movement route of the movement device. With respect to the movement path, in addition to the target point and the waypoint, when a person designates a target point direction indicating the direction of the moving device at the target point using an input device,
The designated receiving unit receives the target point, the waypoint, and the target point direction,
The candidate route generation unit generates, for each of the plurality of combinations specified by the set generation unit, the candidate route that has a direction of the target point at the candidate point toward the target point and passes through each of the candidate points. The route determination device according to claim 1. With respect to the movement route, in addition to the target point and the via point, a person designates the traveling direction of the via point indicating that the movement of the moving device from the via point is forward or backward using the input device If you do
The designated receiving unit receives the traveling direction of the target point, the waypoint, and the waypoint,
Assuming that the traveling direction is the traveling direction from the candidate point of the waypoint, the search device represents route data that represents the determined traveling route and includes the traveling direction from the candidate point in the traveling route. The route determination device according to claim 1, wherein the route determination device outputs to a movement control device of the movement device. When the designated receiving unit receives a plurality of waypoints, the candidate point generation unit generates a plurality of candidate points in the local region including the waypoints for each waypoint,
The starting point of the travel route to be searched is the current position of the mobile device,
The candidate route generation unit, for each combination,
(A) processing for generating a local route;
(B) repeating the process of determining whether the local route generated in (a) interferes with an obstacle in the environmental map data;
In (a) performed first, a local path extending from the generation start point to the end point is generated using the candidate point or the start point of the target point as a generation start point and the candidate point next to the generation start point as an end point. In (a) performed after the second time, the end point of the local route generated in the previous (a) is set as a new generation start point, and the candidate point next to the generation start point is set as an end point. The next local route extending to the end point is generated, and in the last performed (a), the candidate point of the target point or the end point of the local route generated in the previous (a) is set as a new generation start point. Generating a local path extending from the generation start point to the end point with the start point as an end point;
Identify the combination determined in (b) that each local route constituting a route from one of the candidate points of the start point and the target point to the other does not interfere with an obstacle, and each of the combinations The route determination device according to claim 1, wherein the route configured by the local route is the candidate route that does not interfere with an obstacle. In the (a), the candidate route generation unit,
When the candidate point of the target point is the generation start point or the end point of the local route, generate the local route in which the generation start point or the tangent direction at the end point is directed to the specified target point,
5. When the start point is the generation start point or the end point of the local route, the local route is generated in which a tangent direction at the generation start point or the end point is directed to the moving device at the current position. The route determination device described in 1. In the candidate route generation unit (a) performed after the second time,
6. The local path in which the tangential direction at the end point of the local path generated in the previous step (a) is set as a reference direction, and the local path in which the tangential direction at the generation starting point is a reference direction is generated. Routing device. A route determination method for searching and determining a movement route of a mobile device by a route determination device,
(A) With respect to the movement route, when a person designates a target point and a waypoint in environmental map data using an input device, the target point and the waypoint are received,
(B) Based on the target point and the waypoint, search and determine the movement route that does not interfere with an obstacle in the environmental map data;
In (B) above,
In the environmental map data, generate a plurality of candidate points in a local region including the via point, generate a plurality of candidate points in another local region including the target point,
A combination of the candidate points selected one by one from the plurality of local regions as one combination, a plurality of combinations are identified,
For each of the plurality of identified combinations, generate a candidate route that passes through each candidate point, determine whether each candidate route interferes with an obstacle,
For each candidate route determined not to interfere with an obstacle, an evaluation value is obtained according to a predetermined evaluation function, the candidate route having the best evaluation value is selected from the plurality of candidate routes, and the selected candidate A route determination method for determining a route as the movement route of the mobile device.

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