JP2020035228A - Automatic traveling body - Google Patents

Abstract

To provide a technique capable of determining whether a current position of an automatic traveling body is a position suitable for crossing a roadway without a guidance facility.SOLUTION: An automatic traveling body comprises: an information acquisition unit that acquires information around the automatic traveling body; and a determination unit that determines whether a current position of the automatic traveling body is a position suitable for crossing a roadway adjacent to a sidewalk, based on the information acquired by the information acquisition unit.SELECTED DRAWING: Figure 3

Description

  The technology disclosed in the present specification relates to an automatic traveling body.

  Patent Literature 1 discloses an automatic traveling body that can automatically travel on a road. The automatic traveling body of Patent Literature 1 detects a linear guiding block constructed on a road and automatically travels.

JP-A-2017-072871

  In the technique of Patent Document 1, it is necessary to construct a guide block on a road. If the guidance block does not exist, the autonomous vehicle cannot cross the road. The present specification provides a technique capable of determining whether or not the current position of an automatic traveling body is a position suitable for crossing a roadway without a guidance facility.

  The automatic traveling body disclosed in the present specification can automatically travel on a sidewalk. The information processing unit that acquires information around the automatic traveling object, and the current position of the automatic traveling object traverses a road adjacent to a sidewalk based on the information acquired by the information acquiring unit. And a determination unit for determining whether or not the position is appropriate.

  According to this configuration, it is possible to determine whether or not the current position of the automatic traveling body is a position suitable for crossing the road even without the guidance equipment.

  The above-described automatic traveling body may include a calculation unit that calculates time. The information acquisition unit may acquire information on a width of a road and information on a plurality of vehicles traveling on the road. The calculating unit may calculate a traversing time required for the automatic traveling body to cross the road on the basis of information on a width of the road, and based on information on a plurality of vehicles traveling on the road. The appearance time required from the appearance of the vehicle to the appearance of the next vehicle may be calculated. When the traversing time calculated by the calculating unit is shorter than the appearance time, the determining unit determines that the current position of the automatic traveling body is a position suitable for crossing a roadway adjacent to a sidewalk. You may.

  According to this configuration, when there are a plurality of vehicles traveling on the road, it is possible to determine the position where the automatic traveling body can safely cross the road.

  The information acquisition unit may be capable of acquiring information on an obstacle that becomes an obstacle when the automatic traveling body crosses a road. The determining unit may determine that the current position of the automatic traveling body is a position suitable for crossing a lane adjacent to a sidewalk when the information of the obstacle is not obtained by the information obtaining unit. Good.

  According to this configuration, it is possible to determine that a position where no obstacle exists is a position suitable for crossing the road.

  The information acquisition unit is capable of acquiring information indicating that a pedestrian crossing exists within a predetermined range around the automatic traveling body. When the information indicating that a pedestrian crossing is present is acquired by the information acquiring unit, the position where the pedestrian crossing is present is more suitable for traversing the lane than the current position of the automatic traveling body. The position may be determined.

  According to this configuration, it is possible to determine that the position where the pedestrian crossing exists is a position suitable for crossing the road. It is possible to determine a position where the autonomous vehicle can safely cross the road.

  The above-described automatic traveling body may include a calculation unit that calculates time. The information acquisition unit may acquire information on a width of a road and information on a vehicle traveling on the road. The calculation unit may calculate a traversing time required for the automatic traveling body to cross the road based on information on a width of the road, and when the automatic traveling body crosses the road, travel the vehicle. The arrival time required for the vehicle to reach the crossing position of the automatic traveling body may be calculated. When the traversing time calculated by the calculating unit is shorter than the arrival time, the determining unit may determine that the current position of the automatic traveling body crosses a road adjacent to a sidewalk.

  According to this configuration, the automatic traveling body can cross the road before the vehicle traveling on the road reaches the crossing position of the automatic traveling body. The autonomous vehicle can safely cross the road.

  The automatic running body may be a wheelchair. The information acquisition unit may be capable of acquiring information indicating that there is an assistant who assists the user of the wheelchair. When the information indicating that a caregiver is present is acquired by the information acquisition unit, the determination unit is preferably configured to track behind the caregiver without crossing a road from the current position of the automatic traveling body. May be determined.

  According to this configuration, it is possible to track behind the assistant when the assistant is present. Therefore, the automatic traveling body can travel safely.

It is a perspective view of the automatic running body concerning an example. FIG. 3 is a diagram illustrating a sidewalk and a road on which the automatic traveling body according to the embodiment travels. FIG. 3 is a block diagram illustrating components of the automatic traveling body according to the embodiment. It is a flowchart of the crossing position determination process performed by the automatic traveling body according to the embodiment. 5 is a flowchart of a traversal start determination process executed by the automatic traveling body according to the embodiment. It is a flowchart of the caregiver determination process performed by the automatic traveling body according to the embodiment. It is a figure showing an example of an automatic running body and a person's speed vector concerning an example.

  An automatic vehicle 1 according to an embodiment will be described with reference to the drawings. As shown in FIG. 1, the automatic traveling body 1 includes a main body 10, a seat 11, a backrest 12, a footrest 13, a pair of armrests 14, and a plurality of wheels 15. The automatic traveling body 1 includes a sensor unit 20, a speaker 21, a touch panel 23, and a support 22. In addition, the automatic traveling body 1 includes a human recognition sensor 25. The automatic traveling body 1 of the present embodiment is a wheelchair.

  The main body 10 of the automatic traveling body 1 supports each component of the automatic traveling body 1 (the seat 11, the backrest 12, the footrest 13, and the like). The seat 11 is arranged at the center of the automatic traveling body 1. The seat 11 is a portion where the user of the automatic traveling body 1 sits. The backrest 12 is disposed behind the seat 11. The backrest 12 is a portion where the back of the user sitting on the seat 11 contacts. The footrest 13 is arranged below the seat 11. The footrest 13 is a portion on which the feet of the user sitting on the seat 11 are placed. The pair of armrests 14 are arranged above the seat 11. The pair of armrests 14 are portions where the elbows of the user sitting on the seat 11 are placed. The wheels 15 are rotatably fixed to a lower portion of the main body 10. The plurality of wheels 15 are rotated by driving a motor (not shown). The automatic traveling body 1 travels as the plurality of wheels 15 rotate.

  As shown in FIG. 2, the automatic traveling body 1 can travel on a sidewalk 201 and a roadway 202. The automatic traveling body 1 normally travels on a sidewalk 201 automatically, and crosses a road 202 adjacent to the sidewalk 201 depending on the situation. Further, the automatic traveling body 1 can also cross a pedestrian crossing 203 provided on the road 202.

  As shown in FIG. 1, the sensor unit 20, the speaker 21, the touch panel 23, and the support 22 of the automatic traveling body 1 are arranged at the front of the automatic traveling body 1. The sensor unit 20, the speaker 21, the touch panel 23, and the support 22 are arranged at the center of the automatic traveling body 1 in the left-right direction. The support 22 supports the sensor unit 20, the speaker 21, and the touch panel 23. The support 22 supports the sensor unit 20 so that it can rotate horizontally. The speaker 21 notifies the user of the automatic traveling body 1 of various information by voice. The touch panel 23 inputs various information by a user's operation.

  The sensor unit 20 includes, for example, a camera, a millimeter wave radar, and LiDAR (Laser Imaging Detection and Ranging). The sensor unit 20 detects a situation around the automatic traveling body 1. For example, the sensor unit 20 detects a plurality of vehicles 301 and 302 (see FIG. 2) traveling on the road 202. In addition, the sensor unit 20 detects the speeds v1 and v2 of the plurality of vehicles 301 and 302 traveling on the road 202, respectively. The sensor unit 20 detects distances L1 and L2 from the current position of the automatic traveling body 1 to each of the plurality of vehicles 301 and 302 traveling on the road 202. Further, the sensor unit 20 detects an obstacle 204 that becomes an obstacle when the automatic traveling body 1 crosses the road 202. The obstacle 204 is, for example, a street tree, a telephone pole, a step, a curb, a guardrail, a construction, a bicycle, and the like.

  The human recognition sensor 25 is attached to the backrest 12. The human recognition sensor 25 recognizes an assistant who assists the user of the automatic traveling body 1. The human recognition sensor 25 recognizes an assistant present near the automatic vehicle 1. The human recognition sensor 25 is, for example, a camera.

  As shown in FIG. 3, the automatic traveling body 1 includes a control unit 100. The control unit 100 includes a CPU and controls the automatic traveling body 1. The control unit 100 includes an acquisition unit 101, a notification unit 102, a calculation unit 103, a determination unit 104, and a storage unit 105.

  The acquisition unit 101 is connected to the sensor unit 20, the touch panel 23, and the human recognition sensor 25. The acquisition unit 101 acquires various information via the sensor unit 20, the touch panel 23, or the human recognition sensor 25. For example, the acquisition unit 101 acquires information around the automatic traveling body 1 via the sensor unit 20. The acquisition unit 101 is connected to a communication network 401. The communication network 401 is, for example, the Internet. The communication network 401 is connected to an external server 402. The acquiring unit 101 acquires information around the automatic traveling vehicle 1 via the communication network 401. For example, the acquisition unit 101 may include map data, road information (the width w of the road 202, the frequency of appearance of the vehicles 301 and 302, etc.) existing around the autonomous vehicle 1, and the position information of the vehicles 301 and 302 traveling on the road 202. And speed information.

  The notification unit 102 is connected to the speaker 21. The notification unit 102 notifies the user of the automatic traveling body 1 of various information via the speaker 21.

  The calculation unit 103 performs a predetermined calculation process. The determination unit 104 performs a predetermined determination process. The processing executed by the calculation unit 103 and the determination unit 104 will be described later. In the storage unit 105, a face image of an assistant who assists the user of the automatic traveling vehicle 1 (wheelchair) is registered.

(Crossing position determination processing)
Next, a crossing position determination process executed by the control unit 100 of the automatic traveling body 1 will be described with reference to FIG. The crossing position determination process illustrated in FIG. 4 is started, for example, when the automatic traveling body 1 approaches a road crossing point in a predetermined traveling route of the automatic traveling body 1.

  In S9 of the crossing position determination process, the determination unit 104 determines whether or not an assistant exists. More specifically, in the assistant determination process (see FIG. 6) executed before the determination unit 104 executes the crossing position determination process, a traveling pattern with an assistant is selected or traveling without an assistant is performed. It is determined whether a pattern has been selected. Details of the caregiver determination processing will be described later. When the traveling pattern with the helper is selected in the helper determination process, the determination unit 104 determines YES in S9 and proceeds to S22. On the other hand, when the running pattern without the helper is selected in the helper determination process, the determination unit 104 determines NO in S9 and proceeds to S10.

  In S22 after YES in S9, the control unit 100 controls the operation such that the automatic traveling body 1 crosses the roadway 202 while tracking behind the caregiver. When the processing in S22 ends, the traversing position determination processing ends.

  In S10 after NO in S9, the determination unit 104 determines whether or not the distance L3 from the current position of the automatic vehicle 1 to the pedestrian crossing 203 is shorter than a predetermined reference distance (for example, 30 m). Information on the distance L3 from the current position to the crosswalk 203 is acquired via the communication network 401. The acquisition unit 101 acquires map data via the communication network 401, and recognizes a distance L3 from the current position to the pedestrian crossing 203 based on the map data. If the distance L3 to the pedestrian crossing 203 is shorter than the reference distance, the determination unit 104 determines YES in S10 and proceeds to S23. Otherwise, the determination unit 104 determines NO in S10 and proceeds to S11.

  In S11, the determination unit 104 determines whether the traversing time when the automatic traveling body 1 crosses the road 202 is shorter than the appearance time of the vehicles 301 and 302 traveling on the road 202. The traversing time of the automatic traveling body 1 is a time required for the automatic traveling body 1 to cross the road 202. The traversing time of the automatic vehicle 1 is calculated based on the speed at which the automatic vehicle 1 crosses the road 202 and the width w of the road 202. The calculating unit 103 calculates the traversing time of the automatic traveling body 1. The speed at which the automatic vehicle 1 crosses the road 202 is, for example, the same as the average speed when the automatic vehicle 1 is traveling on the sidewalk 201. The width w of the roadway 202 is detected by the sensor unit 20, and the information is obtained by the obtaining unit 101.

  The appearance time of the vehicles 301 and 302 traveling on the road 202 is such that when a plurality of vehicles 301 and 302 travel on the road 202, the preceding vehicle (for example, the vehicle 301) appears and the subsequent vehicle (for example, the vehicle 302) appears. The time it takes to appear. When the frequency of appearance of the vehicles 301 and 302 traveling on the road 202 is high, the appearance time of the vehicles 301 and 302 (the time from the appearance of the preceding vehicle 301 to the appearance of the subsequent vehicle 302) is shortened.

  In S12 after NO in S11 described above, the notification unit 102 notifies the user of the distance L3 from the current position of the automatic traveling body 1 to the pedestrian crossing 203 via the speaker 21.

  The user of the automatic traveling body 1 can select whether or not to travel on the pedestrian crossing 203 with reference to the reported distance L3 to the pedestrian crossing 203. For example, by operating the touch panel 23, the user can select whether or not to run on the pedestrian crossing 203.

  In subsequent S13, the determination unit 104 determines whether the traveling of the pedestrian crossing 203 is selected. When traveling on the pedestrian crossing 203 is selected, the determination unit 104 determines YES in S13 and proceeds to S23. Otherwise, the determination unit 104 determines NO in S13 and proceeds to S14.

  In S14, the determination unit 104 selects the manual mode in which the automatic traveling body 1 travels manually. When the manual mode is selected, the user of the automatic traveling body 1 can cause the automatic traveling body 1 to travel manually. When the processing in S14 ends, the traversing position determination processing ends.

  In S23 after YES in S10 and S13, the determination unit 104 determines that the position where the pedestrian crossing 203 exists is a position suitable for crossing the road 202. Further, the determination unit 104 selects the first automatic mode in which the automatic traveling body 1 automatically crosses the pedestrian crossing 203. When the first automatic mode is selected, the automatic traveling body 1 automatically crosses the pedestrian crossing 203. When the processing in S23 ends, the traversing position determination processing ends.

  In S20 after YES in S11, the acquisition unit 101 acquires, via the sensor unit 20, information on the obstacle 204 that becomes an obstacle when the automatic traveling body 1 crosses the roadway 202. If there is an obstacle 204 for the crossing of the automatic traveling body 1, the sensor unit 20 detects the obstacle 204.

  In S21, the determination unit 104 executes a crossing start determination process (see FIG. 5). Details of the crossing start determination process will be described later.

(Crossing start determination processing)
Next, a crossing start determination process performed by the control unit 100 of the automatic traveling body 1 will be described with reference to FIG. The crossing start determination processing is a subroutine processing in the above-described crossing position determination processing (see S21 in FIG. 4).

  In S30 of the crossing start determination processing, the determination unit 104 determines that the vehicle traveling on the road 202 from the right side to the left side of the automatic traveling body 1 is １ ／ of the traversing time when the automatic vehicle 1 crosses the road 202. It is determined whether or not the time is shorter than the arrival time 301 (see FIG. 2). The traversing time of the automatic traveling body 1 is a time required for the automatic traveling body 1 to cross the road 202. One half of the traversing time of the automatic traveling body 1 is a time required for the automatic traveling body 1 to reach the center of the road 202 from the sidewalk 201. The arrival time of the vehicle 301 is the time required for the vehicle 301 traveling on the road 202 from right to left to reach the crossing position of the automatic traveling body 1. The arrival time of the vehicle 301 is based on the distance L1 from the current position of the automatic vehicle 1 to the vehicle 301 traveling on the road 202 from right to left, and the speed v1 of the vehicle 301 traveling on the road 202 from right to left. Is calculated. The calculation unit 103 calculates １ ／ of the traversing time of the automatic traveling body 1 and the arrival time of the vehicle 301. When 横断 of the traversing time of the automatic traveling body 1 is shorter than the arrival time of the vehicle 301, the determination unit 104 determines YES in S30 and proceeds to S31. Otherwise, the determination unit 104 determines NO in S30 and proceeds to S40.

  In S31, the determination unit 104 determines that the traversing time when the automatic traveling body 1 crosses the road 202 reaches the vehicle 302 (see FIG. 2) traveling on the road 202 from the left side to the right side of the automatic traveling body 1. It is determined whether it is shorter than the time. The traversing time of the automatic traveling body 1 is a time required for the automatic traveling body 1 to cross the road 202. The arrival time of the vehicle 302 is the time required for the vehicle 302 traveling on the road 202 from left to right to reach the crossing position of the automatic vehicle 1. The arrival time of the vehicle 302 is based on a distance L2 from the current position of the automatic traveling body 1 to the vehicle 302 traveling on the road 202 from left to right, and a speed v2 of the vehicle 302 traveling on the road 202 from left to right. Is calculated. The calculation unit 103 calculates the traversing time of the automatic traveling body 1 and the arrival time of the vehicle 302. When the traversing time of the automatic traveling body 1 is shorter than the arrival time of the vehicle 302, the determination unit 104 determines YES in S31, and proceeds to S32. Otherwise, the determination unit 104 determines NO in S31 and proceeds to S40.

  In S32, the determination unit 104 determines whether there is an obstacle 204 that becomes an obstacle when the automatic traveling body 1 crosses the road 202. If there is no obstacle 204, the determination unit 104 determines YES in S32 and proceeds to S33. Otherwise, the determination unit 104 determines NO in S32 and proceeds to S41. The obstacle 204 is detected by the sensor unit 20. The obstacle 204 is, for example, a street tree, a telephone pole, a step, a curb, a guardrail, a construction, a bicycle, and the like.

  In subsequent S33, the determination unit 104 determines that the crossing of the roadway 202 may be started from the current position of the automatic traveling body 1. The determining unit 104 selects the second automatic mode in which the automatic traveling body 1 automatically crosses the road 202. When the second automatic mode is selected, the automatic traveling vehicle 1 automatically crosses the road 202. The automatic vehicle 1 crosses the road 202 from the current position.

  In S40 after NO in S30 and S31, the notification unit 102 notifies the user via the speaker 21 that the vehicle 301 or 302 is approaching the crossing position of the automatic traveling body 1.

  In subsequent S41, the determination unit 104 determines whether the manual traveling is selected. When the user of the automatic traveling body 1 selects the manual traveling by operating the touch panel 23, the determination unit 104 determines YES in S41, and proceeds to S42. Otherwise, the determination section 104 determines NO in S41 and returns to S30. In the case of NO in S41, the automatic vehicle 1 may start traversing the road 202 after waiting for the vehicle 301 or 302 approaching the crossing position of the automatic vehicle 1 to pass.

  In S42, the determination unit 104 selects the manual mode in which the automatic traveling body 1 travels manually. When the manual mode is selected, the user of the automatic traveling body 1 can cause the automatic traveling body 1 to travel manually. When the processing in S42 ends, the traversing position determination processing ends.

(Assistant determination process)
Next, a caregiver determination process executed by the control unit 100 of the automatic vehicle 1 will be described with reference to FIG. The assistant determination process shown in FIG. 6 is started, for example, while the automatic traveling body 1 (wheelchair) is traveling, and before the above-described crossing position determination process (see FIG. 4) is executed.

  In S51, the determination unit 104 determines whether the person recognition sensor 25 has recognized the assistant of the user of the automatic traveling body 1. For example, the determination unit 104 determines whether or not there is a person who matches the face image of the caregiver registered in the storage unit 105 among the people walking around the automatic traveling body 1 detected by the human recognition sensor 25. Is determined by pattern matching. When the assistant is recognized by the human recognition sensor 25, the determination unit 104 determines YES in S51 and proceeds to S54. Otherwise, the determination unit 104 determines NO in S51 and proceeds to S52. The information of the assistant recognized by the human recognition sensor 25 is obtained by the obtaining unit 101.

  In subsequent S52, the determination unit 104 determines whether or not the speed vector of the automatic traveling vehicle 1 is the same as the speed vector of the person existing closest to the automatic traveling vehicle 1. The speed vector of the automatic traveling body 1 is calculated based on the traveling speed of the automatic traveling body 1. The speed vector of the person existing closest to the automatic traveling body 1 is calculated based on the walking speed of the person existing closest to the automatic traveling body 1. The walking speed of the person present closest to the automatic traveling body 1 is detected by the sensor unit 20. The information on the traveling speed of the automatic traveling body 1 and the information on the walking speed of the person are acquired by the acquiring unit 101 via the sensor unit 20. The speed vector of the automatic traveling body 1 and the person is calculated by the calculation unit 103. As shown in FIG. 7, when the speed vectors V0 and Vx of the automatic traveling body 1 and the person are the same, the determination unit 104 determines YES in S52 and proceeds to S54. Otherwise, the determination unit 104 determines NO in S52 and proceeds to S53.

  In S53, the determination unit 104 selects a traveling pattern without an assistant. Then, the automatic traveling body 1 travels in a traveling pattern without an assistant. For example, the automatic traveling body 1 travels at a low speed. Alternatively, the automatic vehicle 1 crosses the road 202 from the current position. When the processing in S53 ends, the caregiver determination processing ends.

  In S54 after YES in S50, S51, and S52, the determination unit 104 selects a traveling pattern with an assistant. Then, the automatic traveling body 1 travels in a traveling pattern with an assistant. More specifically, the determination unit 104 determines that it is appropriate for the automatic traveling body 1 to track behind the caregiver without crossing the road 202 from the current position. When the processing in S54 ends, the caregiver determination processing ends.

  The automatic traveling body 1 according to the embodiment has been described above. As is clear from the above description, the automatic traveling body 1 can automatically travel on the sidewalk 201. The automatic traveling body 1 includes a sensor unit 20 for acquiring surrounding information and an acquiring unit 101. In addition, based on the information acquired by the sensor unit 20 and the acquisition unit 101, the automatic traveling body 1 determines whether the current position of the automatic traveling body 1 is a position suitable for crossing the road 202 adjacent to the sidewalk 201. A determination unit 104 for determining whether or not the determination is performed is provided (see S21 and S22 in FIG. 4). According to this configuration, even if there is no guidance facility for the automatic traveling body 1 to cross the road 202, it is determined whether the current position of the automatic traveling body 1 is a position suitable for crossing the road 202. Can be determined.

  Further, in the automatic traveling body 1 described above, the sensor unit 20 and the acquisition unit 101 acquire information on the width w of the road 202 and information on a plurality of vehicles 301 and 302 traveling on the road 202. The calculation unit 103 calculates a traversing time required for the automatic traveling body 1 to cross the road 202 based on the information on the width w of the road 202. Further, the calculation unit 103 requires a time from when a preceding vehicle (for example, the vehicle 301) appears to when a next vehicle (for example, the vehicle 302) appears based on information of the plurality of vehicles 301 and 302 traveling on the roadway 202. Calculate the appearance time. When the traversing time calculated by the calculating unit 103 is shorter than the appearance time, the determining unit 104 determines that the current position of the automatic traveling body 1 is a position suitable for crossing the road 202 (S11 in FIG. 4). reference). According to this configuration, when there are a plurality of vehicles 301 and 302 traveling on the road 202, it is possible to determine the position where the automatic traveling body 1 can safely cross the road 202.

  Further, in the automatic traveling body 1 described above, the sensor unit 20 and the acquisition unit 101 can acquire information on the obstacle 204 that becomes an obstacle when the automatic traveling body 1 crosses the road 202. When the information of the obstacle 204 is not acquired by the sensor unit 20 and the acquisition unit 101, the determination unit 104 determines that the current position of the automatic traveling body 1 is a position suitable for crossing the roadway 202. According to this configuration, it is possible to determine that a position where the obstacle 204 does not exist is a position suitable for crossing the road 202.

  Further, in the automatic traveling body 1 described above, the sensor unit 20 and the acquisition unit 101 can acquire information indicating that the pedestrian crossing 203 exists within a predetermined range around the automatic traveling body 1. When the determination unit 104 obtains the information indicating that the pedestrian crossing 203 is present by the sensor unit 20 and the obtaining unit 101, the position where the pedestrian crossing 203 is present is smaller than the current position of the automatic traveling vehicle 1 on the road 202. It is determined that the position is suitable for crossing (see S10 and S23 in FIG. 4). According to this configuration, it is possible to determine that the position where the pedestrian crossing 203 exists is a position suitable for crossing the road 202. It is possible to determine a position where the automatic traveling body 1 can safely cross the road 202.

  Further, in the above-described automatic traveling body 1, the calculation unit 103 calculates the traversing time required for the automatic traveling body 1 to cross the road 202 based on the information on the width w of the road 202. Further, when the automatic traveling body 1 crosses the road 202, the calculation unit 103 calculates the arrival time required for the vehicle 302 traveling on the road 202 to reach the crossing position of the automatic traveling body 1. If the traversing time of the automatic vehicle 1 calculated by the calculating unit 103 is shorter than the arrival time of the vehicle 302, the determining unit 104 determines that the current position of the automatic vehicle 1 crosses the roadway 202 (S31 in FIG. 5). , S32). According to this configuration, the automatic vehicle 1 can cross the road 202 before the vehicle 302 traveling on the road 202 reaches the crossing position of the automatic vehicle 1. The automatic vehicle 1 can safely cross the road 202.

  Further, in the automatic traveling body 1 described above, the acquisition unit 101 can acquire information indicating that there is an assistant who assists the user of the automatic traveling body 1 (YES in S50, S51, or S52 in FIG. 6). reference). When the determination unit 104 obtains information indicating that a caregiver is present by the acquisition unit 101, it is preferable to track behind the caregiver without crossing the road 202 from the current position of the automatic traveling body 1. Is determined (see S54 in FIG. 6). According to this configuration, it is possible to track behind the assistant when the assistant is present. Therefore, the automatic traveling body 1 can travel safely.

  Further, in the above-described automatic traveling body 1, the sensor unit 20 is disposed at the center of the automatic traveling body 1 in the left-right direction. The support 22 supports the sensor unit 20 so that it can rotate horizontally. According to this configuration, the situation around the automatic traveling body 1 can be accurately detected by the sensor unit 20.

(Correspondence)
The sensor unit 20, the human recognition sensor 25, and the acquisition unit 101 are an example of an “information acquisition unit”.

  As mentioned above, although one Example was described, the specific aspect is not limited to the said Example. In the following description, the same components as those in the above description are denoted by the same reference numerals, and description thereof is omitted.

  In the above embodiment, in S10, the information of the distance L3 from the current position of the automatic traveling body 1 to the pedestrian crossing 203 is acquired via the communication network 401, but the present invention is not limited to this configuration. In another embodiment, the distance L3 from the current position to the pedestrian crossing 203 may be detected by the sensor unit 20, and the information may be obtained by the obtaining unit 101. Further, the acquisition unit 101 may recognize the distance L3 from the current position to the pedestrian crossing 203 based on the information on the environment around the automatic traveling body 1 stored in the storage unit 105.

  In the above embodiment, in S11, the width of the roadway 202 was detected by the sensor unit 20, but the invention is not limited to this configuration. In another embodiment, the acquiring unit 101 may acquire map data via the communication network 401 and recognize the width of the roadway 202 based on the map data.

  In the above embodiment, the configuration is such that the human recognition sensor 25 recognizes the caregiver. However, in another embodiment, the human recognition sensor 25 is not provided, and the sensor unit 20 recognizes the caregiver. There may be.

  In another embodiment, processing similar to S30 may be executed again instead of the processing of S41 and S42 shown in FIG.

  In the above embodiment, the process of S52 shown in FIG. 6 is executed after NO in S51, but in other embodiments, the process of S52 may be executed after YES in S51. According to this configuration, it is possible to confirm whether or not the person detected by the person recognition sensor 25 is really an assistant.

  In another embodiment, the processing of S51 may be executed after YES in S52. According to this configuration, it is possible to confirm whether or not a person having the same speed vector as the speed vector of the automatic traveling body 1 is really an assistant.

  As described above, specific examples of the present invention have been described in detail, but these are merely examples, and do not limit the scope of the claims. The technology described in the claims includes various modifications and alterations of the specific examples illustrated above. The technical elements described in the present specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Further, the technology illustrated in the present specification or the drawings can achieve a plurality of objects at the same time, and has technical utility by achieving one of the objects.

1: Automatic traveling body, 10: Body, 11: Seat, 12: Backrest, 13: Footrest, 14: Armrest, 15: Wheel, 20: Sensor unit, 21: Speaker, 22: Support, 23: Touch panel, 25 : Human recognition sensor, 100: control unit, 101: acquisition unit, 102: notification unit, 103: calculation unit, 104: determination unit, 105: storage unit, 201: sidewalk, 202: roadway, 203: crosswalk, 204: Obstacle, 401: Communication network, 402: Server

Claims (6)

An autonomous vehicle that can automatically run on the sidewalk,
An information acquisition unit that acquires information around the automatic traveling body,
A determination unit configured to determine whether a current position of the automatic traveling body is a position suitable for crossing a roadway adjacent to a sidewalk based on information acquired by the information acquisition unit. , Autonomous vehicle. The automatic traveling body according to claim 1,
It has a calculation unit that calculates time,
The information obtaining unit obtains information on the width of the road and information on a plurality of vehicles traveling on the road,
The calculation unit calculates a traversing time required for the automatic traveling body to cross the road on the basis of information on a width of the road, and a preceding vehicle appears based on information on a plurality of vehicles traveling on the road. After that, calculate the appearance time required until the next vehicle appears,
When the traversing time calculated by the calculating unit is shorter than the appearance time, the determining unit determines that the current position of the automatic vehicle is a position suitable for crossing a roadway adjacent to a sidewalk. , Autonomous vehicle. The automatic traveling body according to claim 1 or 2,
The information acquisition unit is capable of acquiring information on an obstacle that becomes an obstacle when the automatic traveling body crosses a roadway,
If the information acquisition unit does not acquire information on an obstacle, the determination unit determines that the current position of the automatic traveling body is a position suitable for crossing a roadway adjacent to a sidewalk. Traveling body. It is an automatic traveling body according to any one of claims 1 to 3,
The information acquisition unit is capable of acquiring information indicating that a pedestrian crossing exists within a predetermined range around the automatic traveling body,
When the information indicating that a pedestrian crossing is present is acquired by the information acquiring unit, the position where the pedestrian crossing is present is more suitable for traversing the lane than the current position of the automatic traveling body. An automatic vehicle that determines that it is a position. It is an automatic traveling body according to any one of claims 1 to 4,
It has a calculation unit that calculates time,
The information acquisition unit acquires information on the width of the roadway and information on vehicles traveling on the roadway,
The calculating unit calculates a traversing time required for the automatic traveling body to cross the road based on the information on the width of the road, and a vehicle traveling on the road when the automatic traveling body crosses the road. Calculate the arrival time required to reach the crossing position of the automatic traveling body,
The automatic traveling body, wherein the determination unit determines that the current position of the automatic traveling body crosses a roadway adjacent to a sidewalk when the traversing time calculated by the calculation unit is shorter than the arrival time. The automatic traveling body according to any one of claims 1 to 5, wherein the automatic traveling body is a wheelchair,
The information acquisition unit is capable of acquiring information indicating that there is an assistant assisting the user of the wheelchair,
When the information indicating that a caregiver is present is acquired by the information acquisition unit, the determination unit is preferably configured to track behind the caregiver without crossing a road from the current position of the automatic traveling body. An automatic vehicle that determines that it is running.

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