JP2020181560A - 自動運転車の自動運転走行経路中央制御装置 - Google Patents
自動運転車の自動運転走行経路中央制御装置 Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B55/00—Bags for golf clubs; Stands for golf clubs for use on the course; Wheeled carriers specially adapted for golf bags
- A63B55/60—Wheeled carriers specially adapted for golf bags
- A63B55/61—Wheeled carriers specially adapted for golf bags motorised
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/36—Training appliances or apparatus for special sports for golf
- A63B69/3691—Golf courses; Golf practising terrains having a plurality of driving areas, fairways, greens
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B55/00—Bags for golf clubs; Stands for golf clubs for use on the course; Wheeled carriers specially adapted for golf bags
- A63B55/60—Wheeled carriers specially adapted for golf bags
- A63B2055/603—Wheeled carriers specially adapted for golf bags with means for trailing the caddy other than by hand
- A63B2055/605—Wheeled carriers specially adapted for golf bags with means for trailing the caddy other than by hand by remote control
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/30—Maintenance
- A63B2225/305—Remote servicing
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Physical Education & Sports Medicine (AREA)
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- Business, Economics & Management (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Atmospheric Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mathematical Physics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
付けるもの)、P3は遊休(□付けるもの))を決定することで、P1及びP2を自動運転走行経路に用い、複数の自動運転車Cをそれぞれに自動運転走行経路P1及びP2(P3遊休)に走行させる。
3…中央制御モジュール、 11…地図構築ユニット、 31…番号付けユニット、
32…残り取りユニット、 33…指定ユニット、 34…無線伝送ユニット、
100…自動運転車の自動運転走行経路中央制御装置、 A…自動運転エリア、
C…自動運転車、 P0、P1、P2、P3、P4…自動運転走行経路。
Claims (8)
- ゴルフ場のフェアウェイを自動運転エリアとして、前記自動運転エリアにおいて複数の自動運転車によって自動運転を行う自動運転車の自動運転走行経路中央制御装置であって、
前記自動運転エリアで複数の自動運転走行経路を作成し、各前記自動運転車が自動運転方式で自動運転するように、複数の前記自動運転走行経路における各前記自動運転走行経路を複数の前記自動運転車における各前記自動運転車に提供する自動運転走行経路作成モジュールと、
前記自動運転走行経路作成モジュールに接続され、複数の前記自動運転走行経路の中から適用不能な自動運転走行経路を排除するかどうかを決定し、前記適用不能な自動運転走行経路を排除した複数の前記自動運転走行経路が適用可能な自動運転走行経路であり、排除された前記適用不能な自動運転走行経路を選択的に前記適用可能な自動運転走行経路に変更するように再調整する自動運転走行経路排除決定モジュールと、
前記自動運転走行経路作成モジュール及び前記自動運転走行経路排除決定モジュールに接続され、前記自動運転走行経路排除決定モジュールが提供する前記適用可能な自動運転走行経路を受信し、且つ前記適用可能な自動運転走行経路の中から自動運転走行経路を決定し、決定された前記自動運転走行経路を複数の前記自動運転車における各前記自動運転車が走行する個別自動運転走行経路に用い、各前記自動運転車が前記個別自動運転走行経路を自動運転方式で走行するように制御する中央制御モジュールと、を有することを特徴とする自動運転車の自動運転走行経路中央制御装置。 - 前記中央制御モジュールが、前記適用可能な自動運転走行経路の中から、全ての前記適用可能な自動運転走行経路或は一部の前記適用可能な自動運転走行経路を、候補自動運転走行経路集合として選択し、前記候補自動運転走行経路集合の中から前記自動運転走行経路をピックアップし、ピックアップされた前記自動運転走行経路を、複数の前記自動運転車における各前記自動運転車が走行する個別自動運転走行経路にして、各前記自動運転車が前記個別自動運転走行経路を自動運転方式で走行するように制御することを特徴とする請求項1に記載の自動運転車の自動運転走行経路中央制御装置。
- 前記中央制御モジュールが、当日自動運転車数量及び/或は自動運転エリア保守計画によって、前記候補自動運転走行経路集合を選択することを特徴とする請求項2に記載の自動運転車の自動運転走行経路中央制御装置。
- 前記中央制御モジュールが、複数の前記自動運転車における各前記自動運転車に関する自動運転車発車情報によって、前記候補自動運転走行経路集合の中から確率が平均である方式で前記自動運転走行経路を選択することを特徴とする請求項2に記載の自動運転車の自動運転走行経路中央制御装置。
- 前記中央制御モジュールが、
前記自動運転走行経路作成モジュール及び前記自動運転走行経路排除決定モジュールに接続され、前記候補自動運転走行経路集合における候補自動運転走行経路に対して0からの自然数を用いて順次に番号を付ける番号付けユニットと、
前記番号付けユニットに接続され、前記自動運転車の発車回数を、前記候補自動運転走行経路集合における前記候補自動運転走行経路の合計数で割って、残りを求める残り取りユニットと、
前記残り取りユニットに接続され、前記候補自動運転走行経路集合の中から、前記残りの数字が前記番号と同じの前記候補自動運転走行経路を前記自動運転走行経路として指定する指定ユニットと、を有することを特徴とする請求項4に記載の自動運転車の自動運転走行経路中央制御装置。 - 前記自動運転走行経路作成モジュールが、エリア地図を構築する地図構築ユニットを有するものであり、前記エリア地図が前記自動運転エリアを包括し、前記エリア地図が前記自動運転エリアの電子地図及び地形特徴によって作られることを特徴とする請求項1に記載の自動運転車の自動運転走行経路中央制御装置。
- 前記中央制御モジュールが、前記個別自動運転走行経路を各前記自動運転車に送信することを特徴とする請求項1に記載の自動運転車の自動運転走行経路中央制御装置。
- 前記中央制御モジュールが無線伝送ユニットを有し、ワイヤレス伝送を用いて前記個別自動運転走行経路を各前記自動運転車に伝送することを特徴とする請求項1に記載の自動運転車の自動運転走行経路中央制御装置。
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TW108114223A TWI684085B (zh) | 2019-04-24 | 2019-04-24 | 自駕車輛之自駕行駛路徑中央控制裝置 |
TW108114223 | 2019-04-24 |
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US (1) | US11194343B2 (ja) |
EP (1) | EP3731054B1 (ja) |
JP (1) | JP6986535B2 (ja) |
KR (1) | KR102240650B1 (ja) |
CN (1) | CN111862658B (ja) |
AU (1) | AU2019216717B2 (ja) |
CA (1) | CA3056306C (ja) |
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CN113544612A (zh) * | 2020-02-13 | 2021-10-22 | 扬升育乐事业股份有限公司 | 高尔夫球道自驾车辆的球迹追踪自驾行驶路径中央控制系统 |
KR102504450B1 (ko) | 2022-09-20 | 2023-03-06 | 주식회사 티앤에이치시스템 | 골프카트 자율주행보조장치 및 이의 동작방법, 골프카트 자율주행보조장치를 포함하는 골프카트 관제 시스템 및 이의 동작방법 |
KR102515151B1 (ko) * | 2022-11-04 | 2023-03-29 | 주식회사 유오케이 | 무인 골프 카트의 자율 주행을 제어하는 기법 |
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WO1994009423A1 (en) * | 1992-10-08 | 1994-04-28 | Masamori Koseki | Method of guiding driving of golf cart |
JP2796542B2 (ja) * | 1992-10-08 | 1998-09-10 | 博夫 庄司 | ゴルフカート走行誘導法 |
JP2000163125A (ja) * | 1998-11-26 | 2000-06-16 | G Three:Kk | 自動走行カートシステム |
JP2003265663A (ja) * | 2002-03-19 | 2003-09-24 | Sanyo Electric Co Ltd | 自走車両 |
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US20200341489A1 (en) | 2020-10-29 |
CA3056306C (en) | 2022-11-15 |
KR20200125381A (ko) | 2020-11-04 |
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CN111862658B (zh) | 2021-10-01 |
US11194343B2 (en) | 2021-12-07 |
EP3731054B1 (en) | 2022-10-05 |
KR102240650B1 (ko) | 2021-04-16 |
TWI684085B (zh) | 2020-02-01 |
TW202040298A (zh) | 2020-11-01 |
EP3731054A1 (en) | 2020-10-28 |
AU2019216717B2 (en) | 2021-02-25 |
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CN111862658A (zh) | 2020-10-30 |
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