JP2022051023A - Vehicle control device - Google Patents

Abstract

To improve a convenience of automatic driving control of a vehicle which carries a load.SOLUTION: Provided is a vehicle control device 1 which comprises: a positioning unit 11 for positioning a position of a vehicle 100; and a control unit 16 for executing automatic driving control of the vehicle 100 so that the vehicle 100 travels according to travel plans R1 and R2. When the position of the vehicle 100 positioned by the positioning unit 11 is a loading location P1, the control unit 16 executes the automatic driving control of the vehicle 100 so that the vehicle 100 travels according to the travel plan R1 associated with the loading location P1. When the position of the vehicle 100 positioned by the positioning unit 11 is an unloaded location P2, the control unit 16 executes the automatic driving control of the vehicle 100 so that the vehicle 100 travels according to the travel plan R2 associated with the unloaded location P2. Switching between the travel plan R1 from the loading location P1 and the travel plan R2 from the unloaded location P2 can be automated, and the convenience of the automatic driving control of the vehicle 100 carrying the load can be improved.SELECTED DRAWING: Figure 1

Description

The present invention relates to a vehicle control device.

A technique for executing automatic driving control of an automobile has been proposed. For example, Patent Document 1 discloses a device that generates a travel plan based on map information and automatically controls driving so that a vehicle travels according to the travel plan.

Japanese Unexamined Patent Publication No. 2020-071053

By the way, the driving plan of the automatic driving control is basically a route for moving two points, a starting point for starting the automatic driving control and a destination for ending the automatic driving control, and each point on the route and each point on the route. It is given in multiple driving plans including the speed and course at each time. When the automatic driving control of the vehicle carrying the load is executed in a certain section, the travel plan from the loading place where the load is loaded on the vehicle and the unloaded place where the load is unloaded from the vehicle, etc. It may be necessary to switch between two types of driving plans with the driving plan from. In this case, it is necessary to switch the traveling plan by operating the driver with respect to the switch or the like. In order to realize fully automatic driving control, it is desired to automate such switching of driving plans.

Therefore, an object of the present invention is to provide a vehicle control device capable of improving the convenience of automatic driving control of a vehicle carrying a load.

The present invention includes a positioning unit that positions the position of the vehicle and a control unit that executes automatic driving control of the vehicle so that the vehicle travels according to a travel plan. The control unit is the position of the vehicle positioned by the positioning unit. When is the loading location where the load is loaded on the vehicle, the automatic driving control of the vehicle is executed so that the vehicle travels according to the travel plan associated with the loading location, and the position of the vehicle determined by the positioning unit is determined. When the vehicle is in an unloaded area where either unloading or discharging of the load is performed from the vehicle, a vehicle control device that executes automatic driving control of the vehicle so that the vehicle travels according to the travel plan associated with the unloaded vehicle. be.

According to this configuration, a vehicle control device including a positioning unit for positioning the position of the vehicle and a control unit for executing automatic driving control of the vehicle so that the vehicle travels according to a travel plan is provided. When the position of the vehicle determined by the positioning unit is the loading location where the load is loaded on the vehicle, the control unit controls the automatic driving of the vehicle so that the vehicle travels according to the travel plan associated with the loading location. Execute. On the other hand, when the position of the vehicle positioned by the positioning unit is an unloaded place where either unloading or discharging of the load is performed from the vehicle, the control unit determines that the vehicle follows the driving plan associated with the unloaded place. Performs automatic driving control of the vehicle to drive. Therefore, it is possible to automate the switching between the traveling plan from the loaded place and the traveling plan from the unloaded place, and it is possible to improve the convenience of the automatic driving control of the vehicle carrying the load.

In this case, a weight detection unit that detects the weight of the vehicle is further provided, and the control unit has the position of the vehicle positioned by the positioning unit as the loading location, and the weight of the vehicle detected by the weight detection unit determines the weight threshold. When it exceeds, the automatic driving control of the vehicle is executed so that the vehicle travels according to the travel plan associated with the loading location, and the position of the vehicle positioned by the positioning unit is the unloaded location and the weight detection unit. When the weight of the vehicle detected by is less than or equal to the weight threshold, it is preferable to execute the automatic driving control of the vehicle so that the vehicle travels according to the travel plan associated with the unloaded area.

According to this configuration, whether the position of the vehicle determined by the positioning unit is the loading location or the unloaded location, and whether the weight of the vehicle detected by the weight detecting unit exceeds the weight threshold value. Based on the above, the control unit switches between a travel plan from the loaded location and a travel plan from the unloaded location. Therefore, the accuracy of switching between the traveling plan from the loading location and the traveling plan from the unloaded location is improved.

Further, a parking brake operation detection unit for detecting the presence or absence of the parking brake operation of the vehicle is further provided, and the control unit has the position of the vehicle positioned by the positioning unit as the loading location and the parking brake operation detection unit for the parking brake. When the operation of the vehicle is detected, the automatic driving control of the vehicle is executed so that the vehicle travels according to the travel plan associated with the loading location, and the position of the vehicle positioned by the positioning unit is the unloaded location. When the parking brake operation detection unit detects the operation of the parking brake, it is preferable to execute the automatic driving control of the vehicle so that the vehicle travels according to the travel plan associated with the unloaded area.

According to this configuration, it is based on whether the position of the vehicle determined by the positioning unit is the loading location or the unloaded location, and whether the parking brake operation is detected by the parking brake operation detection unit. Then, the control unit switches between a travel plan from the loaded location and a travel plan from the unloaded location. Therefore, the accuracy of switching between the traveling plan from the loading location and the traveling plan from the unloaded location is improved.

Further, a shift position detection unit for detecting the shift position of the transmission of the automobile is further provided, and the control unit has a shift position in which the position of the automobile positioned by the positioning unit is the loading location and is detected by the shift position detection unit. When is the shift position when the vehicle is stopped, the automatic driving control of the vehicle is executed so that the vehicle travels according to the travel plan associated with the loading location, and the position of the vehicle positioned by the positioning unit is the unloaded location. When the shift position detected by the shift position detector is the shift position when the vehicle is stopped, the automatic driving control of the vehicle is executed so that the vehicle travels according to the travel plan associated with the unloaded area. It is preferable to do so.

According to this configuration, in addition to whether the position of the vehicle positioned by the positioning unit is the loading location or the unloaded location, the shift position detected by the shift position detection unit is the shift position when the vehicle is stopped. Based on whether or not, the control unit switches between a travel plan from the loaded location and a travel plan from the unloaded location. Therefore, the accuracy of switching between the traveling plan from the loading location and the traveling plan from the unloaded location is improved.

Further, a speed detection unit for detecting the speed of the vehicle is further provided, and the control unit is used when the position of the vehicle positioned by the positioning unit is the loading location and the speed detected by the speed detection unit is equal to or less than the speed threshold value. Executes automatic driving control of the vehicle so that the vehicle travels according to the travel plan associated with the loading location, and the position of the vehicle positioned by the positioning unit is an unloaded location and is detected by the speed detection unit. When the speed is less than or equal to the speed threshold, it is preferable to execute the automatic driving control of the vehicle so that the vehicle travels according to the travel plan associated with the unloaded area.

According to this configuration, the position of the vehicle determined by the positioning unit is based on whether the vehicle is loaded or unloaded, and whether the speed detected by the speed detecting unit is equal to or less than the speed threshold value. , The control unit switches between a travel plan from a loaded location and a travel plan from an unloaded location. Therefore, the accuracy of switching between the traveling plan from the loading location and the traveling plan from the unloaded location is improved.

According to the vehicle control device of the present invention, the convenience of automatic driving control of a vehicle carrying a load can be improved.

It is a block diagram which shows the vehicle control device which concerns on embodiment. It is a figure which shows the example of the traveling plan which concerns on embodiment. It is a flowchart which shows the operation of the vehicle control device which concerns on embodiment.

Hereinafter, the vehicle control device according to the embodiment of the present invention will be described in detail with reference to the drawings. The vehicle control device 1 shown in FIG. 1 is mounted on the automobile 100 and executes automatic driving control of the automobile 100 so that the automobile 100 travels according to a travel plan. The travel plan is, for example, a route for moving two points, a starting point for starting automatic driving control and a destination for ending automatic driving control, and the speed and course at each point and time on the route. Means information that includes. The travel plan may be created in advance before the travel of the automobile 100, or may be generated during the travel of the automobile 100.

The starting point and the destination include a loading place where the load is loaded on the vehicle 100 and an unloaded place where either the load is unloaded or discharged from the vehicle 100. Loads include raw materials and industrial products that are loaded at the loading location and unloaded at the unloaded location if either the loading location or the unloaded location is a collection point, factory, store, etc. .. In addition, if either the loaded place or the unloaded place is a factory, a store, a processing facility, etc., the loaded material is loaded at the loaded place and discharged at the unloaded place. Things are included. In addition, when either the loaded place or the unloaded place is a construction site or the like, the loaded material includes earth and sand that are loaded at the loaded place and discharged at the unloaded place. The automatic driving control means that, for example, the speed, acceleration, deceleration, and steering angle of the automobile 100 are automatically controlled without the driving operation of the driver of the automobile 100. The automatic driving control may include the operation of the parking brake of the automobile 100 and the automatic control of the shift position of the transmission of the automobile 100.

The automobile 100 is, for example, a freight vehicle such as a truck, a tank truck, and a dump truck. The automobile 100 may be any of a vehicle having only an internal combustion engine as a power source, an electric hybrid vehicle having an internal combustion engine and an electric motor as a power source, and an electric vehicle having only an electric motor as a power source. The vehicle control device 1 includes a GNSS 2, a load sensor 3, a parking brake sensor 4, a shift position sensor 5, a vehicle speed sensor 6, an ECU 10, a steering actuator 21, an accelerator actuator 22, and a brake actuator 23.

The GNSS (Global Navigation Satellite System) 2 receives signals from four or more positioning satellites and acquires position information indicating the position of the automobile 100. The location information includes, for example, latitude and longitude. The GNSS2 outputs the measured position information of the automobile 100 to the ECU 10.

The load sensor 3 detects the weight of the automobile 100 and outputs a signal indicating the weight of the automobile 100 to the ECU 10. The load sensor 3 may detect the total weight of the automobile 100, or may detect the weight of a part of the automobile 100 such as the loading platform of the automobile 100.

The parking brake sensor 4 detects whether or not the parking brake of the automobile 100 is activated, and outputs a signal indicating whether or not the parking brake is activated to the ECU 10. The parking brake sensor 4 can detect whether or not the parking brake of the automobile 100 is activated by detecting, for example, a signal to a display indicating the operation of the parking brake of the automobile 100.

The shift position sensor 5 detects the shift position of the transmission of the automobile 100, and outputs a signal indicating the shift position to the ECU 10. The shift position sensor 5 can detect the shift position of the transmission of the automobile 100, for example, by detecting a signal to the display indicating the shift position of the transmission of the automobile 100.

The vehicle speed sensor 6 detects the speed of the automobile 100 and outputs a signal indicating the speed to the ECU 10. As the vehicle speed sensor 6, for example, a wheel speed sensor that detects the vehicle speed of the automobile 100 by detecting the rotational speed of the wheels of the automobile 100 is used.

The ECU 10 is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], an HDD (Hard disk drive), and the like. The ECU 10 has a positioning unit 11, a weight detection unit 12, a parking brake operation detection unit 13, a shift position detection unit 14, a speed detection unit 15, a control unit 16, and a database 17. In the ECU 10, the program stored in the ROM is loaded into the RAM and executed by the CPU to control each unit such as the positioning unit 11 described above. The ECU 10 may be composed of a plurality of electronic control units.

The positioning unit 11 positions the position of the automobile 100 by receiving the signal output by the GNSS 2. In addition, the positioning unit 11 may use other means that can specify the latitude and longitude in which the automobile 100 exists, instead of the GNSS2.

The weight detection unit 12 detects the weight of the automobile 100 by receiving the signal output by the load sensor 3. As described above, the weight of the automobile 100 includes the total weight of the automobile 100 and the weight of a part of the automobile 100 such as the loading platform of the automobile 100. Even if the weight detection unit 12 is connected to an acceleration sensor (not shown) that measures the acceleration of the automobile 100 and an output sensor (not shown) that measures the output of the internal combustion engine or the electric motor for driving the automobile 100. good. The weight detecting unit 12 calculates the weight of the automobile 100 based on the acceleration of the automobile 100 measured by the acceleration sensor and the outputs of the electric motor and the internal combustion engine measured by the output sensor, thereby determining the weight of the automobile 100. It may be detected.

The parking brake operation detection unit 13 detects whether or not the parking brake of the automobile 100 is activated by receiving the signal output by the parking brake sensor 4. When the operation of the parking brake of the automobile 100 is automatically controlled, the parking brake operation detecting unit 13 detects whether or not the parking brake of the automobile 100 is activated by receiving the control signal of the parking brake. May be good.

The shift position detection unit 14 detects the shift position of the transmission of the automobile 100 by receiving the signal output by the shift position sensor 5. When the shift position of the transmission of the automobile 100 is automatically controlled, the shift position detection unit 14 may detect the shift position of the transmission of the automobile 100 by receiving the control signal of the transmission. good.

The speed detection unit 15 detects the speed of the automobile 100 by receiving the signal output by the vehicle speed sensor 6.

The control unit 16 executes automatic driving control of the vehicle 100 so that the vehicle 100 travels according to the travel plan. Specifically, when the position of the vehicle 100 positioned by the positioning unit 11 is the loading location where the load is loaded on the vehicle 100, the control unit 16 sets the vehicle 100 at the loading location after the vehicle 100 departs from the loading location. The automatic driving control of the vehicle 100 is executed so that the vehicle 100 travels according to the associated travel plan. On the other hand, when the position of the vehicle 100 positioned by the positioning unit 11 is an unloaded place where either unloading or discharging of the load is performed from the vehicle 100, the control unit 16 departs from the unloaded place. Later, the automatic driving control of the vehicle 100 is executed so that the vehicle 100 travels according to the travel plan associated with the unloaded area.

An example of a travel plan will be described. As shown in FIG. 2, when the position of the automobile 100 is the loading place P1 where the load is loaded on the automobile 100, the weight of the automobile 100 departing from the loading place P1 is heavy, and acceleration, deceleration and steering are more difficult. It will be difficult. Therefore, the travel plan R1 associated with the loading location P1 is set so that, for example, even if the travel distance and travel time are longer, the number of times required for acceleration, deceleration, and steering is smaller. Further, the travel plan R1 associated with the loading location P1 is set while avoiding a route with more pedestrians.

On the other hand, when the position of the automobile 100 is the unloaded place P2 where either unloading or discharging of the load is performed from the automobile 100, the weight of the automobile 100 departing from the unloaded place P2 is the automobile departing from the loading place P1. Lighter than 100, it is easier to accelerate, decelerate and steer. Therefore, the travel plan R2 associated with the unloaded location P2 has, for example, a larger number of times required for acceleration, deceleration, and steering than the travel plan R1 associated with the loaded location P1, resulting in a route with more pedestrians. Even if it is, the mileage and the mileage are set to be shorter than the mileage plan R1.

It should be noted that the above-mentioned example of the traveling plan is merely an example, and may be appropriately set for the convenience of the user. For example, the route related to the travel plan associated with the loading location and the travel plan associated with the unloaded location may be the same, and the speeds at each point on the route may be different. Further, the route related to the travel plan associated with the loading location and the travel plan associated with the unloaded location may not be a general road but may be, for example, a route within the factory premises.

Further, when the position of the vehicle 100 positioned by the positioning unit 11 is the loading location P1 and the weight of the vehicle 100 detected by the weight detection unit 12 exceeds the weight threshold value, the control unit 16 controls the vehicle 100. After leaving the loading location P1, the automatic driving control of the vehicle 100 is executed so that the vehicle 100 travels according to the travel plan R1 associated with the loading location P1. On the other hand, when the position of the vehicle 100 positioned by the positioning unit 11 is the unloaded location P2 and the weight of the vehicle 100 detected by the weight detection unit 12 is equal to or less than the weight threshold value, the control unit 16 controls the vehicle 100. After leaving the unloaded place P2, the automatic driving control of the vehicle 100 is executed so that the vehicle 100 travels according to the travel plan R2 associated with the unloaded place P2. The weight threshold value can be set, for example, to the weight at the time of loading of several% to twenty-odd% of the maximum load capacity of the automobile 100.

Further, in the control unit 16, when the position of the vehicle 100 positioned by the positioning unit 11 is the loading location P1 and the parking brake operation detection unit 13 detects the operation of the parking brake, the vehicle 100 is the loading location P1. After departure, the automatic driving control of the vehicle 100 is executed so that the vehicle 100 travels according to the travel plan R1 associated with the loading location P1. On the other hand, in the control unit 16, when the position of the vehicle 100 positioned by the positioning unit 11 is the unloaded place P2 and the parking brake operation detection unit 13 detects the operation of the parking brake, the vehicle 100 is not loaded. After leaving the place P2, the automatic driving control of the vehicle 100 is executed so that the vehicle 100 travels according to the travel plan R2 associated with the unloaded place P2.

Further, when the position of the vehicle 100 positioned by the positioning unit 11 is the loading location P1 and the shift position detected by the shift position detection unit 14 is the shift position when the vehicle 100 is stopped, the control unit 16 may use the control unit 16. After the vehicle 100 departs from the loading location P1, the automatic driving control of the vehicle 100 is executed so that the vehicle 100 travels according to the travel plan R1 associated with the loading location P1. On the other hand, when the position of the vehicle 100 positioned by the positioning unit 11 is the unloaded location P2 and the shift position detected by the shift position detection unit 14 is the shift position when the vehicle 100 is stopped, the vehicle 100 After departing from the unloaded place P2, the automatic driving control of the vehicle 100 is executed so that the vehicle 100 travels according to the travel plan R2 associated with the unloaded place P2.

Further, in the control unit 16, when the position of the vehicle 100 positioned by the positioning unit 11 is the loading location P1 and the speed detected by the speed detection unit 15 is equal to or less than the speed threshold value, the vehicle 100 is loaded at the loading location P1. After departure, the automatic driving control of the vehicle 100 is executed so that the vehicle 100 travels according to the travel plan R1 associated with the loading location P1. On the other hand, when the position of the vehicle 100 positioned by the positioning unit 11 is the unloaded place P2 and the speed detected by the speed detecting unit 15 is equal to or less than the speed threshold value, the vehicle 100 departs from the unloaded place P2. , Automatic driving control of the vehicle 100 is executed so that the vehicle 100 travels according to the travel plan R2 associated with the unloaded place P2. Since the speed threshold value is for confirming the stop of the automobile 100, it can be set to, for example, 0 to several km / h.

As described above, the position of the vehicle 100 positioned by the positioning unit 11 is the loading location P1, the weight of the vehicle 100 detected by the weight detection unit 12 exceeds the weight threshold, and the parking brake operation detection unit 13 performs the parking brake. The shift position detected by the shift position detection unit 14 is the shift position when the automobile 100 is stopped, and the speed detected by the speed detection unit 15 satisfies all five conditions of being equal to or less than the speed threshold value. At that time, after the vehicle 100 departs from the loading location P1, the control unit 16 executes the automatic driving control of the vehicle 100 so that the vehicle 100 travels according to the travel plan R1 associated with the loading location P1. When any of the conditions is not satisfied, the control unit 16 ends the process of switching the travel plan, and for example, executes the automatic driving control of the vehicle 100 so that the vehicle 100 travels according to the previous travel plan R2.

Similarly, the position of the vehicle 100 positioned by the positioning unit 11 is the unloaded location P2, the weight of the vehicle 100 detected by the weight detection unit 12 is less than or equal to the weight, and the parking brake operation detection unit 13 determines that the parking brake is The operation is detected, the shift position detected by the shift position detection unit 14 is the shift position when the automobile 100 is stopped, and the speed detected by the speed detection unit 15 satisfies all five conditions of being equal to or less than the speed threshold value. Occasionally, after the vehicle 100 departs from the unloaded location P2, the control unit 16 executes automatic driving control of the vehicle 100 so that the vehicle 100 travels according to the travel plan R2 associated with the unloaded location P2. When any of the conditions is not satisfied, the control unit 16 ends the process of switching the travel plan, and for example, executes the automatic driving control of the vehicle 100 so that the vehicle 100 travels according to the previous travel plan R1.

Map information including information about the road on which the automobile 100 travels is recorded in the database 17. Further, in the database 17, travel plans such as a travel plan R1 associated with the loading location P1 and a travel plan R2 associated with the unloaded location P2 are recorded. The database 17 is formed in, for example, an HDD mounted on the ECU 10 of the automobile 100.

Hereinafter, the operation of the vehicle control device 1 of the present embodiment will be described. Hereinafter, it is assumed that the automobile 100 is traveling according to either the traveling plan R1 or the traveling plan R2 shown in FIG. As shown in FIG. 3, the positioning unit 11 positions the vehicle 100 (S1). When the position of the automobile 100 positioned by the positioning unit 11 is the loading location P1, the control unit 16 executes the process of S2. When the position of the automobile 100 positioned by the positioning unit 11 is the unloaded location P2, the control unit 16 executes the process of S7. When the position of the automobile 100 is neither the loading location P1 nor the unloaded location P2, the control unit 16 ends the process of switching the travel plan.

When the position of the vehicle 100 positioned by the positioning unit 11 is the loading location P1, the weight detection unit 12 detects the weight of the vehicle 100 (S2). When the weight of the automobile 100 detected by the weight detection unit 12 exceeds the weight threshold value, the control unit 16 executes the process of S3. When the weight of the automobile 100 detected by the weight detection unit 12 is equal to or less than the weight threshold value, the control unit 16 ends the process of switching the travel plan.

When the weight of the automobile 100 detected by the weight detection unit 12 exceeds the weight threshold value, the parking brake operation detection unit 13 detects whether or not the parking brake of the automobile 100 is activated (S3). When the parking brake operation detection unit 13 detects the parking brake operation, the control unit 16 executes the process of S4. When the parking brake operation detection unit 13 does not detect the parking brake operation, the control unit 16 ends the process of switching the travel plan.

When the parking brake operation is detected by the parking brake operation detection unit 13, the shift position detection unit 14 detects the shift position of the transmission of the automobile 100 (S4). When the shift position detected by the shift position detection unit 14 is the shift position when the automobile 100 is stopped, the control unit 16 executes the process of S5. When the shift position detected by the shift position detection unit 14 is not the shift position when the automobile 100 is stopped, the control unit 16 ends the process of switching the travel plan.

When the shift position detected by the shift position detection unit 14 is the shift position when the vehicle 100 is stopped, the speed detection unit 15 detects the speed of the vehicle 100 (S5). When the speed detected by the speed detection unit 15 is equal to or less than the speed threshold value, the control unit 16 causes the vehicle 100 to travel according to the travel plan R1 associated with the loading location P1 after the vehicle 100 departs from the loading location P1. The automatic driving control of the automobile 100 is executed (S6). When the speed detected by the speed detection unit 15 exceeds the speed threshold value, the control unit 16 ends the process of switching the travel plan.

On the other hand, when the position of the vehicle 100 positioned by the positioning unit 11 is the unloaded location P2, the weight detection unit 12 detects the weight of the vehicle 100 (S7). When the weight of the automobile 100 detected by the weight detection unit 12 is equal to or less than the weight threshold value, the control unit 16 executes the process of S8. When the weight of the automobile 100 detected by the weight detection unit 12 exceeds the weight threshold value, the control unit 16 ends the process of switching the travel plan.

Hereinafter, the processes of S8 to S10 are performed in the same manner as in the above S3 to S5. The parking brake operation detection unit 13 detects the parking brake operation (S8), the shift position detected by the shift position detection unit 14 is the shift position when the automobile 100 is stopped (S9), and the speed detection unit 15 detects it. When the speed is equal to or less than the speed threshold (S10), the control unit 16 causes the vehicle 100 to travel according to the travel plan R2 associated with the unloaded location P2 after the vehicle 100 departs from the unloaded location P2. The automatic driving control of the automobile 100 is executed (S11). When any of the conditions S8 to S10 is not satisfied, the control unit 16 ends the process of switching the travel plan. When the process of switching the travel plan is completed, the control unit 16 executes automatic driving control of the vehicle 100 so that the vehicle 100 travels according to the previous travel plan R1 or the travel plan R2, for example.

According to the present embodiment, vehicle control including a positioning unit 11 for positioning the position of the vehicle 100 and a control unit 16 for executing automatic driving control of the vehicle 100 so that the vehicle 100 travels according to the travel plans R1 and R2. Device 1 is provided. When the position of the vehicle 100 positioned by the positioning unit 11 is the loading location P1 in which the load is loaded on the vehicle 100, the control unit 16 causes the vehicle 100 to travel according to the travel plan R1 associated with the loading location P1. The automatic driving control of the automobile 100 is executed as described above. On the other hand, when the position of the vehicle 100 positioned by the positioning unit 11 is the unloaded place P2 where either unloading or discharging of the load is performed from the vehicle 100, the control unit 16 is associated with the unloaded place P2. The automatic driving control of the vehicle 100 is executed so that the vehicle 100 travels according to the travel plan R2. Therefore, switching between the traveling plan R1 from the loading location P1 and the traveling plan R2 from the unloaded location P2 can be automated, and the convenience of automatic driving control of the automobile 100 carrying the load can be improved.

Further, according to the present embodiment, in addition to whether the position of the vehicle 100 positioned by the positioning unit 11 is the loading location P1 or the unloaded location P2, the vehicle 100 detected by the weight detecting unit 12 Based on whether or not the weight exceeds the weight threshold value, the control unit 16 switches between the travel plan R1 from the loading location P1 and the travel plan R2 from the unloaded location P2. Therefore, the accuracy of switching between the traveling plan R1 from the loading location P1 and the traveling plan R2 from the unloaded location P2 is improved. That is, for example, it is possible to prevent the travel plans R1 and R2 from being erroneously switched when the position of the automobile 100 is not actually the loading location P1 and the unloaded location P2. Further, when the position of the automobile 100 is the loading place P1 but the load is not yet loaded on the automobile 100, and the position of the automobile 100 is the unloaded place P2 but the load is still unloaded or discharged from the automobile 100. It is possible to prevent the travel plans R1 and R2 from being accidentally switched when they are not.

Further, according to the present embodiment, in addition to whether the position of the automobile 100 positioned by the positioning unit 11 is the loading location P1 or the unloaded location P2, the parking brake operation detecting unit 13 operates the parking brake. The control unit 16 switches between the travel plan R1 from the loading location P1 and the travel plan R2 from the unloaded location P2 based on whether or not is detected. Therefore, the accuracy of switching between the traveling plan R1 from the loading location P1 and the traveling plan R2 from the unloaded location P2 is improved.

Further, according to the present embodiment, in addition to whether the position of the vehicle 100 positioned by the positioning unit 11 is the loading location P1 or the unloaded location P2, the shift position detected by the shift position detecting unit 14 Based on whether or not is the shift position when the automobile 100 is stopped, the control unit 16 switches between the travel plan R1 from the loading location P1 and the travel plan R2 from the unloaded location P2. Therefore, the accuracy of switching between the traveling plan R1 from the loading location P1 and the traveling plan R2 from the unloaded location P2 is improved.

Further, according to the present embodiment, in addition to whether the position of the automobile 100 positioned by the positioning unit 11 is the loading location P1 or the unloaded location P2, the speed detected by the speed detecting unit 15 is the speed. Based on whether or not it is equal to or less than the threshold value, the control unit 16 switches between the travel plan R1 from the loading location P1 and the travel plan R2 from the unloaded location P2. Therefore, the accuracy of switching between the traveling plan R1 from the loading location P1 and the traveling plan R2 from the unloaded location P2 is improved.

That is, as described above, the travel plan R1 is based on whether or not the parking brake operation is detected, whether or not the shift position is the shift position when the automobile 100 is stopped, and whether or not the speed is equal to or less than the speed threshold value. By switching R2, when the position of the automobile 100 is not actually the loading place P1 and the unloaded place P2, the position of the automobile 100 is near the loading place P1, but the automobile 100 has not stopped yet and the automobile 100 is not stopped. When the load is not loaded on the vehicle and when the position of the vehicle 100 is near the unloaded place P2 but the vehicle has not stopped yet and the load is not unloaded or discharged from the vehicle 100. It is possible to prevent R1 and R2 from being accidentally switched.

Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment and is implemented in various forms. For example, in the above embodiment, the configuration of the load sensor 3, the parking brake sensor 4, the shift position sensor 5, the vehicle speed sensor 6, the weight detection unit 12, the parking brake operation detection unit 13, the shift position detection unit 14, and the speed detection unit 15. , S2 to S5 and S7 to S10 may be omitted.

1 ... Vehicle control device, 2 ... GNSS, 3 ... Load sensor, 4 ... Parking brake sensor, 5 ... Shift position sensor, 6 ... Vehicle speed sensor, 10 ... ECU, 11 ... Positioning unit, 12 ... Weight detection unit, 13 ... Parking Brake operation detection unit, 14 ... Shift position detection unit, 15 ... Speed detection unit, 16 ... Control unit, 17 ... Database, 21 ... Steering actuator, 22 ... Accelerator actuator, 23 ... Brake actuator, 100 ... Automobile, P1 ... Loading location , P2 ... Unloaded area, R1, R2 ... Driving plan.

Claims (5)

The positioning unit that positions the car and
A control unit that executes automatic driving control of the vehicle so that the vehicle travels according to a travel plan.
Equipped with
The control unit
When the position of the vehicle determined by the positioning unit is the loading location where the load is loaded on the vehicle, the vehicle is driven so as to travel according to the traveling plan associated with the loading location. Execute automatic driving control,
When the position of the vehicle determined by the positioning unit is an unloaded place where either unloading or discharging of the load is performed from the vehicle, the vehicle moves according to the traveling plan associated with the unloaded place. A vehicle control device that executes the automatic driving control of the automobile so as to travel. Further provided with a weight detecting unit for detecting the weight of the automobile,
The control unit
When the position of the vehicle determined by the positioning unit is the loading location and the weight of the vehicle detected by the weight detecting unit exceeds the weight threshold value, the traveling associated with the loading location The automatic driving control of the vehicle is executed so that the vehicle travels according to the plan.
When the position of the vehicle determined by the positioning unit is the unloaded location and the weight of the vehicle detected by the weight detecting unit is equal to or less than the weight threshold, the vehicle is associated with the unloaded location. The vehicle control device according to claim 1, wherein the automatic driving control of the automobile is executed so that the automobile travels according to the traveling plan. Further, a parking brake operation detection unit for detecting the presence or absence of the operation of the parking brake of the automobile is provided.
The control unit
When the position of the automobile positioned by the positioning unit is the loading location and the parking brake operation detection unit detects the operation of the parking brake, the vehicle is described according to the traveling plan associated with the loading location. The automatic driving control of the automobile is executed so that the automobile runs.
When the position of the automobile positioned by the positioning unit is the unloaded place and the parking brake operation detection unit detects the operation of the parking brake, the traveling plan associated with the unloaded place. The vehicle control device according to claim 1 or 2, wherein the automatic driving control of the automobile is executed so that the automobile travels according to the vehicle. Further, a shift position detection unit for detecting the shift position of the transmission of the automobile is provided.
The control unit
When the position of the vehicle positioned by the positioning unit is the loading location and the shift position detected by the shift position detecting unit is the shift position when the vehicle is stopped, the loading location is used. The automatic driving control of the vehicle is executed so that the vehicle travels according to the associated travel plan.
When the position of the vehicle positioned by the positioning unit is the unloaded place and the shift position detected by the shift position detecting unit is the shift position when the vehicle is stopped, the unloaded position is used. The vehicle control device according to any one of claims 1 to 3, wherein the automatic driving control of the automobile is executed so that the automobile travels according to the traveling plan associated with the place. Further provided with a speed detection unit for detecting the speed of the vehicle,
The control unit
When the position of the automobile positioned by the positioning unit is the loading location and the speed detected by the speed detecting unit is equal to or less than the speed threshold value, the vehicle is described according to the traveling plan associated with the loading location. The automatic driving control of the automobile is executed so that the automobile runs,
When the position of the automobile positioned by the positioning unit is the unloaded place and the speed detected by the speed detecting unit is equal to or less than the speed threshold value, the traveling associated with the unloaded place. The vehicle control device according to any one of claims 1 to 4, wherein the automatic driving control of the automobile is executed so that the automobile travels according to a plan.

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