JP5382793B2 - Semi-autonomous unmanned vehicle remote control system - Google Patents

Description

  The present invention relates to a semi-autonomous unmanned vehicle remote control system having a remote control device and a semi-autonomous unmanned vehicle that performs autonomous traveling based on distance measurement data and is remotely controlled by the remote control device.

Conventionally, as a remote control system for this type of semi-autonomous unmanned vehicle, there is a configuration described in Patent Document 1 under the name of an unmanned vehicle.
The unmanned vehicle described in Patent Document 1 has both a means for autonomously traveling according to a travel route connecting previously given nodes and a means for remotely operating a steering angle and a vehicle speed. In a switchable unmanned vehicle, means for detecting an obstacle on the travel route, means for generating a plurality of avoidance routes to avoid the detected obstacle, and the plurality of avoidance routes and the state of the vehicle body Means for presenting to the remote control system; means for selecting any one of these avoidance routes by the remote control system; and when an obstacle is detected on the travel route in the autonomous travel mode, the vehicle body Stop, present the plurality of avoidance routes to the remote control system and select any one of the plurality of avoidance routes to avoid the obstacle in the autonomous driving mode or It is of the structure and means for selecting whether to switch to maneuvering mode executes avoided by operator manipulation.

JP 2007-310698 A

  However, although the thing of patent documents 1 makes an unmanned vehicle move autonomously, when an obstacle is detected ahead of a run direction, a plurality of avoidance routes for avoiding the obstacle are generated, Thereafter, the traveling is temporarily stopped, and one of the plurality of generated avoidance routes is presented to the operator for selection.

  In addition, not only when an obstacle is detected, but also when the environment of the traveling area cannot be sensed, it is not possible to determine whether or not the vehicle can travel. Therefore, it is necessary to repeatedly decelerate and stop to avoid danger. In addition, there is a disadvantage that not only high-speed traveling cannot be performed but also the avoidance operation is complicated.

  Furthermore, even if the region is indistinguishable / unidentifiable where it is not possible to determine whether or not it is possible to travel, the operator determines that it is possible to travel by looking at the unacceptable region that is displayed on the display provided in the remote control system. Even if it is possible, there is also a problem that it is not possible to enter and travel to the region where it is impossible to identify whether or not the vehicle can travel.

  Therefore, the present invention provides remote control of a semi-autonomous unmanned vehicle that can perform high-speed traveling by a simple operation and can enter and travel as necessary even when it is identified as an area where it is not possible to determine whether or not traveling is possible. The purpose is to provide a system.

In order to achieve the above object, a remote control system for a semi-autonomous unmanned vehicle according to the present invention includes a distance measuring unit for acquiring distance measurement data in a traveling region, and an imaging unit for acquiring an image of the traveling region. and has a traveling mechanism for traveling, performs autonomous based on the acquired distance measurement data, and a semi-autonomous unmanned vehicle to perform Accordingly remote control in the remote control apparatus, an image of the travel area captured by the imaging unit And a remote control device for remotely maneuvering a semi-autonomous unmanned vehicle based on an image of a travel area displayed on the display unit can be connected through an electric communication line. .
In the present invention, an area discriminating means for discriminating a travelable area where a semi-autonomous unmanned vehicle can travel, a travel feasibility unidentifiable area where the travel feasibility cannot be determined, and a travel impossible area where the travel is impossible ,
A permission information reception determination unit that determines whether or not permission information for entering a travel permission / impossibility discriminating area within the travel area has been received, and when it is determined that the permission information has been received , Based on a travel route generating means for generating a travel route for autonomous travel in a travelable region and a travel permission / impossibility discriminating region permitted to enter, and a semi-autonomous unmanned vehicle via a travel mechanism according to the generated travel route The semi-autonomous unmanned vehicle is provided with a traveling means for traveling the vehicle, and a transmission means for transmitting the image of the travel area including the determined travelable area, the travel identifiable area and the travel impossible area to the remote control device. it, the travelable area, and an image display means for displaying an image of the traveling area including the traveling possibility unidentifiable region and running-prohibited area display unit, entering the travel permission unidentifiable region Huh When it is determined that entry into the runnable / unrecognizable area is permitted, the permission information for entering the runnable / unrecognizable area is sent to the semi-autonomous unmanned vehicle. The permission information sending means is provided in the remote control device.

On the above semi-autonomous unmanned vehicle side, it is determined whether or not the permission information for entering the travel enable / disable discriminating area in the travel area has been received, and when it is determined that the permission information has been received, it is determined . Based on the travel impossible region, a travel route for autonomous travel in the travel possible region and the travel permitted / unrecognizable region permitted to enter is generated, and traveled through the travel mechanism according to the generated travel route is determined. An image of the travel area including the travel identifiable area is transmitted to the remote control device.

  On the other hand, on the side of the remote control device, an image of the travel area including the travel identifiable area is displayed on the display unit. Further, it is determined whether or not entry into the runnable / unrecognizable area is permitted, and when it is determined that entry into the runnable / unrecognizable area is permitted, the permission information for entering the runnable / unidentifiable area is semi-autonomous. It is sent to the type unmanned vehicle.

  According to the present invention, it is possible to perform high-speed traveling by a simple operation and to enter and travel as necessary even in an area that is identified as being unable to determine whether or not it is possible to travel.

It is explanatory drawing which shows the whole structure of the remote control system of the semi-autonomous unmanned vehicle which concerns on one Embodiment of this invention. It is explanatory drawing which shows roughly the structure of the semi-autonomous unmanned vehicle which comprises a part of the remote control system of a semi-autonomous unmanned vehicle same as the above. It is a block diagram of the control circuit provided in the semiautonomous unmanned vehicle same as the above. It is a block diagram which shows the function which the computer for vehicle control provided in the semi-autonomous unmanned vehicle same as the above has. It is explanatory drawing which shows the image of the driving | running | working possible area | region displayed on a display part, a driving | running | working availability discrimination impossible area, and a driving impossible area. It is explanatory drawing which compared the driving speed when a driving | running route was produced | generated only in a driving | running | working possible area | region, and a driving | running | working possible area | region and a driving | running | working availability discrimination | determination area | region. It is a conceptual diagram when determining the upper limit of traveling speed. It is a control flowchart of the semiautonomous unmanned vehicle which forms a part of the remote control system of a semiautonomous unmanned vehicle same as the above. It is a block diagram of the control circuit provided in the remote control apparatus which comprises a part of the remote control system of a semi-autonomous unmanned vehicle same as the above. It is a flowchart which shows the remote control by the remote control apparatus which comprises a part of the remote control system of a semi-autonomous unmanned vehicle same as the above.

  EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated with reference to drawings. FIG. 1 is an explanatory diagram showing the overall configuration of a semi-autonomous unmanned vehicle remote control system according to an embodiment of the present invention, and FIG. 2 is a semi-autonomous system that forms part of the semi-autonomous unmanned vehicle remote control system. It is explanatory drawing which shows the structure of a type | mold unmanned vehicle roughly. FIG. 3 is a block diagram of a control circuit provided in the semiautonomous unmanned vehicle.

  As shown in FIG. 1, a semi-autonomous unmanned vehicle remote control system A1 according to an embodiment of the present invention is configured to connect a semi-autonomous unmanned vehicle B and a remote control device C through an electric communication line. ing.

  The semi-autonomous unmanned vehicle B has a configuration in which various actuators are added so that the steering wheel / accelerator / brake of a general passenger vehicle can be controlled by the vehicle control and traveling computers 10 and 30 shown in FIGS. The details are as follows.

  That is, the semi-autonomous unmanned vehicle B is controlled by the vehicle control computer 10 including a CPU (Central Processing Unit), an interface circuit (none of which are shown), and the traveling computer 30. .

The vehicle control computer 10 and the travel computer 30 are connected to each other via the Ethernet (registered trademark) 11.
In addition to Ethernet (registered trademark), in-vehicle networks such as CAN (Controller Area Network) can be used as the connection method.

The traveling computer 30 includes a CPU (Central Processing Unit), an interface circuit (none of which is shown), and the like, and a ranging unit for acquiring ranging data in the traveling region is provided at an input port thereof. 33 is connected.
The distance measuring unit 33 includes traveling cameras 14 and 31 and laser sensors (hereinafter referred to as “LRF”) 32a and 32b (see FIG. 3).

The LRFs 32a and 32b perform distance measurement by a time-of-flight method for measuring the time from projecting to receiving of laser light. In the present embodiment, one laser light source is used and the optical axis is optical. This is a scan type that acquires a three-dimensional shape of an object by sweeping mechanically or mechanically.
In the present embodiment, one LRF 32a is for a long distance, and the other LRF 32b is for a short distance, so that the traveling area can be covered regardless of the distance.

  The traveling cameras 14 and 31 are for acquiring image data necessary for autonomous traveling, and are arranged in a lateral direction symmetrically in the traveling direction and in the vehicle width direction.

The vehicle control computer 10 includes a CPU (Central Processing Unit), an interface circuit, a memory (all not shown), and the like.
An input port of the vehicle control computer 10 includes a wireless LAN 13 and a remote control camera 19 as an imaging unit via an Ethernet (registered trademark) 12, a GPS (Global Positioning System) 15, a vertical gyro 16, a vehicle speed. A pulse 17 and an odometry 18 are connected via a serial line. Reference numeral 20 denotes an antenna connected to the wireless LAN 13.
Of course, a mobile phone, PHS, satellite line, etc. can be used in addition to the wireless LAN.

Further, a steering actuator 22 and a brake / accelerator actuator 23 are connected to the output port via a motor driver 21, respectively.
1 is a traveling wheel, and together with these traveling wheels 9, a motor driver 21, a steering actuator 22, and a brake / accelerator actuator 23 constitute a traveling mechanism D.

  The vertical gyro 16 obtains the inclined posture in the vertical plane of the semi-autonomous unmanned vehicle B, and thus the optical axis posture (orientation) information of the above-described traveling cameras 14 and 31 and LRFs 32a and 32b.

The odometry 18 is a sensor for acquiring own position information based on each rotation amount of the traveling wheel 9 of the semi-autonomous unmanned vehicle B.
The GPS 15 is for acquiring positioning information of the semi-autonomous unmanned vehicle B.
The vehicle speed pulse 17 is for measuring the traveling speed of the semi-autonomous unmanned vehicle B, and outputs the traveling speed as pulse information.

The vehicle control computer 10 has a function of transmitting various information acquired by the GPS 15 and the vertical gyro 16 to the remote control device C, which will be described later, through the Ethernet (registered trademark) 11, the wireless LAN 13, and the antenna 20. Based on the steering information transmitted from the remote control device C, the steering actuator 22 and the brake / accelerator actuator 23 are driven and controlled via the motor driver 21.
That is, it has a function of driving the steering actuator 22 and the brake / accelerator actuator 23 based on the operation information for the semi-autonomous unmanned vehicle B transmitted from the remote control device C.

  The vehicle control computer 10 exhibits the following functions by executing required programs stored in a memory (not shown). FIG. 4 is a block diagram showing functions of a vehicle control computer provided in a semi-autonomous unmanned vehicle, and FIG. 5 is an image of a travelable area, a travelable / unrecognizable area, and a travelable area displayed on the display unit. It is explanatory drawing which shows. FIG. 6 is an explanatory diagram comparing travel speeds when travel routes are generated only within the travelable area, within the travelable area, and within the travelability discriminating area, and FIG. 7 determines the upper limit of the travel speed. It is a conceptual diagram of time.

(1) A function for determining whether or not a semi-autonomous running command has been received. This function is referred to as “command determination means 10a”.
(2) A function for creating an environmental map based on distance measurement data acquired by the distance measurement unit 33. This function is referred to as “map creation means 10b”.
In the present embodiment, an environmental map is created based on the laser beam data acquired by the LRFs 32a and 32b.
Further, the created environment map is sequentially stored in a memory (not shown) in the autonomous running control computer 10.

(3) A function of acquiring the traveling state of the semi-autonomous unmanned vehicle B. This is referred to as “running state acquisition means 10c”.
The “traveling state” shown in the present embodiment is the traveling speed, steering angle, and inclination (relative to the horizontal plane) of the semi-autonomous unmanned vehicle B.
These data are acquired by the vehicle speed pulse 17, the odometry 18 and the vertical gyro 16 described above.

(4) A function of discriminating at least a travelable / unrecognizable region in the travel region based on the environment map. This function is referred to as “region discrimination means 10d”.
In the present embodiment, as shown in FIG. 5, a travelable area a1 in which the semi-autonomous unmanned vehicle B can travel, a travelable / unrecognizable area a2 in which it is impossible to identify whether the travel is possible, and the travel are impossible. The travel impossible area a3 is determined.
The extraction of the runnable / unidentifiable area a2 is based on the fact that the laser light acquired by the LRFs 32a and 32b is not reflected. In other words, it is an area where laser light data cannot be acquired.

(5) A function of determining whether or not the permission information for entering the determined travelability discriminating area a3 has been received. This function is referred to as “permission information reception determination means 10e”.
(6) A function of generating a travel route for autonomous traveling in the travelable region a1 and the travelable / unrecognizable region a2 permitted to enter when it is determined that the permission information has been received. This function is referred to as “travel route generation means 10f”.
Moreover, when it determines with not receiving permission information, the driving | running route for the autonomous driving | running | working in the driving | running | working possible area | region a1 is produced | generated.
That is, the “travel route” is a travel route of the semi-autonomous unmanned vehicle B in the travelable region a1 or the travelable region a1 and the travelable / unrecognizable region a2 permitted to enter. It is generated using the method.
In addition, when an obstacle that hinders autonomous movement in the travelable area a1 or in the travelable area a1 and in the travelable / unidentifiable area a2 permitted to enter, a travel route for avoiding the obstacle is detected. create.

(7) A function for increasing / decreasing the traveling speed according to the generated traveling route. This function is referred to as “speed planning means 10 g”.
The “travel speed of the semi-autonomous unmanned vehicle B according to the travel route” is a travel speed limited by the upper limit speed shown in FIG. 6A when the travel route is generated in the travelable area a1.
Further, when an entry permission / rejection switch 65, which will be described in detail later, is turned on, entry into the runnable / unrecognizable area a3 is allowed, so as shown in (a), the upper limit speed is increased accordingly and the running speed is increased. Can be increased.

This will be described in detail as shown in FIG.
Bk (v + aδt) <L
Bk (): Stoppable distance (normal warning area / sudden stop danger area)
δt: Time delay for communication, control, etc. v: Travel speed L: Distance to the travel impossibility region a1 in the travel direction of the semi-autonomous unmanned vehicle B, or to the travel permit / impossibility discriminable region a2 permitted to enter "A" that satisfies the condition is defined as warning / dangerous acceleration

(8) A function of transmitting the determined travel possibility / impossibility discriminating area a2 to the remote control device C. This function is referred to as “transmission means 10h”.
(9) A function of causing the semi-autonomous unmanned vehicle B to travel through the travel mechanism D according to the remote control by the remote control device C or the generated travel route and the planned speed. This is referred to as “traveling means 10i”.
The “control information” includes at least the traveling direction, the traveling speed, and the acceleration / deceleration data of the semi-autonomous unmanned vehicle B.

(10) A function of performing identification processing for identifying the runnable / unidentifiable area a2. This function is referred to as “identification means 10j”.
Specifically, visual effect processing is performed at least for the travel feasible / unrecognizable area a2 different from other moving areas, and the run feasible / unrecognizable area a2 is colored. As a result, the runnable / unrecognizable region a2 can be visually emphasized, and identification can be easily performed.
In the present embodiment, the runnable area a1, the runnable / unrecognizable area a2 and the unrunnable area a3 are colored so that they can be distinguished from each other.

(11) A function of superimposing the image of the travelable / unrecognizable area a2 that has been subjected to the classification process on the image of the traveled area captured by the imaging unit 33. This function is referred to as “superimposition processing means 10k”.
Specifically, in the present embodiment, an image of the travel area acquired by the remote control camera 19 is generated in the present embodiment, the travel enable area a1, the travel enable / disable discriminable area a2, and the travel impossible area a3 that are identified. The travel route is superimposed.

Next, a control flowchart of the semi-autonomous unmanned vehicle will be described with reference to FIG. FIG. 8 is a control flowchart of the semi-autonomous unmanned vehicle.
<Semi-autonomous unmanned vehicle control flowchart>
Step 1 (abbreviated as “S1” in the figure. The same applies hereinafter): Initialization processing of each part is performed, and the process proceeds to Step 2.

Step 2: The control information (control command) by the operator Q transmitted from the remote control device C is received, and the process proceeds to Step 3.
Step 3: It is determined whether or not an end command is received. If an end command is received, the process proceeds to Step 00, and if not, the process proceeds to Step 4.

Step 4: Distance measurement data is acquired by the LRFs 32a and 32b.
Step 5: Create an environmental map based on the acquired distance measurement data.
Step 6: The traveling state of the semi-autonomous unmanned vehicle B is acquired.

Step 7: Based on the created environment map, a travelable area, a travelable / unrecognizable area, and a travelable area are determined.
Step 8: It is determined whether or not permission information has been received. If it is determined that the permission information has been received, the process proceeds to Step 9; otherwise, the process proceeds to Step 14.

Step 9: A travel route is generated in the travelable area and the travel identifiable area.
Step 10: Generate a traveling speed according to the generated traveling route.
Step 11: The travelable area a1, the travelable / unrecognizable area a2, and the untravelable area a3 are identified.
Step 12: The generated travel route is superimposed on the travel region together with the identified travelable region a1, travel feasibility unidentifiable region a2, and travel impossible region a3.

Step 13: The superimposed image and the running state are transmitted to the remote control device, and the process returns to Step 2.
Step 14: A travel route is generated only in the travelable area.
Step 15: End processing is performed.

Next, the remote control device will be described with reference to FIGS. FIG. 9 is a block diagram of a control circuit provided in the remote control device, and FIG. 10 is a flowchart showing remote control by the remote control device.
As shown in FIG. 1, the remote control device C shown in the present embodiment has an external configuration in which a display unit 60 is disposed on the device main body 50. Hereinafter, the display unit is referred to as a display.

  In the apparatus main body 50, an operation panel 63 is disposed upright at one end of a base 62, a steering wheel 56 is disposed above the operation panel 63, and an accelerator pedal 57 is disposed below the operation panel 63. ing.

As shown in FIG. 9, the operation panel 63 is provided with an entry permission / denial switch 65 for setting permission / inhibition of entry into the travel permission / inhibition discriminable area a3.
The operator Q can operate the steering wheel 56, the accelerator pedal 57 and the entry permission / denial switch 65 while sitting on a chair 64 disposed on the base 62.

  In the apparatus main body 50, an input port including a CPU (Central Processing Unit), an interface circuit (none of which is shown), and the like are connected to a wireless LAN 52, a rotation angle sensor 53, a steering wheel 56, an accelerator pedal 57, an entry permission / denial switch 65, Further, a control device 51 in which a steering weight mechanism 54, an accelerator weight mechanism 55, and a display 60 are connected to the output port is provided. In addition, what is shown with the code | symbol 58 is an antenna.

The steering wheel 56 is for steering the traveling direction of the semi-autonomous unmanned vehicle B, to which the steering weight mechanism 54 and the rotation angle sensor 53 are attached.
The steering weight mechanism 54 shown in the present embodiment increases or decreases the steering force of the steering wheel 56 in the above-described steering warning angle range of the steering 56. In this embodiment, the steering weight mechanism 54 has an actuator (not shown). It has become.

The accelerator pedal 57 is for maneuvering the acceleration / deceleration of the semi-autonomous unmanned vehicle B, and the accelerator weighting mechanism 55 described above is attached thereto.
The accelerator weighting mechanism 55 weights the steering force of the accelerator pedal 57 and exhibits the behavior of a virtual spring (not shown).

  On the display 60, the identified travelable area a 1, travelable / unrecognizable area a 2, unrunnable area a 3, and the like are superimposed and displayed on the images of the travel areas acquired by the cameras 14 and 31. Yes.

The control device 51 exhibits the following functions by executing a required program.
(12) A function of calculating a communication delay time between the semi-autonomous unmanned vehicle B and the remote control device C. This function is referred to as “delay time calculation means 51a”.
In this embodiment, the round trip time of data is estimated between the semi-autonomous unmanned vehicle B and the remote control device C in the manner of ping.
In addition, GPS is installed in both the semi-autonomous unmanned vehicle B and the remote control device C, time synchronization with high accuracy is performed by both computers using the GPS, and the delay time is based on the time stamp of the received data. May be estimated.
(13) A function of displaying an image transmitted from the semi-autonomous unmanned vehicle B on the display 60. This function is referred to as “image display means 51b”.

(14) Based on the planned travel route of the semi-autonomous unmanned vehicle B and the calculated estimated delay time from the time when the image of the travel region was captured until the lapse of the required time, the semi-autonomous unmanned vehicle B is operated by the remote control device C. A function to estimate the vehicle position at the time of being remotely controlled by. This function is referred to as “vehicle position estimation means 51c”.

(15) A function for determining whether or not to enter the travel allowance / disapproval discrimination area a2 in accordance with the operation of the entry permit / denial switch 65. This function is referred to as “entry permission / non-permission determination means 51d”.
“Operation of entry permission switch 65” refers to the entry permission switch 65 when, for example, the operator Q sees the image displayed on the display 60 and determines that the traveling permission / disapproval discriminating region a3 can travel. Turn on. As a result, it becomes possible to enter the travel-availability discriminating area a2.

(16) A function of increasing or decreasing the steering force of the steering wheel 56 by the steering weight mechanism 54 in accordance with the above-described steering warning angle of the steering wheel 56. This function is referred to as “steering increase / decrease weighting means 51e”.
Specifically, a greater force is required as the steering angle of the steering wheel 56 increases.

(17) A function of increasing or decreasing the steering force of the accelerator 57 by the accelerator weighting mechanism 55 according to the steering warning angle of the accelerator pedal 57. This function is referred to as “accelerator increase / decrease weighting means 51h”.
Specifically, a greater force is required as the depression angle of the accelerator pedal 57 increases.

(18) A function for generating steering information of the steering wheel 56 and the accelerator pedal 57. This function is referred to as “steering information generating means 51f”.
(19) A function of sending permission information for entering the runnable / unidentifiable area to the semi-autonomous unmanned vehicle when it is determined that the entry into the unrecognizable area is allowed. This function is referred to as “permission information sending means 51g”.
The remote control device C transmits the generated control information and the like to the semi-autonomous unmanned vehicle B in addition to the permission information.

Next, remote control by the remote control device will be described with reference to FIG.
Step 1 (abbreviated as “S1” in the figure. The same applies hereinafter): Initialization processing of each part is performed, and the process proceeds to Step 2.
Step 2: The image, vehicle information (speed, etc.) and command transmitted from the semi-autonomous unmanned vehicle B are received, and the process proceeds to Step 3.
Step 3: Calculate the communication delay time and proceed to Step 4.

  Step 4: After correcting the travel amount of the semi-autonomous semi-autonomous unmanned vehicle B based on the calculated communication delay time on the images captured by the cameras 14 and 31, the images captured by the cameras 14 and 31 are identified. An image obtained by superimposing the travelable area a1, the travelability indistinguishable area a2 and the travel impossible area a3 and the received vehicle information are superimposed and displayed, and the process proceeds to Step 5.

  Step 5: The accelerator pedal 57 and the steering wheel 56 are operated while referring to the image including the identified travel feasibility discriminating area and the received vehicle information displayed on the display 60, and entry permission / rejection as necessary. The switch 65 is operated.

  Step 6: It is determined whether or not entry into the travel permission / inhibition discriminable area a2 is permitted according to the operation of the entry permission / inhibition switch 65, and it is determined that the entrance permission / inhibition switch 65 is turned on and entry into the travel permission / inhibit discrimination area a2 is permitted. If yes, go to Step 7, otherwise return to Step 2.

Step 7: The control information generated together with the permission information is transmitted to the semi-autonomous unmanned vehicle.
Step 8: Increase / decrease the accelerator force 57 and the steering force of the steering wheel 56.

The present invention is not limited to the above-described embodiments, and the following modifications can be made.
・ When adding a function to complement accuracy, the following can be done.
As a complement to the vehicle speed pulse, an acceleration sensor for measuring the vehicle speed (integrated) / vehicle inclination (by detecting gravity) and a tachometer for calculating the vehicle speed may be provided. .
A tilt angle sensor for detecting the tilt of the vehicle (relative to the horizontal plane) may be provided as a complement to the vertical gyro.

-In embodiment mentioned above, although what controlled the semi-autonomous unmanned vehicle by the two computers of a vehicle control computer and a driving | running | working computer was demonstrated as an example, without making these two computers share, You may make it control by a single computer.

10b Map creation means 10d Area determination means 10e Permission information reception determination means 10f Travel route generation means 10g Speed plan means 10h Transmission means 10i Travel means 10j Identification means 10k Superimposition processing means 14 Imaging part 33 Distance measurement part 51a Delay time calculation means 51b Image display means 51c Vehicle position estimation means 51d Entry permission determination means 51g Permission information sending means 60 Display unit (display)
65 Access permission switch a1 Travelable area a2 Travelable / unrecognizable area a3 Travelless area A Semi-autonomous unmanned vehicle remote control system B Semi-autonomous unmanned vehicle C Remote control device D Travel mechanism

Claims (6)

It has a ranging unit for acquiring ranging data in the traveling area, an imaging unit for acquiring images of the traveling area, and a traveling mechanism for traveling, and performs autonomous traveling based on the acquired ranging data with a semi-autonomous unmanned vehicle to perform Accordingly remote control in the remote control apparatus, the display unit for displaying an image of the travel area captured by the imaging unit, and based on the image of the displayed running region on the display unit half In a semi-autonomous unmanned vehicle remote control system that can be connected to a remote control device for remotely controlling an autonomous unmanned vehicle through an electric communication line,
An area discriminating means for discriminating a runnable area in which a semi-autonomous unmanned vehicle can run, a runnable / unrecognizable area in which the runnability determination is impossible, and an unrunnable area in which the run is impossible;
And permission information reception determining means for determining whether or not it has received authorization information entry into the running permission unidentifiable region,
When it is determined that the permission information has been received, a travel route generation for generating a travel route for autonomous traveling in the travelable region and the travel-permitted / unrecognizable region where entry is permitted based on the determined travel-impossible region Means,
Traveling means for traveling the semi-autonomous unmanned vehicle via the traveling mechanism according to the generated traveling route;
A semi-autonomous unmanned vehicle is provided with a transmission means for transmitting an image of a travel region including the determined travelable region, a travelability determination impossible region, and a travel impossible region to the remote control device,
An image display means for displaying an image of the travel area including the determined travelable area, the travel identifiable area and the travel impossible area on the display unit;
An entry permission determination means for determining whether or not an entry into the runnable / unidentifiable area is permitted;
The remote control device is provided with permission information sending means for sending permission information for entering the runnable / unrecognizable area into the semi-autonomous unmanned vehicle when it is determined that entry into the unrecognizable area is allowed. A semi-autonomous unmanned vehicle remote control system. It has a ranging unit for acquiring ranging data in the traveling area, an imaging unit for acquiring images of the traveling area, and a traveling mechanism for traveling, and performs autonomous traveling based on the acquired ranging data with a semi-autonomous unmanned vehicle to perform Accordingly remote control in the remote control apparatus, the display unit for displaying an image of the travel area captured by the imaging unit, and based on the image of the displayed running region on the display unit half In a semi-autonomous unmanned vehicle remote control system that can be connected to a remote control device for remotely controlling an autonomous unmanned vehicle through an electric communication line,
An area discriminating means for discriminating a runnable area in which a semi-autonomous unmanned vehicle can run, a runnable / unrecognizable area in which the runnability determination is impossible, and an unrunnable area in which the run is impossible;
Permission information reception determination means for determining whether or not the permission information for entering the determined travel permission / impossibility discriminating area has been received;
When it is determined that the permission information has been received, a travel route generation for generating a travel route for autonomous traveling in the travelable region and the travel-permitted / unrecognizable region where entry is permitted based on the determined travel-impossible region Means,
A semi-autonomous unmanned vehicle is provided with a transmission means for transmitting an image of a travel region including a travelable region, a travelability determination impossible region and a travel impossible region to a remote control device,
Speed planning means for planning to increase or decrease the traveling speed according to the generated traveling route;
Traveling means for traveling a semi-autonomous unmanned vehicle via a traveling mechanism according to remote control by a remote control device or a generated travel route and a planned speed;
Discriminating means for performing a discriminating process for visually identifying and displaying at least a travelable / unidentifiable area on the display unit;
Superimposition processing means for performing superimposition processing on the image of the travelable / unrecognizable region that has been subjected to the identification processing on the image of the traveling region imaged by the imaging unit;
A semi-autonomous unmanned vehicle is provided with a transmission means for transmitting the superimposed image to the remote control device,
Image display means for displaying an image transmitted from the semi-autonomous unmanned vehicle on the display unit;
An entry permission determination means for determining whether or not an entry into the runnable / unidentifiable area is permitted;
The remote control device is provided with permission information sending means for sending permission information for entering the runnable / unrecognizable area into the semi-autonomous unmanned vehicle when it is determined that entry into the unrecognizable area is allowed. A semi-autonomous unmanned vehicle remote control system. It has a ranging unit for acquiring ranging data in the traveling area, an imaging unit for acquiring images of the traveling area, and a traveling mechanism for traveling, and performs autonomous traveling based on the acquired ranging data with a semi-autonomous unmanned vehicle to perform Accordingly remote control in the remote control apparatus, the display unit for displaying an image of the travel area captured by the imaging unit, and based on the image of the displayed running region on the display unit half In a semi-autonomous unmanned vehicle remote control system that can be connected to a remote control device for remotely controlling an autonomous unmanned vehicle through an electric communication line,
Map creation means for creating an environmental map based on distance measurement data acquired by the distance measurement unit;
Based on the created environmental map, a travelable area where the semi-autonomous unmanned vehicle can travel, a travelability determination impossible area where the travel possibility cannot be determined, and a travel impossible area where the travel is impossible Discrimination means;
Permission information reception determination means for determining whether or not the permission information for entering the determined travel permission / impossibility discriminating area has been received;
When it is determined that the permission information has been received, a travel route generation for generating a travel route for autonomous traveling in the travelable region and the travel-permitted / unrecognizable region where entry is permitted based on the determined travel-impossible region Means,
Speed planning means for planning to increase or decrease the traveling speed according to the generated traveling route;
Traveling means for traveling a semi-autonomous unmanned vehicle via a traveling mechanism according to remote control by a remote control device or a generated travel route and a planned speed;
Discriminating means for performing a discriminating process for visually identifying and displaying at least a travelable / unidentifiable area on the display unit;
Superimposition processing means for performing superimposition processing on the image of the travelable / unrecognizable region that has been subjected to the identification processing on the image of the traveling region imaged by the imaging unit;
A semi-autonomous unmanned vehicle is provided with a transmission means for transmitting the superimposed image to the remote control device,
Image display means for displaying an image transmitted from the semi-autonomous unmanned vehicle on the display unit;
An entry permission determination means for determining whether or not an entry into the runnable / unidentifiable area is permitted;
The remote control device is provided with permission information sending means for sending permission information for entering the runnable / unrecognizable area into the semi-autonomous unmanned vehicle when it is determined that entry into the unrecognizable area is allowed. A semi-autonomous unmanned vehicle remote control system. The remote control device is provided with an entry permission / rejection switch for setting permission / inhibition of entry into the area where it is impossible to identify whether traveling is possible,
The semi-autonomous unmanned vehicle remote control according to any one of claims 1 to 3, wherein the entry permission / rejection determination unit determines whether or not the vehicle is allowed to enter the unrecognizable region according to the operation of the entry permission / rejection switch. Steering system.   5. The semi-autonomous unmanned vehicle according to claim 1, further comprising delay time calculating means for calculating a communication delay time between the semi-autonomous unmanned vehicle and the remote control device. Remote control system.   A vehicle at a time when the semi-autonomous unmanned vehicle is remotely controlled by a remote control device based on a scheduled travel route and an estimated delay time of the semi-autonomous unmanned vehicle from the time when the image of the traveling area is captured until the lapse of the required time 5. The semi-autonomous unmanned vehicle remote control system according to claim 4, further comprising vehicle position estimating means for estimating a position.

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