JP6435948B2 - Automatic travel control device, control device, automatic travel control system - Google Patents

Description

  The present invention relates to a technique for controlling an autonomous vehicle that automatically travels along a route.

  In recent years, automatic driving by vehicles has attracted attention. Patent Document 1 discloses a technique for instructing, through communication, a travel control system that is installed separately from an automatic travel vehicle, such as stopping and departure of an automatic travel vehicle that automatically travels on a dedicated road. As described above, in the technology for controlling automatic traveling by communication from the traveling control system, it is conceivable to stop the automatic traveling vehicle when communication is interrupted.

JP 2000-264207 A

  Since the communication state may change depending on the traveling position of the autonomous vehicle, communication may be restored if the traveling position of the autonomous vehicle changes even if communication is temporarily interrupted. However, the technique disclosed in Patent Document 1 does not consider recovery from a state in which communication is interrupted.

  The present invention has been made in view of the above points, and provides a technique for causing an autonomous traveling vehicle to travel as much as possible even when communication between the autonomous traveling vehicle and a control device that controls traveling of the autonomous traveling vehicle is interrupted. Objective.

The automatic travel control device of the present invention is mounted on an automatic travel vehicle that automatically travels along a route, and includes control information acquisition means, candidate position acquisition means, and automatic travel control means.
The control information acquisition means includes control information acquired by communication from a control device that controls the automatic traveling vehicle, and acquires control information for controlling the automatic traveling vehicle. The candidate position acquisition means acquires a stop candidate position where the autonomous traveling vehicle may stop.

  The automatic travel control means causes the automatic travel vehicle to automatically travel based on the control information acquired by the control information acquisition means. When communication with the control device is interrupted, the automatic travel control means causes the automatic travel vehicle to reach the stop candidate position acquired by the candidate position acquisition means. Let it run automatically.

  According to this configuration, the automatic travel control device does not stop the automatic travel vehicle as soon as communication between the automatic travel vehicle and the control device is interrupted, but the stop candidate position acquired before the communication is interrupted. The self-propelled vehicle is driven until Therefore, if communication with the control device is restored before the automatic traveling vehicle automatically travels and stops at the stop candidate position, the automatic traveling vehicle can continue automatic traveling without stopping at the stop candidate position.

  In addition, the code | symbol in the parenthesis described in the claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is limited is not.

The block diagram which shows an automatic traveling control system. Explanatory drawing which shows a driving | running route. Explanatory drawing which shows the stop candidate position on the selected path | route. Explanatory drawing which shows the stop candidate position at the time of the approach of an emergency vehicle or a general vehicle. Explanatory drawing which shows the stop candidate position based on a road condition. Explanatory drawing which shows the stop candidate position based on traffic volume. The flowchart which shows the main process of automatic traveling control control. The flowchart which shows a travel route creation process. 6 is a flowchart showing priority setting processing. The flowchart which shows a stop necessity determination process. The flowchart which shows a communication interruption handling process. The flowchart which shows a stop candidate position setting process. The flowchart which shows the stop candidate position setting process at the time of emergency vehicle approach. The flowchart which shows the stop candidate position setting process at the time of a general vehicle approach. The flowchart which shows the route change start position setting process based on a road condition. The flowchart which shows the route change start position setting process based on traffic.

Embodiments to which the present invention is applied will be described below with reference to the drawings.
[1. Constitution]
The automatic travel control system 2 shown in FIG. 1 includes an automatic travel control device 12, a wireless communication device 32 of another vehicle 30, another vehicle monitoring device 40, and a control device 52.

  The automatic traveling vehicle 10 is a vehicle that automatically travels along a route to a destination. The route traveled by the automatic traveling vehicle 10 is a dedicated automatic traveling area. The automatic traveling vehicle 10, emergency vehicles such as an emergency vehicle and a police vehicle that can acquire traveling information by mounting a wireless communication device, and wireless communication A general vehicle on which a machine is mounted and travel information can be acquired is permitted to travel, and other vehicles that cannot acquire travel information are prohibited from entering.

  The automatic travel control device 12 mounted on the automatic travel vehicle 10 includes a route DB 14, a periphery monitoring sensor 16, a GPS 18, a wireless communication device 20, and a vehicle control unit 22. In addition, the automatic traveling vehicle 10 also includes various general configurations that the vehicle includes.

  The route DB 14 stores a plurality of routes when the automatic traveling vehicle 10 performs automatic traveling, similarly to the route DB 60 of the control device 52 described later. Each route is assigned an identification number. The route stored in the route DB 14 is the same as the route stored in the route DB 60, and the identification number attached is also the same. Each route also stores road structures such as intersections and junctions as route information.

  The peripheral monitoring sensor 16 is a well-known millimeter wave sensor, camera sensor, or the like, and detects other automatic traveling vehicle 10, another vehicle 30, a pedestrian, an obstacle, or the like existing around the automatic traveling vehicle 10. The GPS 18 acquires position information of the automatic traveling vehicle 10. The wireless communication device 20 performs wireless communication with the wireless communication device 54 of the control device 52.

  The vehicle control unit 22 is a known computer that includes a CPU, a RAM, a ROM, and the like. The vehicle control unit 22 acquires peripheral information about an object around the host vehicle from the peripheral monitoring sensor 16 as control information for controlling each part of the automatic traveling vehicle 10 to perform automatic traveling, and determines the engine operating state from various sensors. The operation information to be represented is acquired, and the control information transmitted from the control center 50 is acquired.

  The vehicle control unit 22 controls the running and stopping of the host vehicle so that the speed is optimum for the host vehicle, not the recommended speed acquired from the control center 50 when the vehicle is traveling on a curve or stopped. Further, as part of the automatic traveling control along the route, the vehicle control unit 22 performs traveling control that avoids a collision with an obstacle when the periphery monitoring sensor 16 detects an obstacle ahead of the traveling direction. When the vehicle reaches the destination and stops, the vehicle control unit 22 notifies the control center 50 that the vehicle has stopped at the destination.

  The vehicle control unit 22 uses the information including the position of the host vehicle, the vehicle speed, the traveling direction, and the vehicle ID as travel information, for example, repeatedly from the wireless communication device 20 to the control center 50 at predetermined time intervals of 0.1 to 1 second. Send.

  The other vehicle 30 represents an emergency vehicle such as an ambulance vehicle or a police vehicle equipped with a wireless communication device 32 and a general vehicle. The other vehicle 30 communicates with the other vehicle monitoring device 40 by the wireless communication device 32 and transmits information including the position of the host vehicle, the vehicle speed, the traveling direction, and the vehicle ID to the other vehicle monitoring device 40 as travel information. The other vehicle 30 is a vehicle that does not have an automatic traveling function or has an automatic traveling function, but is driven by a driver without operating this function.

  The other vehicle monitoring device 40 includes a wireless communication device 42 and a travel information acquisition unit 44. The wireless communication device 42 of the other vehicle monitoring device 40 communicates with the wireless communication device 32 of the other vehicle 30. The travel information acquisition unit 44 acquires travel information such as position information, vehicle speed, travel direction, and vehicle ID of the other vehicle 30 from the wireless communication device 42 and transmits the travel information to the other vehicle state determination unit 56 of the control device 52.

The other vehicle monitoring device 40 is installed, for example, at an entrance gate and an exit gate at the entrance / exit of the automatic traveling area where the autonomous traveling vehicle 10 travels and a general road.
The approach gate regulates the approach of the other vehicle 30 from the general road to the automatic travel area based on an instruction from the control center 50. The other vehicle monitoring device 40 of the entrance gate displays the travel information such as the position information, vehicle speed, travel direction, vehicle ID, etc. of the other vehicle 30 that has reached the entrance gate and the other vehicle 30 that has passed through the entrance gate. It transmits to the state judgment part 56.

  The exit gate regulates the exit of other vehicles from the automatic travel area to the general road based on an instruction from the control center 50. The other vehicle monitoring device 40 of the exit gate displays the travel information such as the position information, the vehicle speed, the travel direction, and the vehicle ID of the other vehicle 30 that has reached the exit gate and the other vehicle 30 that has passed through the exit gate. It transmits to the state judgment part 56.

  The control device 52 installed in the control center 50 controls the automatic traveling vehicle 10 that automatically travels along the route. The control device 52 includes a wireless communication device 54, an other vehicle state determination unit 56, a control control unit 58, a route DB 60, and a vehicle DB 62.

The wireless communication device 54 communicates with the autonomous vehicle 10. The other vehicle state determination unit 56 communicates with the other vehicle monitoring device 40.
The control control unit 58 is a known computer including a CPU, a RAM, a ROM, and the like. The control control unit 58 controls each part of the control device 52 and uses the various information acquired from the wireless communication device 54 and the other vehicle state determination unit 56 to control the automatic traveling of the automatic traveling vehicle 10. Various processes including the setting process are executed.

  The route DB 60 stores a plurality of routes when the automatic traveling vehicle 10 performs automatic traveling. Each route is assigned an identification number. The vehicle DB 62 stores various types of information related to the automatic traveling vehicle 10 and the other vehicle 30 in association with the vehicle ID.

  If registered in the control center 50, the route stored in the route DB 60 can be added and changed. The route added and changed in the route DB 60 is notified to the automatic traveling vehicle 10, and the route DB 14 of the automatic traveling vehicle 10 is also added and changed.

[2. processing]
[2-1. Overview of processing]
The control control unit 58 of the control device 52 transmits a route identification number used for automatic traveling and a traveling instruction to the first traveling instruction position to the automatic traveling vehicle 10 as control information using the wireless communication device 54. The control control unit 58 also transmits the route speed limit and the recommended vehicle speed to the automatic traveling vehicle 10 as control information.

  The vehicle control unit 22 of the automatic travel control device 12 uses the wireless communication device 20 to receive the route identification number used for automatic travel and the travel command up to the first travel command position from the control center 50, and the route DB 14 Read the path of the corresponding identification number from. Then, automatic traveling to the first traveling instruction position is started along the read route.

  As shown in FIG. 2, the route DB 14 of the autonomous vehicle 10 and the route DB 60 of the control device 52 include a plurality of routes connecting the nursing home 100, the supermarket 102, the government office 104, and the hospital 106. Is attached and stored. Below, the case where the route 200 shown by the solid line from the nursing home 100 to the hospital 106 among the plurality of routes is selected as the route on which the autonomous vehicle 10 automatically travels will be described.

  As shown in FIG. 3, the route 200 is a collection of continuous travel points from the automatic travel start position 204 to the destination 206. In FIG. 3, the nursing home 100 is the start position 204 and the hospital 106 is the destination 206. Each travel point is represented by longitude and latitude. The automatic traveling vehicle 10 performs automatic traveling along the route 200 unless an instruction to stop at the traveling point on the route 200 is received from the control center 50.

  The stop candidate position 202 is one of the travel points on the route 200, and as shown in the following (1) to (4), the automatic travel vehicle 10 can stop before reaching the destination. There is a sex position.

(1) As shown in FIG. 2 and FIG. 3, an entrance of a place where there is a possibility of stopping on the road structure such as an intersection or a junction on the route. It also includes the entrance to alternate routes.
(2) As shown in FIG. 4, traveling points 210 to 220 at which the other vehicle 30 enters and exits from the general road into the automatic traveling area.

  (3) As shown in FIG. 4, a stop candidate position 230 that is likely to stop in the shortest time as judged from the current time in order for the other vehicle 30 to enter the automatic travel area and approach the automatic travel vehicle 10.

  (4) As shown in FIG. 5 and FIG. 6, when arrival at the destination is delayed due to road conditions, traffic volume, etc. on the selected route 200, on the route 200, the routes 240, 242 to other routes 250, The change start position 260 from the original route to the new route when changing to 252.

  As the road situation, for example, as shown in FIG. As the traffic volume, for example, as shown in FIG. 6, there is a case where there are more automated traveling vehicles 10 that are given priority to traveling than the own vehicle at an intersection 270 on the route 200.

[2-2. Processing details]
(1) Main process of control control The main process of the automatic travel control process executed by the control control unit 58 of the control device 52 will be described based on the flowchart of FIG. The main process in FIG. 7 is always executed, for example, at predetermined time intervals.

  In S <b> 400, the control control unit 58 creates a travel route for each automatic travel vehicle 10 in response to a travel plan request. The created travel route is appropriately changed based on the road condition on the route on which the automatic traveling vehicle 10 travels, the traffic volume, and the like. Details of the travel route creation processing in S400 will be described later.

  In S402, the control control unit 58 sets a priority order when the automatic traveling vehicle 10 travels at the intersection and the junction in front of the traveling direction on the created route. Details of the priority order setting process in S402 will be described later.

  In S404, the control control unit 58 determines whether or not the automatic traveling vehicle 10 needs to stop at all intersections and junctions ahead in the traveling direction for all automatic traveling vehicles 10 traveling in the automatic traveling area. As well as whether or not information on how to respond when communication between the autonomous vehicle 10 and the control center 50 is interrupted has been transmitted. If it transmits with respect to all the automatic traveling vehicles 10 (S404: Yes), the control control part 58 will complete | finish this process.

  When there is an automatic traveling vehicle 10 that has not been transmitted, the control control unit 58 determines whether or not the automatic traveling vehicle 10 needs to be stopped (S406), and between the automatic traveling vehicle 10 and the control center 50. Processing for handling communication interruption (S408) is executed. Then, in S410, the control control unit 58 transmits the determination result in S406 and the correspondence information at the time of communication interruption created in S408 to the corresponding automatic traveling vehicle 10 using the wireless communication device 54, and at the time of communication interruption. Instruct the response.

Details of the stop necessity determination process of S406 and the communication interruption response process of S408 will be described later.
(2) Travel Route Creation Processing Details of the travel route creation processing executed by the control control unit 58 in S400 of FIG. 7 will be described based on the flowchart of FIG.

  The control control unit 58 acquires a request for route creation based on a travel plan from the current position to the destination by communication from all the automatic traveling vehicles 10 (S420). When a new autonomous traveling vehicle 10 that travels in the autonomous traveling area appears, the control control unit 58 acquires a route creation request from the autonomous traveling vehicle 10 through communication.

  The travel plan acquired from the automatic travel vehicle 10 includes the number of people on the automatic travel vehicle 10, the purpose of movement, and the vehicle ID of the automatic travel vehicle 10 in addition to the current position and the destination. In S420, the control control unit 58 acquires the priority of the automatic traveling vehicle 10 of the corresponding vehicle ID from the vehicle DB 62 based on the acquired vehicle ID.

The control control unit 58 acquires road information such as traffic closure, one-sided alternate traffic, traffic volume, etc., for the entire area of the automatic traveling area ahead of the traveling direction of the autonomous traveling vehicle 10 (S422).
Based on the request from the autonomous vehicle 10 acquired in S420, the control controller 58 creates a route for all the autonomous vehicles 10 in consideration of the efficiency such as the travel time and the travel distance and the convenience of the user. . The control control unit 58 changes the created route if necessary based on the road information acquired in S422 (S424).

(3) Priority Order Setting Process Details of the priority order setting process executed by the control control unit 58 in S402 of FIG. 7 will be described based on the flowchart of FIG.

  The control control unit 58 determines whether or not the priority order for the automatic traveling vehicle 10 to travel is set at all intersections and junctions that are targets in the automatic traveling area ahead of the traveling direction (S430). . When priority is set at all points (S430: Yes), the control control unit 58 ends this process.

  When there is a point where the priority order is not set (S430: No), the control control unit 58 acquires from the automatic traveling vehicle 10 the automatic traveling vehicle 10 whose passage timing overlaps at the point where the priority order is not set. Selection is made based on travel information such as position information, vehicle speed, and travel direction (S432).

  The control control unit 58 sets priorities according to priorities if the priorities of the automatic traveling vehicles 10 are clear from the priorities of the automatic traveling vehicles 10 acquired in S420 in FIG. (S434).

  If the priority order is not clear, the control control unit 58 sets the priority order from other information such as road type, width, arrival time at the destination, distance to the destination, presence of passengers, purpose of travel, etc. ( S436).

(4) Stop Necessity Determination Process Details of the stop necessity determination process executed by the control control unit 58 in S406 of FIG. 7 will be described based on the flowchart of FIG.

  From the result of the priority order set in the priority order setting process of FIG. 9, the control control unit 58 automatically travels at the intersection and the junction point in the traveling direction of the automatic traveling area where the autonomous traveling vehicle 10 is currently traveling. It is determined whether or not it is necessary to stop the vehicle 10 (S440).

  Next, the control control unit 58, in the automatic travel area, the position of the emergency vehicle when an emergency vehicle such as an emergency vehicle or a police vehicle among the other vehicles 30 approaches the automatic travel vehicle 10 toward the intersection or junction, Based on the approach information such as the vehicle speed and the traveling direction, it is determined whether or not the automatic traveling vehicle 10 needs to stop (S442).

  In the case of an emergency vehicle, since the priority is higher than that of the automatic traveling vehicle 10, for example, even when the emergency vehicle passes through an intersection or a junction after the automatic traveling vehicle 10, the emergency vehicle passes through the intersection or a junction. Until then, the control control unit 58 determines that the automated traveling vehicle 10 needs to stop before the intersection or the junction.

  In addition, the control control unit 58, in the automatic travel area, approaches information such as the position of the general vehicle, the vehicle speed, and the travel direction when the general vehicle of the other vehicles 30 approaches the automatic travel vehicle 10 toward the intersection or junction. Based on the above, it is determined whether or not the autonomous vehicle 10 needs to be stopped (S444). In the case of a general vehicle, the control control unit 58 determines whether or not the automatic traveling vehicle 10 needs to stop based on the possibility of collision with the general vehicle.

Next, when a sudden abnormality such as an accident occurs in front of the automatic travel area, the control control unit 58 determines whether or not the automatic travel vehicle 10 needs to be stopped (S446).
(5) Correspondence processing at the time of communication interruption The correspondence processing at the time of communication interruption executed by the control control unit 58 in S408 of FIG. 7 will be described based on the flowchart of FIG.

  In S450, the control control unit 58 sets stop candidate positions such as an intersection, a merge point, and an alternate path where the autonomous mobile vehicle 10 may stop. Details of the stop candidate position setting process in S450 will be described later.

  In S452, the control control unit 58 determines whether or not to stop the automatic traveling vehicle 10 based on the approach information such as the position of the emergency vehicle, the vehicle speed, and the traveling direction when the emergency vehicle of the other vehicle 30 approaches the automatic traveling vehicle 10. Set the position. Details of the stop candidate position setting process in S452 will be described later.

  In S454, the control control unit 58 determines whether or not to stop the automatic traveling vehicle 10 based on the approach information such as the position of the general vehicle, the vehicle speed, and the traveling direction when the general vehicle of the other vehicles 30 approaches the automatic traveling vehicle 10. Set the position. Details of the stop candidate position setting process in S454 will be described later.

  In S456, the control control unit 58 sets the route change start position as the stop candidate position when instructing the automatic traveling vehicle 10 to change the route before the alternate road. Details of the route change start position setting process in S456 will be described later.

  In S458, the control control unit 58 sets the change start position of the route as a stop candidate position when instructing the automatic traveling vehicle 10 to change the route before the congested intersection. Details of the route change start position setting process in S458 will be described later.

  In S460, the control control unit 58 includes the stop candidate position set in S450 to S458 and the expected stop time when stopping to approach the other vehicle 30, and the communication with the autonomous vehicle 10 is interrupted. Correspondence information for instructing how to respond to the automatic traveling vehicle 10 is created.

(6) Stop candidate position setting process Details of the stop candidate position setting process executed by the control control unit 58 in S450 of FIG. 11 will be described based on the flowchart of FIG.

  The control control unit 58 determines the closest intersection, the junction, and the entrance of the alternate traffic path in the traveling direction of the automatic traveling vehicle 10 on the route along which the automatic traveling vehicle 10 is traveling, and the current position of the automatic traveling vehicle 10. A selection is made based on the traveling direction and the route DB 60 (S470).

  The control controller 58 determines that there is a possibility of stopping the automatic traveling vehicle 10 when another automatic traveling vehicle 10 passes through the selected entrance at the timing when the automatic traveling vehicle 10 passes, and automatically travels through the selected entrance. When the other vehicle 10 does not pass at the timing when the vehicle 10 passes, it is determined that there is no possibility of stopping the vehicle 10 (S472).

  When there is no possibility of stopping the automatic traveling vehicle 10 at the selected entrance (S474: No), the control control unit 58 shifts the process to S476. When there is a possibility that the automatic traveling vehicle 10 may stop at the selected entrance (S474: Yes), the control control unit 58 proceeds to S482.

  In S476, the control control unit 58 determines whether or not the possibility of stopping is determined at all the entrances of the route on which the automatic traveling vehicle 10 is traveling. When there is an entrance for which the possibility of stopping is not present (S476: No), the control control unit 58 proceeds to S478. When the possibility of stopping is determined at all the entrances (S476: Yes), the control control unit 58 shifts the process to S480.

  In S478, the control control unit 58 selects from the route DB 60 the next closest intersection, junction, and alternate route entrance ahead of the traveling direction in the automatic traveling area in which the autonomous traveling vehicle 10 is traveling, and then proceeds to S472. Migrate processing.

In S480, the control control unit 58 determines that there is no entrance that may stop along the route, and sets the destination to the stop position of the automatic traveling vehicle 10.
In S482, the control control unit 58 sets all the entrances that may stop as the stop candidate positions 202, as shown in FIGS.

(7) Stop candidate position setting process when an emergency vehicle approaches The details of the stop candidate position setting process executed by the control control unit 58 in S452 of FIG. 11 will be described based on the flowchart of FIG.

  When the emergency vehicle is traveling among the other vehicles 30 in the automatic traveling area of the route on which the autonomous traveling vehicle 10 is traveling (S490: Yes), the control control unit 58 proceeds to S492. When the emergency vehicle is not traveling among the other vehicles 30 in the automatic traveling area where the autonomous traveling vehicle 10 is traveling (S490: No), the control control unit 58 proceeds to S500.

  In S492, the control control unit 58 determines whether or not the processes of S496 and S498 have been executed for all emergency vehicles in the automatic travel area. When there is an emergency vehicle that has not performed the processes of S496 and S498 (S492: No), the control control unit 58 proceeds to S494. When the processes of S496 and S498 are executed for all emergency vehicles (S492: Yes), the control controller 58 proceeds to S500.

  In S494, the control control unit 58 selects an emergency vehicle that has not been processed, and all the stop candidate positions where the automatic traveling vehicle 10 may stop when the selected emergency vehicle approaches the automatic traveling vehicle 10. Is selected (S496). The control control unit 58 selects a stop candidate position closest to the front in the traveling direction of the automatic traveling vehicle 10 among the selected ones (S498), and proceeds to S492.

  In S500, the control controller 58 determines whether or not the processes of S504 and S506 have been executed at all the entry / exit positions in the automatic travel area. When there is an entry / exit position where the processes of S504 and S506 are not executed (S500: No), the control control unit 58 shifts the process to S502. When the processes of S504 and S506 are executed for all the entry / exit positions (S500: Yes), the control control unit 58 shifts the process to S508.

  In S502, the control control unit 58 selects an entry / exit position that has not been processed, and there is a possibility that an emergency vehicle may enter from the selected entry / exit position, which may cause the automatic traveling vehicle 10 to stop. A position is selected (S504). The control control unit 58 selects the stop candidate position closest to the front in the traveling direction of the automatic traveling vehicle 10 among the selected ones (S506), and proceeds to S500.

  When the processes of S504 and S506 are executed for all the entry / exit positions (S500: Yes), the control control unit 58, as shown in FIG. 4, most automatically travels among the stop candidate positions selected in S498 and S506. The candidate stop position 230 close to the front in the traveling direction of the vehicle 10 and the expected time when the vehicle 10 further stops are determined (S508).

(8) Stop candidate position setting process when approaching a general vehicle Details of the stop candidate position setting process executed by the control control unit 58 in S454 of FIG. 11 will be described based on the flowchart of FIG.

  The control control part 58 transfers a process to S512, when the general vehicle is driving | running | working among the other vehicles 30 in the automatic driving | running | working area where the automatic traveling vehicle 10 is drive | working (S510: Yes). If the general vehicle is not traveling among the other vehicles 30 in the automatic traveling area where the autonomous traveling vehicle 10 is traveling (S510: No), the control control unit 58 proceeds to S520.

  In S512, the control control unit 58 determines whether or not the processes of S516 and S518 have been executed for all the general vehicles in the automatic travel area. When there is a general vehicle that does not execute the processes of S516 and S518 (S512: No), the control control unit 58 shifts the process to S514. When the processes of S516 and S518 are executed for all ordinary vehicles (S512: Yes), the control control unit 58 proceeds to S520.

  In S514, the control control unit 58 selects a general vehicle that has not been processed, and all the stop candidate positions that may cause the automatic traveling vehicle 10 to stop when the selected general vehicle approaches the automatic traveling vehicle 10. Is selected (S516). The control control unit 58 selects the stop candidate position 230 closest to the front in the traveling direction of the automatic traveling vehicle 10 among the selected ones (S518), and proceeds to S512.

  In S520, the control control unit 58 determines whether or not the processes of S524 and S526 have been executed at all entry / exit positions in the automatic travel area. When there is an entry / exit position where the processes of S524 and S526 are not executed (S520: No), the control control unit 58 shifts the process to S522. When the processes of S524 and S526 are executed for all the entry / exit positions (S520: Yes), the control control unit 58 shifts the process to S528.

  In S522, the control controller 58 selects an entry / exit position that has not been processed, and there is a possibility that a general vehicle may enter from the selected entry / exit position. A stop candidate position is selected (S524). The control control unit 58 selects the stop candidate position 230 closest to the front in the traveling direction of the automatic traveling vehicle 10 among the selected ones (S526), and proceeds to S520.

  When the processes of S524 and S526 are executed for all the entry / exit positions (S520: Yes), the control control unit 58, as shown in FIG. 4, runs most automatically among the stop candidate positions selected in S518 and S526. The candidate stop position 230 near the front in the traveling direction of the vehicle 10 and the expected time when the vehicle 10 further stops are determined (S528).

(9) Route Change Start Position Setting Process Before Alternate Traffic Route Details of the route change start position setting process executed by the control control unit 58 in S456 of FIG. 11 will be described based on the flowchart of FIG.

  The control control unit 58 determines whether there is an alternate road on the route on which the autonomous vehicle 10 travels, road information included in the travel information acquired from the other autonomous vehicle 10, or a road monitoring device (not shown). It determines based on the road information etc. which are acquired from (S530). If there is an alternate route (S530: Yes), the control control unit 58 determines whether there is a detour that bypasses the alternate route based on the route DB 60 (S532).

  If there is a detour that bypasses the alternate route (S532: Yes), the control control unit 58 is more efficient in terms of travel time, travel distance, etc. than passing through the alternate route for all detours. It is determined whether or not there is (S534). If the detour is more efficient than passing through the alternate route (S534: Yes), the control controller 58 moves the route from the route on which the autonomous vehicle 10 is currently traveling to the efficient detour. The change start position to be changed is selected (S536), and as shown in FIG. 5, the change start position 260 closest to the front in the traveling direction among the selected ones is determined as a stop candidate position (S538).

(10) Route Change Start Position Setting Process Before Congestion Intersection Details of the route change start position setting process executed by the control control unit 58 in S458 of FIG. 11 will be described based on the flowchart of FIG.

  The control control unit 58 determines whether there is a congested intersection on the route on which the autonomous vehicle 10 is traveling, road information included in the traveling information acquired from the other autonomous traveling vehicle 10, or a road (not shown). A determination is made based on road information or the like acquired from the monitoring device (S540). If there is a congested intersection (S540: Yes), the control control unit 58 determines whether there is a detour that bypasses the congested intersection based on the route DB 60 (S542).

  If there is a detour that bypasses the congested intersection (S542: Yes), the control control unit 58 determines the travel time, travel distance, etc., rather than passing through the congested intersection for all detours. From this, it is determined whether or not it is efficient (S544). When the detour is more efficient than passing through a congested intersection (S544: Yes), the control control unit 58 changes the route from which the autonomous vehicle 10 is currently traveling to an efficient detour. A change start position for changing the route is selected (S546), and as shown in FIG. 6, the change start position 260 closest to the front in the running direction is selected as a candidate stop position (S548).

[3. effect]
According to the embodiment described above, the following effects can be obtained.
When communication between the automatic traveling vehicle 10 and the control center 50 is interrupted, the traveling of the automatic traveling vehicle 10 is not immediately stopped, but the control center 50 notifies the automatic traveling vehicle 10 in advance before the communication is interrupted. The automatic traveling vehicle 10 is caused to travel to the stop candidate position.

  Thereby, when communication between the automatic traveling vehicle 10 and the control center 50 is temporarily interrupted due to an obstacle or the like, the automatic traveling vehicle 10 continues to travel and escapes from the communication interruption area, When communication with the control center 50 is restored, the automatic traveling vehicle 10 can continue traveling without stopping at the stop candidate position.

[4. Other Embodiments]
(1) In the above embodiment, it is assumed that the automatic traveling vehicle 10 travels in a dedicated automatic traveling area. On the other hand, all the vehicles other than the automatic traveling vehicle 10 are equipped with wireless communication devices, and the control center 50 acquires the traveling information of all the vehicles, and the automatic traveling of the automatic traveling vehicle 10 can be controlled based on the traveling information. If there is, the automatic traveling vehicle 10 may travel on a general road.

  (2) Traveling points that may stop due to road structures such as intersections and junctions are not stored in the route DB 14 but may be periodically notified from the control center 50 to the automatic traveling vehicle 10. Good.

  (3) When the communication with the control center 50 is interrupted, the automatic travel control device 12 communicates voice, warning light, or other vehicle to at least one of the passenger of the automatic travel vehicle 10 and the outside of the vehicle by a notification means. For example, the communication interruption may be notified.

  (4) When the communication with the control center 50 is interrupted and the automatic travel vehicle 10 stops at the stop candidate position, the automatic travel control device 12 automatically communicates with the voice, warning light, or other vehicle by the notification means. You may alert | report that a vehicle stops.

  (5) When the communication with the control center 50 is interrupted, the automatic travel control device 12 may notify the request for manual driving when the driving availability determination unit determines that the driver is capable of manual driving. .

  (6) The control device 52 may notify the automatic traveling vehicle 10 of the detour when there is a detour that can travel without passing through the stop candidate position where the automatic traveling vehicle 10 may stop. .

  (7) The control device 52 may be installed not on the control center 50 but on a roadside machine installed on a road in the automatic travel area, or may be installed on another automatic travel vehicle that travels in the automatic travel area. .

  (8) The functions of one component in the above embodiment may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. Further, at least a part of the configuration of the above embodiment may be replaced with a known configuration having the same function. Moreover, you may abbreviate | omit a part of structure of the said embodiment as long as a subject can be solved. In addition, all the aspects included in the technical idea specified only by the wording described in the claims are embodiments of the present invention.

  (9) In addition to the automatic travel control device 12 and the control device 52 described above, the automatic travel control system 2 including the automatic travel control device 12 and the control device 52 as components, and the computer serving as the automatic travel control device 12 Realizing the present invention in various forms such as an automatic travel control program, a control program for causing a computer to function as the control device 52, a recording medium recording an automatic travel control program or a control program, an automatic travel control method, a control method, etc. You can also.

2: automatic travel control system, 10: automatic travel vehicle, 12: automatic travel control device, 20: wireless communication device (control information acquisition means), 22: vehicle control unit (control information acquisition means, automatic travel control means), 30 : Other vehicle, 50: control center, 52: control device, 54: wireless communication device (communication means), 58: control control unit (control information setting means), 200: route, 202, 230: stop candidate position, 260: Change start position (stop candidate position) 270: Intersection

Claims (13)

An automatic travel control device (12) mounted on an automatic travel vehicle (10) that automatically travels along a route (200),
Control information acquisition means (20, 22) including control information acquired by communication from a control device (52) for controlling the automatic traveling vehicle, and acquiring control information for controlling the automatic traveling vehicle;
Candidate position acquisition means (20) for acquiring candidate stop positions (202, 230, 260) at which the autonomous vehicle may stop;
Based on the control information acquired by the control information acquisition means, the automatic travel vehicle automatically travels, and when communication with the control device is interrupted, the automatic travel vehicle reaches the stop candidate position acquired by the candidate position acquisition means. Automatic traveling control means (22) for automatically traveling the vehicle;
An automatic travel control device comprising: In the automatic travel control device according to claim 1,
The candidate position acquisition means acquires the stop candidate position by communication from the control device.
An automatic travel control device characterized by that. In the automatic travel control device according to claim 1 or 2,
The candidate position acquisition means acquires the stop candidate position (202) set based on a road structure represented by route information.
An automatic travel control device characterized by that. In the automatic travel control device according to any one of claims 1 to 3,
The candidate position acquisition means acquires the stop candidate position (230) set based on approach information of an emergency vehicle and a general vehicle approaching the automatic traveling vehicle acquired by the control device.
An automatic travel control device characterized by that. In the automatic travel control device according to any one of claims 1 to 4,
The candidate position acquisition means acquires a change start position of a route when there is a possibility that the route of the autonomous vehicle is changed as the stop candidate position (260).
An automatic travel control device characterized by that. In the automatic travel control device according to any one of claims 1 to 5,
The control information acquisition means (20) acquires, as the control information, a detour in which the autonomous vehicle can travel without passing through the stop candidate position.
An automatic travel control device characterized by that. A control device (52) for controlling an autonomous vehicle (10) that automatically travels along a route,
In order to control the automatic traveling vehicle, including stop candidate positions (202, 230, 260) that may cause the automatic traveling vehicle to automatically travel and stop when communication between the autonomous traveling vehicle and the control device is interrupted. Control information setting means (58) for setting the control information of
Communication means (54) for transmitting the control information to the autonomous vehicle;
A control device comprising: The control device according to claim 7,
The control information setting means sets the stop candidate position (202) based on a road structure represented by route information.
A control device characterized by that. The control device according to claim 7 or 8,
The control information setting means sets the stop candidate position (230) based on approach information of an emergency vehicle and a general vehicle approaching the automatic traveling vehicle.
A control device characterized by that. The control device according to any one of claims 7 to 9,
The control information setting means sets a change start position of a route when there is a possibility that the route of the autonomous vehicle is changed as the stop candidate position (260).
A control device characterized by that. The control device according to any one of claims 7 to 10,
The control information setting means sets, as the control information, a detour that allows the autonomous vehicle to travel without passing through the stop candidate position.
A control device characterized by that. The automatic travel control device according to any one of claims 1 to 6,
A control device according to any one of claims 7 to 11,
An automatic travel control system (2) comprising: In the automatic travel control system according to claim 12,
The said control apparatus is installed in the control center (50) which controls the said automatic traveling vehicle based on the driving information of the some vehicle containing the said automatic traveling vehicle acquired by communication,
An automatic travel control system characterized by that.

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