JP6705270B2 - Automatic operation control system for mobile - Google Patents

Description

The present invention relates to an automatic driving control system for a mobile body.

A mobile robot that moves in a room, which has map information that has information on the position and size of obstacles in the room such as furniture, and maps the travel route from the current location to the target while avoiding furniture. There is known a mobile robot which is determined by using a robot and moves along a moving route (see Patent Document 1).

JP, 2003-345438, A

If the obstacle in the room is a static obstacle whose position hardly changes, such as a bed, if the map information has information on the position and size of the obstacle, the mobile robot will detect the obstacle. You may be able to move around. However, if the obstacle is a static obstacle whose position changes relatively frequently, such as a chair or a trash can, even if the static obstacle exists at a certain position at a certain time, another At time, the static obstacle is unlikely to be present at the certain position, and is likely to be present at a position different from the certain position. If the obstacle is a dynamic obstacle such as a human being or a pet, it is more likely that its position has changed.

The map of Patent Document 1 only has information on the position and size of the obstacle at the time when the map information was created. Therefore, in Patent Document 1, there is a possibility that the position of the obstacle that changes with time, that is, the situation in the room cannot be accurately grasped. In other words, if the map information has only information on the position and size of the obstacle, it is difficult to accurately grasp the situation of the space in which the mobile robot moves.

When an area unsuitable for the moving body to move in the space is referred to as an unsuitable area, the object of the present invention is to more accurately determine the unsuitable area and more appropriately generate the path of the moving body. It is possible to provide an automatic driving control system for a mobile body.

According to the present invention, there is provided an automatic operation control system for a mobile body, comprising an environment map storage device for storing environment map information, and an electronic control unit, wherein the environment map information is a plurality of information in a space. Position information representing each position, and the state quantity variability of each of the plurality of positions, and the state quantity variability associated with the corresponding position information, respectively. The variability represents the easiness of change of the state quantity of the corresponding position with respect to time, and the electronic control unit moves the mobile body based on the state quantity variability of the environment map information. A movement inadequate area determination unit configured to determine an inadequate movement inadequate area, a distance between the movement inadequate area determined by the movement inadequate area determination unit and the moving body is predetermined. A path generating unit configured to generate a path of the moving body so as to be larger than a set distance, and the moving body so as to move along the path generated by the path generating unit. A movement control unit configured to control, the path generation unit, when the state amount variability of the movement inappropriate region is low, when the state amount variability of the movement inappropriate region is high. In comparison, there is provided an automatic driving control system for a mobile body configured to set the set distance small.

It is possible to more accurately determine the movement inadequate region and more appropriately generate the path of the moving body.

1 is a block diagram of an automatic driving control system for a moving body according to an embodiment of the present invention. It is a schematic diagram explaining an external sensor. It is a block diagram of the automatic operation control part of the example by the present invention. It is a diagram explaining a course. It is the schematic which shows the environmental map information of the Example by this invention. It is a figure which shows an example of the change of the state quantity with respect to time. It is a figure which shows another example of the change with respect to time of a state quantity. It is a figure which shows another example of the change with respect to time of a state quantity. It is a schematic diagram explaining a detection method of position information and a state quantity. 7 is a time chart illustrating an example of calculating state quantity variability. 7 is a time chart illustrating an example of calculating state quantity variability. It is a figure which shows an example of a movement improper region. It is a figure which shows an example of a movement improper region. It is a figure which shows an example of a movement improper region. It is a figure which shows an example of a movement improper region. It is a figure which shows an example of a movement improper region. It is a figure which shows an example of the two-dimensional map of the movement improper area|region and the movement adaptation area SR. It is a schematic diagram for explaining an example of creating a two-dimensional map of a movement inadequate area and a movement adaptation area SR. It is a schematic diagram explaining course P. It is a map which shows an example of set distance SP1. It is a map which shows another example of set distance SP1. It is a map which shows an example of speed VESR of a vehicle. 7 is a map showing another example of vehicle speed VOSR. It is a flowchart which shows the automatic driving control routine of the Example by this invention. It is a schematic diagram showing another example of environment map information.

FIG. 1 shows a block diagram of an automatic driving control system for a moving body according to an embodiment of the present invention. The moving body includes a vehicle and a mobile robot. Hereinafter, a case where the moving body is a vehicle will be described as an example. Referring to FIG. 1, an automatic vehicle driving control system includes an external sensor 1, a GPS receiver 2, an internal sensor 3, a map database 4, a storage device 5, an environmental map storage device 6, a navigation system 7, and an HMI (Human Machine Interface). 8, various actuators 9 and an electronic control unit (ECU, Electronic Computer Unit) 10.

The external sensor 1 is a detection device for detecting information outside or around the vehicle. The external sensor 1 includes at least one of a lidar (LIDAR: Laser Imaging Detection and Ranging), a radar (Radar), and a camera. In an embodiment according to the invention, as shown in FIG. 2, the external sensor 1 comprises at least one lidar SO1, at least one radar SO2 and at least one camera SO3.

The rider SO1 is a device that detects an object outside the vehicle V using laser light. In the embodiment according to the present invention, the object is a static object (for example, a building, a road, etc.) that is an immovable object, a dynamic object (for example, another vehicle, a pedestrian, etc.) that is a movable object, a basic object. Includes quasi-static objects that are immovable but easily moveable (eg, signboards, trash cans, tree branches, etc.). In the example shown in FIG. 2, a single rider SO1 is installed on the roof of the vehicle V. In another embodiment (not shown), for example, four riders are mounted on the bumper at the four corners of the vehicle V, respectively. The rider SO1 sequentially irradiates the entire periphery of the vehicle V with laser light, and measures information about the object from the reflected light. This object information includes the distance and direction from the rider SO1 to the object, that is, the relative position of the object with respect to the rider SO1. The object information detected by the rider SO1 is transmitted to the electronic control unit 10. On the other hand, the radar SO2 is a device that detects an object outside the vehicle V by using radio waves. In the example shown in FIG. 2, for example, four radar SO2 are attached to the bumper at the four corners of the vehicle V, respectively. The radar SO2 emits radio waves around the host vehicle V from the radar SO2, and measures information about objects around the host vehicle V from the reflected waves. The object information detected by the radar SO2 is transmitted to the electronic control unit 10. In the example shown in FIG. 2, the camera SO3 includes a single stereo camera provided inside the windshield of the vehicle V. The stereo camera SO3 photographs the front of the vehicle V in color or monochrome, and the color or monochrome photographing information by the stereo camera SO3 is transmitted to the electronic control unit 10.

Referring again to FIG. 1, the GPS receiving unit 2 receives signals from three or more GPS satellites and thereby obtains the absolute position of the own vehicle or the external sensor 1 (for example, the latitude, longitude and altitude of the own vehicle V). Detect the information that represents. The absolute position information of the vehicle detected by the GPS receiver 2 is transmitted to the electronic control unit 10.

The internal sensor 3 is a detection device for detecting the traveling state of the host vehicle V. The traveling state of the host vehicle V is represented by at least one of the speed, the acceleration, and the attitude of the host vehicle. The internal sensor 3 includes one or both of a vehicle speed sensor and an IMU (Internal Measurement Unit). In the embodiment according to the invention, the internal sensor 3 comprises a vehicle speed sensor and an IMU. The vehicle speed sensor detects the speed of the vehicle V. The IMU includes, for example, a three-axis gyro and three-direction acceleration sensor, detects the three-dimensional angular velocity and acceleration of the host vehicle V, and detects the acceleration and attitude of the host vehicle V based on them. The traveling state information of the vehicle V detected by the internal sensor 3 is transmitted to the electronic control unit 10.

The map database 4 is a database relating to map information. The map database 4 is stored in, for example, an HDD (Hard disk drive) mounted on the vehicle. The map information includes, for example, road position information and road shape information (for example, types of curves and straight portions, curvature of curves, positions of intersections, confluences, and branch points).

The storage device 5 stores a three-dimensional image of an object detected by the rider SO1 and a road map dedicated to automatic driving created based on the detection result of the rider SO1. The three-dimensional images and road maps of these objects are constantly or regularly updated.

Environmental map information (described later) is stored in the environmental map storage device 6.

The navigation system 7 is a device that guides the own vehicle V to a destination set by the driver of the own vehicle V via the HMI 8. The navigation system 7 calculates a target route to reach the destination based on the current position information of the vehicle V detected by the GPS receiver 2 and the map information of the map database 4. The information on the target route of the host vehicle V is transmitted to the electronic control unit 10.

The HMI 8 is an interface for outputting and inputting information between an occupant of the own vehicle V and an automatic driving control system of the vehicle. In the embodiment according to the present invention, the HMI 8 includes a display for displaying character or image information, a speaker for generating sound, and operation buttons or a touch panel for an occupant to perform an input operation.

The actuator 9 is a device for controlling the traveling operation of the vehicle V according to a control signal from the electronic control unit 10. The traveling operation of the vehicle V includes driving, braking and steering of the vehicle V. The actuator 9 includes at least one of a drive actuator, a braking actuator, and a steering actuator. The drive actuator controls the output of the engine or the electric motor that provides the driving force of the vehicle V, and thereby controls the driving operation of the vehicle V. The braking actuator operates the braking device of the vehicle V, and thereby controls the braking operation of the vehicle V. The steering actuator operates the steering device of the vehicle V, and thereby controls the steering operation of the vehicle V.

When the occupant performs an input operation to start the automatic operation in the HMI 8 in a state where the automatic operation is possible, a signal is sent to the electronic control unit 10 to start the automatic operation. That is, driving, braking, and steering, which are traveling operations of the vehicle V, are controlled by the actuator 9. On the other hand, when an occupant performs an input operation to stop the automatic driving in the HMI 8, a signal is sent to the electronic control unit 10 to stop the automatic driving, and at least one of the traveling operations of the vehicle V is performed by the driver. Is started. In other words, automatic operation is switched to manual operation. When the driver operates the vehicle V during automatic driving, that is, when the driver operates the steering wheel by a predetermined threshold value or more, or when the accelerator pedal is depressed by a predetermined threshold value or more, Alternatively, even when the brake pedal is depressed by a predetermined threshold amount or more, the automatic operation can be switched to the manual operation. Further, when it is determined that the automatic operation is difficult during the automatic operation, the driver is requested to perform the manual operation via the HMI 7.

The electronic control unit 10 is a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. which are mutually connected by a bidirectional bus. As shown in FIG. 1, an electronic control unit 10 according to an embodiment of the present invention includes a storage unit 11 having a ROM and a RAM, an automatic driving control unit 12, and a movement inappropriate area determination unit 13.

The automatic driving control unit 12 is configured to control the automatic driving of the vehicle V. On the other hand, the movement inappropriate area determination unit 13 is configured to determine a movement inappropriate area in which the vehicle V moves.

In the embodiment according to the present invention, the automatic driving control unit 12 includes a peripheral recognition unit 12a, a self-position determining unit 12b, a route generation unit 12c, and a movement control unit 12d, as shown in FIG.

The surrounding recognition unit 12a is configured to recognize the surroundings of the vehicle V using the external sensor 1. That is, the periphery recognition unit 12a, based on the detection result of the external sensor 1 (for example, the three-dimensional image information of the object by the rider SO1, the object information by the radar SO2, the shooting information by the camera SO3, etc.), the surrounding situation of the vehicle V. Recognize. The external situation includes, for example, the position of the white line of the driving lane with respect to the host vehicle V, the position of the lane center with respect to the vehicle V, the road width, the shape of the road (for example, the curvature of the driving lane, the change in the slope of the road surface), the vehicle V The state of the object around (i.e., information that distinguishes a static object from a dynamic object, the position of the object with respect to the vehicle V, the moving direction of the object with respect to the vehicle V, the relative speed of the object with respect to the vehicle V, etc.) is included.

The self-position determining unit 12b is configured to determine the absolute position of the own vehicle V. That is, the self-position determining unit 12b includes a rough position of the own vehicle V from the GPS receiving unit 2, a surrounding situation of the own vehicle V recognized by the surrounding recognizing unit 12a, and an object stored in the storage device 5. The accurate absolute position of the host vehicle V is calculated based on the information regarding the above and the road map dedicated to automatic driving.

The route generation unit 12c is configured to generate the route of the vehicle V. In the embodiment according to the present invention, the route is information indicating the time t, information indicating the absolute position (x(t), y(t)) of the vehicle at the time t, and the traveling state of the vehicle at the time t ( For example, the combination (t, x(t), y(t), v(t), θ(t)) with the information indicating the speed v(t) and the traveling direction θ(t) is included. Here, x(t) is represented by, for example, latitude, and y(t) is represented by, for example, longitude. For example, first, using the combination (0, x(0), y(0), v(0), θ(0)) at the current time (t=0), the combination (Δt , X(Δt), y(Δt), v(Δt), θ(Δt)) are calculated. Next, the combination (2Δt, x(2Δt), y(2Δt), v(2Δt), θ(2Δt)) after the time Δt has further elapsed is calculated. Then, the combination after a lapse of further time nΔ t (nΔt, x (nΔt ), y (nΔt), v (nΔt), θ (nΔt)) is calculated. An example of these combinations is shown in FIG. That is, FIG. 4 shows that in the three-dimensional space defined by the time t and the absolute position (x(t), y(t)) of the vehicle V, the combination (t, x(t), y(t), v It is a plot of an example of (t) and θ(t). As shown in FIG. 4, a path P is a curve obtained by sequentially connecting a plurality of combinations (t, x(t), y(t), v(t), θ(t)).

Further, in the embodiment according to the present invention, the path generation unit 12c generates the path P based on the movement inappropriate area determined by the movement inappropriate area determination unit 13.

The movement control unit 12d is configured to control the movement of the vehicle V. Specifically, the movement control unit 12d is configured to control the vehicle V so as to move along the route P generated by the route generation unit 12c. That is, the movement control unit 12d controls the actuator 9 so that the combination (t, x(t), y(t), v(t), θ(t)) of the path P is realized, and the vehicle is controlled. Controls V drive, braking and steering.

In the embodiment according to the present invention, the movement inappropriate area determination unit 13 is configured to determine the movement inappropriate area based on the environment map information in the environment map storage device 6. Next, the environmental map information of the embodiment according to the present invention will be described.

FIG. 5 schematically shows the environment map information M of the embodiment according to the present invention. As shown in FIG. 5, the environment map information M of the embodiment according to the present invention respectively corresponds to position information representing each of a plurality of positions in space, and a state quantity representative value associated with each corresponding position information. State quantity variability associated with position information. In the embodiment according to the present invention, the above space is a three-dimensional space. In another example (not shown), the space is a two-dimensional space.

The state quantity representative value and the state quantity variability at a certain position are calculated based on the state quantity at the certain position. In the embodiment according to the present invention, the state quantity at a certain position is represented by the probability that an object exists at the certain position. In this case, the state quantity is calculated in the form of a continuous value between 0 and 1, for example. In another embodiment (not shown), the state quantity is calculated in the form of discrete values.

The state quantity representative value at a certain position is a numerical value that appropriately represents the state at the certain position. In the embodiment according to the present invention, the state quantity representative value is calculated in the form of a continuous value.

On the other hand, the state quantity variability of a certain position is a numerical value that represents the ease with which the state quantity of the certain position changes over time. In the embodiment according to the present invention, the state quantity variability is calculated in the form of continuous values. In another embodiment (not shown), the state variable variability is calculated in the form of discrete values. Next, the state quantity variability will be further described with reference to FIGS. 6A, 6B, and 6C. Note that the detected state quantities are plotted in FIGS. 6A, 6B, and 6C.

The state quantity variability is represented by, for example, the frequency of change of the state quantity over time or the degree of change. That is, the state quantity of the example shown in FIG. 6B has a higher frequency of change than the state quantity of the example shown in FIG. 6A and is likely to change with time. Therefore, the state quantity variability of the example shown in FIG. 6B is higher than the state quantity variability of the example shown in FIG. 6A. On the other hand, the state quantity of the example shown in FIG. 6C has a greater degree of change than the state quantity of the example shown in FIG. 6A and is likely to change with time. Therefore, the state quantity variability of the example shown in FIG. 6C is higher than the state quantity variability of the example shown in FIG. 6A.

Next, an example of creating the environmental map information M will be described. In this creation example, an environment detection device that detects position information indicating a position in space and a state quantity of the position, a storage device for the environment map, and an electronic control unit for creating the environment map are provided. The electronic control unit for creation is configured such that, for each of a plurality of positions in the space, position information representing the position and the state quantity of the position at different times are detected by the environment detection device. An environment detection unit, a state quantity calculation unit that calculates the state quantity representative value using the detected state quantity for each of the plurality of positions, and the detected state quantity for each of the plurality of positions. A variability calculator configured to calculate the state quantity variability by using a storage device for an environment map by associating the state quantity representative value and the state quantity variability with the corresponding position information. The environment map information M is created by using the environment map creating system including a storage unit that stores the environment map information. The environment mapping system is mounted on a moving body such as a vehicle. The environment detection device includes, for example, an external sensor (for example, a rider) that detects an object around the environment map creation system, an internal sensor, and a GPS receiver that detects an absolute position of the environment map creation system.

FIG. 7 shows a case where the laser light emitted from the rider L of the environment map making system is reflected by the object OBJ. In this case, a reflection point is formed at the position PX, as indicated by a black circle in FIG. The rider L measures relative position information of the position PX of the reflection point from the reflected light. From this measurement result, it is found that the object OBJ exists at the position PX, and therefore the state quantity of the position PX, that is, the object existence probability is 1. Further, the absolute position information of the position PX can be known from the relative position information of the position PX from the rider 1 and the absolute position information of the environment map creating system from the GPS receiving section of the environment map creating system. Further, it can be seen that there is no object at the position PY that is not a reflection point indicated by a white circle in FIG. 7, and therefore the state quantity at the position PY, that is, the object existence probability is zero. Further, the absolute position information of the position PY can be known from the relative position information of the position PX from the rider L and the absolute position information of the environment map creating system from the GPS receiving section of the environment map creating system. In this way, the absolute position information and the state quantity of the positions PX and PY are calculated.

In the example of creating the environmental map information M, the rider L of the environmental map creating system repeatedly detects object information at intervals of, for example, tens of ms. In other words, the rider L of the environment mapping system detects object information at a plurality of different times. Therefore, state quantities at a plurality of mutually different times are calculated from object information at a plurality of mutually different times. Alternatively, even when the mobile body equipped with the environment map creating system moves a certain place a plurality of times, the object information at a plurality of different times is detected, and therefore the state quantities at a plurality of different times are calculated. 8A, 8B, and 8C show various examples of the state quantity at a certain position at a plurality of different times.

In the creation example of the environment map information M, the amount of change in the state quantity per unit time is calculated, and the state quantity variability is calculated based on the amount of change in the state quantity per unit time. That is, in the example shown in FIG. 8A, the change amount (absolute value) dSQ1, dSQ2,... Of the state amount in the same time width dt is calculated. The time width dt in this case is equal to the state amount detection interval, for example. In the example shown in FIG. 8A, the state amount variation amounts dSQ1, dSQ2,... Are calculated in the continuous time width dt, but in another example, the state amount variation amount is calculated in the discontinuous time width dt. Are calculated respectively. Alternatively, in the example shown in FIG. 8B, change amounts (absolute values) dSQ1, dSQ2,... Of state quantities in a plurality of mutually different time widths dt1, dt2,. The different time widths are, for example, in the order of seconds, minutes, days, years. Next, the amount of change dSQ1/dt1, dSQ2/dt2,... Of the state quantity per unit time is sequentially calculated. In the example shown in FIG. 8B, the state amount variation amounts dSQ1, dSQ2,... Are calculated in the continuous time widths dt1, dt2,..., However, in another example, the state amount is calculated in the discontinuous time widths. The change amount of is calculated respectively. Then, the state quantity variability is calculated by performing a simple average or a weighted average of the change amounts dSQ1/dt1, dSQ2/dt2,... Of the state amount per unit time. When a weighted average is used, in one example, the change amount dSQ/dt of the new state quantity per unit time is weighted more heavily, and the change amount dSQ/dt of the state quantity older than the detection time is dSQ/dt. Are weighted less. In another example, the amount of change dSQ/dt per unit time of a newer state quantity is weighted less, and the amount of change dSQ/dt of an older state quantity per unit time is weighted more. It Such state quantity variability is calculated for each of a plurality of positions.

In another example of creating the environmental map information M (not shown), a plurality of state quantities as a function of time are Fourier transformed, and the state quantity variability is calculated from the result. Specifically, in one example, the intensity of a predetermined spectrum (frequency) is calculated as the state quantity variability. In another example, the state quantity variability is calculated by performing a simple average or a weighted average of the intensities of various spectra.

On the other hand, in the example of creating the environment map information M, the state quantity representative value is calculated based on the state quantity of the certain position detected at a plurality of different times. In one example, the state quantity representative value at a certain position is set to the latest state quantity at the certain position at a plurality of mutually different times. By doing so, the state quantity representative value of a certain position represents the latest state of the certain position. In another example, the state quantity representative value at a certain position is calculated by performing a simple average or a weighted average of the state quantities at the certain position at different times. In this way, even if the state quantity at a certain position temporarily changes, the state quantity representative value can accurately represent the state at that position.

Next, the state quantity representative values are stored in the environment map storage device in association with the corresponding position information. In addition, the state quantity variability is stored in the environment map storage device in association with the corresponding position information. In this way, the environment map information M is created.

As described above, since the state quantity representative value and the state quantity variability are associated with the position information, when the position information is specified, the state quantity representative value and the state quantity variability of the corresponding position can be known from the environment map information M. In the embodiment according to the present invention, the environment map information M is a three-dimensional map because it has the positional information of the position in the three-dimensional space, the state quantity representative value, and the state quantity variability. Further, in the embodiment according to the present invention, the position information is absolute position information. In another embodiment (not shown), the position information is relative position information with respect to a predetermined specific position.

The following can be understood from the environment map information M created in this way. That is, when the state quantity represented by the object existence probability at a certain position is large and the state quantity variability is low, the position is a static object (for example, a building, road surface, etc.) or is stationary. It is occupied by a moving object (for example, another vehicle, a pedestrian, etc.) or a quasi-static object (for example, a signboard, a trash can, a tree branch, etc.). Alternatively, an occupied state in which the position is occupied by a dynamic object or a quasi-static object and an unoccupied state in which the position is not occupied by a dynamic object or a quasi-static object switch at a relatively low frequency. In addition, the occupied time is relatively long. On the other hand, when the state quantity at a certain position is small and the variability of the state quantity is low, nothing exists at that position. A specific example of such a position is a space above a pond. When the state quantity of a certain position is large and the state quantity variability is high, the occupied state and the unoccupied state are switched at a relatively high frequency, and the occupied state time is relatively long. A specific example of such a position is a road having a relatively large traffic volume. When the state quantity at a certain position is small and the state quantity variability is high, the occupied state and the unoccupied state switch at a relatively high frequency, and the unoccupied state takes a relatively long time. A specific example of such a position is a road having relatively low traffic volume (not zero).

That is, the environment map information M according to the embodiment of the present invention includes not only information about an object or the presence/absence of an object at a certain position, but also information about how the position is. Therefore, the situation in the space can be represented more accurately.

In the embodiment according to the present invention, the moving body equipped with the environment map creating system is a moving body different from the vehicle V. In another embodiment (not shown), the vehicle equipped with the environment mapping system is a vehicle V. That is, the environment map information M is created in the vehicle V and stored in the environment map storage device 6. In this case, the external sensor 1 and the GPS receiver 2 of the vehicle V form an environment detection device of the environment map creation system.

Further, in the above-described embodiment according to the present invention, the state quantity at a certain position is represented by the probability that an object exists at the certain position. In another embodiment (not shown), the state quantity at a certain position is represented by the color or brightness value of the object existing at the certain position. In this case, for example, which of the lamps of the traffic light is lit can be grasped. In this another embodiment, when the state quantity is represented by the color of the object, the color of the object is detected by a color camera as the camera SO3 of the external sensor 1. On the other hand, when the state quantity is represented by the brightness value of the object, the brightness value of the object is detected by the lidar SO1, the radar SO2 of the external sensor 1, or the color or monochrome camera SO3. That is, the intensity of the reflected light obtained when the laser light emitted from the lidar SO1 is reflected by the object represents the brightness value of the object. Similarly, the intensity of the reflected wave of the radar SO2 represents the brightness value of the object. Therefore, the brightness value of the object is detected by detecting the reflected light intensity or the reflected wave intensity. When the state quantity is represented by the color of the object, the state quantity is digitized using, for example, an RGB model.

On the other hand, in the above-described embodiment according to the present invention, one state quantity variability is associated with one position information. In another embodiment (not shown), a plurality of state quantity variability is associated with one position information, and thus the environment map information M has a plurality of state quantity variability. In this case, in one example, as illustrated in FIG. 8B, the plurality of state amount variability is calculated based on the change amounts of the state amounts in a plurality of mutually different time widths. In another example, a plurality of state quantity variability is calculated based on the intensities of a plurality of spectra obtained by Fourier transforming the state quantity.

As described above, the movement inappropriate area determination unit 13 determines the movement inappropriate area based on the environment map information M. Next, with reference to FIGS. 9 to 13, various examples of the method of determining the movement unsuitable area in the embodiment according to the present invention will be described.

In the example shown in FIG. 9, in the space in which the vehicle V can travel, the state quantity representative value SQ is larger than a predetermined first set state quantity representative value SQ1 and the state quantity variability VRB is predetermined. A region lower than the determined first set state variable variability VRB1 is determined as the movement inappropriate region USR. Further, the state quantity representative value SQ is larger than the first set state quantity representative value SQ1 and the state quantity variability VRB is equal to or higher than the first set state quantity variability VRB1, and the state quantity variability is An area in which the state quantity representative value SQ is equal to or smaller than the first set state quantity representative value SQ1 regardless of VRB is determined as the movement adaptation area SR suitable for the vehicle to move.

As described above, the static object exists in the region where the state amount representative value SQ is large and the state amount variability is low. In the example shown in FIG. 9, it is determined that such an area is not suitable for the automatic driving traveling of the vehicle V, and this area is determined as the movement inappropriate area USR. On the other hand, in the example shown in FIG. 9, it is determined that the vehicle is suitable for automatic driving of the vehicle V in a region where the state amount representative value SQ is large and the state amount variability is high or a region where the state amount representative value SQ is small. These areas are determined as the movement adaptation area SR. In the embodiment according to the present invention, the area in which the environment map information M does not exist, that is, the area in which one or both of the state quantity representative value and the state quantity variability are not calculated is also determined as the movement unsuitable area USR. ..

In the example shown in FIG. 10, the second set state quantity variability VRB2 in which the state quantity representative value SQ is larger than a predetermined second set state quantity representative value SQ2 and the state quantity variability VRB is predetermined. A region higher than the above is determined as the movement unsuitable region USR. Further, the state quantity representative value SQ is larger than the second set state quantity representative value SQ2 and the state quantity variability VRB is equal to or lower than the second set state quantity variability VRB1, and the state quantity variability is An area in which the state quantity representative value SQ is equal to or smaller than the second set state quantity representative value SQ2 regardless of VRB is determined as the movement adaptation area SR.

In the example shown in FIG. 11, the state quantity representative value SQ is smaller than a predetermined third set state quantity representative value SQ3 and the state quantity variability VRB is a third set state quantity variability VRB3. A region higher than the above is determined as the movement unsuitable region USR. In addition, the state quantity representative value SQ is smaller than the third set state quantity representative value SQ3 and the state quantity variability VRB is equal to or lower than the third set state quantity variability VRB3, and the state quantity variability is An area in which the state quantity representative value SQ is equal to or larger than the third set state quantity representative value SQ3 regardless of VRB is determined as the movement adaptation area SR.

In the example shown in FIG. 12, a region in which the state quantity change VRB is lower than a predetermined fourth set state quantity change VRB4 is determined as the movement inappropriate area USR. Further, a region in which the state quantity change VRB is equal to or higher than the fourth set state quantity change VRB4 is determined as the movement adaptation area SR.

In the example shown in FIG. 13, a region in which the state quantity variability VRB is higher than a predetermined fifth set state quantity variability VRB5 is determined as the movement inappropriate area USR. Further, a region in which the state quantity change VRB is equal to or lower than the fifth set state quantity change VRB5 is determined as the movement adaptation area SR.

In the examples shown in FIGS. 12 and 13, it can be considered that the movement inappropriate area USR is determined regardless of the state amount representative value SQ.

FIG. 14A is an example in which the movement unsuitable area USR and the movement adaptation area SR are represented in the form of a two-dimensional map. In the example shown in FIG. 14A, x is represented by latitude and y is represented by longitude. This two-dimensional map is created as follows, for example.

The environment map information M has state quantity variability VRB and state quantity representative value SQ at a plurality of positions having the same latitude x and longitude y and different altitudes z. FIG. 14B shows a plurality of positions P1, P2, where the latitude x and the longitude y are (x1, y1) and the altitude z is different from a road surface to a constant value H determined according to the height of the vehicle V. ..., Pn are shown. The constant value H is, for example, the sum of the height of the vehicle V and the constant value. It is determined whether or not these positions P1, P2,..., Pn are in the movement inappropriate area USR. That is, in the example shown in FIG. 9, at the positions P1, P2,..., Pn, the state quantity representative value SQ is larger than the first set state quantity representative value SQ1 and the state quantity variability VRB is the first set state. Whether or not it is lower than the quantity variability VRB1 is determined. If at least one of the positions P1, P2,..., Pn is determined to be the movement inappropriate area USR, the position (x1, y1) on the xy plane is set as the movement inappropriate area USR. On the other hand, when it is determined that all of the positions P1, P2,..., Pn are the movement adaptation region SR, the position (x1, y1) on the xy plane is set as the movement adaptation region SR. The same processing is performed for various latitudes x and longitudes y, whereby the movement improper regions USR and the movement adaptation regions SR are represented in the form of a two-dimensional map.

As described above, in the embodiment according to the present invention, the route generation unit 12c generates the route P based on the movement inappropriate area determined by the movement inappropriate area determination unit 13. Next, an example of the route P based on the movement inappropriate area will be described.

In the embodiment according to the present invention, as shown in FIG. 15, the course P is generated so as to pass through the movement improper region USR. Further, in the embodiment according to the present invention, the course P is determined so that the distance SP between the vehicle V and the movement inappropriate area USR becomes larger than the preset set distance SP1. By doing so, the automatic operation of the vehicle V is performed more safely and more reliably.

In this case, when the state quantity variability VRB of the movement inappropriate area USR is low, the set distance SP1 is set smaller than when the state quantity variability VRB of the movement inappropriate area USR is high. Specifically, in the example shown in FIG. 16, the set distance SP1 becomes smaller as the state quantity variability VRB becomes lower. In the example shown in FIG. 17, the set distance SP1 is set to a relatively small value SP1S when the state quantity variability VRB is lower than a predetermined first state quantity variability threshold VRBx, and the state quantity change When the sex VRB is equal to or higher than the first state quantity change threshold VRBx, a relatively large value SP1L is set.

Further, in the embodiment according to the present invention, the speed when passing through the movement inappropriate area USR is set based on the state quantity change VRB of the movement inappropriate area USR.

In this case, when the state quantity variability VRB of the movement inappropriate area USR is low, the speed VOSR when the vehicle V passes through the movement inappropriate area USR is higher than when the state quantity variability VRB of the movement inappropriate area USR is high. Set high. Specifically, in the example shown in FIG. 18, the speed VOSR increases as the state quantity change VRB decreases. In the example shown in FIG. 19, the speed VOSR is set to a relatively high speed VUSRL when the state quantity variability VRB is lower than a predetermined second state quantity variability threshold VRBy, and the state quantity variability is When VRB is equal to or higher than the second state quantity variability threshold value VRBy, a relatively low speed VUSRS is set.

The embodiment according to the present invention generates the path P in this way for the following reason. That is, the state quantity change VRB of a certain region being low means that an object in the certain region is difficult to move. Therefore, the object in the certain region can be considered to be stable. On the contrary, the fact that the state quantity change VRB of a certain region is high means that the object in the certain region is likely to move, and therefore the object in the certain region is unstable. I can think. Then, it can be considered that the area around the area where the state variable VRB is low is safer than the area around the area where the state variable VRB is high.

Therefore, in the embodiment according to the present invention, when the state amount variability VRB of the movement inappropriate region USR is low, the set distance SP1 is smaller than that when the state amount variability VRB of the movement inappropriate region USR is high. P is generated. Further, when the state quantity variability VRB of the movement inappropriate area USR is low, the speed VOSR when the vehicle V passes through the movement inappropriate area USR is higher than when the state quantity variability VRB of the movement inappropriate area USR is high. So that the path P is generated. As a result, a more appropriate course P is secured according to the situation of the unsuitable movement region USR, and thus a more appropriate automatic driving of the vehicle V is secured.

FIG. 20 shows a routine for executing the automatic driving control according to the embodiment of the present invention. This routine is repeated when automatic operation control should be performed. Referring to FIG. 20, in step 101, the movement inappropriate area USR is determined. In the following step 102, the route P is generated. In the following step 103, movement control of the vehicle V is executed.

As described above, it is considered that the area around the low state variable VRB is safer than the area around the high state variable VRB. Therefore, in another embodiment (not shown) according to the present invention, when the state quantity variability VRB is higher than a predetermined third state quantity variability threshold value VRBz, an alarm is issued to the driver and the state quantity variability is changed. When VRB is equal to or lower than the third state quantity variability threshold value VRBz, the alarm to the driver is stopped. As a result, the driver can be alerted more appropriately. This alarm is issued by the HMI 8, for example.

FIG. 21 shows another example of the environment map information M. In the example shown in FIG. 21, the environment map information M includes position information representing a plurality of positions in the space and state quantity variability associated with the corresponding position information. Does not have. Also in this case, it is possible to grasp the situation of a plurality of positions by the state quantity variability.

In the above description, the first set state quantity change VRB1 to the fifth set state quantity change VRB5 are different from each other. In another example, at least two of the first set state variable VRB1 to the fifth set state variable VRB5 are equal to each other. Further, in the above description, the first set state quantity representative value SQ1 to the third state quantity representative value SQ3 are different from each other. In another example, at least two of the first set state quantity representative value SQ1 to the third state quantity representative value SQ3 are equal to each other. Further, in the above description, the first state quantity variability threshold value VRBx to the third state quantity variability threshold value VRBz are different from each other. In another example, at least two of the first state-variability threshold VRBx to the third state-variability threshold VRBz are equal to each other.

DESCRIPTION OF SYMBOLS 1 External sensor 2 GPS receiver 6 Environmental map storage device 10 Electronic control unit 12 Automatic driving control unit 12a Surrounding recognition unit 12b Self-position determination unit 12c Path generation unit 13 Inadequate movement region determination unit M Environmental map information

Claims (1)

An automatic operation control system for a mobile body, comprising an environment map storage device storing environment map information and an electronic control unit,
The environmental map information is
Position information representing each of a plurality of positions in space,
The state quantity variability of each of the plurality of positions, the state quantity variability associated with each corresponding position information,
And the variability of the state quantity represents the easiness of change of the state quantity of the corresponding position with respect to time,
The electronic control unit,
A movement unsuitable area determination unit configured to determine a movement unsuitable area unsuitable for the moving body to move, based on the position information and the state quantity variability of the environment map information,
It is configured to generate a path of the moving body such that a distance between the moving inappropriate area determined by the movement inappropriate area determining unit and the moving body is larger than a preset set distance. The path generation unit,
A movement control unit configured to control the moving body so as to move along the path generated by the path generation unit,
Equipped with
The path generation unit is configured to set the set distance smaller when the state quantity variability of the movement inappropriate area is low than when the state quantity variability of the movement inappropriate area is high. ,
An automatic operation control system for mobile units.

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