JP6895745B2 - Unmanned moving body and control method of unmanned moving body - Google Patents

Description

The present invention relates to an unmanned moving body capable of autonomous movement, and more particularly to a control method for an unmanned moving body and an unmanned moving body capable of autonomously moving at high speed not only on a paved road but also on an unpaved road.

Conventionally, as the unmanned mobile body capable of autonomous movement as described above, for example, there is a mobile robot described in Patent Document 1.

This mobile robot has a laser range finder (laser sensor) that scans the laser beam to acquire profile information on the front side, a self-position measuring unit such as GPS that obtains the self-position, and the front side obtained by the laser range finder. It is equipped with a processing unit in which profile information is input and self-position information obtained by the self-position measurement unit is input.

The processing unit is an information analysis means that analyzes the profile information on the front side acquired by the laser range finder, and a local map including a travelable area, a non-travelable area, and an unmeasured area based on the analysis result by this information analysis means. Based on the local map creation means for creating the local map and the local map created by this local map creation means, a continuous travelable area is extracted from the self-position acquired by the self-position measurement unit to create a travelable area map. It is equipped with a means for creating a map of the travelable area.

In addition, the processing unit has a travel route generating means that generates a travel route based on the travelable area map created by the travelable area map creating means, and a travel speed based on the travel route generated by the travel route generation means. It is equipped with a traveling speed setting means for setting.

Then, the mobile robot operates the steering actuator and the brake / accelerator actuator via the motor driver, which is a traveling mechanism, according to the traveling route and the traveling speed in the travelable area map.

Japanese Patent Application Laid-Open No. 2012-159954

However, in the above-mentioned autonomously movable mobile robot, when traveling on a paved road where liquids such as rainwater are accumulated over a wide area on the road surface, a laser irradiated from a laser range finder toward the front side in order to acquire profile information. There is a risk that the light will be specularly reflected on the road surface that is mirror-finished by the accumulated liquid, and it will not be possible to acquire the profile information on the front side.

Therefore, the unmeasured area on the front side increases, and when setting the traveling speed by the traveling speed setting means of the processing unit, the traveling speed is set as low as that of an unpaved road or rough terrain even though it is a paved road. For example, when it is raining or snowing, there is a problem that the paved road cannot be driven at high speed.

At this time, in order to compensate for this demerit, when a stereo camera is used or a laser range finder having a different scanning direction of the laser beam is used together, there is a problem that the equipment cost increases, which is not preferable. Solving the problem has been a conventional issue.

The present invention has been made by paying attention to the above-mentioned conventional problems, and it is assumed that it is possible to autonomously travel on paved roads and unpaved roads at high speed in fine weather, as well as when it is raining or snowing. The purpose of the present invention is to provide a control method for an unmanned moving body and an unmanned moving body capable of autonomously traveling on a paved road at high speed without using a stereo camera or a laser range finder having different scanning directions of laser light. There is.

The first aspect of the present invention is an unmanned moving body that travels autonomously, and has a traveling mechanism for autonomously traveling, a laser sensor that scans a laser beam and acquires information on a traveling direction, and a self. It includes a self-position measurement unit that acquires position information, a processing unit that inputs the traveling direction information and the self-position information, and the processing unit has a travelable range and a travel impossible based on the travel direction information. A local map creation means that sequentially creates a local map including an area and an unmeasured area, and a travelable area map that extracts a continuous travelable area from the self-position of the self-position information based on the local map. The local map created by the current global map creating means for creating or updating a global map, and the local map creating means in a commercially available road map on which a road is posted each time the local map is created by the local map creating means. The reference global map creation means for creating or updating the reference global map including the travelable area other than the road by applying the current local map to the part corresponding to the above, and the current global map creation means created or updated by the current global map creation means. A traveling route generating means for generating a traveling route based on a global map and a traveling speed setting means for setting a traveling speed and transmitting the traveling speed to the traveling mechanism based on the traveling route generated by the traveling route generating means are provided. The current global map creating means of the processing unit has a travelable area created or updated by the reference global map creating means at the stage of creating or updating the current global map based on the local map at the present time. Of the accumulated reference global maps, the reference global map corresponding to the current global map is read out, and the part corresponding to the current local map is cut out from the read reference global map to obtain the current global map. When the paved road mode for traveling on the paved road is selected, the travelable area created or updated by the reference global map creating means is accumulated. Of the past reference global maps, the reference global map corresponding to the current global map is read out, and the part corresponding to the current local map is cut out from the read reference global map and used as the current global map. A global map is currently created or updated by synthesizing, and when the unpaved road mode for traveling on an unpaved road is selected, the traveling possible created or updated by the above-mentioned reference global map creating means is possible. The configuration is such that the current global map is created or updated without reading the past reference global map in which the Noh area is accumulated.

Further, in the unmanned moving body according to the second aspect of the present invention, each time a travelable area and an obstacle that are easy to travel are detected in the local map created by the local map creation means, the number of times the travelability is determined and The number of obstacles detected is counted by the reference global map, and the reference global map creation means applies the local map to a portion of the road map corresponding to the local map created by the local map creation means and roads. At the stage of updating the reference global map including the travelable area other than the above, if the number of easy-to-run determinations counted in the reference global map is larger than the number of obstacle detections, the obstacle is a moving obstacle. Therefore, it is determined that the local map is a travelable road, and if the number of times the easy travel determination is smaller than the number of times the obstacle is detected, it is determined that there is an obstacle in the local map.

On the other hand, a third aspect of the present invention is a method for controlling an unmanned moving body that travels autonomously, in which information on the traveling direction of the unmanned moving body is acquired by scanning a laser beam and the unmanned moving body is self. The position information is acquired, and a local map including the road and the travelable area other than the road is sequentially created based on the travel direction information and the self-position information, and then sequentially created during the traveling of the unmanned moving body. Based on the local map, a continuous travelable area is extracted from the self-position of the unmanned moving body to create a current global map which is a travelable area map, and based on the current global map, continuous from the self-position. In the control method of an unmanned moving body that generates a traveling route and sets a traveling speed, every time the local map is created, the current local area is located at a part corresponding to the local map in a commercially available road map on which a road is posted. After applying the map to create a reference global map including the travelable area other than the road, the locally created local map is applied to the corresponding part of the reference global map to drive on the road and other than the road. A reference in which the created or updated travelable area is accumulated at the stage of sequentially updating the reference global map in which the possible area is accumulated and currently creating or updating the global map based on the local map at the present time. Of the global map for reference, the global map for reference corresponding to the current global map is read out, and the part corresponding to the local map at the present time is cut out from the read global map for reference and combined with the current global map. If the current global map is created or updated in, and the paved road mode for traveling on the paved road is selected, the current global of the past reference global maps in which the created or updated travelable area is accumulated. The current global map is created or updated by reading out the reference global map corresponding to the map and cutting out the part corresponding to the current local map from the read reference global map and synthesizing it with the current global map. , When the unpaved road mode is selected, the current global map is created or updated without reading the past reference global map in which the created or updated travelable area is accumulated. It is supposed to be.

Further, the method for controlling an unmanned moving object according to a fourth aspect of the present invention is easy to travel each time a travelable area and an obstacle that are easy to travel are detected in the local map created by the local map creation means. The number of judgments and the number of obstacle detections are counted by the reference global map, and the local map is applied to the portion corresponding to the local map in the road map to update the reference global map including the travelable area other than the road. In the stage, when the number of times of easy travel determination counted in the global map for reference is larger than the number of times the obstacle is detected, it is determined that the obstacle is a moving obstacle and the local map is a travelable road. When the number of times the easy-to-run determination is smaller than the number of times the obstacle is detected, it is determined that there is an obstacle in the local map.

The unmanned moving body and the controlling method of the unmanned moving body according to the present invention are used in an environment where there is a road, but any road such as a paved road, an unpaved road, or a road whose shoulder is not sufficiently maintained. It can also be applied in certain environments.

In the method for controlling an unmanned moving body and an unmanned moving body according to the present invention, the laser sensor that acquires information on the unevenness of the terrain in the traveling direction of the unmanned moving body may be, for example, a horizontal line scan type uniaxial laser range finder. That's enough.

Then, as the self-position measuring unit that obtains the ever-changing self-position information (including the posture angle and the direction in addition to the self-position) necessary for creating the traveling route, for example, GPS or IMU (Inertial Measurement Unit) And dead reckoning can be used.

When GPS is used as the self-position measuring unit, the GPS value fluctuates depending on the radio wave condition. Therefore, at the stage of creating or updating the current global map based on the current local map by the current global map creation means, when cutting out the part corresponding to the current local map of the read reference global map, the self It is desirable to cut out based on the current position information obtained by the position measurement unit.

In the control method of the unmanned moving body according to the first aspect and the unmanned moving body according to the fourth aspect of the present invention, for example, when the paved road mode traveling on the paved road is selected by the processing unit, the local area at the present time. At the stage of creating or updating the current global map based on the map, first, the past reference global map in which the travelable area is accumulated, which corresponds to the current global map, is read out.

Then, a part corresponding to the current local map is cut out from the read-out reference global map, and the current global map is created or updated by synthesizing it with the current global map.

Therefore, based on the updated current global map in which the travelable area is extracted, a continuous travel path can be generated from the self-position and the travel speed can be set, so that the laser beam is specularly reflected on the paved road surface and the travel direction. Even when it is raining or snowing, it is possible to drive autonomously on paved roads at high speed, which is a very excellent effect.
At this time, since it is not necessary to use a stereo camera or a laser sensor having a different scanning direction of the laser beam, it is possible to suppress an increase in equipment cost.

Further, in the control method of the unmanned moving body according to the second aspect and the unmanned moving body according to the fifth aspect of the present invention, for example, when the paved road mode traveling on the paved road is selected, the present invention. The same effect as the control method of the unmanned moving body according to the first aspect and the unmanned moving body according to the fourth aspect can be obtained, and for example, when the unpaved road mode for traveling on the unpaved road is selected by the processing unit. Because it is possible to generate a continuous travel route from its own position and set the travel speed based on the current global map created or updated without reading the past reference global map in which the travelable area is accumulated. , It is possible to shorten the processing time required for generating a traveling route and setting a traveling speed.

Further, in the control method of the unmanned moving body according to the third aspect and the unmanned moving body according to the sixth aspect of the present invention, when updating the reference global map including the travelable area other than the road, the unevenness of the road surface is affected. Since the presence or absence of fixed obstacles in the local map is determined based on the mutual magnitude of the number of times the ease of driving is judged and the number of times the obstacle is detected based on the size, it is for reference to moving obstacles such as automobiles. It has the very nice effect of being able to be removed from the global map.

It is a schematic configuration explanatory view of the autonomous driving vehicle as an unmanned moving body according to one Embodiment of this invention. It is a connection block diagram of the control device of the unmanned moving body in FIG. It is the operation flowchart in the unpaved road mode which travels in the place other than the paved road of the control method of an unmanned moving body in FIG. It is an operation flowchart of the control method of an unmanned moving body in FIG. 1 in a paved road mode. It is an operation flowchart at the time of creating and updating the reference global map of the control method of an unmanned moving body in FIG. The local map (a) created in the local map creation step in the operation flowchart of FIG. 5 and the reference global map (b) created in the reference global map creation step. The reference global map (a) read in the step of reading out the past reference global map in which the travelable area is accumulated in the operation flowchart of FIG. 4 and the local map creation step in the operation flowchart of FIG. 4 in rainy weather. It is a local map (b). It is a partially enlarged view of the present global map created or updated by overwriting the part cut out from the read reference global map of FIG. 7A.

Hereinafter, examples of the present invention will be described with reference to the drawings.
1 to 8 show a method of controlling an unmanned moving body and an unmanned moving body according to an embodiment of the present invention.

In this embodiment, the unmanned moving body is an autonomous traveling vehicle A capable of autonomously traveling, and as shown in FIGS. 1 and 2, the vehicle control computer (processing unit) 10 and the vehicle control computer 10 It is controlled by an autonomous driving computer (processing unit) 30 connected via the LAN 11.

On the input side of the vehicle control computer 10, a wireless LAN 13 connected to the antenna 12 is connected via an input / output circuit 15, a GPS 16 as a self-position measuring unit, a vertical gyro 17 for attitude control, and the like. The vehicle speed pulse 18 for measuring the moving speed is connected via a serial line.

Further, the steering actuator 22 and the brake / accelerator actuator 23 are connected to the output side of the vehicle control computer 10 via the motor driver 21, and the motor driver 21, the actuators 22, 23 and the wheels 24 travel. It constitutes a mechanism 20.

The vehicle control computer 10 has a function of transmitting various information acquired by the GPS 16 or the vertical gyro 17 to a command center (not shown) via the LAN 11, the wireless LAN 13, and the antenna 12, and also has a function of transmitting the various information from the command center to an emergency or the like. It has a function of operating and stopping the steering actuator 22 and the brake / accelerator actuator 23 via the motor driver 21 based on the command transmitted to.

On the other hand, a laser range finder (laser sensor) 31 suitable for acquiring short-distance information on the unevenness of the terrain in the traveling direction is connected to the input side of the autonomous traveling computer 30, and the autonomous traveling computer 30 is the LAN 11. It has a function of transmitting the distance measurement information acquired by the laser range finder 31 to the vehicle control computer 10 via the above.

In this case, the vehicle control computer 10 mounted on the autonomous driving vehicle A determines the travelable area, the non-travelable area, and the unmeasured area based on the distance measurement information in the traveling direction acquired by the laser range finder 31. The information analysis unit 10A that performs the operation, the local map creation means 10B that creates a local map including the travelable area, the non-travelable area, and the unmeasured area based on the determination result of the information analysis unit 10A, and the local map creation means. Based on the local map created in 10B, the continuous travelable area is extracted from the self-position acquired by the self-position measurement unit such as GPS16, and the current global map which is the travelable area map is created or updated. The map creating means 10C is provided.

Here, the vehicle control computer 10 includes a reference global map creating means 10D.
As shown in FIG. 6A, the reference global map creating means 10D acquires distance measurement information in the traveling direction, and the local map creating means 10B has a travelable area G, a non-travelable area NG, and an unmeasured area No. Every time a local map LM including the above is created, as shown in FIG. 6B, the current local map LM is applied to the corresponding part of the road map RM to include the travelable area G other than the road such as a sidewalk or a vacant lot. A reference global map RGM1 is created, and the reference global map RGM1 including the travelable area G is sequentially updated.

At this time, every time the local map LM is created by the local map creating means 10B, the ease of running is determined based on the size of the unevenness of the road surface (detection of the travelable area), and the detection of obstacles exceeding a predetermined size is performed. Is formed, and each time a travelable area is detected in the local map LM, the number of times of easy travel judgment is counted in each grid (display area) of the reference global map RGM1, and an obstacle exceeding a predetermined size is counted in the local map LM. The number of obstacles detected is counted in each grid of the reference global map RGM1 each time.

Then, in the reference global map creating means 10D, at the stage of updating the reference global map RGM1 including the travelable area G other than the road, the number of times of easy travel determination and the number of obstacle detections are compared on each grid to determine the ease of travel. If the number of times is greater than the number of times the obstacle is detected, it is determined that the obstacle is a moving obstacle and the road is within the local map LM, and if the number of times the ease of driving is determined is smaller than the number of times the obstacle is detected, it is determined. It is determined that there is an obstacle in the local map LM.

Here, when the paved road mode for traveling on the paved road is selected based on the determination result of the information analysis unit 10A of the vehicle control computer 10, the current global map creating means 10C is used as the current local map LM. At the stage of creating or updating the current global map based on the above, the travelable area shown in FIG. 7A corresponding to the current global map of the past reference global map RGM1 created by the reference global map creation means 10D. Read out the reference global map RGM in which G (the area separated by the alternate long and short dash line) is accumulated. Then, the current global map GM partially shown in FIG. 8 is created or updated by cutting out the part T corresponding to the current local map LM from the read-out reference global map RGM and synthesizing it with the current global map. ..

Further, when the unpaved road mode for traveling on the unpaved road is selected based on the determination result of the information analysis unit 10A of the vehicle control computer 10, the current local map LM is currently used by the global map creating means 10C. At the stage of creating or updating the current global map based on, the current global map GM is created without reading the past reference global map RGM1 created or updated by the reference global map creation means 10D to ensure safety. Or update. In this unpaved road mode, the reason why the past reference global map RGM1 is not read is that unlike the paved road, the unpaved road is not maintained, so there is a risk in using the past reference global map RGM1. Because it accompanies.
The paved road mode and the unpaved road mode may be selected based on the determination result of the information analysis unit 10A of the vehicle control computer 10 as described above, or are registered in advance in the road map RM. It may be performed based on the information of paved roads such as national roads and prefectural roads (written) and the information of other unpaved roads, or may be mode selection by a remote operator of a command center, for example.

Then, the vehicle control computer 10 is generated by the travel route generation means 10G that generates a travel route and the travel route generation means 10G based on the current global map GM that is currently created or updated by the global map creation means 10C. It is provided with the traveling speed setting means 10H for setting the traveling speed based on the traveling route, and is steered via the motor driver 21 which is a traveling mechanism according to the traveling route and the traveling speed in the created travelable area map. Actuator 22 and brake / accelerator actuator 23 are operated.

Therefore, the control procedure by the vehicle control computer 10 will be specifically described. First, in the case of the unpaved road mode in which the vehicle travels on a place other than the paved road such as an unpaved road, as shown in FIG. 3, the unpaved road is based on the determination result of the information analysis unit 10A of the vehicle control computer 10 in step S1. The road mode is selected, and in step S2, the laser sensor 31 acquires information (topography information) on the traveling direction of the autonomous vehicle A, and in step S3, the self-position measuring unit such as GPS 16 acquires self-position information.

Next, in step S4, the local map creating means 10B creates a local map LM including the road and the non-travelable area, the non-travelable area, and the unmeasured area based on the traveling direction information and the self-position information (posture angle). ..

Subsequently, based on the local map sequentially created during traveling, a continuous travelable area is extracted from the self-position acquired by the self-position measuring unit such as GPS16 in step S5, and the vehicle is currently traveled by the global map creating means 10C. The current global map GM, which is a possible area map, is created or updated, and the process proceeds to step S6, and steps S2 to S5 are repeated until the autonomous vehicle A stops traveling and the update of the current global map GM is completed.

In this way, in the case of the unpaved road mode, at the stage of creating or updating the current global map GM, which is a travelable area map with the current global map creation means 10C, the reference global map creation means 10D is used to ensure safety. The current global map GM is created or updated without reading the past reference global map RGM1 created or updated in.

Then, the vehicle control computer 10 creates a continuous traveling route from its own position by the traveling route generating means 10G based on the current global map GM obtained as described above, and travels based on this traveling route. The traveling speed is set by the speed setting means 10H, and the steering actuator 22 and the brake / accelerator actuator 23 are operated via the motor driver 21 which is a traveling mechanism according to the traveling path and the traveling speed.

On the other hand, in the case of the paved road mode traveling on the paved road, as shown in FIG. 4, the paved road mode is selected based on the determination result of the information analysis unit 10A of the vehicle control computer 10 in step S11, and in step S12. The laser sensor 31 acquires information on the traveling direction (topography information) of the autonomous traveling vehicle A, and in step S13, the self-position measuring unit such as GPS 16 acquires the self-position information.

Next, in step S14, the local map creating means 10B creates a local map LM including the road and the non-travelable area, the non-travelable area, and the unmeasured area based on the traveling direction information and the self-position information (posture angle). ..

Subsequently, based on the local map LM that is sequentially created during traveling, the current global map GM, which is a travelable area map, is created by the current global map creating means 10C in step S15, as in the case of the unpaved road mode. To do.

During this period, as shown in FIG. 5, following the sequential acquisition of the distance measurement information and the self-position information in the traveling direction in steps S22 and S23, in step S24, as shown in FIG. 6A, the local map. Every time the local map LM including the travelable area G, the non-travelable area NG, and the unmeasured area No. is created by the creating means 10B, in step S25, as shown in FIG. 6B, the reference global map creating means 10D The current local map LM is applied to the part corresponding to the local map in the road map RM on which the road is posted to create a reference global map RGM1 including the travelable area G other than the road, and the locals are sequentially created. By applying the map LM to the relevant part of the reference global map RGM1, the reference global map RGM1 in which the travelable area G other than the road and the road is accumulated is sequentially updated.

When updating the reference global map RGM1 including the travelable area G other than this road, the reference global map creation means 10D compares the number of times of easy travel determination and the number of obstacle detections on each grid of the reference global map RGM1. If the number of times of easy running judgment is larger than the number of times of obstacle detection, it is determined that the obstacle is a moving obstacle and the inside of the local map LM is a travelable road, and the number of times of easy running judgment is larger than the number of times of obstacle detection. If it is small, it is judged that there is an obstacle in the local map LM. As a result, moving obstacles such as automobiles traveling on the paved road can be removed from the reference global map RGM1.

Next, as shown in FIG. 4, at the stage of creating or updating the current global map based on the current local map LM in step S15, in step S16, as shown in FIG. 7 (a), the past reference global. A reference global map RGM in which the travelable area G corresponding to the current global map of the map RGM1 is accumulated is read, and a local map at the present time, for example, a diagram is read from the read reference global map RGM in step S17. As shown in FIG. 8, the part T corresponding to the local map LM with poor visibility where the road shown by the virtual line in 7 (b) cannot be recognized is cut out and overwritten and synthesized on the current global map in step S18. , Currently, the global map GM is created or updated, and the process proceeds to step S19, and steps S12 to S18 are repeated until the autonomous traveling vehicle A stops traveling and the update of the current global map GM is completed.

Then, the vehicle control computer 10 creates a continuous travel route from its own position by the travel route generation means 10G based on the current global map GM in the paved road mode obtained as described above, and this travel is performed. Based on the route, the traveling speed is set by the traveling speed setting means 10H, and the steering actuator 22 and the brake / accelerator actuator 23 are operated via the motor driver 21 which is a traveling mechanism according to the traveling route and the traveling speed.

As described above, in the above-described embodiment, in the paved road mode of traveling on the paved road, the reference global map RGM created by using the road map RM, that is, the past reference global in which the travelable area G is accumulated. Currently, the global map GM is created or updated based on the map RGM.

That is, based on the updated current global map GM from which the travelable area G is extracted, the travel route indicated by the white arrow in FIG. 8 continuous from the autonomous driving vehicle A can be created and the travel speed can be set. , Even when it is raining or snowing when the laser beam from the laser range finder 31 is positively reflected on the road surface and information on the traveling direction cannot be obtained, the laser range finder with a different scanning direction of the stereo camera or the laser beam It is possible to autonomously drive on a paved road at high speed without using.

Further, in the above-described embodiment, when the unpaved road mode is selected, the reference global map creation means is used at the stage of creating or updating the current global map GM, which is a travelable area map by the current global map creation means 10C. Based on the current global map GM created or updated by the current global map creation means 10C without reading the past reference global map RGM1 created or updated by 10D, a continuous traveling route is generated from the self-position and a continuous traveling route is generated. Since the traveling speed can be set, the processing time required for generating the traveling route and setting the traveling speed can be shortened.

Further, in the above-described embodiment, when updating the reference global map RGM including the travelable area G other than the road, the number of times of easy travel determination and obstacles as the map information counted in each grid of the reference global map RGM1. Since the presence or absence of fixed obstacles in the local map LM is determined based on the mutual magnitude of the number of object detections, moving obstacles such as automobiles can be removed from the reference global map.

In the above-described embodiment, the case where the unmanned moving body is the autonomous traveling vehicle A is shown, but the present invention is not limited to this, and the unmanned moving body may be a robot that autonomously walks.

The configuration of the unmanned moving body and the control method of the unmanned moving body according to the present invention is not limited to the above-described embodiment, and as another configuration, for example, a database is shared by a plurality of unmanned moving bodies, and each unmanned moving body is shared. The reference global map created by the reference global map creation means in the control unit of the moving body may be stored and stored in the database and used as big data.

10 Vehicle control computer (processing unit)
10A Information analysis unit (Computer for vehicle control)
10B Local map creation means (computer for vehicle control)
10C Currently global map creation means (computer for vehicle control)
10D reference global map creation means (vehicle control computer)
10G travel route generation means (computer for vehicle control)
10H Travel speed setting means (Computer for vehicle control)
16 GPS (self-position measurement unit)
17 Vertical gyro (self-position measurement unit)
18 Vehicle speed pulse (self-position measurement unit)
21 Motor driver (traveling mechanism)
22 Steering actuator (travel mechanism)
23 Brake / accelerator actuator (travel mechanism)
24 wheels (running mechanism)
31 Laser range finder (laser sensor)
A Autonomous vehicle (unmanned moving vehicle)
G Travelable area GM Currently global map LM Local map NG Non-travelable area No Unmeasured area RGM, RGM1 Reference global map RM Road map T Current local map equivalent part

Claims (4)

It is an unmanned moving object that runs autonomously.
A traveling mechanism for autonomous driving and
A laser sensor that scans the laser beam to acquire information on the direction of travel,
The self-position measurement unit that acquires self-position information and
A processing unit for inputting the traveling direction information and the self-position information is provided.
The processing unit includes a local map creating means for sequentially creating a local map including a travelable area, a non-travelable area, and an unmeasured area based on the information of the traveling direction.
Based on the local map, a current global map creation means for extracting a continuous travelable area from the self-position of the self-position information and creating or updating a current global map which is a travelable area map, and
Every time the local map is created by the local map creating means, the current local map is applied to a part corresponding to the local map created by the local map creating means in a commercially available road map on which a road is posted, and other than the road. A reference global map creation means for creating or updating a reference global map including the travelable area of
A travel route generation means that generates a travel route based on the current global map created or updated by the current global map creation means.
A traveling speed setting means for setting a traveling speed and transmitting the traveling speed to the traveling mechanism based on the traveling route generated by the traveling route generating means is provided.
The current global map creation means of the processing unit accumulates the travelable area created or updated by the reference global map creation means at the stage of creating or updating the current global map based on the local map at the present time. Of the referenced global maps, the reference global map corresponding to the current global map is read out, and the part corresponding to the current local map is cut out from the read reference global map and used as the current global map. now it is synthesized to create or update the global map,
When the paved road mode for traveling on a paved road is selected, the current global map among the past reference global maps in which the travelable area created or updated by the reference global map creation means is accumulated is displayed. The current global map is created or updated by reading out the corresponding reference global map and cutting out the part corresponding to the current local map from the read reference global map and synthesizing it with the current global map.
When the unpaved road mode for traveling on an unpaved road is selected, the current global map without reading the past reference global map in which the travelable area created or updated by the reference global map creation means is accumulated is not read. An unmanned moving object that creates or updates maps. Each time an easy-to-run travelable area and an obstacle are detected in the local map created by the local map-creating means, the number of easy-to-run determinations and the number of obstacle detections are counted in the reference global map.
The reference global map creating means applies the local map to a portion of the road map corresponding to the local map created by the local map creating means, and updates the reference global map including a travelable area other than the road. At the stage
When the number of easy-to-run determinations counted in the reference global map is larger than the number of times the obstacles are detected, it is determined that the obstacle is a moving obstacle and the local map is a travelable road. travel easily when the determination number is smaller than the obstacle detection number, the unmanned mobile body according to claim 1 for determining an obstacle Yes in the local the map. It is a control method for unmanned moving objects that travel autonomously.
The laser beam is scanned to acquire information on the traveling direction of the unmanned moving body, and the self-position information of the unmanned moving body is acquired, and the road and other than the road are obtained based on the traveling direction information and the self-position information. Create a local map including the travelable area one by one,
Next, based on the local map sequentially created during the traveling of the unmanned moving body, a continuous travelable area is extracted from the self-position of the unmanned moving body, and a current global map which is a travelable area map is created. ,
In the control method of an unmanned moving body that generates a continuous traveling path from the self-position and sets a traveling speed based on the present global map.
Every time the local map is created, the current local map is applied to the part corresponding to the local map in the commercially available road map on which the road is posted, and a global map for reference including the travelable area other than the road is created. Subsequently, by applying the locally created local map to the relevant part of the reference global map, the reference global map in which the road and the travelable area other than the road are accumulated is sequentially updated.
At the stage of creating or updating the current global map based on the local map at the present time, the reference global map corresponding to the current global map among the reference global maps in which the created or updated travelable area is accumulated. At the same time, the current global map is created or updated by cutting out the part corresponding to the local map at the present time from the read global map for reference and synthesizing it with the current global map.
When the paved road mode for traveling on a paved road is selected, the reference global map corresponding to the current global map among the past reference global maps in which the created or updated travelable area is accumulated is read out. At the same time, the current global map is created or updated by cutting out the part corresponding to the current local map from the read-out reference global map and synthesizing it with the current global map.
Driving on unpaved roads When the unpaved road mode is selected, unmanned movement that creates or updates the current global map without reading the past reference global map in which the created or updated travelable area is accumulated. How to control the body. Each time an easy-to-run travelable area and an obstacle are detected in the local map created by the local map-creating means, the number of easy-to-run determinations and the number of obstacle detections are counted by the reference global map.
At the stage of applying the local map to the part corresponding to the local map in the road map and updating the reference global map including the travelable area other than the road.
When the number of times of easy travel determination counted on the reference global map is larger than the number of times of detecting obstacles, it is determined that the obstacle is a moving obstacle and the local map is a travelable road, and the travel is performed. The control method for an unmanned moving object according to claim 3 , wherein when the number of easy determinations is smaller than the number of times the obstacles are detected, it is determined that there is an obstacle in the local map.

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