JP7153573B2 - Maneuver command processing device and method, and remote control system - Google Patents

Description

The present invention relates to a technique for generating a correction route when a command route is generated in accordance with a maneuvering command transmitted from a remote control device to a mobile device and the command route is unsafe.

For remote control of a mobile device, such as an unmanned vehicle, for example, the mobile device is provided with a camera. The camera images an area viewed by the mobile device to generate image data. This image data is wirelessly transmitted from the mobile device to the remote control device. The remote control device receives the image data transmitted from the mobile device and displays this image data on the display device. A person looks at the displayed display device and operates an operation unit (for example, a handle or an operation lever) of the remote control device. In response to this operation, the remote control device generates a control command for the direction of travel and transmits it to the mobile device.

A mobile device receives a steering command, and a route generating device of the mobile device generates a commanded route as a moving route of the mobile device according to the steering command. A control device of the mobile device controls the mobile device so that the mobile device moves on the commanded path.

In Japanese Unexamined Patent Application Publication No. 2002-100000, whether or not an obstacle exists on the command path generated as described above is determined by an obstacle detection means of a mobile device. When it is determined that an obstacle exists on the commanded route, the route planning means generates a corrected route laterally deviating from the commanded route. When the obstacle detection means determines that an obstacle exists on the corrected route, the route planning means generates a new corrected route that is laterally displaced from the corrected route. In this manner, the above-described processing is repeated until no obstacles exist on the newly generated correction path. A controller of the mobile device then controls the mobile device so that the mobile device moves on a new corrected path free of obstacles.

JP 2011-150512 A

However, as described above, in the mobile device, the command route according to the steering command is corrected, and the mobile device moves on the corrected route. As a result, the operator may think that the mobile device is not moving according to his/her command, and may continue to give additional inappropriate maneuver commands in an attempt to move the mobile device according to his or her command. have a nature. As a result, movement of the mobile device may become difficult.

For example, the commanded path is corrected to avoid situations in which the mobile device is difficult to move due to the presence of obstacles. In this case, the operator continues to give additional inappropriate operation commands in an attempt to move the mobile device according to his/her own command, making it impossible to avoid such a difficult-to-move situation.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to prevent additional inappropriateness caused by not grasping the difference between the commanded route and the corrected route when the commanded route according to the maneuvering command given to the mobile device is corrected. To prevent a steering command.

In order to achieve the above object, a steering command processing apparatus according to the present invention includes a command path generation unit that generates a command path to a mobile device according to a steering command transmitted from a remote control device;
a correction determination unit that determines whether the command path is a safe path;
a correction unit that generates a corrected path by correcting the commanded path when the result of the determination is negative;
a data generator that generates path data representing the command path and the correction path;
a communication unit that transmits the route data to the remote control device.

Further, a remote control system according to the present invention includes the above-described control command processing device and the remote control device, and the remote control device includes a display device for displaying the route data.

Further, in the steering command processing method according to the present invention, a command path generating unit generates a command path for the mobile device according to the steering command transmitted from the remote control device,
judging by a correction judging unit whether the command route is a safe route;
if the result of the determination is negative, the correction unit generates a corrected route by correcting the commanded route;
generating path data representing the command path and the correction path by a data generation unit;
transmitting the route data to the remote control device;

According to the present invention, when correcting a commanded route according to a steering command for a mobile device, route data representing the commanded route and the corrected route are transmitted to the remote control device. Therefore, since the difference between the two routes represented by the route data can be grasped on the remote controller side, it is possible to prevent additional inappropriate maneuvering commands due to the fact that the difference is not grasped.

1 is a block diagram showing a remote control system to which a control command processing device according to an embodiment of the invention can be applied; FIG. 1 shows an example of a mobile device. (A) shows the above map with the commanded route generated, and (B) shows the above map with the commanded route and multiple additional routes generated. (A) is a flowchart of map generation processing, and (B) is a flowchart of image generation display processing. 4 is a flow chart illustrating a steering command processing method according to an embodiment of the present invention; (A) shows each evaluation region in one evaluation path, and (B) is a partially enlarged view of (A). 4 is a flow chart of a method for calculating an index value for an evaluation area; (A) to (C) are explanatory diagrams of each measurement point when the evaluation area is a stepped surface, a flat surface, and an uneven surface, respectively. (A) to (C) are explanatory diagrams of the index value calculation method when the evaluation area is a stepped surface, a flat surface, and an uneven surface, respectively.

An embodiment of the present invention will be described based on the drawings. In addition, the same code|symbol is attached|subjected to the part which is common in each figure, and the overlapping description is abbreviate|omitted.

FIG. 1 is a block diagram showing a remote control system 100 for a mobile device 20 to which a control command processing device 10 according to an embodiment of the invention can be applied. A remote control system 100 includes a mobile device 20 provided with a control command processing device 10 and a remote control device 30 for remotely controlling the mobile device 20 .

(Configuration of mobile device 20)
FIG. 2 illustrates an example mobile device 20 . The mobile device 20 may be a vehicle that has running tires 1 for running and runs on the ground surface 2 by rotating the running tires 1 . Alternatively, mobile device 20 may be a traveling device or other device that travels over the ground by means of crawlers.

<Configuration for map generation>
The mobile device 20 is provided with an obstacle sensor 3, a speed sensor 5, an orientation sensor 7, a position detector 9, and a map generator 11, as shown in FIG.

The obstacle sensor 3 detects obstacles from the mobile device 20 . That is, the obstacle sensor 3 detects the position (coordinates) of the obstacle in the sensor coordinate system fixed to the mobile device 20 .

In this embodiment, the obstacle sensor 3 acquires obstacle data representing the position of each object existing in the measurement range in the sensor coordinate system by measuring the measurement range viewed from the mobile device 20. . The measurement range includes the range on the traveling direction side of the mobile device 20 . The origin of the sensor coordinate system is the position of the mobile device 20 when the obstacle data was acquired. Acquisition of obstacle data by the obstacle sensor 3 is repeatedly performed while the mobile device 20 is moving.

The obstacle sensor 3 is, for example, a laser radar. A laser radar scans a measurement range with a laser beam (for example, a pulsed laser beam), and acquires the coordinates (for example, three-dimensional coordinates) of each measurement point based on the reflected laser beam from each measurement point on the surface of an object. do. The laser radar may be a device called, for example, LiDAR (Light Detection and Ranging) or LRF (Laser Range Finder). The laser radar acquires obstacle data representing the coordinates of each acquired measurement point in a sensor coordinate system.

The speed sensor 5 detects the speed (magnitude of speed) of the mobile device 20 . The speed sensor 5 measures, for example, the rotational speed of the running tires 1 of the moving device 20 as a vehicle, and obtains the speed of the moving device 20 with respect to the map coordinate system fixed to the ground surface 2 from this rotational speed. It's okay.

The orientation sensor 7 detects the orientation (that is, traveling direction) of the mobile device 20 with respect to the map coordinate system described above. The orientation sensor 7 may be configured using, for example, a gyro sensor.

The position detector 9 obtains the current position of the mobile device 20 in the map coordinate system described above. For example, the position detection unit 9 obtains the current position of the mobile device 20 based on the speed measured by the speed sensor 5 and the orientation detected by the orientation sensor 7 . That is, assuming that the moving device 20 moves at each point in time in the direction measured by the direction sensor 7 at the speed detected by the speed sensor 5, the position detecting unit 9 detects the moving device 20 based on the speed and direction at each time. Find the current position of 20.

The map generator 11 converts the obstacle data acquired by the obstacle sensor 3 into data in a map coordinate system fixed to the ground surface 2 . Further, based on the converted data, the map generation unit 11 generates a map (for example, a local map) showing the three-dimensional position of each object including obstacles (for example, each measurement point described above) in the map coordinate system. The map is generated and stored in the storage unit 11a. The above-described transformation of the obstacle data is coordinate transformation from the above-described sensor coordinate system. location of the mobile device 20 .

Each time the obstacle sensor 3 acquires obstacle data, the map generator 11 generates a map from the obstacle data as described above. That is, every time a new map is generated, the map generator 11 incorporates the map into the map stored in the memory 11a, thereby updating the map in the memory 11a.

<Configuration for remote control>
As shown in FIG. 1, the mobile device 20 includes a camera 13 and a communication unit 15 (hereinafter also referred to as a mobile communication unit 15). The camera 13 repeatedly captures an area on the traveling direction side of the mobile device 20 while the mobile device 20 is moving. The mobile communication unit 15 performs wireless communication with the remote control device 30 . The moving-side communication unit 15 sequentially transmits each image data captured repeatedly by the camera 13 to the remote control device 30 .

The remote control device 30 includes a control side communication unit 17, a display device 19, an operation device 21, and a command generation unit 25, as shown in FIG. The control-side communication unit 17 receives each image data transmitted from the mobile-side communication unit 15 . The display device 19 sequentially displays each image data received by the control-side communication unit 17 .

The operator can operate the operation device 21 while viewing the image data displayed on the display device 19 . The operation device 21 may include a direction operation section 22 for the traveling direction of the moving device 20 and a speed operation section 23 for the speed of the moving device 20 .

The command generator 25 generates a steering command according to the operation performed on the operating device 21 .
The steering command generated by the command generation unit 25 in accordance with the operation of the direction operation unit 22 includes direction information indicating whether the traveling direction of the mobile device 20 is to be turned to the right or left from the current traveling direction of the mobile device 20, and the relevant direction information. It includes a direction change amount that indicates the amount of bending in the direction indicated by the direction information (right or left).
The steering command generated by the command generation unit 25 according to the operation of the speed operation unit 23 includes, for example, an acceleration/deceleration value for the speed of the mobile device 20 .

Direction information and a direction change amount according to the operation performed on the direction operation unit 22 are generated by the command generation unit 25 . Direction control part 22 may be, for example, a handle or a lever. If the direction operation unit 22 is a steering wheel, the direction indicated by the direction information (that is, the right side or the left side) is determined by rotating the handle clockwise or counterclockwise from the reference rotation position. In addition, the direction change amount generated by the command generation unit 25 increases as the amount of rotation of the steering wheel from the reference rotation position increases. When the directional operation unit 22 is a lever, the direction indicated by the direction information (that is, the right side or the left side) is determined by operating (for example, tilting) the lever to the right or left from the reference rotation position. In addition, the direction change amount generated by the command generation unit 25 increases as the amount of operation of the lever from the reference rotation position increases. In addition, the direction operation part 22 is not limited to the above-mentioned handle or lever.

An acceleration/deceleration value corresponding to the operation performed on the speed operation unit 23 is generated by the command generation unit 25 . A positive acceleration/deceleration value indicates acceleration, and a negative acceleration/deceleration value indicates deceleration. The speed operation unit 23 may include, for example, an accelerator pedal 23a and a brake pedal 23b. In this case, the command generator 25 generates an acceleration/deceleration value whose absolute value increases as the operation amount of the accelerator pedal 23a or the brake pedal 23b increases. When the accelerator pedal 23a is operated, the acceleration/deceleration value becomes a positive value, and when the brake pedal 23b is operated, the acceleration/deceleration value becomes a negative value.

The generated steering command is transmitted from the steering-side communication unit 17 to the mobile device 20 . As a result, the mobile communication unit 15 receives this steering command. For example, the operation device 21 may be provided with an operation button (not shown), and the operation device 21 may be switched between an operation state and a non-operation state by operating the operation button. , the command generator 25 does not generate a steering command.

<Configuration for processing in response to steering commands>

The mobile device 20 includes a steering command processing device 10 and a control section 33 . The steering command processing device 10 includes a command path generating section 27 , a correction determining section 29 , a correcting section 31 and a data generating section 32 .

The commanded route generation unit 27 generates a commanded route for the mobile device 20 in accordance with the steering command received by the mobile side communication unit 15 on the above-described map stored in the storage unit 11a.

FIG. 3(A) shows the above-described map from which the commanded route is generated. FIG. 3A shows a map viewed from above. The command path may extend from the current traveling direction (orientation) of the mobile device 20 to the direction (right or left) indicated by the direction information of the steering command so as to bend at a degree corresponding to the direction change amount of the steering command. At the starting point of the commanded path (the current position Pc of the mobile device 20), the tangent to the commanded path may be the same as the current traveling direction of the mobile device 20. FIG.

When generating such a command path, the command path generator 27 generates a steering command, the current position of the mobile device 20 detected by the position detector 9, and the current orientation of the mobile device 20 detected by the orientation sensor 7. can be used. The commanded path may be, but is not limited to, a curve with constant curvature (ie, an arc), a clothoid curve, or a spline curve.

The command path generation unit 27 inputs the generated command path to the correction determination unit 29, the data generation unit 32, and the evaluation unit 37, which will be described later.

The correction determination unit 29 determines whether the commanded route is a safe route for the mobile device 20 . For example, if the commanded route satisfies a predetermined route condition, the correction determination unit 29 determines that the commanded route is a safe route. The route conditions include an obstacle condition that the commanded route does not interfere with obstacles on the map described above. Also, the route condition may further include other conditions. Note that other conditions may be, for example, conditions related to evaluation items described later. That is, the other conditions are predetermined evaluations of one or a plurality (for example, all) of the following evaluation items: route curvature radius, rollover of the mobile device 20, skidding of the mobile device 20, and road surface condition. The condition may be that the evaluation value for each item, which will be described later, is equal to or greater than a set value (for example, a threshold value, which will be described later). Here, when a plurality of evaluation items are predetermined, another condition may be a condition that all evaluation values of the plurality of evaluation items are equal to or greater than corresponding set values.

When the correction determination unit 29 determines that the commanded route is a safe route, the correction determination unit 29 inputs the commanded route to the control unit 33 as a control route.

When the correction determination unit 29 determines that the commanded route is not a safe movement route, the correction unit 31 generates a corrected route by correcting the commanded route. The corrected route is a route along which the moving device 20 can move safely. That is, the correction route is a route that satisfies the above-described route conditions. The corrected route may be a route laterally shifted from the commanded route on the map, and may be a route whose starting point is the same as the starting point of the commanded route.
The corrector 31 inputs the generated corrected path to the data generator 32 . Further, the correction unit 31 inputs the generated correction path to the control unit 33 as a control path.

The data generator 32 generates route data representing the input command route and corrected route. For example, the route data may be data representing the instructed route and the corrected route on the map so that they can be compared with each other. For example, the map shows the position of each object, including obstacles, as described above, and the current position of mobile device 20, and the command path and correction path extend from the current position. In this case, the map may be a two-dimensional planar map viewed from the vertical direction.

Further, when the correction determination unit 29 determines that the commanded route is not a safe route, the correction determination unit 29 may generate reason data indicating the reason for correcting the commanded route. Reason data are, for example, characters or predetermined marks. If the route conditions include an obstacle condition and the commanded route does not satisfy the obstacle condition, the reason data is data indicating that the route in accordance with the steering command interferes with the obstacle. If the route condition includes a condition related to the evaluation item, and the commanded route does not satisfy the condition, the reason data is data corresponding to the evaluation item regarding the route according to the maneuvering command. For example, the reason data may be data indicating that the evaluation for the evaluation item is low. A specific example of the reason data corresponding to the evaluation item will be described later.

When the reason data is generated, the data generator 32 may generate correction related data in which the route data and the reason data are associated with each other.

The moving-side communication unit 15 transmits the route data and reason data (for example, the correction-related data described above) generated as described above to the control-side communication unit 17 of the remote control device 30 . As a result, the display device 19 displays the route data and reason data (correction-related data) received by the control-side communication unit 17 on its screen. For example, the display device 19 displays the route data and the reason data in a different area on the screen from the area where the image data is displayed. However, in the remote control device 30, the display device 19 may display the route data and the reason data, and another display device may display the image data described above.

On the other hand, the control section 33 controls the movement of the moving device 20 according to the control path input from the correction determination section 29 or the correction section 31 . That is, the control unit 33 controls the driving device of the moving device 20 . By this control, the mobile device 20 moves on the control path. The driving device of the moving device 20 is composed of, for example, a plurality of actuators for operating the accelerator, brake, steering, transmission, etc. of the vehicle as the moving device 20 .

<Configuration for performing processing when there is no steering command>
The mobile device 20 may include an automatic route generator 35 that generates the route of movement of the mobile device 20 at predetermined intervals when the mobile-side communication unit 15 does not receive the steering command. The automatic route generation unit 35 inputs the generated movement route to the control unit 33 as a control route. In one example, the automatic route generation unit 35 generates a safe movement route from the current position of the mobile device 20 to the next waypoint on the map generated by the map generation unit 11 . Here, the route condition that the moving route is safe may be the same as the route condition described above regarding the correction determination unit 29 . Further, the next waypoint may be a waypoint through which the mobile device 20 passes next among a plurality of waypoints through which the mobile device 20 passes to move to the target position. A target position and a plurality of waypoints are set in advance.

The control unit 33 controls movement of the mobile device 20 according to the control route input from the automatic route generation unit 35 .

<Configuration for evaluating maneuvering commands>
The control command processing device 10 may have a function of determining whether the command route according to the control command transmitted from the remote control device 30 for remote control of the mobile device 20 tends to be safe. In this case, the steering command processing device 10 further includes an evaluation section 37 , a determination section 39 and a warning generation section 41 .

The evaluation unit 37 obtains an evaluation value indicating the safety of the command route input from the command route generation unit 27 as described above.
Based on the evaluation value obtained by the evaluation unit 37, the determination unit 39 determines whether the command route tends to be safe.
The warning generation unit 41 generates warning information when the determination unit 39 determines that the commanded route does not tend to be safe, and the mobile communication unit 15 transmits the generated warning information to the remote control device 30. do. This warning information is sent to the remote control device 30 separately from the reason data described above.

The evaluation unit 37 includes, for example, an additional route generation unit 37a and an evaluation value generation unit 37b.

The additional route generator 37a generates a plurality of laterally shifted additional routes that intersect with the instructed route on the map in the storage unit 11a. For example, a plurality of additional routes have the same start point as the command route, and each point on each additional route after the start point has a distance equal to or less than the upper limit from the command route. Such multiple additional paths may, for example, extend along the command path. FIG. 3(B) shows the map described above in which, in addition to the commanded route, a plurality of additional routes have been generated in FIG. 3(A). Each additional path may be, but is not limited to, a curve with constant curvature, a clothoid curve, or a spline curve. The command path and each additional path may have a fixed length, or may have a length that satisfies a predetermined condition.

The evaluation value generator 37b obtains an evaluation value for each of the command route and the plurality of additional routes.

In this case, the determination unit 39 determines whether the evaluation value of the specified number of routes or the specified ratio or more of the commanded route and the plurality of additional routes falls below the threshold, and if the result of the determination is affirmative, determines that the command path does not tend to be safe.

Also, the evaluation value generator 37b may obtain the evaluation values of the command route and the additional routes for each of the plurality of evaluation items. In this case, for each of the plurality of evaluation items, the determination unit 39 determines whether the evaluation value of the designated number or the designated ratio or more of the designated routes and the plurality of additional routes falls below the threshold, is affirmative, it is determined that the command path does not tend to be safe for that endpoint. Here, the threshold is set for each evaluation item, and these thresholds may be different from each other. The evaluation items will be described later.

The warning generation unit 41 generates warning information corresponding to the evaluation item determined that the commanded route does not tend to be safe, and the mobile communication unit 15 transmits the warning information to the remote control device 30 . Here, the warning information corresponding to each of the plurality of evaluation items are different from each other.

(Processing procedure of each part)
Next, the processing procedure of each unit will be described with reference to FIGS. 4 and 5. FIG.

<Map generation processing>
FIG. 4A is a flowchart of map generation processing. The map generation process includes steps S1 and S2.
In step S1, the obstacle sensor 3 acquires the above obstacle data. Step S1 is repeatedly performed while the mobile device 20 is moving.
Step S2 is performed based on the obstacle data each time the obstacle data is obtained in step S1. That is, in step S2, the map generation unit 11 generates a map based on the obstacle data acquired in step S1, and updates the map in the storage unit 11a as described above.

<Image generation display processing>
FIG. 4B is a flowchart of image generation display processing. The image generation display process includes steps S3 to S5.
In step S<b>3 , the camera 13 of the mobile device 20 generates image data of an area on the moving direction side of the mobile device 20 . Step S3 is repeatedly performed while the mobile device 20 is moving. Each time image data is generated in step S3, steps S4 and S5 are performed on the image data.
In step S<b>4 , the mobile communication unit 15 transmits this image data to the remote control device 30 .
At step S5, the control-side communication unit 17 receives the image data transmitted at step S4, and the display device 19 displays this image data.

<Pilot's operation>
On the other hand, the operator can operate the operation device 21 by viewing the image data repeatedly displayed in step S5. When the operating device 21 is operated, the command generating unit 25 generates a steering command according to the operation performed on the operating device 21 as described above. sent.

<Control Processing of Mobile Device 20>
FIG. 5 is a flowchart showing processing in the mobile device 20. As shown in FIG. This process is performed in parallel with the above-described map generation process and image generation display process, and includes steps S6 to S18. The steering command processing method according to the embodiment of the present invention has steps S6 to S12 and steps S16 to S18 as shown in FIG.

Step S6 is repeatedly performed while the mobile device 20 is moving. In step S6, it is determined whether or not the mobile side communication unit 15 has received an operation command from the remote control device 30. If the operation command has been received, the process proceeds to step S7. On the other hand, if the mobile-side communication unit 15 does not receive the steering command for a predetermined period of time, step 14 may be performed.

At step S7, the command path generator 27 generates a command path according to the steering command received at step S6. Specifically, the commanded route generation unit 27 generates a commanded route extending from the current position of the mobile device 20 in accordance with the steering command on the latest map generated by the map generation process described above. This current position is detected by the position detector 9 and input to the command path generator 27 . The command path generation unit 27 inputs the generated command path to the correction determination unit 29 and the evaluation unit 37 .

In step S8, the correction determination unit 29 determines as described above whether the commanded route generated in step S7 is a safe route. If the result of this determination is affirmative, the process proceeds to step S9; otherwise, the process proceeds to step S10.

In step S9, the correction determination unit 29 inputs the command path to the control unit 33 as a control path.
In step S10, the correction determination unit 29 generates reason data indicating the reason for correcting the command path, the correction unit 31 generates a correction path by correcting the command path as described above, and converts this correction path to the control path. is input to the control unit 33 as.

At step S11, the data generator 32 generates path data representing the commanded path generated at step S7 and the corrected path generated at step S10. At this time, the data generator 32 may generate correction related data in which the route data and the reason data generated in step S10 are associated with each other.

In step S<b>12 , the moving-side communication section 15 transmits the reason data generated in step S<b>10 and the route data generated in step S<b>11 to the control-side communication section 17 . At this time, the correction-related data described above may be transmitted from the moving-side communication unit 15 to the control-side communication unit 17 as the reason data and the route data. Accordingly, in the remote control device 30, the reason data and the route data are received by the control side communication section 17 and displayed on the screen by the display device 19. FIG. Instead of being displayed, the reason data may be output as voice from an output device (not shown) in the remote control device 30 .

On the other hand, in step S13, the control unit 33 controls the movement of the mobile device 20 according to the control route input in step S9 or S10. At this time, if the steering command received in step S6 includes an acceleration/deceleration value, the control unit 33 controls the speed of the moving device 20 according to this acceleration/deceleration value.

On the other hand, in step S14, the automatic route generation unit 35 generates a safe movement route (for example, a route toward the next waypoint) for the mobile device 20 as described above, and sends the movement route to the control unit 33 as a control route. input.

At step S15, the control unit 33 controls the movement of the mobile device 20 according to the control route input at step S14.

<Route trend determination processing>
The steering command processing method according to the embodiment of the present invention may include route trend determination processing. This route tendency determination process may be performed each time the moving-side communication unit 15 receives a steering command in step S6. The route tendency determination process is performed by the steering command processing device 10 described above. The route trend determination process includes steps S16 to S18.

In step S16, the evaluation unit 37 obtains an evaluation value indicating the safety of the command path generated in step S7. In this embodiment, step S16 includes steps S161 and S162.

In step S161, the additional route generation unit 37a generates a plurality of additional routes that deviate from the commanded route in the lateral direction intersecting the commanded route generated in step S7.
In step S162, the evaluation value generator 37b obtains evaluation values for each of the command route and the plurality of additional routes. At this time, the evaluation value generation unit 37b may obtain an evaluation value for each of the command route and the plurality of additional routes for each of the plurality of evaluation items.

In step S17, the determination unit 39 determines whether the command route generated in step S7 tends to be safe, based on the evaluation value obtained in step S16 (S162). For example, the determination unit 39 determines whether the evaluation value of the specified number of routes or the number of specified ratio or more of the commanded route and the plurality of additional routes is below the threshold. determines that the command path does not tend to be safe. When the evaluation value is obtained for each of the plurality of evaluation items in step S16 (S162), in step S17, the determination unit 39 makes the above determination for each evaluation item, and the result of the determination is affirmative. If so, it is determined that the command route does not tend to be safe for that evaluation item.

If it is determined in step S17 that the commanded route does not tend to be safe, the process proceeds to step S18, otherwise the route trend determination process is terminated. If the determination in step S17 is performed for a plurality of evaluation items, if it is determined in step S17 that the command path does not tend to be safe for at least one evaluation item, the process proceeds to step S18; If so, the route tendency determination process is terminated.

In step S<b>18 , the warning generation unit 41 generates warning information indicating that the commanded route does not tend to be safe, and the mobile communication unit 15 transmits the warning information to the remote control device 30 . If the determination in step S17 is performed for a plurality of evaluation items, for each evaluation item for which it is determined that the command route does not tend to be safe, warning information corresponding to the evaluation item is generated and the remote control device 30 Send to

The warning information transmitted by the mobile-side communication unit 15 may be received by the control-side communication unit 17 and displayed on the display device 19 . The operator can see the displayed warning information and operate the operation device 21 to correct the movement route of the mobile device 20 . It should be noted that the warning information may be output by voice from an output device (not shown) in the remote control device 30 instead of being displayed.

(Details of evaluation items)
Specific examples of the evaluation items and the evaluation values used by the correction determination unit 29 and the evaluation value generation unit 37b will be described below.

As a plurality of evaluation items, for example, the following (1) route curvature radius, (2) rolling of the moving device 20, (3) skidding of the moving device 20, (4) distance to obstacles, and (5) good road surface There are two or more (eg, all) of the degrees. Evaluation values for each evaluation item will be described below. Hereinafter, each of the command path and the plurality of additional paths will be referred to as an evaluation path.

(1) Path Curvature Radius The evaluation value for the path curvature radius is the minimum curvature radius of the evaluated path. The minimum radius of curvature is the minimum value of the radius of curvature (turning radius) in each local portion of the entire range of the evaluation path (from the start point to the end point of the evaluation path). For example, for each local portion, three points may be selected from the local portion and the curvature of the arc passing through the three points may be calculated as the radius of curvature of the local portion.

(2) Rollover of the mobile device 20 The evaluation value for the rollover of the mobile device 20 is an evaluation value indicating the safety of the rollover. This evaluation value is, for example, a value obtained by subtracting the rollover limit speed from the speed of the moving device 20 . Here, the speed of the mobile device 20 may be the current speed of the mobile device 20 detected by the speed sensor 5, or the speed detected by the speed sensor 5 when the steering command includes an acceleration/deceleration value. The speed may be a speed that takes into account the current speed of the mobile device 20 and the acceleration/deceleration value.

The rollover limit speed is the lower limit speed of the moving device 20 at which the moving device 20 rolls over when the moving device 20 moves on the evaluation route and passes through the position of the minimum curvature radius on the evaluation route. . That is, when the mobile device 20 moves on the evaluation route, if the speed of the mobile device 20 is lower than the lower limit speed (rollover limit speed), the mobile device 20 does not roll over and travels above the minimum curvature radius. If the position can be passed and the speed of the moving device 20 is equal to or higher than the lower limit speed, the moving device 20 rolls over when passing the position with the minimum radius of curvature.

The rollover limit speed for each value of the minimum radius of curvature may be obtained in advance based on assumed conditions (for example, an assumed dynamic friction coefficient between the road surface and the traveling tire 1 of the moving device 20). In this case, the evaluation value generator 37b may store the rollover limit speed for each value of the minimum radius of curvature, and calculate the evaluation value based on the stored rollover limit speed and the evaluation route. good.

(3) Sideslip of the moving device 20 The evaluation value for the side-slip of the moving device 20 is an evaluation value indicating the safety of the side-slip. This evaluation value is, for example, a value obtained by subtracting the side-slip limit speed from the speed of the mobile device 20 . Here, the speed of the mobile device 20 may be the current speed of the mobile device 20 detected by the speed sensor 5. It may be a speed that takes into account the current speed of the device 20 and the acceleration/deceleration value.

The skid limit speed is the lower limit speed of the mobile device 20 at which the mobile device 20 skids when it passes through the position of the minimum curvature radius on the evaluation route when the mobile device 20 moves on the evaluation route. . That is, when the mobile device 20 moves on the evaluation route, if the speed of the mobile device 20 is lower than the lower limit speed (sideslip limit speed), the mobile device 20 does not skid and travels above the minimum curvature radius. If the position can be passed and the speed of the mobile device 20 is equal to or higher than the lower speed limit, the mobile device 20 will skid when passing the position with the minimum radius of curvature.

The sideslip critical speed for each value of the minimum radius of curvature may be obtained in advance based on the assumed conditions described above. In this case, the evaluation value generation unit 37b may store the critical sideslip speed for each value of the minimum radius of curvature, and calculates the evaluation value based on the stored critical sideslip speed and the evaluation route. good.

(4) Distance to Obstacles The evaluation value for the distance to an obstacle is the distance between the obstacle closest to the evaluation route on the map in the storage unit 11a and the evaluation route (for example, the obstacle closest to the evaluation route). shortest distance between the closest point and the evaluation path). Note that when an obstacle exists on the evaluation path, the separation distance is zero.

(5) Road surface condition The evaluation value for the road surface condition is the degree of goodness of the road surface on the evaluation route (hereinafter referred to as "road surface goodness"). The road surface quality is calculated based on the difference in elevation of the road surface area along the evaluation route. The road surface quality may be the lowest index value calculated for each evaluation area of the evaluation route as follows. First, for each evaluation area spaced along the evaluation path through which the mobile apparatus 20 passes when moving along the target evaluation path from the start point to the end point of the evaluation path. Second, based on the height of each measurement point in the evaluation area, it is determined whether the evaluation area is an impossibility of travel, a stepped surface, a flat surface, or an uneven surface. Then, if any of the evaluation areas of the evaluation route is judged to be undrivable, the road surface quality of the evaluation route is set to 0, and if not, the following is performed. . That is, for each evaluation area, if it is determined to be a stepped surface, an index value of the road surface quality indicating how small the step is, and if it is determined to be flat, the road surface is An index value of the road surface condition is calculated, and if it is determined that the surface is uneven, an index value of the road surface condition indicating how small the unevenness is is calculated, and each index value of each evaluation area of the evaluation route is calculated. The smallest value among them is taken as the road surface condition of the evaluation route. Each index value may take a value from 0 to 1.

The road surface quality will be described in detail below.

The road surface quality level is calculated by the evaluation value generator 37b based on the height of each of the measurement points incorporated in the map of the storage unit 11a, including the current position of the mobile device 20. FIG. The height of each of these measurement points is the height of each corresponding position on the actual road surface. (coordinates of the coordinate axes pointing in the vertical direction).

The road surface quality of the evaluation route is the lowest value among the index values of each evaluation area on the evaluation route. FIG. 6A shows each evaluation area ER in one evaluation path with a dashed line. For each evaluation area of the evaluation route, an index value is calculated based on the height of each measurement point in the evaluation area. degrees. As shown in FIG. 6(A), each evaluation region ER of the evaluation route is located at each position (indicated by white circles in FIG. 6(A)) on the two-dimensional map at predetermined intervals on the evaluation route. It is a linear area extending to both sides (corresponding to both sides in the horizontal direction) intersecting (for example, perpendicular to) the evaluation path at the position so that the position is the center. The length of this linear region ER is preferably about the length corresponding to the width of the mobile device 20 (vehicle body) in the two-dimensional map (for example, the length of the width of the mobile device 20 plus the extra width). .

The index value of each evaluation area of the evaluation route is calculated according to the flowchart of FIG. 7, and the lowest value among the index values of each evaluation area is taken as the road surface condition of the evaluation route.

A method of calculating the index value of the evaluation area will be described with reference to FIG. 7 and the like. FIG. 6(B) is a partially enlarged view showing any one of the plurality of linear evaluation regions ER in FIG. 6(A).

In step ST1, among a plurality of measurement points (represented by white circles in FIG. 6B) located on the evaluation area ER shown in FIG. , for the first to fourth measurement points P _m1 to P _m4 , for each two adjacent measurement points, the height difference between the two measurement points is calculated, the gradient between the two measurement points is calculated, and these Calculate the variance of height difference.

The first to fourth measurement points P _m1 to P _m4 will be described with reference to FIG. 6(B). In FIG. 6B, dashed lines indicate the left and right running tires 1 of the moving device 20 (vehicle) passing through. As shown in FIG. 6B, there are two to three or more measurement points used in this step ST1 within the width of each tire (the width in the horizontal direction in the figure). More specifically, two parts surrounded by broken lines in FIG. 6(B) indicate that when the mobile device 20 passes through the evaluation route, the left and right running tires 1 of the mobile device 20 pass through the evaluation area ER. 1 shows these running tires 1 at time. As shown in FIG. 6B, the first and second measurement points P _m1 and P _m2 are measured on the left and right sides of the running tire 1 in the contact area where the running tire 1 contacts the road surface when the road surface is flat. Pinch one end. The third and fourth measurement points P _m3 and P _m4 sandwich the other left and right side ends of the running tire 1 in the contact area where the running tire 1 contacts the road surface when the road surface is flat. The first and fourth measurement points P _m1 , P _m4 are outside the contact area, and the second and third measurement points P _m2 , P _m3 are inside the contact area.

The height difference between the two adjacent measurement points described above is the difference in height between the two measurement points, and the gradient between the two measurement points described above is the angle of inclination from the horizontal plane. Atan(Y/X) where X is the difference between the position coordinate values of the two measurement points and Y is the difference between the heights of the two measurement points. Atan is the inverse function of tangent (arctangent).

In step ST2, for the first to fourth measurement points P _m1 to P _m4 corresponding to each running tire 1, the height difference between two adjacent measurement points (P _m1 and P _m2 , etc.) is determined by a predetermined threshold value. Determine if it is above. That is, if there is a difference in height calculated in step ST1 that is greater than or equal to the predetermined threshold in height difference, the process proceeds to step ST3. On the other hand, if none of the height differences calculated in step ST1 exceeds the height difference threshold value, the process proceeds to step ST4.

In step ST3, the index value is set to 0, assuming that the target evaluation area is impassable (impossible to travel).

At step ST4, it is determined whether or not the target evaluation area is a stepped surface. That is, for the first to fourth measurement points P _m1 to P _m4 corresponding to each running tire 1, the gradient between the first and second measurement points P _m1 and P _m2 calculated in step ST1, and If both the gradients between the third and fourth measurement points P _m3 and P _m4 calculated in step ST5 are equal to or less than the upper limit that can be regarded as a plane, the target evaluation area is determined to be a stepped surface. proceed to On the other hand, if not, the process proceeds to step ST6.

FIG. 8 is an explanatory diagram of steps ST4, ST6, and ST8. In the graphs of FIGS. 8A to 8C, the horizontal axis represents the horizontal position coordinates of the measurement points P _m1 to P _m4 corresponding to the running tire 1, and the vertical axis represents the coordinates of these measurement points P _m1 to P m1 to P m4. The height of _m4 is shown, and white circles indicate the measurement points P _m1 to P _m4 . For example, in step ST4, in the case of FIG. 8A, the target evaluation area is assumed to be a step surface, and the process proceeds to step ST5.

In step ST5, the height difference between the second and third measurement points P _m2 and P _m3 corresponding to the left running tire 1 calculated in step ST1 and the second and third measuring points corresponding to the right running tire 1 are calculated. An index value is calculated according to the larger one of the height differences between the three measurement points P _m2 and P _m3 . For example, the index value is calculated according to the relationship shown in FIG. 9(A). The graph of FIG. 9A shows the relationship between the magnitude of the height difference at the measurement points P _m2 and P _m3 of the running tire 1 having the greater magnitude of the height difference at the measurement points P _m2 and P _m3 and the index value. show.

At step ST6, it is determined whether or not the target evaluation area can be regarded as a plane. That is, when the variance of the height difference calculated in step ST1 is equal to or less than the upper limit value for considering a plane, the target evaluation area is assumed to be a plane, and the process proceeds to step ST7. Here, the variance is calculated based on the height difference calculated in step ST1. That is, for each elevation difference calculated in step ST1, the difference between the elevation difference and the average elevation difference calculated in step ST1 is squared, and the average value of the values obtained by squaring is the above-described variance. be. On the other hand, when the variance of the height difference calculated in step ST1 is not equal to or less than the upper limit value for considering a plane, the process proceeds to step ST8.
For example, in the case of FIG. 8B, it is assumed that the target evaluation area is a plane, and the process proceeds to step ST7.

At step ST7, an index value is calculated according to the variance calculated at step ST6. For example, the index value is calculated according to the relationship shown in FIG. 9B. The graph in FIG. 9B shows the relationship between variance and index value.

In step ST8, it is assumed that the target evaluation area is an uneven surface. For example, in the case of FIG. 8C, it is assumed that the target evaluation area is an uneven surface.
Further, in step ST8, an index value is calculated according to the maximum height difference (referred to as the maximum height difference) among the height differences calculated in step ST1. For example, the index value is calculated according to the relationship shown in FIG. 9(C). The graph of FIG. 9C shows the relationship between the maximum height difference and the index value.

<Specific example of reason data>
The reason data corresponding to the evaluation items generated by the correction determination unit 29 will be described. The reason data corresponding to the route curvature radius (minimum curvature radius) evaluation item may be data indicating that the curve of the route according to the steering command is too large. The reason data corresponding to the rollover evaluation item of the mobile device 20 may be data indicating that the mobile device 20 may roll over on the route according to the steering command. The reason data corresponding to the side-slip evaluation item of the mobile device 20 may be data indicating that the mobile device 20 may skid on the route according to the steering command. The reason data corresponding to the road surface condition evaluation item may be data indicating that the road surface condition of the route followed by the steering command is poor.

<Specific example of warning information>
Warning information corresponding to each evaluation item generated by the warning generator 41 will be described.
The warning information corresponding to the evaluation item of minimum radius of curvature may be information indicating that the curve of the route according to the steering command tends to be too large. The warning information corresponding to the rollover evaluation item of mobile device 20 may be information indicating that mobile device 20 tends to roll over on the route according to the steering command. The warning information corresponding to the side-slip evaluation item of the mobile device 20 may be information indicating that the mobile device 20 tends to skid on the route according to the steering command. The warning information corresponding to the obstacle distance evaluation item may be information indicating that the route in accordance with the steering command tends to interfere with the obstacle. The warning information corresponding to the road surface condition evaluation item may be warning information indicating that the road surface condition of the route followed by the steering command tends to be poor.

Note that the evaluation value generator 37b may obtain the evaluation values of the command route and the plurality of additional routes for any one of the plurality of evaluation items described above. In this case, the determination unit 39 determines whether the evaluation value of the specified number or the specified ratio or more of the commanded route and the plurality of additional routes for the evaluation item is below the threshold, and the result of the determination is If so, determine that the command path does not tend to be safe. In this case, the warning generator 41 generates warning information corresponding to the evaluation item.

(Effect of Embodiment)
The steering command processing device 10 according to this embodiment determines whether or not the commanded route according to the steering command is safe. Send the data to the remote control device 30 . The route data is thereby displayed on the display device 19 . Therefore, the operator of the remote control device 30 can see the command route and the correction route displayed and can grasp the difference between the two, thereby preventing the operator from giving an inappropriate maneuvering command. For example, the operator recognizes that the corrected route is the preferred route between the commanded route and the corrected route on the map, and does not give additional inappropriate steering commands to obstacles on the map. .

Further, when the maneuvering command processing device 10 determines that the commanded route is not a safe route, the control command processing device 10 generates reason data indicating the reason for correcting the commanded route. 30. As a result, not only the route data but also the reason data are displayed on the screen of the display device 19. FIG. The operator of the remote control device 30 can see the displayed reason data and know the reason why the command path was corrected. As a result, it is possible to more reliably prevent an additional inappropriate steering command such as returning the corrected route to the command route.

The operation command processing device 10 generates a command route according to the operation command from the remote control device 30, obtains an evaluation value indicating safety for this command route, and based on the evaluation value, indicates that the command route tends to be safe. If it is determined that there is no safe tendency, warning information is transmitted to the remote control device 30. - 特許庁From this warning information, the operator of the remote control device 30 can know that the command route by the operation performed by him/herself tends to be unsafe. Therefore, the operator himself/herself can operate the remote control device 30 to correct the movement route based on the warning information before the command route according to the operation command is corrected by the correction unit 31 . In this way, it is possible for the operator to correct the movement route by himself/herself, so that it is possible to avoid giving the operator a sense of discomfort during the operation.

Further, before the correction determination unit 29 determines that the commanded route is unsafe, at a stage where the commanded route tends to be unsafe, the operator remotely performs an operation to correct the movement route based on the warning information. It can be done to the steering device 30 . As a result, it is possible to avoid a situation in which movement of the mobile device 20 is difficult due to the operator's own operation. Therefore, such a situation can be more reliably avoided.

Using the movement route generated in accordance with the steering command as the command route, the additional route generation unit 37a generates a plurality of additional routes shifted laterally from the command route, and the evaluation value generation unit 37b generates the command route and the plurality of additional routes. , and based on these evaluation values, it can be determined whether the command path tends to be safe. That is, when the evaluation value of the designated number of routes or the number of designated ratio or more falls below the threshold value, it can be determined that the instructed route does not tend to be safe.

The evaluation value generator 37b obtains the evaluation values of the command route and the plurality of additional routes for each of the plurality of evaluation items, and the determination unit 39 calculates the command route and the plurality of additional routes for each of the plurality of evaluation items. It is determined whether or not the evaluation value of the specified number or the specified ratio or more of the routes is below the threshold. The warning generator 41 transmits to the remote control device 30 warning information corresponding to the evaluation item for which the result of determination is affirmative. This warning information allows the operator to know which evaluation item the maneuver command was not appropriate for. Therefore, the operator can operate the remote control device 30 to correct the movement route for the evaluation item.

It goes without saying that the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the technical idea of the present invention.

1 running tire, 2 ground surface, 3 obstacle sensor, 5 speed sensor, 7 orientation sensor, 9 position detection unit, 10 steering command processing device, 11 map generation unit, 11a storage unit, 13 camera, 15 movement side communication unit, 17 control side communication unit 19 display device 20 moving device 21 operation device 22 direction operation unit 23 speed operation unit 23a accelerator pedal 23b brake pedal 25 command generation unit 27 command path generation unit 29 correction judgment Section 30 Remote control device 31 Correction section 33 Control section 35 Automatic route generation section 37 Evaluation section 37a Additional route generation section 37b Evaluation value generation section 39 Judgment section 41 Warning generation section 100 Remote control system

Claims (9)

a command path generation unit that generates a command path to the mobile device according to the control command transmitted from the remote control device;
a correction determination unit that determines whether the command path is a safe path;
a correction unit that generates a corrected path by correcting the commanded path when the result of the determination is negative;
a data generator that generates path data representing the command path and the correction path;
and a communication unit that transmits the route data to the remote control device. The correction determination unit generates reason data indicating a reason for correcting the command path when determining that the command path is not a safe path,
2. The maneuver command processing device according to claim 1, wherein said communication unit transmits said route data and said reason data to said remote control device. an evaluation unit that obtains an evaluation value indicating safety with respect to the command path;
a determination unit that determines whether the command route tends to be safe based on the evaluation value;
and a warning generation unit that generates warning information when it is determined that the command path does not tend to be safe, wherein the communication unit transmits the warning information to the remote control device. The maneuver command processing device according to . The evaluation unit
an additional route generating unit that generates a plurality of additional routes laterally deviating from the commanded route intersecting with the commanded route;
an evaluation value generation unit that obtains an evaluation value for each of the command path and the plurality of additional paths,
The judging unit judges whether the evaluation value of the designated number of routes or the designated ratio or more of the commanded route and the plurality of additional routes falls below a threshold, and if the result of the judgment is affirmative, 4. The maneuver command processor of claim 3, wherein determines that the command path does not tend to be safe. The evaluation value generation unit obtains evaluation values of the command path and the plurality of additional paths for each of the plurality of evaluation items,
For each of the plurality of evaluation items, the determination unit determines whether or not the evaluation value of the designated number of routes or the number of designated ratio or more of the commanded route and the plurality of additional routes falls below a threshold. If the result of determination is affirmative, determine that the movement route does not tend to be safe for the evaluation item;
The warning generation unit generates the warning information corresponding to the evaluation item for which the result of the determination is affirmative,
5. The maneuver command processing device according to claim 4, wherein said plurality of warning information corresponding to said plurality of evaluation items are different from each other. the plurality of evaluation items include a plurality of path curvature radius, rollover of the mobile device, skid of the mobile device, distance to obstacles, and road surface conditions;
the evaluation value for the radius of curvature of the path is the minimum radius of curvature of the path;
the evaluation value for the rollover of the mobile device is an evaluation value indicating the safety of the rollover;
the evaluation value for sideslip of the mobile device is an evaluation value indicating the safety of the sideslip;
the evaluation value for the distance to the obstacle is the distance between the obstacle closest to the route and the route;
6. The steering command processing device according to claim 5, wherein said evaluation value for said road surface condition is a degree of goodness of a road surface on said route. A remote control system comprising the control command processing device according to any one of claims 1 to 6 and the remote control device,
The remote control system, wherein the remote control device includes a display device that displays the route data. The correction determination unit generates reason data indicating a reason for correcting the command path when determining that the command path is not a safe path,
The communication unit transmits the route data and the reason data to the remote control device,
8. The remote control system of claim 7, wherein said display device displays said route data and said reason data. generating a command route for the mobile device by a command route generation unit according to the control command transmitted from the remote control device;
judging by a correction judging unit whether the command route is a safe route;
generating a corrected route by correcting the commanded route by a correcting unit when the result of the determination is negative;
generating path data representing the command path and the correction path by a data generation unit;
A control command processing method, wherein the route data is transmitted to the remote control device.

Images