JP7347194B2 - Travel control device - Google Patents

Description

The present invention relates to a travel control device.

As a conventional travel control device, for example, a technique as described in Patent Document 1 is known. The travel control device described in Patent Document 1 detects surrounding objects and causes the mobile body to travel while estimating the self-position of the mobile body based on the detection results. This travel control device estimates the self-position of a moving body by detecting surrounding objects with a detection unit such as a laser sensor.

Japanese Patent Application Publication No. 2011-253414

By the way, in a driving control device that detects surrounding objects and moves a mobile object while estimating its own position based on the detection results, as in the conventional technology described above, the detected objects and map data are registered. Compare it with the object. However, there are various causes surrounding the moving body that reduce the accuracy of estimating its own position. For example, in addition to objects registered in the map data, there may be objects such as people or other moving objects that are not registered in the map data around the moving object. In this case, the travel control device erroneously recognizes a person, moving object, or the like as an object registered in the map data. As a result, the accuracy of estimating the self-position of the mobile object by the travel control device may decrease.

An object of the present invention is to provide a travel control device that can improve the accuracy of estimating the self-position of a mobile object.

One aspect of the present invention provides a travel control device for driving a moving object, which includes a first detection section and a second detection section that detect objects around the moving object, and a first detection section and a second detection section. a position estimation unit that estimates the self-position of the mobile body based on the detection result by at least one of the above and map data acquired in advance; a travel control unit that controls travel; the position estimation unit acquires information regarding a decrease in self-position estimation accuracy; and, based on the information, detects the first detection result by the first detection unit and the second detection result by the first detection unit; The manner in which the second detection result is used by the detection unit is adjusted.

In such a travel control device, the position estimation unit estimates the self-position of the mobile object based on the detection result by at least one of the first detection unit and the second detection unit and map data acquired in advance. do. Thereby, the position estimation section can estimate the self-position of the mobile object by comparing the object detected by the detection section with the object registered in the map data. Here, in at least one of the detection range of the first detection unit and the detection range of the second detection unit, there may be various causes that reduce the estimation accuracy of the self-position. In response, the position estimating unit acquires information regarding the decrease in self-position estimation accuracy, and based on the information, the first detection result by the first detecting unit and the second detection result by the second detecting unit. Adjust how results are used. Thereby, the position estimating unit adjusts the manner in which the first detection result by the first detection unit and the second detection result by the second detection unit are used so as to suppress a decrease in the estimation accuracy of the self-position. can do. As described above, the travel control device can improve the accuracy of estimating the self-position of the mobile object.

When the position estimation unit estimates the self-position using one of the first detection result and the second detection result, and obtains information regarding a decrease in estimation accuracy with respect to one of the detection results. , the self-position may be estimated by switching to the other detection result. Thereby, since only one of the first detection section and the second detection section is used while suppressing a decrease in the estimation accuracy of the self-position, the processing load can be reduced.

The position estimating unit may obtain a determination result indicating that the estimation accuracy has decreased, as information regarding the decrease in the estimation accuracy. This makes it possible to adjust how the detection unit is used based on the fact that the estimation accuracy has actually decreased.

The position estimating unit may acquire information indicating that there is an obstacle around the moving object that reduces the estimation accuracy, as the information regarding the reduction in the estimation accuracy. The position estimating section can quickly adjust the manner of use of the detecting section based on the presence of an obstacle without actually calculating that the estimation accuracy has decreased.

The position estimating unit may acquire information indicating that the mobile object has passed through a position where the estimation accuracy decreases, as information regarding the decrease in the estimation accuracy. The position estimating section can quickly adjust the usage mode of the detecting section based on the passing position of the moving object without actually calculating that the estimation accuracy has decreased.

According to the present invention, the accuracy of estimating the self-position of a moving body can be improved.

1 is a schematic configuration diagram showing a travel control device according to an embodiment of the present invention. FIG. 2 is a conceptual diagram showing how a mobile object moves in a warehouse or a factory. FIG. 3 is a conceptual diagram illustrating how a position estimating unit estimates its own position based on a detection result. 3 is a flowchart showing the content of self-position estimation processing performed by a position estimation unit. It is a conceptual diagram which shows the situation when the position estimating part of the driving control device based on a modification estimates a self-position based on a detection result. It is a flowchart which shows the content of the estimation process of a self-position by the position estimation part of the driving|running|working control device based on a modification. It is a conceptual diagram which shows the situation when the position estimating part of the driving control device based on a modification estimates a self-position based on a detection result. It is a flowchart which shows the content of the estimation process of a self-position by the position estimation part of the driving|running|working control device based on a modification. It is a conceptual diagram which shows the situation when the position estimating part of the driving control device based on a modification estimates a self-position based on a detection result. It is a flowchart which shows the content of the estimation process of a self-position by the position estimation part of the driving|running|working control device based on a modification.

Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a schematic configuration diagram showing a travel control device 1 according to an embodiment of the present invention. In FIG. 1, a travel control device 1 according to the present embodiment is a device that automatically causes a moving body 2 to travel, as shown in FIG. Note that FIG. 2 is a conceptual diagram showing how the mobile body 2 moves within a structure such as a warehouse or a factory. The moving body 2 is, for example, a forklift, an automatic guided vehicle, or the like. The travel control device 1 is mounted on a moving body 2.

The travel control device 1 includes a laser sensor 3A (first detection section), a laser sensor 3B (second detection section), a drive section 4, and a controller 5.

Laser sensors 3A and 3B detect objects around the moving body 2. Further, the laser sensors 3A and 3B measure the positional relationship with the detected object. The laser sensors 3A, 3B detect objects around the moving object 2 from the laser sensors 3A, 3B by emitting a laser around the moving object 2 and receiving the reflected light of the laser, and calculate the distance to the object. Measure. For example, laser range finders are used as the laser sensors 3A and 3B. The laser used may be a 2D laser or a 3D laser.

Laser sensors 3A and 3B are provided so as to face in different directions. Thereby, the detection range of the laser sensor 3A and the detection range of the laser sensor 3B are set to different ranges from each other. For example, as shown in FIG. 2, the laser sensor 3A is provided on the front side of the moving body 2. Further, the laser sensor 3A emits the laser L in a fan shape toward the front of the moving body 2. Specifically, the laser sensor 3A irradiates the laser L to a predetermined angle range centered on the straight ahead direction of the moving body 2. Thereby, the laser sensor 3A can perform detection within a predetermined angular range in front of the moving body 2 as a detection range. The laser sensor 3B is provided on the rear side of the moving body 2. The laser sensor 3B irradiates the laser L toward the rear of the moving body 2 in a fan shape. Specifically, the laser sensor 3B irradiates the laser L to a predetermined angle range centered on the straight backward direction of the moving body 2. Thereby, the laser sensor 3B can perform detection within a predetermined angular range behind the moving object 2 as a detection range.

The laser L emitted from the laser sensors 3A, 3B hits the object 20, and the laser (reflected light) reflected by the object 20 is received by the laser sensors 3A, 3B. The object 20 includes a feature 21 that is a characteristic structure that indicates its own position, such as a stationary object such as a wall 26 or a pillar 27. Such features 21 are registered in the map data. Furthermore, the objects 20 include dynamic objects 22 such as people such as workers and other moving objects (see FIG. 3). Such a dynamic object 22 is not registered in the map data and becomes an obstacle when estimating the user's own position. In addition to moving objects, stationary objects such as temporarily placed luggage or temporary structures may also become obstacles.

Although not particularly illustrated, the drive unit 4 includes a travel motor that rotates the running wheels of the mobile body 2 and a steering motor that steers the steered wheels of the mobile body 2.

The controller 5 includes a CPU, RAM, ROM, input/output interface, and the like. The controller 5 includes a position estimation section 11, a travel control section 12, and a storage section 13.

The position estimation unit 11 estimates the self-position of the mobile object 2 based on the detection results by the laser sensors 3A and 3B and map data acquired in advance. The position estimating unit 11 estimates the self-position of the mobile object 2 using, for example, a SLAM (simultaneous localization and mapping) method. SLAM is a self-position estimation technology that uses sensor data and map data to perform self-position estimation. SLAM simultaneously performs self-position estimation and creation of an environment map. Specifically, the position estimating unit 11 matches the distance data to the object 20 detected by the laser sensor 3 with the map data of the surrounding environment of the mobile object 2, and calculates the estimation of the self-position of the mobile object 2. conduct.

The position estimating unit 11 acquires information regarding a decrease in self-position estimation accuracy, and based on the information, detects the detection result by the laser sensor 3A (first detection result) and the detection result by the laser sensor 3B (second detection result). Adjust how the detection results are used. The information regarding the decrease in self-position estimation accuracy includes information indicating that the self-position estimation accuracy has decreased, and information indicating matters that may cause the self-position estimation accuracy to decrease. The information indicating that the estimation accuracy of the self-position has decreased is information that can quantitatively indicate the decrease in the estimation accuracy, such as an index indicating the degree of matching between the detection result and map data. Information indicating matters that may cause a decrease in the estimation accuracy of the self-position includes information indicating the presence of obstacles around the mobile object 2 that may cause a decrease in the estimation accuracy, and This information indicates that a condition that causes a decrease in accuracy has occurred. Obstacles include dynamic objects such as people and other moving objects, and static objects such as luggage and temporary objects. Examples of conditions that may cause a decrease in estimation accuracy include a change in the position of the feature 21. In the present embodiment, the position estimating unit 11 includes information indicating that there are obstacles around the moving object 2 that reduce the estimation accuracy, and information indicating that the position of the feature 21 has been changed, as information regarding the reduction in estimation accuracy. Get information indicating.

The manner of use of the detection result by the laser sensor 3A (first detection result) and the detection result by the laser sensor 3B (second detection result) is adjusted. Adjusting the usage mode includes switching from a state in which one laser sensor is used to estimate one's own position to the other laser sensor to estimate one's own position. In addition, to adjust the usage mode, when both laser sensors 3A and 3B are performing detection, it is possible to use the detection result of one to estimate the self-position and not to use the detection result of the other. included. Further, adjusting the usage mode includes estimating the self-position using both laser sensors instead of estimating the self-position using one laser sensor. In the present embodiment, the position estimating unit 11 estimates its own position using one of the detection results by the laser sensor 3A and the detection result by the laser sensor 3B, and When information regarding a decrease in accuracy is obtained, the self-position is estimated by switching to the other detection result.

For example, in the example shown in FIG. 3, objects 20A to 20D are present in front of the moving body 2. Among these objects, objects 20A, 20C, and 20D are characteristic objects 21, and object 20B is a dynamic object 22. The position estimation unit 11 identifies the object 20B, which is the moving object 22, as an obstacle among the objects 20A to 20D. Furthermore, it is determined from the map data that the position of the object 20C, which is the feature 21, has been changed. From this, the position estimating unit 11 acquires information indicating that there is an obstacle in front of the moving object 2 that reduces estimation accuracy and that the position of the feature 21 has been changed. The position estimation unit 11 switches from the front laser sensor 3A to the rear laser sensor 3B to estimate its own position. Specifically, the position estimation section 11 includes an information acquisition section 14, an estimation accuracy confirmation section 16, and a calculation section 17.

The information acquisition unit 14 acquires various information necessary for estimating the self-position. The information acquisition unit 14 acquires detection results by the laser sensors 3A and 3B. The information acquisition unit 14 acquires the detection result by the front laser sensor 3A when the front laser sensor 3A is activated. When the rear laser sensor 3B is activated, the information acquisition unit 14 acquires the detection result by the laser sensor 3B. As shown in FIG. 3(a), by irradiating the objects 20A to 20D with the laser L, the laser sensor 3A acquires position information of the point groups PA to PD. Thereby, the laser sensor 3A detects the objects 20A to 20D based on the positional information of the point groups PA to PD, and also obtains the positional relationship of the objects 20A to 20D with the moving body 2. The information acquisition unit 14 acquires the detection results of these laser sensors 3. In addition, in FIG. 3, of the lasers L, only those that irradiate the edges of each object are shown.

The estimation accuracy checking unit 16 checks the estimation accuracy when the self-position is estimated based on the detection results by the laser sensors 3A and 3B. The estimation accuracy confirmation unit 16 acquires information regarding a decrease in the estimation accuracy of the self-position.

Specifically, the estimation accuracy confirmation unit 16 identifies obstacles from among the objects detected by the laser sensor 3A. For example, the estimation accuracy checking unit 16 can determine whether the moving direction of the point group PA to PD is changing by determining the positions of the point group PA to PD in time series. Since the feature 21 is stationary, the point groups PA, PC, and PD corresponding to the feature 21 move relatively in the movement direction according to the movement of the moving body 2. Therefore, the estimation accuracy confirmation unit 16 identifies the objects 20A, 20C, and 20D corresponding to the point groups PA, PC, and PD as the features 21 necessary for estimating the self-position. On the other hand, since the dynamic object 22 is moving, the point group PB corresponding to the dynamic object 22 moves relatively in a direction different from the movement of the moving body 2. Therefore, the estimation accuracy confirmation unit 16 identifies the object 20B corresponding to the point group PB as the dynamic object 22 that is an obstacle. In this way, the estimation accuracy confirmation unit 16 acquires information that there is an obstacle ahead as information that may reduce the estimation accuracy of the self-position.

Furthermore, the estimation accuracy confirmation unit 16 identifies the object 20C among the objects 20A, 20C, and 20D as the feature 21 detected by the laser sensor 3A as having moved from the position registered in the map data. The estimation accuracy confirmation unit 16 compares the position of the object 20C determined from the point cloud PC with the position of the object 20C in the map data (the position indicated by the virtual line in FIG. 3(a)) to determine whether the object 20C is Identify that the user has moved from the location at the time of registration. In this way, the estimation accuracy confirmation unit 16 acquires information that there is a feature 21 ahead that has moved from the position registered in the map data, as information that may reduce the estimation accuracy of the own position.

The calculation unit 17 performs calculations for estimating the self-position of the mobile body 2 from the detection results of the laser sensors 3A and 3B. Furthermore, the calculation unit 17 adjusts the manner in which the detection results by the laser sensor 3A and the detection result by the laser sensor 3B are used based on the information regarding the decrease in the estimation accuracy of the self-position. If information regarding a decrease in self-position estimation accuracy is acquired while using the front laser sensor 3A, the calculation unit 17 switches to the rear laser sensor 3B to estimate the self-position. When switching from the front laser sensor 3A to the rear laser sensor 3B, the calculation unit 17 uses the point groups PE and PF corresponding to the objects 20E and 20F located behind, as shown in FIG. 3(b). to estimate its own position. Note that, if information regarding a decrease in self-position estimation accuracy is obtained while using the rear laser sensor 3B, the estimation accuracy confirmation unit 16 switches to the front laser sensor 3A to estimate the self-position. .

Specifically, the calculation unit 17 uses the point groups PE and PF and the map data stored in the storage unit 13 to perform calculations for estimating the self-position of the mobile object 2 . Self-position estimation by the calculation unit 17 may be performed using the SLAM method. Further, the calculation unit 17 may detect the objects 20E and 20F from the point groups PE and PF, and estimate the self-position by matching the distance data between the object and the moving object and the map data of the surrounding environment of the moving object. .

The travel control unit 12 controls the travel of the mobile body 2 based on the self-position of the mobile body 2 estimated by the position estimating unit 11. The travel control unit 12 calculates the moving direction and moving distance of the moving body 2 by comparing its own position and the target position. Further, based on the calculation result, the travel control section 12 outputs a control signal to the drive section 4 so that the moving body 2 moves toward the target position. The storage unit 13 stores various data. The storage unit 13 stores map data.

Next, with reference to FIG. 4, the process of estimating the self-position of the mobile body 2 by the position estimation unit 11 will be described. FIG. 4 is a flowchart showing the content of the self-position estimation process by the position estimation unit 11. Here, it is assumed that the process starts from a state in which the self-position is estimated using the detection result of the front of the moving body 2 by the front laser sensor 3A. First, the information acquisition unit 14 of the position estimation unit 11 acquires the detection result by the laser sensor 3A (step S100). In the example shown in FIG. 3(a), the information acquisition unit 14 acquires detection results of objects 20A to 20D detected based on point groups PA to PD.

Next, the estimation accuracy confirmation unit 16 of the position estimation unit 11 identifies an obstacle from among the objects detected by the laser sensor 3 (step S110). In the example shown in FIG. 3(a), the estimation accuracy confirmation unit 16 identifies the object 20B as an obstacle. Next, the estimation accuracy confirmation unit 16 determines whether an obstacle exists in the detection range of the laser sensor 3 (step S120).

If it is determined in step S120 that an obstacle exists, the calculation unit 17 switches from the front laser sensor 3A to the rear laser sensor 3B, and determines whether the moving body 2 The position is estimated (step S130). In the example shown in FIG. 3, the calculation unit 17 estimates the self-position of the moving body 2 using the point groups PE and PF corresponding to the rear objects 20E and 20F. When the process of step SS130 ends, the process shown in FIG. 4 ends. Note that if an obstacle is identified while the rear laser sensor 3B is estimating the self-position, the calculation unit 17 switches from the rear laser sensor 3B to the front laser sensor 3A, and The self-position of the mobile body 2 is estimated based on the detection result by the sensor 3A.

If it is determined in step S120 that there is no obstacle ahead, the calculation unit 17 estimates the self-position of the mobile body 2 based on the detection result by the laser sensor 3A without switching (step S140). When the process of step S140 ends, the process shown in FIG. 4 ends.

Next, the functions and effects of the travel control device 1 according to this embodiment will be explained.

First, a travel control device according to a comparative example will be described. The travel control device according to the comparative example detects an object in front and causes the mobile body to travel while estimating the self-position of the mobile body based on the detection result. At this time, the travel control device compares all objects detected ahead with objects registered in the map data. However, in addition to objects registered in the map data, objects such as people and other moving objects that are not registered in the map data may exist around the moving object. In this case, the travel control device according to the comparative example incorrectly recognizes a person, a moving object, or the like as an object registered in the map data. For example, if the travel control device mistakenly recognizes another moving object as a wall, it will incorrectly estimate the distance between its own position and the other moving object as the distance between its own position and the wall. As a result, the accuracy of estimating the self-position of the mobile object by the travel control device may decrease.

On the other hand, in the travel control device 1 according to the present embodiment, the position estimating unit 11 determines whether the mobile body 2 Estimate location. Thereby, the position estimation unit 11 can estimate the self-position of the mobile object 2 by comparing the objects detected by the laser sensors 3A and 3B with the objects registered in the map data. Here, in at least one of the detection range of the laser sensor 3A and the detection range of the laser sensor 3B, there may be various causes that reduce the estimation accuracy of the self-position. On the other hand, the position estimating unit 11 acquires information regarding the decrease in the estimation accuracy of the self-position, and adjusts the manner in which the detection results by the laser sensor 3A and the detection result by the laser sensor 3B are used based on the information. Thereby, the position estimation unit 11 can adjust the manner in which the detection results by the laser sensor 3A and the detection result by the laser sensor 3B are used so as to suppress a decrease in the estimation accuracy of the self-position. As described above, the travel control device 1 can improve the accuracy of estimating the self-position of the moving body 2.

The position estimation unit 11 estimates the self-position using one of the detection results of the laser sensor 3A and the detection result of the laser sensor 3B, and provides information regarding a decrease in estimation accuracy to one of the detection results. If acquired, the self-position is estimated by switching to the other detection result. Thereby, since only one of the laser sensor 3A and the laser sensor 3B is used, the processing load can be reduced while suppressing a decrease in self-position estimation accuracy.

The position estimating unit 11 acquires information indicating that there are obstacles around the mobile object 2 that reduce the estimation accuracy, as information regarding the reduction in the estimation accuracy. The position estimating section 11 can quickly adjust the usage mode of the detecting section based on the presence of an obstacle without actually calculating that the estimation accuracy has decreased.

The invention is not limited to the embodiments described above.

In the above-described embodiment, information indicating that an obstacle exists, information indicating that the position of the feature 21 has changed, etc. are acquired as information indicating matters that may cause a decrease in the estimation accuracy of the self-position. Alternatively, information indirectly indicating that an obstacle exists may be acquired. When the travel control device 1 detects a moving object and tracks the moving object, it acquires information that the tracking state is in progress as information indicating matters that may cause a decrease in the accuracy of self-position estimation. good. For example, as shown in FIG. 5A, when an object 20B as a dynamic object exists in front of the moving body 2, the front laser sensor 3A detects the object 20B as a dynamic object, and also detects the object 20B as a dynamic object. track. When the estimation accuracy confirmation unit 16 acquires the information that the laser sensor 3A is in the tracking state, the estimation accuracy confirmation unit 16 assumes that there is a moving object 22 that is an obstacle in the detection range of the laser sensor 3A, and detects the self-image based on the detection result of the laser sensor 3A. It is determined that the accuracy of position estimation may decrease. In this case, as shown in FIG. 5(b), the calculation unit 17 switches from the front laser sensor 3A to the rear laser sensor 3B, and calculates the point groups PE, PF corresponding to the objects 20E, 20F existing at the rear. The self-position is estimated using

The self-position estimation process when tracking a dynamic object will be described with reference to FIG. 6. FIG. 6 is a flowchart showing the content of the self-position estimation process by the position estimation unit 11 of the travel control device according to the modification. First, the information acquisition unit 14 of the position estimation unit 11 acquires the detection result by the laser sensor 3A (step S100). The estimation accuracy confirmation unit 16 also confirms whether the laser sensor 3A is in the tracking state (step S210). Next, the estimation accuracy confirmation unit 16 determines whether the laser sensor 3A is in a tracking state (step S220). If it is determined in step S220 that the laser sensor 3A is in the tracking state, the calculation unit 17 switches from the front laser sensor 3A to the rear laser sensor 3B, and moves based on the detection result by the laser sensor 3B. The self-position of the body 2 is estimated (step S130). If it is determined in step S220 that the laser sensor 3A is not in the tracking state, the calculation unit 17 estimates the self-position of the mobile object 2 based on the detection result by the laser sensor 3A without switching (step S140). . When the process of step S140 ends, the process shown in FIG. 6 ends.

Further, the position estimating unit 11 may obtain a determination result indicating that the estimation accuracy has decreased, as information regarding the decrease in the estimation accuracy. Thereby, the usage mode of the laser sensors 3A and 3B can be adjusted based on the fact that the estimation accuracy has actually decreased. Specifically, as shown in FIG. 7, the travel control device simultaneously performs detection by the front laser sensor 3A and detection by the laser sensor 3B. Then, the position estimation unit 11 checks the estimation accuracy of the self-position based on the detection result of the laser sensor 3A and the estimation accuracy of the self-position based on the detection result of the laser sensor 3B. When the position estimating unit 11 obtains a determination result indicating that the estimation accuracy of either of the detection results by the laser sensors 3A or 3B has decreased, the self-position is estimated using the detection result with higher estimation accuracy. . The estimation accuracy is determined using an index indicating the degree of matching between the detection result and the map data.

The self-position estimation process when obtaining a determination result indicating that the accuracy of the estimation result has decreased will be described with reference to FIG. 8. FIG. 8 is a flowchart showing the content of the self-position estimation process by the position estimation unit 11 of the travel control device according to the modification. First, the information acquisition section 14 of the position estimation section 11 acquires the detection results of the laser sensors 3A and 3B, and the calculation section 17 uses these results to estimate the self-position (step S300). The estimation accuracy confirmation unit 16 confirms the estimation accuracy based on the detection result of the laser sensor 3A and the estimation accuracy based on the detection result of the laser sensor 3B (step S310). Then, the calculation unit 17 estimates the self-position using the detection result of the laser sensor 3A and the detection result of the laser sensor 3B, whichever has better self-position estimation accuracy (step S330). When the process of step S330 ends, the process shown in FIG. 8 ends.

In addition, when the travel control device obtains a determination result that the estimation accuracy has decreased while estimating the self-position using the detection result of one of the laser sensors 3A and 3B, the travel control device estimates the self-position using the detection result of one of the laser sensors 3A and 3B. You may switch to the other detection result. For example, as shown in FIG. 9(a), the accuracy of self-position estimation decreases when the same scenery continues. Near the entrance of a long hallway, the scenery in front remains the same for a while, so it is difficult to estimate how far the mobile object 2 is from the entrance based only on the detection result of the laser sensor 3A. On the other hand, near the entrance, the rear view is distinctive. Therefore, the position estimation unit 11 estimates the self-position near the entrance using the detection result of the rear laser sensor 3B. Then, near the exit where the scenery behind the vehicle has no features, the position estimation unit 11 estimates the self-position using the detection result of the front laser sensor 3A. Thereby, the self-position can be quickly estimated using the detection result of the laser sensor 3A in front near the exit where the front view is characteristic.

The flow of estimation processing in this case will be explained with reference to FIG. FIG. 10 is a flowchart showing the content of self-position estimation processing by the position estimation unit 11 of the travel control device according to the modification. First, the information acquisition section 14 of the position estimation section 11 acquires the detection result of the laser sensor 3A, and the calculation section 17 uses the result to estimate the self-position (step S400). The estimation accuracy confirmation unit 16 confirms the estimation accuracy based on the detection result of the laser sensor 3A (step S410). Next, the estimation accuracy confirmation unit 16 determines whether the estimation accuracy of the self-position based on the detection result of the laser sensor 3A is good (step S420). If it is determined in step S420 that the estimation accuracy is good, the calculation unit 17 estimates the self-position of the mobile body 2 based on the detection result by the laser sensor 3A without switching (step S430). If it is determined in step S420 that the estimation accuracy is poor, the front laser sensor 3A is switched to the rear laser sensor 3B, and the self-position of the mobile object 2 is estimated based on the detection result by the laser sensor 3B ( Step S440). When the processing in steps S430 and S440 is completed, the processing shown in FIG. 10 is completed.

The position estimating unit 11 may acquire information indicating that the mobile object has passed through a position where the estimation accuracy is reduced, as information regarding the reduction in the estimation accuracy. The position estimating unit 11 can quickly adjust the usage mode of the laser sensors 3A and 3B based on the passing position of the moving body 2 without calculating that the estimation accuracy has actually decreased. As shown in FIG. 9(b), a mark 50 is set at a location where the accuracy of estimating the self-position based on the detection result of the rear laser sensor 3B begins to decrease. When the position estimating unit 11 detects the mark 50, it determines that the vehicle has passed through a position where the estimation accuracy decreases, and estimates its own position using the detection result of the laser sensor 3A in front. Note that information that may reduce the accuracy of self-position estimation is that the amount of deviation between the value estimated by the laser detection result and the map and the value determined by using something other than a laser is more than a predetermined threshold. In such a case, it may be determined that the estimation accuracy of the self-position has decreased. Note that as a method for specifying the position other than using a laser, there is a method of detecting an AR marker installed on the road surface with a camera and specifying the position.

In addition, in the above-mentioned embodiment, although the laser sensor was illustrated as a detection part which detects the object around the moving body 2, the specific structure of a detection part is not specifically limited. For example, a camera may be employed as the detection unit. By performing image processing on the acquired images, the camera can detect an object and also detect information such as the distance to the object. For example, an object can be detected by detecting the edge of the object in an image. Furthermore, by performing machine learning on the shape of a person or the shape of a machine stand in advance, it is possible to identify that an object in an image is a dynamic object such as a person or a machine stand. Furthermore, the estimation accuracy confirmation unit 16 may detect surrounding objects using images acquired by a camera. Further, the detection section may be configured by a combination of a laser sensor and a camera. For example, the detection unit may detect an object based on an image of a camera, and measure the distance to the object using a result of a laser sensor. In addition, the detection unit may be configured by a sensor such as an ultrasonic sensor.

DESCRIPTION OF SYMBOLS 1... Traveling control device, 2... Moving object, 3... Laser sensor (detection part), 11... Position estimation part, 12... Traveling control part, 20... Object.

Claims (6)

In a travel control device that runs a moving object,
a first detection unit and a second detection unit that detect objects around the moving body;
a position estimating unit that estimates the self-position of the mobile body based on a detection result by at least one of the first detecting unit and the second detecting unit and map data acquired in advance;
a travel control unit that controls travel of the mobile body based on the self-position of the mobile body estimated by the position estimation unit,
The position estimating unit is
Obtaining information regarding the decrease in the estimation accuracy of the self-position,
Based on the information, adjust how the first detection result by the first detection unit and the second detection result by the second detection unit are used ,
The position estimating unit is
Estimating the self-position using one of the first detection result and the second detection result,
When information regarding a decrease in the estimation accuracy is obtained for one of the detection results, the self-position is estimated by switching to the other detection result;
The travel control device , wherein the first detection section and the second detection section are provided so as to face different directions from each other . One of the first detection unit and the second detection unit is provided in front of the moving body in the moving direction,
The travel control device according to claim 1, wherein the other of the first detection section and the second detection section is provided at the rear of the moving body in the moving direction. The travel control device according to claim 1 or 2, wherein the first detection section and the second detection section are the same type of detection means. The travel control device according to any one of claims 1 to 3, wherein the position estimating unit acquires a determination result indicating that the estimation accuracy has decreased as information regarding the decrease in the estimation accuracy. 5. The position estimating unit acquires information indicating that an obstacle that reduces the estimation accuracy exists around the moving object as the information regarding the reduction in the estimation accuracy. The traveling control device described in . The position estimation unit according to any one of claims 1 to 5 , wherein the position estimating unit acquires information indicating that the mobile object has passed through a position where the estimation accuracy decreases as the information regarding the decrease in the estimation accuracy. Travel control device.

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