JPH09184727A - Position relation calculation method for traveling route of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely and accurately detect position relation of a vehicle for a traveling route required for automatic steering of the vehicle especially deviation in horizontal direction and azimuth deviation by assigning a magnetic generation source detecting means on front and rear side of the vehicle. SOLUTION: An automatic traveling vehicle 1 automatically travels while a magnetic nail buried along a specified travel route is detected. On the bottom of a front part and a rear part of the vehicle 1, magnetic nail sensors 2 and 3 (magnetic generation source detection means) are attached respectively, and a wheel pulse sensor 15 outputting pulse for each specified rotation number of a wheel is provided. The sensors 2 and 3, when a magnetic nail is positioned at the lower part of them, output the signal indicating deviation amount in horizontal direction of the magnetic nail from the vehicle 1. A vehicle azimuth/ horizontal-direction deviation calculation part 14 calculates azimuth deviation and deviation in horizontal direction of the vehicle 1 from the traveling route based on the deviation amount in the horizontal direction and traveling distance of the vehicle 1 found with a traveling distance calculation part 16, etc., and these are given to a steering control part 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a magnetic source (magnetic nail) arranged at intervals on a traveling route of a road.
The present invention relates to a method for calculating the positional relationship of an automatic traveling vehicle that performs automatic steering so that the vehicle travels along the traveling route while detecting the above.

[0002]

2. Description of the Related Art In recent years, magnetic nails embedded inside a road have been arranged at predetermined intervals on a traveling route along which a vehicle on a road should travel, and the magnetic nails of the magnetic nails have been arranged on the traveling vehicle. An automatic traveling system that is equipped with a sensor that detects a magnetic nail and that relies on the magnetism generated by the magnetic nail to automatically steer the steering wheel to drive the vehicle along a required traveling route in which the magnetic nail is arranged is provided. Proposed.

In the conventionally proposed method of this type of automatic traveling system, a sensor for detecting a magnetic nail is attached to one portion of the bottom of the vehicle, such as the front or rear of the vehicle.

On the other hand, in this type of automatic traveling system, in order to carry out automatic steering of the vehicle so that the vehicle travels along a required traveling route, the positional relationship of the vehicle with respect to the traveling route,
Especially, the lateral deviation of the vehicle traveling path (positional deviation amount in the vehicle width direction from the vehicle traveling path) and the azimuth deviation of the vehicle traveling path (angle between the traveling direction of the vehicle and the traveling path) are accurately grasped. Will be required.

However, if a single magnetic nail sensor is provided in the vehicle as described above, it is difficult to accurately determine the lateral deviation and the azimuth deviation with respect to the traveling route of the traveling vehicle. Therefore, conventionally, grasping of the lateral deviation and the azimuth deviation has been dependent on a sensing system other than the magnetic nail sensor.

For example, a CCD camera is mounted on a vehicle to image the road ahead, and the position, azimuth and the like in the road width direction of the vehicle are measured based on the position and direction of the white line of the road in the captured image. A method has been proposed. However, with this method, the detection performance of the CCD camera is significantly deteriorated due to the deterioration of the traveling environment on the road due to rain or snow, and as a result, it becomes difficult to accurately measure the azimuth angle of the vehicle.

There is also a method in which a yaw rate sensor is mounted on a vehicle to obtain a traveling locus of the vehicle and the positional relationship such as an azimuth angle of the vehicle with respect to a required traveling route is grasped based on the traveling locus. In this method, since the detection error of the yaw rate sensor accumulates as the mileage increases,
As a result, it becomes difficult to accurately grasp the positional relationship such as the azimuth angle of the vehicle with respect to the required travel route.

[0008]

In view of the background described above, the present invention is necessary for automatic steering of a vehicle in an automatic traveling system that travels along a traveling route while detecting magnetic field sources arranged on the traveling route. It is an object of the present invention to provide a positional relationship calculation method for a vehicle traveling route that can accurately and accurately determine the positional relationship of the vehicle with respect to the traveling route, particularly the lateral deviation and azimuth deviation of the vehicle with respect to the traveling route.

[0009]

In order to achieve the above object, a first aspect of the present invention is to detect a magnetic source arranged on a traveling route at a predetermined interval and to detect the traveling route. In a method of calculating a positional relationship of an automatic traveling vehicle that performs automatic steering so as to travel along the traveling path, a lateral deviation of each magnetic source with respect to the vehicle at each of two locations in front of and behind the vehicle. A pair of magnetic source detecting means for detecting the quantity are arranged at intervals of an integer multiple of the interval of the magnetic generating sources, and the side of each magnetic source detected substantially simultaneously by both magnetic source detecting means. It is characterized in that the azimuth deviation or the lateral deviation of the vehicle with respect to the travel route is calculated based on the amount of directional deviation.

According to the first aspect of the present invention, each of the two magnetic source detecting means disposed in front of and behind the vehicle at an interval of an integer multiple of the interval of the magnetic sources on the traveling route, It is possible to obtain the lateral deviation amount with respect to the vehicle of the magnetic generation source that is detected substantially at the same time, in other words, the lateral deviation amount with respect to the traveling route of the vehicle at the front and rear portions of the vehicle. Then, by calculating the azimuth deviation or the lateral deviation of the vehicle with respect to the travel route based on the lateral deviation amount detected by each of the different magnetic source detection means before and after the vehicle, those azimuths are calculated. The deviation and the lateral deviation can be accurately and accurately obtained, and in turn, the automatic steering for causing the vehicle to travel along the travel route can be accurately performed.

According to the first aspect of the present invention, more specifically, the azimuth deviation of the vehicle is an angle formed by the traveling direction of the vehicle and the traveling route, and is detected by the both magnetic source detecting means. It is calculated by a predetermined arithmetic expression from the lateral deviation amount of the generated magnetic source and the distance between the magnetic sources detected by the magnetic source detecting means at substantially the same time or the distance between the magnetic source detecting means.

Further, the lateral deviation of the vehicle is a lateral deviation of the central portion of the vehicle with respect to the traveling route, and the lateral deviation is the lateral deviation of the magnetic sources detected by the magnetic source detecting means. It is calculated from the direction deviation amount by a predetermined arithmetic expression according to the geometrical positional relationship between the central portion of the vehicle and the two magnetic source detecting means.

Further, in order to achieve the above-mentioned object, the second aspect of the present invention is to detect the magnetic field generating sources arranged at a predetermined interval on the traveling route and to follow the traveling route. A method of calculating a positional relationship between an autonomous vehicle that performs automatic steering so that the vehicle travels with respect to the travel route, and detects a lateral deviation amount of each magnetic source with respect to the vehicle at each of two locations in front of and behind the vehicle. A pair of magnetic source detecting means is arranged, and a timer means for grasping the detection timing of each magnetic source by each magnetic source detecting means is provided, and the magnetic source detected by each magnetic source detecting means. Azimuth deviation or lateral deviation of the vehicle with respect to the travel route based on the lateral deviation amount and the temporal relationship of the detection timing of the magnetic source by each magnetic source detecting means. Calculation, characterized in that.

According to the second aspect of the present invention, the distance between the pair of magnetic generation source detection means arranged at the front and rear of the vehicle is not limited to an approximately integral multiple of the distance between the magnetic generation sources.
Therefore, the lateral deviation amount of the magnetic source may be detected by each magnetic source with a time lag. In such a case, the detection timing of each magnetic generation source by each magnetic generation source detection means is grasped by the timer means, and the predecessor relation of those detection timings is taken into consideration, so that both It is possible to properly obtain the lateral deviation and the azimuth deviation of the vehicle based on the lateral deviation amount of the magnetic source detected by the magnetic source detecting means. Also in this case, the lateral deviation and the azimuth deviation of the vehicle are obtained based on the lateral deviation amount detected by the different magnetic source detecting means before and after the vehicle. The deviation can be obtained accurately. That is, according to the second aspect of the present invention, the distance between the pair of magnetic generation source detection means arranged in front of and behind the vehicle is not limited to an integer multiple of the distance between the magnetic generation sources, and It is possible to accurately and accurately obtain the angular deviation and the lateral deviation.

In the second aspect of the present invention, more specifically, the azimuth deviation of the vehicle is an angle formed by the traveling direction of the vehicle and the travel route, and each magnetic generation by the both magnetic generation source detecting means. When the detection timings of the magnetic sources are substantially the same, the azimuth deviation of the vehicle is the same as the lateral deviation amount of the magnetic generation sources detected by the both magnetic generation source detection means, just as in the first aspect. A predetermined arithmetic expression is used to calculate the distance between the magnetic sources detected by the magnetic source detecting means and the distance between the magnetic source detecting means.

The lateral deviation of the vehicle is a lateral deviation of the central portion of the vehicle with respect to the travel route, and when the detection timings of the magnetic sources by the magnetic source detecting means are substantially the same, In the same manner as in the first aspect, the lateral deviation of the vehicle is calculated based on the lateral deviation of the magnetic sources detected by the magnetic source detecting means. It is calculated by a predetermined arithmetic expression according to the geometrical positional relationship with the source detecting means.

Further, the azimuth deviation of the vehicle is an angle formed by the traveling direction of the vehicle and the traveling route, and when the detection timings of the magnetic sources by the both magnetic source detecting means are different, The azimuth angle deviation is the detection timing of either the magnetic source detection timing by the magnetic source detection means on the front side of the vehicle or the magnetic source detection timing by the magnetic source detection means on the rear side of the vehicle. A predetermined distance is determined based on the distance between the magnetic sources sequentially detected by the magnetic source detecting means and the lateral deviation amount of the magnetic sources detected by the magnetic source detecting means. It is calculated by an arithmetic expression.

Further, in this case (when the detection timings of the magnetic sources by the magnetic source detection means are different),
The lateral deviation of the vehicle is a lateral deviation of the central portion of the vehicle with respect to the travel route, and the lateral deviation is the lateral deviation of the magnetic sources detected by the magnetic source detecting means. A geometrical positional relationship between the central portion of the vehicle and the magnetic source detection means, based on an interval between the magnetic source sequentially detected by the magnetic source detection means and the azimuth deviation, It is calculated by a predetermined arithmetic expression according to the predecessor-successive relationship of the detection timing of the magnetic source by both magnetic source detecting means.

Further, in order to achieve the above-mentioned object, a third aspect of the present invention is to detect a magnetic source arranged on a traveling route at a predetermined interval along the traveling route. A method of calculating a positional relationship between an autonomous vehicle that performs automatic steering so that the vehicle travels with respect to the travel route, and detects a lateral deviation amount of each magnetic source with respect to the vehicle at each of two locations in front of and behind the vehicle. A pair of magnetic generation source detection means is arranged, and distance detection means for detecting a traveling distance of the vehicle when each magnetic generation source is detected by each magnetic generation source detection means is provided, and the traveling distance and each magnetic generation source in the vehicle are provided. The position in the distance direction of the traveling route on the traveling route of each magnetic source detecting unit that has detected the magnetic source when the magnetic source is detected by the magnetic source detecting unit based on the position The lateral deviation amount of the magnetic source detected by each of the magnetic source detecting means and the position on the traveling path of each magnetic source detecting means when the magnetic source is detected by the both magnetic source detecting means. An azimuth deviation or a lateral deviation of the vehicle with respect to the traveling route is calculated based on a magnitude relationship between a distance difference between the two magnetic generation source detection means and a distance.

In the third aspect of the present invention, as in the second aspect, the distance between the pair of magnetic generation source detecting means arranged in front of and behind the vehicle is substantially an integer of the distance between the magnetic generation sources. However, the present invention is not limited to this, but it takes into consideration the case where the lateral deviation amount of each magnetic source is detected with a time difference. That is, when the distance difference between the positions on the traveling route of the magnetic source detection means at the time of detecting the magnetic source by the magnetic source detection means is substantially equal to the distance between the magnetic source detection means, When the lateral deviation amount of the magnetic source is detected by the magnetic source detecting means substantially at the same time and the distance difference is longer than the interval between the two magnetic source detecting means, the detection timing by the magnetic source detecting means on the rear side is detected. Is earlier than the detection timing by the magnetic source detection means on the front side. Further, when the distance difference is shorter than the interval between the two magnetic generation source detection means, the detection timing by the rear side magnetic generation source detection means is later than the detection timing by the front side magnetic generation source detection means. Therefore, the magnitude relationship of the distance difference with respect to the distance between the two magnetic generation source detection means indicates the predecessor relationship of the detection timing of the magnetic generation sources by the both magnetic generation source detection means. Therefore, by considering the magnitude relationship of the distance difference with respect to the interval between both magnetic generation source detection means, based on the magnitude relationship and the lateral deviation amount of the magnetic generation sources detected by both magnetic generation source detection means, Similar to the second aspect, it becomes possible to properly obtain the lateral deviation and the azimuth deviation of the vehicle. Also in this case, the lateral deviation and the azimuth deviation of the vehicle are obtained based on the lateral deviation amount detected by the different magnetic source detecting means before and after the vehicle. The deviation can be obtained accurately. That is, according to the third aspect of the present invention, similarly to the second aspect, the interval between the pair of magnetic generation source detection means arranged in front of and behind the vehicle is set to be an integer of the interval between the magnetic generation sources. The azimuth deviation and the lateral deviation of the vehicle can be accurately and accurately obtained without being limited to double.

In the third aspect of the present invention, more specifically, the azimuth deviation of the vehicle is an angle formed by the traveling direction of the vehicle and the traveling route, and the distance difference is detected by the two magnetic sources. When the distance between the means is substantially equal to the distance between the means, the azimuth deviation of the vehicle is the same as in the first aspect. It is calculated by a predetermined arithmetic expression from the distance between the magnetic generation sources detected by the magnetic generation source detection means or the distance between both magnetic generation sources.

Further, the lateral deviation of the vehicle is a lateral deviation of the central portion of the vehicle with respect to the traveling route. When the distance difference is substantially equal to the distance between the magnetic source detection means, the first deviation is obtained. In exactly the same manner as the aspect, the lateral deviation of the vehicle is calculated from the central deviation of the vehicle and the both magnetic source detecting means from the lateral deviation amounts of the magnetic sources detected by the both magnetic source detecting means. It is calculated by a predetermined arithmetic expression according to the geometrical positional relationship of.

The azimuth deviation of the vehicle is an angle formed by the traveling direction of the vehicle and the travel route. When the distance difference is different from the distance between the two magnetic source detecting means, the azimuth angle of the vehicle. The deviation is determined according to whether the distance difference is longer or shorter than the interval between the magnetic source detection means, and the interval between the magnetic source sequentially detected by the magnetic source detection means and the magnetic source detection means. It is calculated by a predetermined arithmetic expression from the lateral deviation amount of the magnetic generation source detected by.

Further, in this case, the lateral deviation of the vehicle is the lateral deviation of the central portion of the vehicle with respect to the travel route, and when the distance difference is different from the distance between the two magnetic source detecting means, the vehicle is The lateral deviation of the magnetic field is the lateral deviation of the magnetic sources detected by the magnetic source detecting means, the distance between the magnetic sources sequentially detected by the magnetic source detecting means, and the azimuth. From the angular deviation, a predetermined arithmetic expression according to the geometrical positional relationship between the central portion of the vehicle and the magnetic source detection means, and the magnitude relationship of the distance difference with respect to the distance between the magnetic source detection means. Calculate by

According to a fourth aspect of the present invention, in order to achieve the above-mentioned object, the vehicle travels along a traveling route while detecting magnetic sources arranged at intervals on the traveling route. In the method of calculating the positional relationship of the automatic traveling vehicle with respect to the traveling route as described above, a pair of front and rear parts of the vehicle for detecting the lateral deviation amount of each magnetic source with respect to the vehicle at each of the positions is provided. The magnetic source detecting means is arranged, and the distance detecting means for detecting the traveling distance of the vehicle when each magnetic generating source is detected by each magnetic generating source detecting means is provided, and the traveling distance and the position of each magnetic generating source in the vehicle are provided. Based on the above, when the magnetic source detection means detects each magnetic source, the position in the distance direction of the traveling route on the traveling route of each magnetic source detecting means that has detected the magnetic source is detected, and both magnetic fields are detected. Between the lateral deviation amount of the magnetic source detected by each of the magnetic source detecting means and the position on the traveling path of each of the magnetic source detecting means at the time of detecting the magnetic source by both magnetic source detecting means. An azimuth deviation or a lateral deviation of the vehicle with respect to the travel route is calculated based on the distance difference.

According to the fourth aspect of the present invention, the azimuth deviation or the lateral deviation of the vehicle with respect to the traveling route is calculated even when the distances between the magnetic sources are not necessarily arranged at predetermined intervals. Is what you can do. That is, in such a case, the lateral deviation amount of the magnetic source detected by each of the magnetic source detecting means,
Accurate azimuth deviation and lateral deviation of the vehicle based on the distance difference between the positions on the travel route of the magnetic source detection means when the magnetic source detection means detects the magnetic source. It can be accurately and accurately requested.

Specifically, the azimuth deviation of the vehicle is an angle formed by the traveling direction of the vehicle and the traveling route, and the lateral deviation of the magnetic sources detected by the magnetic source detecting means. It is calculated from the amount and the distance difference by a predetermined arithmetic expression. In this case, the arithmetic expression does not depend on the predecessor relation of the detection timings of the magnetic generation sources by the both magnetic generation source detection means.

The lateral deviation of the vehicle is a lateral deviation of the central portion of the vehicle with respect to the travel route. When the distance difference is substantially equal to the distance between the magnetic source detection means, the lateral deviation of the vehicle is obtained. The direction deviation is determined from the lateral deviation amount of the magnetic sources detected by the magnetic source detecting means, according to a geometrical positional relationship between the central portion of the vehicle and the magnetic source detecting means. It is calculated by the following formula.

Further, the lateral deviation of the vehicle is a lateral deviation of the central portion of the vehicle with respect to the traveling route, and when the distance difference is different from the distance between the two magnetic source detecting means,
The lateral deviation of the vehicle is a lateral deviation amount of the magnetic source detected by each of the magnetic source detecting means,
Based on the distance difference, a predetermined calculation according to a geometrical positional relationship between the central portion of the vehicle and the magnetic source detecting means and a magnitude relationship of the distance difference with respect to an interval between the magnetic source detecting means. Calculate by formula.

By the way, in the above-mentioned first to fourth aspects of the present invention, one of the two magnetic source detecting means detects the magnetic source due to the meandering of the vehicle or the failure of the magnetic source detecting means. If it becomes impossible to calculate, the azimuth deviation and the lateral deviation of the vehicle cannot be calculated.

Therefore, in the first to fourth aspects of the present invention, the magnetic source cannot be detected by any one of the magnetic source detecting means. At this time, the azimuth deviation or the lateral deviation of the vehicle with respect to the travel route is calculated based on the lateral deviation amount of each of the two magnetic sources sequentially detected by the other magnetic source detecting means.

As a result, even if one of the magnetic source detecting means cannot detect the magnetic source, the other magnetic source detecting means can detect the magnetic source in the other state. It is possible to obtain the azimuth deviation and the lateral deviation of the vehicle on the basis of the lateral deviation amounts of the two magnetic sources that are sequentially detected by the magnetic generation source detecting means of FIG.

In this case, more specifically, the lateral deviation amount of each of the two magnetic sources sequentially detected by the other magnetic source detecting means and the two magnetic sources are sequentially detected. The angle formed by the traveling direction of the vehicle and the traveling route is calculated from the traveling distance of the vehicle within a certain time interval by a predetermined arithmetic expression, and the calculated angle is obtained as the azimuth deviation. In this case, the first aspect of the present invention
In the second aspect, the distance detecting means for detecting the traveling distance of the vehicle is provided.

Further, the lateral deviation of the vehicle is a lateral deviation of the central portion of the vehicle with respect to the traveling route, and the lateral deviation includes the azimuth deviation and the lateral deviations of the two magnetic sources. It is calculated from one of the quantities by a predetermined arithmetic expression according to the geometrical positional relationship between the central portion of the vehicle and the other magnetic source detecting means.

Alternatively, the lateral deviation amount of each of the two magnetic sources sequentially detected by the other magnetic source detecting means and the vehicle in the time interval during which the two magnetic sources are sequentially detected. From the traveling distance, the lateral deviation of the central portion of the vehicle from the traveling route is calculated by a predetermined arithmetic expression according to the geometrical positional relationship between the central portion of the vehicle and the other magnetic source detecting means, The calculated lateral deviation is obtained as the lateral deviation of the vehicle. In this case as well, in the first and second aspects of the present invention, distance detection means for detecting the traveling distance of the vehicle is provided.

[0036]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a system configuration diagram of an automatic vehicle according to an embodiment of the present invention.

In this automatic vehicle, a road formed by burying magnetic nails (magnetic source), which will be described later, along a predetermined traveling route (for example, the center of the traveling lane) along which the vehicle 1 should travel is arranged. The vehicle automatically travels while detecting a magnetic nail, and includes a traveling position detector 10, a traveling planner 11, a steering controller 12, a vehicle speed controller 13, and a vehicle azimuth / lateral deviation that are configured by using a microcomputer or the like. The calculation unit 14 is mounted on the vehicle 1. Further, the magnetic nail sensors 2,
3 (magnetic source detection means) is attached, and a wheel pulse sensor 15 that outputs a pulse every predetermined number of rotations of a wheel (rear wheel in the figure) is provided.

The traveling position detecting unit 10 counts the output of the wheel pulse sensor 15 to calculate the traveling distance of the vehicle 1, and the gyro sensor for detecting the angular velocity of the vehicle 1. The vehicle 1 is wirelessly communicated with the leaky coaxial cable 17 provided outside the vehicle.
The traveling position of the vehicle 1 on the traveling route is obtained based on the traveling distance, the angular velocity, and the received information provided from the position information communication unit 18 that receives information such as the traveling area.

Based on the traveling position information of the vehicle 1 provided from the traveling position detecting unit 10, the traveling planning unit 11 obtains the optimum vehicle speed and traveling direction for traveling the vehicle 1 along the traveling route, and Is given to the steering controller 12 and the vehicle speed controller 13.

The magnetic nail sensors 2 and 3 output signals indicating the amount of deviation (including the deviation direction) in the lateral direction (vehicle width direction) of the magnetic nail with respect to the vehicle 1 when the magnetic nails are located below the magnetic nail sensors. To do. The vehicle azimuth / lateral deviation calculating unit 14 calculates the lateral deviation amount of the magnetic nails detected by the magnetic nail sensors 2 and 3, the traveling distance of the vehicle 1 obtained by the traveling distance calculating unit 16, and the timer 1.
9 (timer means), the azimuth deviation and the lateral deviation with respect to the traveling route of the vehicle 1 are calculated based on the time data (clock signal) given to the steering control section 12. The vehicle azimuth / lateral deviation calculating unit 14 stores the lateral deviation amount of the magnetic nail detected by each of the magnetic nail sensors 2 and 3 together with the traveling distance and time data of the vehicle 1 at each detection time. It is held and updated each time the magnetic nails are detected by the magnetic nail sensors 2 and 3.

The steering controller 12 controls the vehicle azimuth angle /
On the basis of the azimuth deviation and the lateral deviation of the vehicle 1 provided from the lateral deviation calculation unit 14, the vehicle 1 uses the travel planning unit 1
A steering device (not shown) is controlled so that the vehicle travels in the optimum traveling direction of the vehicle 1 determined by 1.

The vehicle speed control unit 13 controls a throttle device and a brake device (not shown) so that the vehicle 1 travels at the optimum vehicle speed determined by the travel planning unit 11 while maintaining an appropriate inter-vehicle distance from the preceding vehicle. To do.

Next, the first method of calculating the azimuth deviation and the lateral deviation of the vehicle 1 by the vehicle azimuth / lateral deviation calculating unit 14 of the automatic vehicle having such a system configuration.
The embodiment will be described with reference to FIG. The first embodiment shows a method for calculating the azimuth deviation and the lateral deviation of the vehicle 1 by using the data detected by the magnetic nail sensors 2 and 3 at substantially the same time.

Referring to FIG. 2, reference numeral 5 denotes a travel route along which the vehicle 1 should travel, and 6 denotes magnetic nails embedded in a road on the travel route 5 and arranged. In this embodiment, the magnetic nails 6 are connected to each other. The interval B is a constant interval, and the interval A between the magnetic nail sensors 2 and 3 of the vehicle 1 is approximately an integral multiple (about twice in the figure) of the interval B between the magnetic nails 6. Therefore, when the vehicle 1 travels substantially along the travel route 5, the magnetic nail sensors 2 and 3 detect the magnetic nails 6a and 6b having the interval of 2B substantially at the same time.

In the figure, θ and ε _y are respectively the throne angle deviation and the lateral deviation of the vehicle 1 calculated in this embodiment, and the azimuth angle deviation θ is the traveling route 5 in which the magnetic nails 6 are arranged and the vehicle. The angle θ formed by the vehicle body center line 4 extending in the front-rear direction through the center of the vehicle 1 in the vehicle width direction (the traveling route 5 and the vehicle 1
Angle formed by the direction of travel). The lateral deviation ε _y of the vehicle 1 is the distance between the center 7 of the vehicle body 1 in the front-rear direction (center of the vehicle 1) and the travel route 5. This distance is mathematically the distance between the vehicle center 7 and the travel route 5 in the direction orthogonal to the travel route 5, but in the present embodiment, the vehicle width direction (direction orthogonal to the vehicle body center line 4). ), The distance between the vehicle center 7 and the travel route 5
Let be the lateral deviation ε _y .

In the figure, Y ₁ and Y ₂ are lateral deviation amounts detected by the magnetic nail sensors 2 and 3, respectively. The lateral deviation amounts Y ₁ and Y ₂ are measured when the vehicle 1 is running. From the vehicle body center line 4 of the magnetic nails 6a and 6b located below the magnetic nail sensors 2 and 3, respectively.
It is the distance in the vehicle width direction to a and 6b. In this case, the lateral deviation amounts Y ₁ and Y ₂ are positive in the upward direction of the vehicle body center line 4 (left direction with respect to the traveling direction of the vehicle 1) and downward in the vehicle body center line 4 (of the vehicle 1 of FIG. 2). (To the right of the traveling direction)
In the negative direction (in the state of FIG. 2, Y ₁ > 0, Y ₂ <
0).

The distance A between the magnetic nail sensors 2 and 3 is substantially the same as the vehicle length, and the magnetic nail sensors 2 and 3 are provided at equal intervals A / 2 in the front and rear of the vehicle center 7.

On the premise of the above contents, the vehicle azimuth / lateral deviation calculator 14 in the present embodiment causes the lateral deviations of the magnetic nails 6a, 6b by the magnetic nail sensors 2, 3 almost simultaneously when the vehicle 1 is running. When the amounts Y ₁ and Y ₂ are detected (at this time, the time data given from the timer 19 together with the lateral deviation amounts Y ₁ and Y ₂ are almost the same),
Using these lateral deviation amounts Y ₁ and Y ₂ , the azimuth deviation θ and the lateral deviation ε _y of the vehicle 1 are calculated as follows.

That is, first, in FIG. 2, the length (Y ₁
As is clear considering a right-angled triangle having a side of −Y ₂ ) and a side of length A, the azimuth deviation θ is the lateral deviation Y ₁ , Y 2.
₂ and the distance A between the magnetic nail sensors ₂ and 3 are used to obtain the following equation (1).

Θ = tan ⁻¹ [(Y ₁ −Y ₂ ) / A] (1) In this case, the magnetic nail sensors 2 and 3 can determine the distance 2 B between the magnetic nails 6 a and 6 b almost at the same time. Therefore, as apparent from the consideration of the above-mentioned right triangle, the azimuth deviation θ is calculated by the following equation (2) using the lateral deviation amounts Y ₁ and Y ₂ and the gap 2B between the magnetic nail sensors 6a and 6b. You may ask.

Θ = sin^-1[(Y₁-Y_Two) / 2B] (2) Also, in FIG. 2, the apex angle of the angle θ and the length (Y₁-Y_Two)
And a right-angled triangle with the base of and the apex angle of the same angle θ
Length (ε_y-Y_Two) Base and a right-angled triangle with
Both centers 7 are located in the center between the magnetic nail sensors 2 and 3.
As is clear in consideration of that, A: (Y₁-Y_Two) = A / 2: (ε_y-Y_Two) Holds. Therefore, the lateral deviation of the vehicle ε
_yIs the lateral deviation Y₁, Y _TwoUsing the following equation (3)
Required.

Ε _y = (Y ₁ −Y ₂ ) / 2 + Y ₂ = (Y ₁ + Y ₂ ) / 2 (3) The vehicle azimuth / lateral deviation calculating unit 14 of the present embodiment uses the above formula (1). Alternatively, the azimuth angle deviation θ and the lateral direction deviation ε _y of the vehicle 1 are obtained by performing the calculation of (2) and the equation (3). Then, the azimuth deviation θ and the lateral deviation ε _y thus obtained are given to the steering control unit 12 as data for performing automatic steering of the vehicle 1.

In this way, the two magnetic nail sensors 2,
The lateral deviation amount Y of the magnetic nails 6a and 6b detected in 3
_{Using 1} and Y ₂ , the azimuth deviation θ and the lateral deviation ε of the vehicle 1
_{By obtaining y} , the influence of the detection error of the magnetic nail sensors 2 and 3 is reduced, and the azimuth angle deviation θ and the lateral deviation ε _y
Can be obtained with high accuracy. Then, the azimuth deviation θ
Since the lateral deviation ε _y can be obtained with high accuracy,
Steering control for causing the vehicle 1 to travel along the travel route 5 can be accurately performed.

In this embodiment, the magnetic nail sensors 2 and 3 have an interval A which is an integer multiple (2B) of the interval B of the magnetic nails 6, and the magnetic sources 6a and 6b of the magnetic nail sensors 2 and 3 are separated from each other. The timer 19 of FIG. 1 may be omitted, because it is known in advance that the detections will be performed at approximately the same time.

Next, the second embodiment of the method for calculating the azimuth angle deviation and the lateral deviation of the vehicle 1 by the vehicle azimuth angle / lateral deviation calculating unit 14 of the automatic vehicle having the system configuration of FIG. 1 will be described. This will be described with reference to FIGS. In the second embodiment, the distance A between the magnetic nail sensors 2 and 3 is not always an integral multiple of the distance B between the magnetic nails 6 arranged on the traveling path 5 at a constant interval as described above. For example, when 2B <A <3B as shown in FIGS. 3 and 4, the data detected by the magnetic nail sensors 2 and 3 and the time data given from the timer 19 at the respective detection timings are stored. Using vehicle 1
It shows a method of calculating the azimuth deviation θ and the lateral deviation ε _y .

At this time, the magnetic nail sensors 2 and 3 before and after the vehicle 1 cannot detect the magnetic nail 6 at the same time.
As shown in the upper part of FIG. 3, the magnetic nail sensor 2 on the front side first detects the magnetic nail 6a at time T ₁ to obtain the lateral deviation amount Y ₁ , and thereafter, as shown in the lower part of FIG. At time T ₂ after T _1, the magnetic nail sensor 3 on the rear side detects the magnetic nail 6b to obtain the lateral deviation amount Y ₂ , and conversely, as shown in FIG. There are two cases, that is, the side magnetic nail sensor 3 detects the magnetic nail 6 before the front side magnetic nail sensor 2.

Then, the vehicle azimuth angle in the present embodiment
In the former case (FIG. 3), the lateral deviation calculator 14 compares the detection data (horizontal deviation amount) with the time data given by the timer 19 when the magnetic nails 2 and 3 detect the magnetic nail 6. Case) and the latter case (case of FIG. 4) are distinguished, and the azimuth deviation θ and the lateral deviation ε _y of the vehicle 1 are calculated by the calculation processing according to each case.
And calculate.

More specifically, the time when the detection data of the magnetic nail sensor 2 on the front side is updated (the time when the magnetic nail sensor 2 on the front side detects the magnetic nail 6) by the comparison of the time data is the rear side. The time when the detection data of the magnetic nail sensor 3 of
Is older than the time when detected magnetic nail 6),
In the case of FIG. 3, at this time, the vehicle azimuth / lateral deviation calculating unit 14 calculates the azimuth deviation θ and the lateral deviation ε _y as follows.
And calculate.

That is, as apparent from FIG. 3, in this case, since the interval between the magnetic nails 6a and 6b sequentially detected by the magnetic nail sensors 2 and 3 is 2B, the azimuth angle of the vehicle 1 is increased. The deviation θ is the interval 2B,
Using the lateral deviation amounts Y ₁ and Y ₂ (Y ₁ > 0, Y ₂ <0 in the figure) of the magnetic nails 6a and 6b sequentially detected by the magnetic nail sensors 2 and 3, respectively, the following equation (4) is used. Ask by.

Θ = sin ⁻¹ [(Y ₁ −Y ₂ ) / 2B] (4) Further, as is clear with reference to FIG. 3, 2B · cos θ: (Y ₁ −Y ₂ ) = A / 2: (ε _y −Y
₂ ), the lateral deviation ε _y of the vehicle 1 is the azimuth deviation θ, the interval 2B between the magnetic nails 6a and 6b, the lateral deviation amounts Y ₁ and Y _2, and the magnetic nail sensors 2 and 3. It is calculated by the following equation (5) using the interval A and.

Ε _y = A (Y ₁ −Y ₂ ) / (4Bcos θ) + Y ₂ (5) Hereinafter, the calculation processing of the equations (4) and (5) will be referred to as processing 1.

On the other hand, the time when the detection data of the magnetic nail sensor 2 on the rear side is updated is compared with the detection data of the magnetic nail sensor 2 on the front side by comparing the time data accompanying the detection data of the magnetic nail sensors 2 and 3. If it is older than the updated time, this is the case of FIG. 4, and at this time, the vehicle azimuth / lateral deviation calculating unit 14 calculates the azimuth deviation θ and the lateral deviation ε _y as follows. .

That is, as is apparent from FIG. 4, in this case, since the interval between the magnetic nails 6b and 6a sequentially detected by the magnetic nail sensors 3 and 2 is 3B, the azimuth angle of the vehicle 1 is increased. The deviation θ is the interval 3B,
Using the lateral deviations Y ₂ , Y ₁ (Y ₁ > 0, Y ₂ <0 in the figure) of the magnetic nails 6b, 6a sequentially detected by the magnetic nail sensors 3, 2 respectively, the following equation (6) is used. Ask by.

Θ = sin ⁻¹ [(Y ₁ −Y ₂ ) / 3B] (6) Further, as is clear with reference to FIG. 4, 3B · cos θ: (Y ₁ −Y ₂ ) = ( 3B · cos θ−A / 2) :( ε _y −Y ₂ ), the lateral deviation ε _y of the vehicle 1 is
The distance between the magnetic nails 6a and 6b sequentially detected by the magnetic nail sensors 3 and 2 is 3B, and the azimuth angle deviation θ
And the lateral deviation amounts Y ₂ and Y _{1 of} the magnetic nails 6a and 6b are used to obtain the following equation (7).

Ε _y = [(Y ₁ −Y ₂ ) · (3B · cos θ−A / 2)] / (3B · cos θ) + Y ₂ (7) The following formulas (6) and (7) are calculated. The process is called process 2.

As described above, the processing performed by the vehicle azimuth / lateral deviation calculator 14 in this embodiment is as shown in FIG.
It is performed according to the flowchart shown in. That is, first, by comparing the time data accompanying the detection data of the magnetic nail sensors 2 and 3, the front side (the magnetic nail sensor 2 side)
It is determined whether the data on the rear side (the magnetic nail sensor 3 side) has been updated later than the data on (STEP).
1). If the determination result is YES (in the case of FIG. 3), the process 1 is executed (SYEP2), and the determination result is N.
In the case of O (in the case of FIG. 4), the process 2 is executed (STEP 3).

The azimuth angle deviation θ and the lateral direction deviation ε _y thus obtained are output to the steering controller 12 as data for performing automatic steering of the vehicle 1 (STE).
P4), and the steering control is performed accordingly.

Thus, according to this embodiment, the vehicle 1
Even if the distance A between the magnetic nail sensors 2 and 3 provided before and after is not an integral multiple of the distance B between the magnetic nails 6 and both magnetic nail sensors 2 and 3 do not detect the magnetic nail 6 at the same time, Magnetic nail 6 by nail sensor 2 and 3
By performing the arithmetic processing according to the detection timing of the vehicle 1, the direction of the vehicle 1 is detected using the lateral deviation amounts Y ₁ and Y ₂ of the magnetic nails 6a and 6b detected by the magnetic nail sensors 2 and 3 with a time lag. The angular deviation θ and the lateral deviation ε _y can be accurately obtained. And the magnetic nail sensors 2, 3
Since the interval A of 1 does not have to be an integral multiple of the interval B of the magnetic nail 6, the time interval of data input from the sensors 2 and 3 can be made smaller than when it is an integer multiple, and the latest vehicle with a small time delay can be obtained. The state can be detected. Furthermore, the degree of freedom in attaching the magnetic nail sensors 2 and 3 to the vehicle 1 is increased, and versatility is increased.

In this embodiment, the magnetic nail sensor is used.
The distance A between 2 and 3 is not an integral multiple of the distance B between the magnetic nails 6.
Detection of magnetic nail 6 by magnetic nail sensors 2 and 3
Explained only when there is a time lag
However, the detection by the magnetic nail sensors 2 and 3 is almost the same.
The azimuth deviation θ of the vehicle 1 and the lateral
Difference ε _yIt is also possible to be able to calculate
is there. In this case, the detection data of the magnetic nail sensors 2 and 3
The time data from the timer 19 associated with the
When (when the update time of the detection data is almost the same)
Then, perform the arithmetic processing described in the first embodiment.
Yes. By doing so, versatility is further enhanced.

Next, the third embodiment of the method for calculating the azimuth angle deviation and the lateral direction deviation of the vehicle 1 by the vehicle azimuth angle / lateral direction deviation calculating unit 14 of the automatic vehicle having the system configuration of FIG. 1 will be described. This will be described with reference to FIGS. 3 and 4. In the third embodiment, as in the second embodiment, the distance A between the magnetic nail sensors 2 and 3 is not an integral multiple of the distance B (constant distance) between the magnetic nails 6, for example, 2B <A <3B. In some cases, the azimuth deviation θ and the lateral direction of the vehicle 1 are calculated using the data detected by the magnetic nail sensors 2 and 3 and the travel distance data provided from the travel distance calculation unit 16 at the time of detection of the data. It shows a method of calculating the deviation ε _y .

At this time, similarly to the second embodiment,
The data detected by the magnetic nail sensor 2 on the front side (lateral deviation amount Y _{1 of the} magnetic nail 6) is smaller than the data detected by the magnetic nail sensor 3 on the rear side (lateral deviation amount Y _{2 of the} magnetic nail 6). When the time is ahead (in the case of FIG. 3), on the contrary, the data (lateral deviation Y ₂ ) detected by the magnetic nail sensor 2 is detected by the magnetic nail sensor 3.
There is a case (in the case of FIG. 4) which is later in time than the data (horizontal deviation amount Y ₁ ) detected by.

Here, referring to FIGS. 3 and 4, the front side
When the magnetic nail sensor 2 detects the magnetic nail 6, it runs.
The travel distance of the vehicle 1 given from the travel distance calculation unit 16 is X.
₁, The magnetic nail sensor 3 on the rear side detects the magnetic nail 6
The mileage of vehicle 1 when _TwoAnd the mileage of those
X₁, X_TwoIs, for example, a traveling location on the traveling route 5 with the vehicle center 7
If a point is shown, the magnetic nail sensor 2 on the front side is magnetized.
Of the magnetic nail sensor 2 when the air nail 6 is detected
The position on the travel route 5 is the travel distance X.₁Vehicle center
Magnetic nail sensors 2, 3 from the point 7 to the front side of the vehicle 1.
The distance A is half the distance A / 2 in the traveling direction of the vehicle 1.
The point in between, that is, X₁The position is + A / 2. same
Similarly, the magnetic nail sensor 3 on the rear side detects the magnetic nail 6.
On the travel route 5 of the magnetic nail sensor 3 when
The open position is the mileage X_TwoVehicle from the point of vehicle center 7 in
1 to the rear side of the vehicle 1 by a distance of A / 2, which is opposite to the traveling direction of the vehicle 1.
Point away from each other, that is, X_Two-A / 2 position
You. Therefore, the magnetic nail sensors 2 and 3 are
Each magnetic nail sensor 2 at the time of detecting the file 6,
The distance difference ΔX in the vehicle traveling direction between the three positions is ΔX = | (X₁+ A / 2)-(X_Two-A / 2) | = | X₁-X_Two+ A | ... (8)

In the case of FIG. 3, this distance difference ΔX becomes smaller than the distance A between the magnetic nail sensors 2 and 3 (ΔX≈2B), as is apparent from FIG. In the case of 4, it becomes larger than the distance A between the magnetic nail sensors 2 and 3 (Δ
X≈3B). Therefore, the magnitude relationship of the distance difference ΔX with respect to the interval A between the magnetic nail sensors 2 and 3 is the temporal relationship between the detection data of the magnetic nail sensors 2 and 3 fetched by the vehicle azimuth / lateral deviation calculating unit 14. Will be shown.

Therefore, the vehicle azimuth angle in the present embodiment
When calculating the azimuth deviation θ and the lateral deviation ε _y of the vehicle 1, the lateral deviation calculating unit 14 first detects the data of the magnetic nail sensors 2 and 3 (lateral deviation amounts Y ₁ and Y ₂ ).
In addition, the distance difference ΔX is calculated from the equation (8) based on the data of the traveling distances X ₁ and X ₂ given from the traveling distance calculation unit 16.
And the distance A between the magnetic nail sensors 2 and 3 is compared. Then, when the comparison result is ΔX <A, it is the case of FIG. 3, and therefore the azimuth angle deviation θ and the lateral angle are respectively calculated by the equations (4) and (5) as in the second embodiment. Calculate the direction deviation ε _y . Further, when the above comparison result is ΔX> A, it is the case of FIG. 4, and therefore, as in the second embodiment, the equation (6),
From (7), the azimuth angle deviation θ and the lateral deviation ε _y are calculated.

Then, the azimuth angle deviation θ and the lateral direction deviation ε _y thus obtained are output to the steering control unit 12 as data for performing automatic steering of the vehicle 1, and steering control is performed accordingly. .

As described above, according to this embodiment, as in the second embodiment, the lateral deviation Y _{1 of} the magnetic nails 6a and 6b detected by the magnetic nail sensors 2 and 3 with a time difference. , Y ₂ using the azimuth angle deviation θ of the vehicle 1
And the lateral deviation ε _y can be accurately obtained. The distance A between the magnetic nail sensors 2 and 3 is the magnetic nail 6
Since it does not have to be an integer multiple of the interval B, the time interval for inputting data from the sensors 2 and 3 can be made smaller than when it is an integer multiple, and the latest vehicle state with a small time delay can be detected. Furthermore, the degree of freedom in attaching the magnetic nail sensors 2 and 3 to the vehicle 1 is increased, and versatility is increased.

When the distance A between the magnetic nail sensors 2 and 3 is approximately an integer multiple of the distance B between the magnetic nails 6 (when the magnetic nails 6 are detected by the magnetic nail sensors 2 and 3 at substantially the same time). Since the distance difference ΔX is substantially equal to the distance A between the magnetic nail sensors 2 and 3, in this case, the azimuth angle deviation θ and the lateral deviation can be obtained by performing the arithmetic processing described in the first embodiment. ε _y can be obtained.

Next, the fourth embodiment of the method for calculating the azimuth deviation and the lateral deviation of the vehicle 1 by the vehicle azimuth / lateral deviation calculating unit 14 of the automatic vehicle having the system configuration of FIG. 1 will be described. This will be described with reference to FIGS. 6 to 8. In the fourth embodiment, the magnetic nail 6 on the travel route 5 is shown in FIG.
In addition, as shown in FIG. 8, when the values are not necessarily constant, the data detected by the magnetic nail sensors 2 and 3 and the travel distance data given from the travel distance calculation unit 16 at the time of detection of the data are displayed. It shows a method for calculating the azimuth deviation θ and the lateral deviation ε _y of the vehicle 1 by using the method.

At this time, with reference to FIGS. 6 to 8, the relationship between the distance difference ΔX (see the equation (8)) described in the third embodiment and the distance A between the magnetic nail sensors 2 and 3. Attention is paid to the distance between the magnetic nails 6 by the magnetic nail sensor 2,
Since it is indefinite with respect to the interval A of 3, the case where ΔX> A as shown in FIG. 6 (vehicle azimuth / lateral deviation calculator 1
4 when the update timing of the detection data of the front side magnetic nail sensor 2 is later than the update timing of the detection data of the rear side magnetic nail sensor 3) and the case where ΔX <A as shown in FIG. 7 ( When the update timing of the detection data of the front magnetic nail sensor 2 fetched by the vehicle azimuth / lateral deviation calculation unit 14 is earlier than the update timing of the detection data of the rear magnetic nail sensor 3),
As shown in FIG. 8, there are three types of cases where ΔX≈A (when the update timings of the detection data of both magnetic nail sensors 2 and 3 fetched by the vehicle azimuth / lateral deviation calculator 14 are almost the same). There are cases.

In any of the cases shown in FIGS. 6 to 8, the azimuth deviation θ of the vehicle 1 is detected by the respective detection data of the magnetic nail sensors 2 and 3 as is apparent with reference to these figures. By using the lateral deviation amounts Y ₁ and Y ₂ and the distance difference ΔX, it can be obtained by the following equation (9).

Θ = tan ⁻¹ [(Y ₁ −Y ₂ ) / ΔX] (9) Incidentally, in the case of FIG. 8 in the formula (9), ΔX≈A, and therefore ΔX in the formula is replaced. A may be used, and in this case, the formula (9) is expressed by the formula (1) described in the first embodiment.
Matches.

Regarding the lateral deviation ε _y of the vehicle 1, in the case of FIG. 6 (when ΔX> A), as is apparent from the figure, (Y ₁ -Y ₂ ): ΔX = (Ε _y −Y ₂ ): (ΔX−A /
Since the relational expression of 2) is established, the lateral deviation ε _y is calculated by the following expression (10) using the lateral deviation amounts Y ₁ and Y ₂ , the distance difference ΔX, and the distance A between the magnetic nail sensors 2 and 3. You can

Ε _y = (Y ₁ −Y ₂ ) · (ΔX−A / 2) / ΔX + Y ₂ (10) Further, in the case of FIG. 7 (when ΔX <A), refer to FIG. (Y ₁ −Y ₂ ): ΔX = (ε _y −Y)
₂ ): Since the relational expression of A / 2 holds, the lateral deviation ε _y
Can be calculated by the following equation (11) using the lateral deviation amounts Y ₁ and Y ₂ , the distance difference ΔX, and the distance A between the magnetic nail sensors 2 and 3.

Ε _y = A · (Y ₁ −Y ₂ ) / 2ΔX + Y ₂ (11) Further, in the case of FIG. 8 (when ΔX≈A), (Y ₁ −Y ₂ ): ΔX = ( Since the relational expression of ε _y −Y ₂ ): ΔX / 2 is established, the lateral deviation ε _y can be obtained from the lateral deviation amounts Y ₁ and Y ₂ by the following expression (12).

Ε _y = (Y ₁ −Y ₂ ) / 2 + Y ₂ = (Y ₁ + Y ₂ ) / 2 (12) Note that this equation (12) is the equation (3) described in the first embodiment. ) Is the same.

On the basis of the above contents, the vehicle azimuth / lateral deviation calculating unit 14 in the present embodiment first calculates the azimuth deviation θ and the lateral deviation ε _y of the vehicle 1 by the above-mentioned third step. Similar to the embodiment described above, the travel distances X ₁ and X ₂ given from the travel distance calculating unit 16 together with the detection data (lateral deviation amounts Y ₁ and Y ₂ ) of the magnetic nail sensors 2 and 3 are given.
The distance difference ΔX is obtained from the above data by the equation (8). Then, the distance difference ΔX and the lateral deviation amounts Y ₁ , Y ₂
From the above, the azimuth angle deviation θ is obtained by the above equation (9).

Further, the distance difference ΔX is compared with the distance A between the magnetic nail sensors 2 and 3. Then, when the comparison result is ΔX> A, which is the case of FIG. 6, the lateral deviation ε _y is calculated by the equation (10). Further, when the above comparison result is ΔX <A, it is the case of FIG. 7, and therefore the lateral deviation ε _y is calculated by the equation (11). Further, when the above comparison result is ΔX≈A, which is the case of FIG. 8, the lateral deviation ε _y is calculated by the equation (12).

Then, the azimuth angle deviation θ and the lateral deviation ε _y thus obtained are output to the steering control section 12 as data for performing automatic steering of the vehicle 1, and steering control is performed accordingly. .

As described above, according to this embodiment, even when the distance between the magnetic nails 6 on the traveling route 5 is not constant, there is a time difference between the magnetic nail sensors 2 and 3.
Alternatively, the azimuth deviation θ and the lateral deviation ε _{y of} the vehicle 1 can be accurately obtained by using the lateral deviations Y ₁ and Y ₂ of the magnetic nails 6 detected almost at the same time.

By the way, in each of the first to fourth embodiments described above, the magnetic nail sensor 2 or 3 fails,
Alternatively, when one of the magnetic nail sensors 2 and 3 cannot detect the magnetic nail 6 due to meandering or vertical movement of the vehicle 1, the azimuth deviation θ or the lateral deviation in the above-described calculation processing is performed. It becomes impossible to calculate ε _y, and the steering control of the vehicle 1 cannot be performed as it is.

Therefore, in each of the above-described embodiments, in such a case, the detection data of the single magnetic nail sensor 2 or 3 and the traveling distance data of the vehicle 1 obtained from the traveling distance calculating unit 16 are used. Then, the azimuth deviation θ and the lateral deviation ε _y of the vehicle 1 are obtained as described below.

That is, referring to FIG. 9, when the magnetic nail 6 cannot be detected by the rear magnetic nail sensor 3 while the vehicle 1 is traveling substantially along the traveling route 5, for example. The magnetic nail sensor 2 on the front side sequentially detects the adjacent magnetic nails 6a and 6b on the travel route 5 as the vehicle travels, and obtains lateral deviation amounts _Y1a and _Y1b thereof. At this time, _assuming that the traveling distance of the vehicle 1 at the time when the magnetic nail sensor 2 detects the magnetic nail 6a is X _m and the traveling distance at the time when the magnetic nail 6b is detected is X _n, it will be apparent with reference to FIG. In addition, the azimuth deviation θ of the vehicle 1 with respect to the travel route 5 is determined by the vehicle 1 between the detection times of the magnetic nails 6a and 6b.
There travel distances between (X _n -X _m), lateral deviation Y _1a,
It can be obtained by the following equation (13) using Y _1b .

Θ = tan ⁻¹ [(Y _1b −Y _1a ) / (X _n −X _m )] (13) Further, the lateral deviation ε _y of the vehicle 1 when the magnetic nail 6 b is detected is It can be calculated by the following equation (14) using the azimuth angle deviation θ and the lateral deviation amount Y _1b .

Ε _y = Y _1b − [(A / 2) · tan θ] (14) From the equation (13), tan θ = (Y _1b −Y _1a ) / (X
_n −X _m ), the lateral deviation amount ε _y can also be obtained by the following equation (15) using the lateral deviation amounts Y _1a and Y _1b .

Ε _y = Y _1b − [(A / 2) · (Y _1b −Y _1a ) / (X _n −X _m )] (15) Further, referring to FIG. When the magnetic nail 6 cannot be detected by the nail sensor 2, the magnetic nail sensor 3 on the rear side sequentially detects the adjacent magnetic nails 6a and 6b on the travel route 5 as the vehicle travels. Lateral deviation of Y _2a , Y
_2b (Y _2a <0, Y _2b <0) is obtained.

At this time, as is clear with reference to the figure, the azimuth deviation θ with respect to the traveling route 5 of the vehicle 1
Is the distance (X _n −) traveled by the vehicle 1 between the detection times of the magnetic nails 6a and 6b, as in the case described above.
X _m ) and the lateral deviation amounts Y _2a and Y _2b , the following equation (1)
6).

Θ = tan ⁻¹ [(Y _2b −Y _2a ) / (X _n −X _m )] (16) Further, the lateral deviation ε _y of the vehicle center 7 when the magnetic nail 6 b is detected is , The azimuth deviation θ and the lateral deviation Y _2b
And can be obtained by the following equation (17).

Ε _y = Y _2b + [(A / 2) · tan θ] (17) From the equation (13), tan θ = (Y _2b −Y _2a ) / (X
_n− X _m ), the lateral deviation amount ε _y can also be obtained by the following equation (18) using the lateral deviation amounts Y _2a and Y _2b .

Ε _y = Y _2b + [(A / 2) · (Y _2b −Y _2a ) / (X _n −X _m )] (18) Based on the above contents, each of the above-described embodiments is performed. The vehicle azimuth / lateral deviation calculation unit 14 uses the magnetic nail sensor 2
Alternatively, when the magnetic nail 6 cannot be detected by one of the magnetic nail sensors 2 and 3 due to a failure of 3, or the vehicle 1 meandering, moving up and down, etc., for example, the magnetic nail sensor 3 on the rear side can detect. When it disappears (in the case of FIG. 9), the azimuth angle of the vehicle 1 is calculated by the equation (13) using the lateral deviation amounts Y _1a and Y _1b of the magnetic nail 6 sequentially detected by the front magnetic nail sensor 2. Find the deviation θ. Further, the lateral deviation ε _y of the vehicle 1 is obtained from the equation (14) or the equation (15).

Further, the magnetic nail sensor 2 on the front side detects
If you can not get out (in the case of Fig. 10),
Magnetic nails sequentially detected by the magnetic nail sensor 3
Lateral deviation Y of 6_2a, Y_2bTo the above equation (16)
Then, the azimuth deviation θ of the vehicle 1 is obtained. Furthermore, the formula
(17) or the equation (18), the lateral deviation of the vehicle 1 is calculated.
Difference ε_yAsk for. And the azimuth obtained in this way
Angular deviation θ and lateral deviation ε _yAnd the steering control unit 12
Output as data for automatic steering of the vehicle 1,
Steering control is performed accordingly.

As a result, even when the magnetic nail 6 cannot be detected by either one of the magnetic nail sensors 2 and 3, only the detection data of the other magnetic nail sensor is used to determine the azimuth deviation θ and the lateral angle of the vehicle 1. The steering control for causing the vehicle 1 to follow the travel route 5 can be accurately performed by temporarily obtaining the direction deviation ε _y .

Incidentally, as described above, the magnetic nail sensors 2, 3
When the detection cannot be performed by any one of the above, the steering control can be performed by using the lateral deviation amount detected by the other magnetic nail sensor 2 or 3 as it is as the lateral deviation ε _y of the vehicle. However, in this case, since the lateral deviation amount detected by the magnetic nail sensor 2 or 3 is largely different from the lateral deviation of the vehicle center 7 originally necessary for steering control, the steering of the vehicle 1 is performed. There is a risk that it will be inappropriate. On the other hand, in each of the above-described embodiments, the lateral deviation of the vehicle center 7 is obtained using the lateral deviation amount detected by the magnetic nail sensor 2 or 3, so that the continuity of the deviation can be maintained, and the deviation is appropriate. It is possible to perform various steering controls.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram of an autonomous vehicle according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram for explaining a first embodiment of a calculation direction in the autonomous vehicle of FIG.

FIG. 3 is an explanatory diagram for explaining second and third embodiments of a calculation direction in the autonomous vehicle of FIG.

FIG. 4 is an explanatory view for explaining the second and third embodiments of the calculation direction in the automatic vehicle of FIG.

5 is a flowchart for explaining a second embodiment of a calculation direction in the automatic vehicle of FIG.

6 is an explanatory diagram for explaining a fourth embodiment of a calculation direction in the automatic vehicle of FIG.

7 is an explanatory diagram for explaining a fourth embodiment of a calculation direction in the automatic vehicle of FIG.

8 is an explanatory view for explaining a fourth embodiment of a calculation direction in the automatic vehicle of FIG.

9 is an explanatory diagram for explaining a calculation method in the case where the magnetic nail cannot be detected by any one of the pair of magnetic nail sensors in the automobile traveling vehicle of FIG. 1;

10 is an explanatory diagram for explaining a calculation method in the case where the magnetic nail cannot be detected by one of the pair of magnetic nail sensors in the vehicle running vehicle of FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Front magnetic nail sensor (magnetic source detection means), 3 ... Rear magnetic nail sensor (magnetic source detection means), 5 ... Travel route, 6 ... Magnetic nail (magnetic source), θ ... Vehicle azimuth deviation, εy ... Vehicle lateral deviation

Claims (29)

[Claims] 1. A positional relationship with respect to the travel route of an automated vehicle that automatically steers the vehicle so that the vehicle travels along the travel route while detecting magnetic sources arranged at predetermined intervals on the travel route. In the method for calculating, a pair of magnetic source detection means for detecting the lateral deviation amount of each magnetic source with respect to the vehicle at each of the two locations in front of and behind the vehicle is set to an integer of the interval of the magnetic sources. The azimuth deviation or the lateral deviation of the vehicle with respect to the traveling route is calculated based on the lateral deviation amount of each magnetic source detected by the magnetic source detecting means at substantially the same time. A method of calculating a positional relationship with respect to a travel route of a vehicle, which is characterized in that. 2. An azimuth deviation of the vehicle is an angle formed by a traveling direction of the vehicle and the traveling route, and a lateral deviation amount of the magnetic source detected by each of the magnetic source detecting means. 2. The traveling of the vehicle according to claim 1, wherein the distance is calculated by a predetermined arithmetic expression from the distance between the magnetic sources detected by the both magnetic source detecting means substantially simultaneously or the distance between the both magnetic source detecting means. Positional relationship calculation method for routes. 3. A lateral deviation of the vehicle is a lateral deviation of a central portion of the vehicle with respect to the traveling route, and the lateral deviation is a lateral deviation of the magnetic source detected by each of the magnetic source detecting means. The calculation is performed from a direction deviation amount by a predetermined arithmetic expression according to a geometrical positional relationship between the central portion of the vehicle and the two magnetic source detection means.
Alternatively, the positional relationship calculation method for the traveling route of the vehicle described in 2. 4. A positional relationship with respect to the travel route of an automated vehicle that automatically steers the vehicle so that the vehicle travels along the travel route while detecting magnetic sources arranged at predetermined intervals on the travel route. In the method for calculating, a pair of magnetic source detection means for detecting the lateral deviation amount of each magnetic source with respect to the vehicle at each of the front and rear of the vehicle is arranged, and each magnetic source detection means is arranged. A timer means for grasping the detection timing of each magnetic source by the magnetic source is provided, and the lateral deviation amount of the magnetic source detected by each of the magnetic source detecting means and the magnetic source by each magnetic source detecting means are detected. A positional relationship of the vehicle with respect to the traveling route, characterized in that an azimuth deviation or a lateral deviation of the vehicle with respect to the traveling route is calculated on the basis of the temporal relationship of the detection timing. Calculation method. 5. The azimuth deviation of the vehicle is an angle formed by the traveling direction of the vehicle and the travel route, and when the detection timings of the magnetic source by the magnetic source detecting means are substantially the same, The azimuth deviation of the vehicle is the lateral deviation amount of the magnetic source detected by each of the magnetic source detecting means and the distance between the magnetic source detected by the both magnetic source detecting means at substantially the same time or both. 5. The method for calculating the positional relationship with respect to the traveling route of the vehicle according to claim 4, wherein the calculation is performed from a distance between the magnetic source detection means and a predetermined arithmetic expression. 6. The lateral deviation of the vehicle is a lateral deviation of the central portion of the vehicle with respect to the traveling route, and when the detection timings of the magnetic sources by the magnetic source detecting means are substantially the same, The lateral deviation of the vehicle is determined based on the lateral deviation amount of the magnetic sources detected by the magnetic source detecting means, and the geometrical positional relationship between the central portion of the vehicle and the magnetic source detecting means. 6. The method for calculating the positional relationship with respect to the traveling route of the vehicle according to claim 4 or 5, wherein the calculation is performed by a predetermined arithmetic expression according to. 7. The azimuth deviation of the vehicle is an angle formed by the traveling direction of the vehicle and the travel route, and when the detection timings of the respective magnetic sources by the both magnetic source detecting means are different, The azimuth angle deviation is the detection timing of either the magnetic source detection timing by the magnetic source detection means on the front side of the vehicle or the magnetic source detection timing by the magnetic source detection means on the rear side of the vehicle. A predetermined distance is determined based on the distance between the magnetic sources sequentially detected by the magnetic source detecting means and the lateral deviation amount of the magnetic sources detected by the magnetic source detecting means. The positional relationship calculation method for a travel route of a vehicle according to claim 4, wherein the positional relationship is calculated by an arithmetic expression. 8. The lateral deviation of the vehicle is a lateral deviation of the central portion of the vehicle with respect to the traveling route, and the lateral deviation of the magnetic sources detected by the both magnetic source detecting means. From the lateral deviation amount, the distance between the magnetic sources sequentially detected by the magnetic source detecting means and the azimuth deviation, the geometry of the central portion of the vehicle and the magnetic source detecting means is determined. 8. The method for calculating the positional relationship with respect to the travel route of the vehicle according to claim 7, wherein the positional relationship is calculated by a predetermined arithmetic expression according to the relative positional relationship and the relationship between the detection timings of the magnetic generation sources by the two magnetic generation source detection means. . 9. When the magnetic source cannot be detected by one of the magnetic source detecting means of the both magnetic source detecting means, the other magnetic source detecting means sequentially detects the magnetic source. The azimuth deviation or the lateral deviation of the vehicle with respect to the travel route is calculated based on the lateral deviation amount of each of the magnetic sources.
A method of calculating a positional relationship with respect to a travel route of a vehicle according to any one of 1. 10. A lateral deviation amount of each of the two magnetic generation sources sequentially detected by the other magnetic generation source detection means, and a distance detection means for detecting a traveling distance of the vehicle, and the two magnetic fields. An angle formed by the traveling direction of the vehicle and the traveling route is calculated from a traveling distance of the vehicle within a time interval in which the generation sources are sequentially detected, and the calculated angle is obtained as the azimuth deviation. 10. The method for calculating the positional relationship with respect to the traveling route of the vehicle according to claim 9. 11. The lateral deviation of the vehicle is a lateral deviation of a central portion of the vehicle with respect to the travel route, and the lateral deviation includes the azimuth deviation and the lateral deviation of the two magnetic sources. 11. The vehicle according to claim 10, wherein it is calculated from one of the quantities by a predetermined arithmetic expression according to a geometrical positional relationship between the central portion of the vehicle and the other magnetic source detecting means. Method of calculating the positional relationship with respect to the traveling route of 12. A lateral deviation amount of each of the two magnetic sources sequentially detected by the other magnetic source detecting means, and a distance difference detecting means for detecting a traveling distance of the vehicle, and the two magnetic fields. Based on the travel distance of the vehicle within the time interval in which the generation sources are sequentially detected, the center portion of the vehicle is calculated by a predetermined arithmetic expression according to the geometrical positional relationship between the center portion of the vehicle and the other magnetic source detection means. 11. The positional relationship calculating method for a vehicle traveling route according to claim 9, wherein the lateral deviation for the traveling route is calculated, and the calculated lateral deviation is obtained as a lateral deviation of the vehicle. 13. A positional relationship with respect to the travel route of an automated vehicle that automatically steers the vehicle so that the vehicle travels along the travel route while detecting magnetic sources arranged at predetermined intervals on the travel route. In the method for calculating, a pair of magnetic source detection means for detecting the lateral deviation amount of each magnetic source with respect to the vehicle at each of the front and rear of the vehicle is arranged, and each magnetic source detection means is arranged. The distance detecting means for detecting the traveling distance of the vehicle at the time of detecting each magnetic source is provided, and the magnetic source detecting means detects each magnetic source based on the traveling distance and the position of each magnetic source in the vehicle. Occasionally, the position in the distance direction of the traveling route on the traveling route of each of the magnetic source detecting units that has performed the detection is grasped, and the magnetic generation detected by each of the magnetic source detecting units. The lateral deviation amount of the magnetic source and the distance difference between the positions on the traveling path of the magnetic source detecting means when the magnetic source is detected by the magnetic source detecting means. A positional relationship calculation method for a traveling route of a vehicle, wherein an azimuth deviation or a lateral deviation of the vehicle with respect to the traveling route is calculated based on a magnitude relationship with respect to the distance. 14. The azimuth deviation of the vehicle is an angle formed by the traveling direction of the vehicle and the travel route, and when the distance difference is substantially equal to the interval between the magnetic source detection means, the azimuth of the vehicle The angular deviation is the amount of lateral deviation of the magnetic sources detected by the magnetic source detecting means, the distance between the magnetic sources detected by the magnetic source detecting means, or the magnetic source detecting means. 14. The method for calculating the positional relationship with respect to the traveling route of the vehicle according to claim 13, characterized in that the calculation is performed from a predetermined interval using a predetermined calculation formula. 15. The lateral deviation of the vehicle is a lateral deviation of a central portion of the vehicle with respect to the travel route, and when the distance difference is substantially equal to the distance between the magnetic source detection means, the lateral deviation of the vehicle. The directional deviation is based on the lateral deviation amount of the magnetic source detected by each of the magnetic source detecting means,
15. The positional relationship calculation with respect to the travel route of the vehicle according to claim 13 or 14, wherein the calculation is performed by a predetermined arithmetic expression according to a geometrical positional relationship between the central portion of the vehicle and the two magnetic source detection means. Method. 16. The azimuth deviation of the vehicle is an angle formed by the traveling direction of the vehicle and the traveling route, and when the distance difference is different from the distance between the magnetic source detection means, the azimuth angle of the vehicle. The deviation is determined according to whether the distance difference is longer or shorter than the interval between the magnetic source detection means, and the interval between the magnetic source sequentially detected by the magnetic source detection means and the magnetic source detection means. 14. The method for calculating the positional relationship with respect to the travel route of the vehicle according to claim 13, wherein the calculation is performed from a lateral deviation amount of the magnetic generation source detected by the above equation by a predetermined arithmetic expression. 17. The lateral deviation of the vehicle is a lateral deviation of the central portion of the vehicle with respect to the travel route. When the distance difference is different from the distance between the magnetic source detection means, the lateral direction of the vehicle. The deviation is the amount of lateral deviation of the magnetic sources detected by the magnetic source detecting means, the distance between the magnetic sources sequentially detected by the magnetic source detecting means, and the azimuth deviation. From the geometrical positional relationship between the central portion of the vehicle and the magnetic source detecting means, and the magnitude relationship of the distance difference with respect to the distance between the magnetic source detecting means. 17. The method for calculating the positional relationship with respect to the travel route of the vehicle according to claim 16. 18. When the magnetic source cannot be detected by one of the magnetic source detecting means of the both magnetic source detecting means, the other magnetic source detecting means sequentially detects the magnetic source. The azimuth deviation or the lateral deviation of the vehicle with respect to the travel route is calculated based on the lateral deviation amount of each of the two magnetic sources, and the travel route of the vehicle according to any one of claims 13 to 17 is calculated. Positional relationship calculation method. 19. A lateral deviation amount of each of the two magnetic sources sequentially detected by the other magnetic source detecting means and a vehicle within a time interval in which the two magnetic sources are sequentially detected. 19. The traveling route of the vehicle according to claim 18, wherein an angle formed by the traveling direction of the vehicle and the traveling route is calculated from the traveling distance by a predetermined arithmetic expression, and the calculated angle is obtained as the azimuth deviation. Positional relationship calculation method. 20. A lateral deviation of the vehicle is a lateral deviation of a central portion of the vehicle with respect to the travel route, and the lateral deviation includes the azimuth deviation and the lateral deviations of the two magnetic sources. 20. The vehicle according to claim 19, which is calculated from one of the quantities by a predetermined arithmetic expression according to a geometrical positional relationship between the central portion of the vehicle and the other magnetic source detecting means. Method of calculating the positional relationship with respect to the traveling route of. 21. A lateral deviation amount of each of the two magnetic sources sequentially detected by the other magnetic source detecting means, and a vehicle in a time interval during which the two magnetic sources are sequentially detected. From the traveling distance, the lateral deviation of the central portion of the vehicle from the traveling route is calculated by a predetermined arithmetic expression according to the geometrical positional relationship between the central portion of the vehicle and the other magnetic source detecting means, 20. The method for calculating the positional relationship of a vehicle with respect to a travel route according to claim 18, wherein the calculated lateral deviation is obtained as a lateral deviation of the vehicle. 22. A positional relationship of an automatic vehicle that performs automatic steering so as to travel along a travel route is detected while detecting magnetic sources arranged at intervals on the travel route with respect to the travel route. In the method described above, a pair of magnetic source detecting means for detecting the lateral deviation amount of each magnetic source with respect to the vehicle at each of the front and rear of the vehicle is arranged, and each magnetic source detecting means detects Distance detecting means for detecting the traveling distance of the vehicle at the time of detecting the magnetic source is provided, and when detecting each magnetic source by each magnetic source detecting means based on the traveling distance and the position of each magnetic source in the vehicle, The position in the distance direction of the traveling route on the traveling route of each of the detected magnetic source detecting means is grasped, and the lateral position of the magnetic source detected by each of the magnetic source detecting means is detected. Azimuth deviation of the vehicle with respect to the travel route based on the amount of directional deviation and the distance difference between the positions on the travel route of the respective magnetic source detection devices when the magnetic generation sources are detected by the two magnetic generation source detection devices. Alternatively, a method for calculating a positional relationship with respect to a traveling route of a vehicle, characterized by calculating a lateral deviation. 23. The azimuth deviation of the vehicle is an angle formed by a traveling direction of the vehicle and the traveling path, and a lateral deviation amount of the magnetic source detected by each of the magnetic source detecting means, 23. The positional relationship calculation method for a travel route of a vehicle according to claim 22, wherein the distance difference is calculated by a predetermined arithmetic expression. 24. A lateral deviation of the vehicle is a lateral deviation of a central portion of the vehicle with respect to the travel route, and when the distance difference is substantially equal to an interval between the magnetic source detection means, the lateral deviation of the vehicle. The directional deviation is based on the lateral deviation amount of the magnetic source detected by each of the magnetic source detecting means,
24. Calculation of the positional relationship with respect to the traveling route of the vehicle according to claim 22 or 23, wherein the calculation is performed by a predetermined arithmetic expression according to a geometrical positional relationship between the central portion of the vehicle and the magnetic field source detection means. Method. 25. The lateral deviation of the vehicle is a lateral deviation of the central portion of the vehicle with respect to the travel route. When the distance difference is different from the distance between the magnetic source detection means, the lateral direction of the vehicle. The deviation is a geometrical position between the central portion of the vehicle and the magnetic source detection means, based on the lateral deviation amount of the magnetic source detected by the magnetic source detection means and the distance difference. 23. The calculation is performed by a predetermined arithmetic expression in accordance with the relationship and the magnitude relationship of the distance difference with respect to the distance between the two magnetic generation source detection means.
Alternatively, the positional relationship calculation method with respect to the traveling route of the vehicle described in 23. 26. When the magnetic source cannot be detected by either one of the magnetic source detecting means, the other magnetic source detecting means sequentially detects the magnetic source. The azimuth deviation or the lateral deviation of the vehicle with respect to the travel route is calculated based on the lateral deviation amount of each of the two magnetic sources, and the travel route of the vehicle according to any one of claims 22 to 25. Positional relationship calculation method. 27. A lateral deviation amount of each of the two magnetic sources sequentially detected by the other magnetic source detecting means and a vehicle within a time interval in which the two magnetic sources are sequentially detected. 27. The traveling route of the vehicle according to claim 26, wherein an angle formed by the traveling direction of the vehicle and the traveling route is calculated from the traveling distance by a predetermined arithmetic expression, and the calculated angle is obtained as the azimuth deviation. Positional relationship calculation method. 28. The lateral deviation of the vehicle is a lateral deviation of a central portion of the vehicle with respect to the travel route, and the lateral deviation includes the azimuth deviation and the lateral deviations of the two magnetic sources. 28. The vehicle according to claim 27, which is calculated from one of the quantities by a predetermined arithmetic expression according to a geometrical positional relationship between the central portion of the vehicle and the other magnetic source detecting means. Method of calculating the positional relationship with respect to the traveling route of. 29. A lateral deviation amount of each of the two magnetic sources sequentially detected by the other magnetic source detecting means, and a vehicle within a time interval in which the two magnetic sources are sequentially detected. From the traveling distance, the lateral deviation of the central portion of the vehicle from the traveling route is calculated by a predetermined arithmetic expression according to the geometrical positional relationship between the central portion of the vehicle and the other magnetic source detecting means, 28. The positional relationship calculation method for a traveling route of a vehicle according to claim 26, wherein the calculated lateral deviation is obtained as a lateral deviation of the vehicle.