TW201910954A - Someone has set the route to automatically drive the vehicle - Google Patents

Abstract

A manned predetermined-route autonomous vehicle (1), wherein the degree of freedom to set a position for commanding the vehicle speed is enhanced while a predetermined-route buried marker (31) is used to control the vehicle speed. This manned predetermined-route autonomous vehicle (1) comprises a plurality of seats (2), a plurality of vehicle wheels (3), a drive device (4), a brake device (5), a vehicle wheel rotation detection unit (6), a predetermined-route buried marker detector (7), a vehicle progression direction control device (10), and a vehicle travel control device (20). The vehicle travel control device (20): estimates an actual travel distance from a physical quantity related to the rotation of at least one vehicle wheel (3) detected by the vehicle wheel rotation detection unit 6 during travel on a predetermined route (30); corrects the actual travel distance, on the basis of reference predetermined-route-buried-marker-travel-distance- and vehicle-speed-related information (21a) that is stored in advance, when a predetermined-route buried marker (31) is detected by the predetermined-route buried marker detector (7); and controls the drive device (4) or the brake device (5) on the basis of the actual travel distance and the reference predetermined-route-buried-marker-travel-distance- and vehicle-speed-related information.

Description

Someone is driving a vehicle on a given route

The present invention relates to a vehicle with a passenger traveling on a predetermined route and carrying a passenger and automatically traveling along a predetermined route.

Previously, there has been known a person traveling on a predetermined route and driving a vehicle automatically, carrying a passenger and automatically traveling along a predetermined route. Someone's self-driving vehicles have multiple seats that can be used by multiple passengers. A vehicle with a predetermined route is automatically driven along a predetermined route. For example, the automatic traveling vehicle with a predetermined route shown in Patent Documents 1, 2, 3, and 4 and Non-Patent Document 1 automatically travels along an induction line buried in a road surface. In addition, the autonomous vehicle with a predetermined route shown in Patent Documents 1, 2, 3, 4 and Non-Patent Document 1 uses a sensor installed on the autonomous vehicle with a predetermined route to detect a predetermined route embedding mark buried on a road surface, and Indicate the previous vehicle speed from the detected position. In addition, there are many cases where a self-driving vehicle on a predetermined route is used in a closed area such as a golf course or a theme park. There are cases where autonomous vehicles of a predetermined route are used in public areas such as highways.

In addition, some vehicles with a predetermined route are manufactured to be easy for passengers to get on and off, and have high convenience. Some people have a certain route to drive a vehicle automatically because of the convenience of getting on and off, so in most cases it is used in a space with pedestrians. Therefore, the vehicle speed of an autonomous vehicle on a given route is usually low. For example, there are people who drive vehicles on a given route in most cases at speeds below 20-40 km / h. [Prior Art Literature] [Patent Literature]

[Patent Literature 1] Japanese Patent Laid-Open No. 5-274029 [Patent Literature 2] Japanese Patent No. 3485502 [Patent Literature 3] Japanese Patent Laid-Open No. 2003-256044 [Patent Literature 4] Japanese Patent Laid-Open No. 2017-37398 Bulletin [Non-Patent Literature]

[Non-Patent Document 1] Asahi Shimbun, "Reconstructing Golf Course Cars and" Autonomous Driving "Ishikawa-Wushima on the Highway", [online], November 16, 2016, YouTube (registered trademark), [2017 Retrieved on August 1, 2011], Internet <https://www.youtube.com/watch?v=CTQyDsJISdg>

[Problems to be solved by the invention]

In some cases, an autonomous vehicle on a predetermined route is used in a space with a pedestrian. Therefore, the following usage environment is assumed. Autonomous vehicles with established routes are used on established routes for passengers, pedestrians, and other vehicles that have dropped off. Therefore, the previous indication of the vehicle speed of an autonomous vehicle with a predetermined route was performed using a magnetic predetermined route embedding mark buried on the road surface of the predetermined route. Even if passengers, pedestrians, and other vehicles that have alighted from the vehicle pass on top of the magnetic predetermined route buried mark buried on the road surface of the predetermined route, the possibility that the mark is shifted, lost, or disappeared due to wear is very small.

In addition, with regard to a vehicle traveling on a predetermined route, the number of passengers and the seating position of the vehicle may vary greatly and frequently. For example, there are cases where a vehicle traveling on a predetermined route is traveling without passengers. In addition, there are cases where a vehicle traveling on a predetermined route has two passengers riding side by side on the right side of the vehicle. Furthermore, there are cases where a vehicle traveling on a predetermined route has two passengers on the left side of the vehicle side by side. Furthermore, there are cases where a vehicle traveling on a predetermined route has two passengers riding side by side in front of the vehicle. Furthermore, there are cases where an auto-driving vehicle on a predetermined route also has two passengers riding side by side behind the vehicle. Furthermore, there are cases where there are four passengers traveling on a predetermined route and traveling side by side, side by side. Here, a vehicle having a predetermined route has a plurality of wheels that elastically deform in a radial direction. The load applied to the wheels of a vehicle with a predetermined route will vary greatly and frequently depending on the number of passengers and the seating position. According to the passenger's riding condition for a plurality of seats, the load exerted on each wheel of a vehicle with a predetermined route automatically changes greatly and frequently. If the load applied to each wheel of a vehicle traveling on a predetermined route is greatly and frequently changed, the wheel will be elastically deformed in the radial direction so that the diameter of each wheel will be changed, and the driving posture of the vehicle will be greatly and frequently changed. That is, according to a passenger's riding condition for a plurality of seats, a plurality of wheels will be elastically deformed so that their diameters change, and the driving posture of the vehicle changes greatly and frequently.

Some people have provided a sensor for automatically driving a predetermined route to detect a magnetic predetermined route embedding mark embedded in a road surface of the predetermined route. When the driving posture of the vehicle with a predetermined route changes, the posture of the sensor for detecting the embedded mark embedded in the predetermined route of the vehicle with a predetermined route also changes. That is, the vehicle with a predetermined route automatically travels in a state where the attitude of the sensor installed on the vehicle with a predetermined route changes, and the vehicle speed is controlled. Here, the magnetic predetermined route embedding mark buried on the road surface of the predetermined route has no positional deviation from the predetermined route. In addition, since the magnetic fixed-line embedded mark embedded on the road surface of the predetermined route uses magnetism, even if the posture of the sensor installed on a vehicle running on a predetermined route changes, the detection can be performed with high accuracy. Therefore, the magnetic predetermined route embedding mark buried on the road surface of the predetermined route has high stability against a change in posture of a sensor installed on a vehicle traveling on a predetermined route. Therefore, in the past, the speed control of a vehicle traveling on a predetermined route was performed using a magnetic predetermined route embedding mark buried on the road surface of the predetermined route.

In addition, depending on the season, there are cases where someone has a predetermined route and the vehicle does not change the route itself. However, there are cases where it is desired to change the position that indicates the speed of the vehicle. The positions that instruct the vehicle speed are, for example, a deceleration position, an acceleration position, and a parking position. In addition, there is a case where a vehicle with a predetermined route is changed to a new type. In this case, there is a case where someone has a predetermined route and the vehicle does not change automatically. However, there is a case where the vehicle is to be automatically driven according to a new type of someone's predetermined route, and the position indicating the speed of the vehicle is changed. However, the vehicle with a predetermined route automatically detects the embedded mark of the magnetic predetermined route buried on the road surface of the predetermined route, and instructs the vehicle speed of the vehicle with a predetermined route. Therefore, when changing the position that instructs the vehicle speed, etc., the magnetic predetermined route embedding mark must be removed from the road surface of the predetermined route, and then the magnetic predetermined route embedding mark must be re-embedded at another location.

An object of the present invention is to provide a self-driving vehicle with a predetermined route, which can also be applied to a self-driving vehicle with a predetermined route using an electromagnetic induction line, and a predetermined route embedding mark buried on the road surface of the predetermined route can be used for vehicle speed. Control, and increase the freedom of setting the position that instructs the vehicle speed. [Technical means to solve the problem]

The inventors and others have studied the function of embedding a mark on a previously used route in detail in order to increase the degree of freedom in setting a position that instructs the vehicle speed of a vehicle on a given route. The embedded route embedded mark has two functions, namely, specifying the position that instructs the vehicle speed of the vehicle on the predetermined route and the vehicle speed that instructs the vehicle on the predetermined route. In addition, since the embedded mark of the predetermined route is buried on the road surface of the predetermined route, it is difficult to cause positional deviation from the predetermined route. On the other hand, if the embedded mark of a predetermined route wants to change the position indicating the speed of the vehicle, it must be removed and re-embedded, and the position setting freedom is low.

Therefore, the inventors and others have studied a method of setting a position for instructing a vehicle speed of a vehicle traveling on a predetermined route by using a method other than embedding a mark on a predetermined route. The inventors and others have studied the setting of a position that indicates the vehicle speed of a vehicle traveling on a predetermined route by using an actual travel distance estimated from a physical quantity related to the rotation of a wheel. As a result, it can be seen that in a vehicle with a predetermined route, the actual driving distance estimated from the physical quantity related to the rotation of the wheels is a physical quantity with large deviation. It is considered that the main reason is that the load imposed on the wheels of a vehicle having a predetermined route is greatly and frequently changed as described above. Therefore, the inventors think that it is difficult to set a position that indicates the speed of the vehicle based on the actual distance traveled by the vehicle traveling on a predetermined route.

On the other hand, the inventors and others have studied in detail a predetermined route embedding mark buried on a road surface of a predetermined route. Even if passengers, pedestrians, and other vehicles that have alighted from the vehicle are passing on a predetermined route buried mark buried on the pavement of the predetermined route, the possibility of the mark being shifted, lost, or disappeared due to wear is very small. Because the magnetic embedded mark embedded in the road surface of the predetermined route has no positional deviation and uses magnetism, it has high stability against changes in the posture of a sensor installed on a vehicle traveling on a predetermined route. Furthermore, the inventors thought that when the magnetic predetermined route embedded mark buried on the road surface of the predetermined route is used to control the speed of the vehicle, the actual driving distance estimated based on the physical quantity related to the rotation of the wheel is corrected instead of Set the position indicating the vehicle speed as before. That is, I think of the advantages of effectively using the embedded mark of a predetermined route buried on a road of a predetermined route, using the magnetic embedded mark of a fixed route buried on the road of a predetermined route to correct the actual driving distance, and setting the vehicle speed based on the actual driving distance Its location.

The present invention uses a predetermined route embedding mark and an actual driving distance buried on a road surface of a predetermined route to control a vehicle speed of a vehicle traveling on a predetermined route automatically. The present invention sets a position for indicating the speed of a vehicle based on an actual driving distance corrected by using a buried mark embedded in a predetermined route on a pavement of a predetermined route. The technical idea of the present invention is as follows: instead of setting a position to indicate the speed of the vehicle using a predetermined route embedding mark, the position indicating the speed of the vehicle is set based on the actual driving distance of the vehicle with a predetermined route that is considered to be less accurate. That is, by effectively using the advantages of the embedded mark of the predetermined route buried on the road surface of the predetermined route, and using the embedded mark of the fixed route buried on the road surface of the predetermined route to correct the actual driving distance, the actual driving distance of a vehicle with a predetermined route can be increased. The accuracy. Furthermore, the vehicle with a predetermined route of the present invention may use an actual driving distance that has been improved in accuracy by using a correction of a predetermined route embedding mark buried on a road surface of the predetermined route to set a position indicating the speed of the vehicle.

In addition, since the mark is embedded using the predetermined route buried on the road surface of the predetermined route, the advantage of the environment for using the vehicle with the predetermined route to the vehicle can also be maintained. Therefore, it can also be applied to a person using an electromagnetic induction line to drive a vehicle automatically on a predetermined route, and can take advantage of the embedded mark of the predetermined route buried on the road surface of the predetermined route, and increase the degree of freedom in setting the position indicating the speed of the vehicle.

Furthermore, since the position indicating the vehicle speed of a vehicle on a predetermined route is set according to the actual driving distance, the position indicating the vehicle speed can be increased without increasing the position of the embedded mark embedded in the predetermined route. Thereby, the number of embedded marks on a predetermined route can be suppressed, and the frequent vehicle speed indication of a vehicle with a predetermined route can be realized. In addition, since the position is set according to the actual travel distance to indicate the vehicle speed of a vehicle traveling on a predetermined route, the speed of the vehicle can be set without increasing the number of magnets embedded in a magnetic predetermined route embedded mark buried in one place. Where to give detailed instructions. Thereby, the number of magnets possessed by the embedded mark of the magnetic predetermined route can be suppressed, and detailed control of the vehicle speed of a vehicle with a predetermined route can be realized.

In addition, the inventors and others found in the process of repeated research that not only the embedded mark of the magnetic type predetermined route, but also the embedded mark of the radio wave type predetermined route can obtain the same effect. Furthermore, it has been found that as long as it is a detectable mark buried on the road surface, an identifiable mark other than a magnetic or radio wave type embedded route mark can also obtain the same effect. In addition, the technology based on the actual driving distance corrected by using the embedded mark embedded in the road surface of the predetermined route, and setting the position that instructs the vehicle speed of the vehicle on the predetermined route to be automatically combined with the following technology. It can be combined with a technology that utilizes an induction line buried in the road surface and the mechanism that detects the induction line automatically travels along a predetermined route in the presence of someone. Furthermore, it can also be combined with a technology that uses the actual driving distance of a predetermined route taught in advance to automatically travel along a predetermined route in the presence of someone. May be combined with other technologies that drive along predetermined routes.

(1) Some people of the present invention have a feature that a vehicle traveling on a predetermined route is characterized by being a vehicle travel control device, utilizing: multiple seats, which can be used by multiple passengers; multiple wheels, etc. The riding state is elastically deformed in the radial direction; the driving device gives a driving force to at least one of the plurality of wheels; the braking device gives a braking force to at least one of the plurality of wheels; Which detects the plurality of predetermined route embedded marks embedded along the predetermined route; and the plurality of predetermined route embedded marks detected by the predetermined route embedded mark detector to control the driving device and the braking device; and further has wheel rotation. Detector, the wheel rotation detector detects a physical quantity related to the rotation of at least one of the plurality of wheels, the vehicle driving control device: (a) pre-memorizes a mark, a driving distance, and a vehicle speed to be embedded with the predetermined route Related information Route-embedded markers Travel distance Vehicle speed related information; (b) Estimated actual travel distance based on physical quantities related to rotation of the at least one wheel detected by the wheel rotation detector during travel along the predetermined route; (c) ) In order to eliminate the above-mentioned elastic deformation in the radial direction according to the seated state of the plurality of seats by the passenger when the above-mentioned embedded route embedded mark is detected by the predetermined route embedded mark detector during the driving along the predetermined route The error of the actual driving distance caused by the change in the diameter of the plurality of wheels is corrected based on the information of the reference route embedded in the reference route and the vehicle speed-related information; (d) the actual distance traveled and the reference route established The driving distance or the braking device is controlled by marking the distance-related vehicle speed information.

According to this configuration, a vehicle having a predetermined route has a plurality of seats, a plurality of wheels, a driving device, a braking device, and a predetermined route embedded mark detection unit. The vehicle running control device uses a plurality of predetermined route embedded marks detected by a predetermined route embedded mark detector to control a driving device or a braking device. That is, the vehicle travel control device uses a signal of a predetermined route embedded mark detector when a plurality of signals of a predetermined route embedded mark are detected for controlling a driving device or a braking device. In addition, someone has a vehicle that runs on a predetermined route and further has a wheel rotation detector that detects a physical quantity related to the rotation of at least one of the plurality of wheels. The vehicle travel control device previously memorizes information related to the vehicle speed related to a predetermined predetermined route embedded mark, which is obtained by correlating the information related to a predetermined route embedded mark, travel distance, and vehicle speed. That is, by associating the information related to the vehicle speed with the driving distance instead of the embedded mark of the predetermined route, it is possible to easily realize the change of the position indicating the vehicle speed. The vehicle travel control device performs the following processing while traveling along a predetermined route. The vehicle running control device estimates an actual running distance based on a physical quantity related to the rotation of at least one wheel detected by the wheel rotation detector. Here, the plurality of wheels are elastically deformed in a radial direction according to a passenger's riding condition on the plurality of seats. Moreover, the diameter of the plurality of wheels changes. Therefore, the actual travel distance estimated by the vehicle travel control device sometimes includes errors caused by changes in the diameter of a plurality of wheels that are elastically deformed in the radial direction according to a passenger's riding condition on the plurality of seats. In order to eliminate the error, the vehicle travel control device corrects the actual travel distance based on the vehicle speed-related information based on the reference predetermined path embedded mark in order to eliminate the error when the predetermined route embedded mark detector detects the predetermined route embedded mark detector. That is, when a predetermined route embedding mark is detected, the actual travel distance is corrected. Thereby, the accuracy of the actual traveling distance becomes high. In addition, the vehicle travel control device controls the driving device or the braking device based on the actual travel distance and the information about the vehicle speed in which the marker travel distance is embedded in the reference predetermined route. Here, the actual travel distance used by the vehicle travel control device to control the driving device or the braking device includes the actual travel distance estimated before the correction, the actual travel distance corrected, and the actual travel distance estimated after the correction. . In addition, the "vehicle driving control device controls the driving device or the braking device" means that the control object of the vehicle driving control device includes both the driving device and the braking device. The vehicle driving control device controls the driving device or the brake. Either one of the devices, or both the driving device and the braking device. In addition, some people can drive the vehicle on a predetermined route automatically, or they can use the electromagnetic induction line to control the forward direction of the vehicle. With this, it can also be applied to a person using an electromagnetic induction line to automatically drive a vehicle on a predetermined route, and a predetermined route embedding mark buried on the road surface of the predetermined route can be used to control the speed of the vehicle and improve the position of the vehicle speed Set the degrees of freedom.

Furthermore, in a vehicle with a predetermined route, the tire pressure of a plurality of wheels or the hardness of an elastic material used in a plurality of wheels may change over the years. When the tire pressure of a plurality of wheels of a vehicle running on a predetermined route changes over the years, the driving posture of the vehicle changes. In addition, when the thickness of a part of a plurality of wheels of a vehicle that is driven by a predetermined route and is formed by an elastic material and is in contact with the road surface changes over time due to abrasion, the driving posture of the vehicle changes. In addition, when the hardness of the elastic material used in a plurality of wheels of a vehicle traveling on a predetermined route is changed over the years, the driving posture of the vehicle changes. In such cases, similar to the change in the passenger's riding condition, the vehicle travel control device generates an error based on the actual travel distance estimated from the physical quantity related to the rotation of the wheel detected by the wheel rotation detector. However, according to the configuration of the present invention, the vehicle travel control device corrects the actual travel distance based on the information about the vehicle speed embedded in the reference predetermined route embedded mark in order to eliminate the error of the actual travel distance caused by such situations. That is, when the embedded mark of a predetermined route is detected, based on the year-on-year change in the tire pressure of the plurality of wheels, the year-on-year change in the thickness of the portion of the plurality of wheels made of the elastic material and the road surface caused by wear, And the actual distance traveled over the course of the year varies with the hardness of the elastic material used in the plurality of wheels.

(2) According to one aspect of the present invention, it is preferable that the vehicle having a predetermined route of the present invention has the following configuration in addition to the above-mentioned configuration (1). It may be that the vehicle travel control device is related to vehicle speed-related information based on a reference predetermined route embedded marker when the predetermined route embedded marker is detected by the predetermined route embedded marker detector during the driving along the predetermined route, The actual driving distance is reset to 0, thereby correcting the actual driving distance.

According to this configuration, when the embedded mark of a predetermined route is detected, based on the vehicle speed related information of the reference embedded route, the actual travel distance is reset to 0, thereby eliminating errors caused by changes in the diameter of a plurality of wheels.

(3) According to one aspect of the present invention, it is preferable that the vehicle having a predetermined route of the present invention has the following configuration in addition to the above-mentioned configuration (1). It may be that the vehicle travel control device is information related to vehicle speed based on the reference predetermined route embedded distance when the predetermined route embedded mark is detected by the predetermined route embedded mark detector during the travel along the predetermined route. , Correcting the actual driving distance to a driving distance based on the predetermined route embedding mark, thereby correcting the actual driving distance.

According to this configuration, when the embedded mark of a predetermined route is detected, based on the vehicle speed information related to the reference embedded mark of the predetermined route, the actual travel distance can be corrected to the driving distance based on the embedded mark of the predetermined route, eliminating the need for multiple wheels. The error caused by the change in diameter.

(4) According to one aspect of the present invention, it is preferable that the vehicle having a predetermined route of the present invention has the following constitution in addition to the constitution of any one of (1) to (3) above. It may be that the vehicle travel control device is related to the vehicle speed-related information of the reference predetermined route embedded mark when the predetermined route embedded mark is detected by the predetermined route embedded mark detector during the travel along the predetermined route. The difference between the travel distance and the actual travel distance is memorized as the error, and the actual travel distance is corrected based on the memorized error.

The change in the diameter of the plurality of wheels caused by the chronological change in the tire pressure of the plurality of wheels is constantly generated regardless of the passengers getting on and off the vehicle. This makes it possible, for example, to correct the wheel diameter based on the memorized errors. In particular, errors caused by changes in the diameter of the plurality of wheels caused by the chronological changes in the tire pressure of the plurality of wheels can be eliminated. Moreover, the vehicle speed control accuracy of a vehicle with a predetermined route can be improved.

(5) According to one aspect of the present invention, it is preferable that the vehicle having a predetermined route of the present invention has the following constitution in addition to the constitution of any one of (1) to (4) above. It may be that the vehicle speed-related information of the above-mentioned reference route embedding mark includes information obtained by associating the above-mentioned established route embedding mark with the travel distance based on the above-mentioned established route embedding mark; The information obtained by correlating the travel distance with the vehicle speed; and when the vehicle travel control device detects the embedded mark of the predetermined route by the embedded mark detector, in order to eliminate the error, based on the embedded mark of the predetermined route and the The actual distance travelled is established by correlating information obtained by using the predetermined route embedded mark as a reference, based on the actual distance travelled, and the information obtained by associating the distance traveled with the predetermined route embedded mark as a reference and the vehicle speed. Controls the driving device and the braking device.

According to this configuration, the vehicle speed-related information on the reference route embedding mark embedded travel distance associates the predetermined route embedding mark with the travel distance based on the predetermined route embedding mark. Thereby, when the embedded mark of the predetermined route is detected, the actual traveling distance is corrected to the traveling distance based on the embedded mark of the predetermined route. Thereby, the accuracy of the actual traveling distance becomes high. As a result, it is possible to improve the control accuracy of the vehicle speed of a vehicle traveling on a predetermined route. Reference information on vehicle speed with reference mark embedded route travel distance relates vehicle speed to distance travelled with reference mark embedded route as reference. That is, the vehicle speed may not be associated with a predetermined route embedding mark. Thereby, the position indicating the vehicle speed can be easily changed only by changing the information related to the vehicle speed by embedding the marker predetermined distance on the predetermined route. As a result, the degree of freedom in setting the position indicating the vehicle speed can be further increased.

(6) According to one aspect of the present invention, it is preferable that the vehicle having a predetermined route of the present invention has the following constitution in addition to the constitution of (5) above. It may be that, in the information about the vehicle speed of the reference route embedded in the above-mentioned predetermined route, the amount of information obtained by associating the above-mentioned route embedded indicator with the travel distance based on the above-mentioned route embedded reference is less than the information based on the above-mentioned established route. The amount of information obtained by correlating the travel distance with the embedded mark as the reference and the above-mentioned vehicle speed.

According to this configuration, the number of positions at which the vehicle speed is instructed is greater than the number of embedded marks on a predetermined route. Since a position is set according to the actual travel distance to indicate the vehicle speed of a vehicle traveling on a predetermined route, it is possible to increase the position corresponding to the actual travel distance to indicate the vehicle speed without increasing the position of the embedded mark embedded in the predetermined route. Thereby, the number of embedded marks on a predetermined route can be suppressed, and the frequent vehicle speed indication of a vehicle with a predetermined route can be realized. In addition, since a position is set to indicate the vehicle speed of a vehicle traveling on a predetermined route automatically according to the actual travel distance, a position indicating the vehicle speed in detail can be set without increasing the number of embedded marks embedded in a predetermined route. Thereby, the number of embedded marks on a predetermined route can be suppressed, and detailed control of the vehicle speed of a vehicle with a predetermined route can be realized.

(7) According to one aspect of the present invention, it is preferable that the vehicle having a predetermined route of the present invention has the following constitution in addition to the constitution of any one of (5) or (6) above. It may be that the vehicle with a predetermined route automatically drives the vehicle and further includes a vehicle forward direction control device that controls the forward direction of the vehicle along the predetermined route. The reference predetermined route embeds a marker, and the distance-related vehicle speed information includes: The information related to the above-mentioned established route embedment mark, travel distance, vehicle speed, and forward direction of the vehicle are related to each other, and the travel distance based on the above-mentioned established route embedment mark as the reference and the information related to the forward direction of the vehicle are established According to the information, the vehicle driving control device controls the driving device and the braking device based on the vehicle speed-related information of the actual travel distance and the reference predetermined route embedded mark travel distance when detecting the embedded mark of the predetermined route, and uses the The vehicle forward direction control device controls the forward direction of the vehicle.

According to this configuration, a person automatically drives the vehicle on a predetermined route and further includes a vehicle forward direction control device. The vehicle forward direction control device controls the forward direction of the vehicle along a predetermined route. The information related to the vehicle speed of the reference route embedded mark embedded travel distance will be related to the information of the route embedded mark, travel distance, vehicle speed, and forward direction of the vehicle. In addition, the vehicle speed-related information on the reference route embedding mark embedded travel distance includes information obtained by associating the embedded route embedding mark, the travel distance based on the predetermined route embedding mark, and the information related to the forward direction of the vehicle. Thereby, the vehicle's forward direction control device can control the forward direction of the vehicle on a predetermined route automatically based on the actual traveling distance and the information about the vehicle speed embedded in the reference predetermined route.

(8) According to one aspect of the present invention, it is preferable that the vehicle having a predetermined route of the present invention has the following constitution in addition to the constitution of any one of (1) to (6) above. The above-mentioned someone may automatically drive the vehicle on a predetermined route and further includes a vehicle forward direction control device that controls the forward direction of the vehicle along the predetermined route, and further includes an electromagnetic induction line detector that detects the electromagnetic induction line. The device detects the electromagnetic induction line embedded along the predetermined route, and the vehicle forward direction control device controls the forward direction of the vehicle along the electromagnetic induction line detected by the electromagnetic induction line detector.

According to this configuration, a person automatically drives the vehicle on a predetermined route and further includes a vehicle forward direction control device. The vehicle forward direction control device controls the forward direction of the vehicle along a predetermined route. Someone automatically runs a vehicle on a predetermined route and further includes an electromagnetic induction line detector, which detects the electromagnetic induction line buried along the predetermined route. The electromagnetic induction line is buried along a predetermined route. Further, the vehicle forward direction control device controls the forward direction of the vehicle along the electromagnetic induction line detected by the electromagnetic induction line detector. Thereby, the vehicle forward direction control device can control the forward direction of the vehicle to automatically travel on a predetermined route based on the electromagnetic induction line.

(9) According to one aspect of the present invention, it is preferable that the vehicle having a predetermined route of the present invention has the following constitution in addition to the constitution of any one of (1) to (8) above. It may be that the information related to the vehicle speed embedded in the reference predetermined route embedded mark includes the information obtained by associating the predetermined route embedded mark with the predetermined route embedded mark in the order from the start of the predetermined route.

According to this configuration, it is possible to grasp the position where the mark is embedded in the predetermined route based on the order from the start point of the predetermined route to the mark embedded in the predetermined route. Therefore, the actual traveling distance can be accurately corrected. In particular, when it has the structure of (9) in addition to the structure of (3), the following effects are obtained. For example, even if the detected embedded mark of a predetermined route is skipped, the order of embedded marks of a predetermined route can be grasped based on the actual distance traveled from the starting point of the embedded mark of the predetermined route.

(10) According to one aspect of the present invention, it is preferable that the vehicle having a predetermined route of the present invention has the following constitution in addition to the constitution of any one of (1) to (8) above. It may be that the predetermined route embedded mark detector further detects the identification information of the predetermined route embedded mark, and the reference predetermined route embedded mark travel distance vehicle speed-related information includes establishing the predetermined route embedded mark and the predetermined route embedded mark identification information. Associated information.

With this configuration, it is possible to accurately grasp the position of the predetermined route embedding mark based on the predetermined route embedding mark having the identification information. For example, even if the order of the embedded markers of a predetermined route detected from the starting point is not clear, the position of the embedded markers of a predetermined route can be grasped. Therefore, the actual travel distance can be corrected more accurately.

(11) According to one aspect of the present invention, it is preferable that the vehicle having a predetermined route of the present invention has the following configuration in addition to the configuration of any one of (1) to (10) above. The above-mentioned embedded mark of the predetermined route may be a magnetic or radio-type embedded mark of the predetermined route.

According to this configuration, the present invention can use a conventional magnetic or radio wave type predetermined route to embed a mark.

(12) According to an aspect of the present invention, it is preferable that the vehicle having a predetermined route for the autonomous driving of the present invention has the following constitution in addition to the constitution of any one of (1) to (11) above. The above-mentioned autonomous vehicle for a predetermined route may be a golf cart.

With this configuration, the present invention can be easily applied to a conventional golf cart.

<Definition of an Autonomous Vehicle with a Manned Route> In the present invention, the "autonomous vehicle with a manned route" refers to a vehicle that can carry passengers and automatically drive along a predetermined route. Examples of autonomous vehicles with a predetermined route include golf carts, autonomous buses, and small automatic electric vehicles. In the present invention, the "automatic driving" means that the vehicle speed is controlled and driven without the operation of a driving device or a braking device performed by an operator. In the present invention, the term "automatic driving" refers to a case where the speed of the vehicle is controlled without the operation of the driving device or the braking device performed by the operator, and the steering operation is performed without the operator. Next, control the forward direction and drive. Operators include passengers and remote operators.

<Definition of a Predetermined Route> In the present invention, the "predetermined route" refers to a route traveled by a vehicle with a predetermined route automatically traveling. In the present invention, the “starting point of a predetermined route” refers to a position of a predetermined route where a vehicle is automatically driven by a predetermined route. The starting point of a given route is 1 for a given route.

<Definition of a predetermined route embedding mark> In the present invention, the "predetermined route embedding mark" means a mark buried in a predetermined route and a mark that can be detected by the predetermined route embedding mark detection unit. Embedding a mark on a predetermined route includes not only a case where it is buried on a predetermined route so as not to be exposed to the outside of the mark, but also a case where it is buried on a predetermined route so that part of the mark is exposed to the outside.

<Definition of a golf cart> In the present invention, a "golf cart" refers to a golf course or the like, and a person who travels along a predetermined route and carries a heavy object such as a golf club bag or a player, and travels along a predetermined route. Furthermore, a "golf cart" is also called a "golf cart".

<Definition of a sitting state> In the present invention, the "seat" means that a passenger is seated in a seat, and the "seat state" refers to whether the passenger is seated in a seat.

<Definition of Vehicle Driving Control Device> In the present invention, the "vehicle driving control device that controls the driving device or the braking device" means that the control object of the vehicle driving control device includes both the braking device and the driving device, and the vehicle travels. The control device controls either the driving device or the braking device, or both the driving device and the braking device.

<Definition of Wheel> In the present invention, a wheel includes a tire and a rim body that holds the tire. In the present invention, the term “radial elastic deformation of a plurality of wheels” means a change in elasticity in the radial direction caused by a change in the load applied to each wheel in accordance with a passenger's riding condition on a plurality of seats. That is, in the present invention, the radial elastic deformation of the plurality of wheels does not include the radial elastic deformation caused by the weight of the vehicle body when the passengers are not seated in the plurality of seats.

<Definition of Other Terms> In the present invention and the present specification, a straight line along the A direction is not limited to a straight line parallel to the A direction. The straight line along the A direction is not particularly limited, and includes a straight line inclined within a range of -45 ° or more and + 45 ° or less with respect to the straight line indicating the A direction. The same definition can be applied to other expressions that use "along". Other expressions that use "along" are, for example, "a direction along the A direction", "a plurality of Bs are arranged along the A direction", or "one B is along the A direction", and the like. Moreover, the A direction does not mean a specific direction. The A direction may be replaced by a horizontal direction or a front-rear direction.

In the present invention and the present specification, it is not particularly limited that A is located further forward than B, and means the following state. A is located in front of a plane passing through the foremost end of B and orthogonal to the front-back direction. A and B may or may not be arranged in the front-rear direction. When B is a plane or straight line orthogonal to the front-rear direction, the so-called plane passing through the front end of B means the plane passing through B. When B is a straight line or a plane of infinite length in the front-rear direction, the foremost end of B is not specified. A straight line or a plane having an infinite length in the front-rear direction is not limited to a straight line or a plane parallel to the front-rear direction. Furthermore, regarding B, under the same conditions, the same definition applies to the expression that A is located behind B. Also, regarding B, under the same conditions, the same definition applies to the expressions that A is located above or below B and A is located right or left than B.

In the present invention and the present specification, when B is a plane with an infinite length in the front-rear direction, the so-called A is located in front of B refers to the following state. There is A in the space in front of the 2 spaces separated by B. Furthermore, regarding B, under the same conditions, the same definition applies to the expression that A is located behind B. Also, regarding B, under the same conditions, the same definition applies to the expressions that A is located above or below B and A is located right or left than B.

In the present invention and the present specification, when viewed in the X direction different from the front-rear direction, and B is a straight line of infinite length in the front-rear direction, viewed in the X direction, the so-called A is located further forward than B refers to the following status. When viewed in the X direction, A is present in the front area among the 2 areas separated by the B area. As long as B is a straight line when viewed in the X direction, it may be flat in three dimensions. Furthermore, regarding B and the observation direction, under the same conditions, the same definition applies to the expression that A is further behind B than B. Also, regarding B and the observation direction, under the same conditions, when viewing from any direction, the same definitions apply to the expressions that A is located above or below B and A is located right or left than B.

In the present invention and the present specification, the term A precedes B is not particularly limited, and means the following states. At least a part of the surface after A and at least a part of the surface before B face each other in the front-rear direction. Furthermore, the foremost end of B is located further rearward than the foremost end of A and the rearmost end of B is located further forward than the rearmost end of A. The surface after A refers to the surface observed when A is viewed from behind. The surface after A can be either a continuous surface or a plurality of discontinuous surfaces. The definition of B's previous surface is the same. Furthermore, the same definitions apply to the expressions that A is behind B, A is above or below B, and A is to the right or left of B.

In the present invention and the present specification, when viewed in the X direction which is a direction different from the front-rear direction, the so-called A before B is not particularly limited, and means the following state. As viewed in the X direction, at least a part of the rear end of A and at least a part of the front end of B face in the front-back direction. Further, the foremost end of B is further rearward than the foremost end of A and the rearmost end of B is located further forward than the rearmost end of A. When viewing A and B from a Y direction that is different from the X direction, at least a part of the rear end of A may not face at least a part of the front end of B in the front-back direction. Furthermore, when viewed in any direction, the same definitions apply to the expressions that A is behind B, A is above or below B, and A is to the right or left of B.

In the present invention, the use of derivatives including, including, having, and the like is intended to include additional items in addition to the listed items and their equivalents. In the present invention, the terms mounted, connected, coupled, and supported are used in a broad sense. Specifically, it includes not only direct installation, connection, integration, and support, but also indirect installation, connection, integration, and support. Furthermore, connected and coupled are not limited to physical or mechanical connections / couplings. They also include direct or indirect electrical connections / couplings.

Unless otherwise defined, all terms (including technical terms and scientific terms) used in this specification have the same meanings as those commonly understood by those skilled in the art. Terms like those defined by commonly used dictionaries should be understood to have meanings consistent with the meaning of the relevant technology and above and below in this disclosure, and should not be interpreted in an idealized or over-formalized sense.

In this specification, the term "better" means non-exclusive. "Better" means "better but not limited to this." In this specification, a structure described as "preferred" exhibits at least the above-mentioned effects obtained by the structure described in (1) above. In addition, in this specification, the term "may also be" means non-exclusive. "May also be" means "may also be but not limited to this." In this specification, a configuration described as "may be" exhibits at least the above-mentioned effects obtained by the configuration of (1) above.

When the number of certain constituent elements is not explicitly specified in the scope of the patent application, and when it is expressed in singular when translated into English, the present invention may also have a plurality of such constituent elements. The present invention may have only one of these constituent elements.

In the present invention, the above-mentioned preferred structures are not limited to be combined with each other. Before describing the embodiments of the present invention in detail, it should be understood that the present invention is not limited to the details of the configuration and arrangement of the constituent elements described in the following description or illustrated in the drawings. The present invention may be implemented in embodiments other than the following embodiments. The present invention may be implemented by adding various changes to the following embodiments. The present invention can be implemented by appropriately combining the following modifications. [Effect of the invention]

According to the present invention, a person traveling on a predetermined route automatically can also be applied to a person traveling on a predetermined route using an electromagnetic induction line, and an embedded mark buried on a road of the predetermined route can be used to control the speed of the vehicle, and can improve the vehicle speed. Set the degree of freedom for the position where the vehicle speed indicates.

Hereinafter, an embodiment of the present invention will be described with reference to FIG. 1. In the description of this embodiment of the present invention, the so-called front-rear direction, left-right direction, and up-down direction are the front-rear direction of the vehicle, the left-right direction of the vehicle, and the up-down direction of the vehicle, respectively. The arrows F, B, U, D, R, L, and R in the drawings in this case indicate the forward direction, the backward direction, the upward direction, and the downward direction, respectively.

As shown in FIG. 1, a predetermined route automatic traveling vehicle 1 includes a plurality of seats 2, a plurality of wheels 3, a driving device 4, a braking device 5, a predetermined route embedded mark detector 7, and a vehicle traveling control device 20.

The plurality of seats 2 are configured to be seated by a plurality of passengers (not shown). The plurality of wheels 3 are configured to be elastically deformed in the radial direction according to a passenger's riding condition on the plurality of seats 2.

The driving device 4 applies driving force to at least one of the plurality of wheels 3. The braking device 5 applies a braking force to at least one of the plurality of wheels 3.

The predetermined route embedded mark detector 7 detects a plurality of predetermined route embedded marks 31 embedded along the predetermined route 30.

The vehicle running control device 20 controls the driving device 4 or the braking device 5 by using a plurality of predetermined route embedded marks 31 detected by the predetermined route embedded mark detector 7.

The vehicle 1 has a predetermined route, and further has a wheel rotation detector 6. The wheel rotation detector 6 detects a physical quantity related to the rotation of at least one of the plurality of wheels 3.

The vehicle travel control device 20 performs the following processing (a). The vehicle travel control device 20 previously memorizes the reference speed information 21a of the reference route embedding mark travel distance obtained by correlating the information related to the predetermined route embedding mark 31, travel distance, and vehicle speed.

The vehicle travel control device 20 performs the following processing (b). The vehicle travel control device 20 estimates the actual travel distance based on the physical quantity related to the rotation of the wheel detected by the wheel rotation detector 6 during the travel along the predetermined route 30.

The vehicle travel control device 20 performs the following processing (c). Here, the actual travel distance estimated by the vehicle travel control device 20 may include an error. In order to eliminate this error, the vehicle travel control device 20 corrects the actual travel distance on the basis of the reference route travel distance vehicle speed-related information 21a when the predetermined path embedment mark detector 7 detects the predetermined route embedment mark detector 7. The error is caused by a change in the diameter of the plurality of wheels 3 that are elastically deformed in the radial direction according to the passenger's riding condition on the plurality of seats 2.

The vehicle travel control device 20 performs the following processing (d). The vehicle travel control device 20 controls the drive device 4 or the brake device 5 based on the actual travel distance and the reference speed-embedded vehicle speed-related information 21a of the predetermined route.

Due to such a structure, the human-routed vehicle 1 with a predetermined route in this embodiment can also be applied to a vehicle with a predetermined route using an electromagnetic induction line, and a mark 31 embedded in a predetermined route on a road surface of the predetermined route 30 can be embedded. It is used to control the speed of the vehicle, and to increase the setting freedom of the position that instructs the speed of the vehicle.

More specifically, the vehicle travel control device 20 memorizes in advance the reference predetermined path embedded mark travel distance vehicle speed related information 21a obtained by correlating the information related to the predetermined route embedded mark 31, travel distance, and vehicle speed. That is, by associating the information related to the vehicle speed with the travel distance, it is possible to easily change the position that instructs the vehicle speed.

The vehicle travel control device 20 performs the following processing while traveling along a predetermined route 30. The vehicle travel control device 20 estimates an actual travel distance based on a physical quantity related to the rotation of the wheel 3 detected by the wheel rotation detector 6. Here, as described above, the actual travel distance estimated by the vehicle travel control device 20 may include an error. In order to eliminate this error, the vehicle travel control device 20 corrects the actual travel distance on the basis of the reference route travel distance vehicle speed-related information 21a when the predetermined path embedment mark detector 7 detects the predetermined route embedment mark detector 7. That is, when the predetermined route embedded mark 31 is detected, the actual traveling distance based on the diameter change of the plurality of wheels 3 caused by the passenger's riding condition is corrected. Thereby, the accuracy of the actual traveling distance becomes high.

Further, the vehicle travel control device 20 controls the drive device 4 or the brake device 5 based on the actual travel distance and the reference speed-embedded vehicle speed-related information 21a of the reference predetermined route. In addition, someone may automatically drive the vehicle 1 on a predetermined route, or use the electromagnetic induction line 32 to control the forward direction of the vehicle. However, someone may automatically drive the vehicle 1 on a predetermined route, and it may not be a person who uses the electromagnetic induction line 32 to control the forward direction of the vehicle. With this, it can also be applied to a person using the electromagnetic induction line 32 to automatically drive the vehicle 1 on a predetermined route, and the predetermined route embedding mark 31 buried on the road surface of the predetermined route 30 can be used to control the vehicle speed, and the vehicle speed can be improved. Set the degree of freedom of the indicated position.

(Specific Example 1 of Embodiment) Next, a specific example 1 of the embodiment of the present invention described above will be described with reference to FIGS. 2 to 9. Specific example 1 of this embodiment is an example in which the present invention is applied to a golf cart. It should be noted that in the following description, the description of the same parts as those of the embodiment of the present invention will be omitted. Basically, the specific example 1 of the embodiment of the present invention has all the features of the embodiment of the present invention described above.

In the following description, unless otherwise specified, the so-called front-rear direction refers to the front-rear direction of the vehicle. The so-called forward and backward direction of the vehicle is viewed from the front and rear direction of the passenger who is seated on the following seat 2 of the golf cart 1. In the following description, the left-right direction is the left-right direction of the vehicle. The left-to-right direction of the vehicle is the left-to-right direction as viewed from a passenger seated on the seat 2 of the golf cart 1 described below. The left-right direction of the vehicle is also the width direction of the golf cart 1. In the following description, unless otherwise specified, the so-called up-down direction is the up-down direction of the vehicle. The up-down direction of the vehicle is an up-down direction in a state where the golf cart 1 stands upright on a horizontal road surface. The arrow F, arrow B, arrow U, arrow D, arrow L, and arrow R shown in each figure indicate the forward direction, rearward direction, upward direction, downward direction, leftward direction, and rightward direction, respectively.

<Overall Structure of Golf Cart> FIG. 2 is a side view schematically showing a golf cart according to a specific example of this embodiment. Fig. 3 is a block diagram showing a schematic configuration of a golf cart. As shown in FIGS. 2 and 3, the golf cart 1 includes a vehicle body 9 and four wheels 3. Two of the four wheels 3fl, 3fr, 3rl, and 3rr are front wheels 3fl, 3fr. The two front wheels 3fl and 3fr are arranged on the front of the vehicle body 9 in a row in the left-right direction. Two of the four wheels 3fl, 3fr, 3rl, and 3rr are the rear wheels 3rl, 3rr. The two rear wheels 3rl and 3rr are arranged in a row in the left-right direction at the rear of the vehicle body 9. The golf cart 1 travels by rotating four wheels 3. A rotation angle sensor 6 is provided on the rear wheel 3rl. The rotation angle sensor 6 detects the rotation angle of the rear wheel 3rl. The rotation angle sensor 6 includes, for example, a rotary encoder. The rotation angle sensor 6 outputs a signal of the detected rotation angle of the rear wheel 3rl to the vehicle travel control device 20. The rotation angle sensor 6 corresponds to a wheel rotation detector of the present invention. The rotation angle sensor 6 may be provided on any of the front wheels 3fl, 3fr, and the rear wheels 3rr.

The golf cart 1 includes a seat 2 and a ceiling portion 9a. Seat 2 can accommodate multiple passengers. The seat 2 includes a front seat 2f and a rear seat 2r. The front seat 2f and the rear seat 2r are arranged on the vehicle body 9 so as to be aligned in the front-rear direction. The front seat 2f and the rear seat 2r can seat two passengers respectively. The front seat 2f is arranged further forward than the rear seat 2r. The ceiling portion 9a is disposed above the front seat 2f and the rear seat 2r.

The golf cart 1 includes a driving device 4 and a braking device 5. The driving device 4 includes a driving motor M and a battery B. The golf cart 1 is an electric vehicle, and the drive motor M is an electric motor. The drive motor M is connected to the battery B. The battery B supplies electric power for driving the golf cart 1 to the driving motor M. The drive motor M drives the rear wheels 3rr and 3rl. The brake device 5 is a disc brake device D. The disc brake device D is provided on each of the four wheels 3. The disc brake device D brakes four wheels 3.

The golf cart 1 is provided with a predetermined course embedded mark detection sensor 7. The predetermined route-embedded mark detection sensor 7 is installed in the lower part of the vehicle body 9. The predetermined route embedded mark detection sensor 7 corresponds to the predetermined route embedded mark detector of the present invention. The predetermined route embedded mark detection sensor 7 detects the predetermined route embedded mark 31. As shown in FIG. 4, a plurality of predetermined route embedding marks 31 are embedded along the predetermined route 30. The predetermined route embedded mark 31 is a magnetic type embedded route embedded mark. Each of the predetermined route embedding marks 31 includes one magnet. In FIG. 4, a plurality of predetermined route embedding marks 31 are embedded from the starting point S of the predetermined route 30. Furthermore, in the example of FIG. 4, a predetermined route embedding mark 31 is embedded at the starting point S of the predetermined route 30. The predetermined route embedding mark 31 embedded in the starting point S of the predetermined course 30 is the predetermined route embedding mark 31 that has passed since the golf cart 1 was started. The predetermined route embedded mark detection sensor 7 is configured to read magnetic field information from the predetermined route embedded mark 31. In the example of FIG. 4, the predetermined route embedded mark detection sensor 7 reads the presence or absence of magnetic lines of force from the predetermined route embedded mark 31. A mark detection sensor 7 series magnetic sensor is embedded in the predetermined route. The predetermined route embedded mark detection sensor 7 detects a predetermined route embedded mark 31 when the golf cart 1 passes the predetermined route embedded mark 31. When the predetermined route embedded mark 31 is detected, the predetermined route embedded mark detection sensor 7 outputs a signal indicating that the predetermined route embedded mark 31 is detected to the vehicle travel control device 20 described below.

The golf cart 1 includes an induction line sensor 8. The induction line sensor 8 is disposed on the lower portion of the vehicle body 9. The induction line sensor 8 corresponds to the electromagnetic induction line detector of the present invention. The induction line sensor 8 detects an electromagnetic induction line 32. As shown in FIG. 4, the electromagnetic induction line 32 is buried along a predetermined route 30. The electromagnetic induction line 32 transmits electromagnetic waves. The induction line sensor 8 receives electromagnetic waves transmitted by the electromagnetic induction line 32. When the induction line sensor 8 receives an electromagnetic wave from the electromagnetic induction line 32, it outputs a detection signal indicating the strength of the electromagnetic induction line 32 to the vehicle forward direction control device 10 described below. The vehicle forward direction control device 10 detects a deviation in the width direction of the golf cart 1 based on the detection signal. The vehicle forward direction control device 10 eliminates deviations in the width direction of the golf cart 1 and controls the vehicle forward direction control device 10 so that the golf cart 1 travels along a predetermined route 30.

As shown in FIGS. 2 and 3, the golf cart 1 includes a steering wheel rim 11. The steering rim 11 is arranged in front of a passenger seated in the front seat 2f. The steering rim 11 is operated by a passenger to change the forward direction of the golf cart 1. The front wheels 3fr and 3fl are steered by the rotation of the steering wheel 11. The golf cart 1 according to this embodiment is driven by controlling the forward direction by either of the automatic driving mode and the manual driving mode. The automatic driving mode and the manual driving mode are switched by operating with an operator (not shown). In the automatic driving mode, the forward direction of the golf cart 1 is controlled independently of the operation of the steering rim 11. In the manual driving mode, the passenger operates the steering rim 11 to control the forward direction of the golf cart 1.

The golf cart 1 includes an accelerator pedal 12 and a brake pedal 13. The accelerator pedal 12 is operated by a passenger to cause the golf cart 1 to travel. The accelerator pedal 12 is connected to the driving device 4. The brake pedal 13 is operated by a passenger to brake the golf cart 1. The brake pedal 13 is connected to the brake device 5. The golf cart 1 according to this embodiment is driven by controlling the speed of the vehicle in any of the automatic driving mode and the manual driving mode. The automatic driving mode and the manual driving mode are switched by operating with an operator (not shown). Furthermore, the switching between the automatic driving mode and the manual driving mode may be performed according to the control of the forward direction and the control of the vehicle speed. In addition, the switching between the automatic driving mode and the manual driving mode may be a controller that separately performs the control of the forward direction and the vehicle speed. In the automatic driving mode, the vehicle speed of the golf cart 1 is controlled independently of the operation of the accelerator pedal 12 and the brake pedal 13. In the manual driving mode, the passenger operates the accelerator pedal 12 and the brake pedal 13 to control the vehicle speed of the golf cart 1.

<Schematic configuration of vehicle forward direction control device and vehicle travel control device> As shown in FIG. 3, it is a block diagram showing a schematic configuration of a golf cart. The golf cart 1 includes a vehicle forward direction control device 10 and a vehicle travel control device 20. The vehicle forward direction control device 10 and the vehicle travel control device 20 each include a calculation unit and a memory unit (not shown). The arithmetic unit includes, for example, a CPU (Central Processing Unit).

A detection signal from the induction line sensor 8 is input to the vehicle forward direction control device 10. The vehicle forward direction control device 10 controls the forward direction of the golf cart 1 by turning the front wheels 3fr and 3fl along a predetermined route 30 based on a detection signal from the induction line sensor 8.

The vehicle travel control device 20 includes a reference predetermined route embedded mark travel distance vehicle speed related information storage unit 21, an actual travel distance estimation unit 22, an actual travel distance correction unit 23, and an actual travel distance vehicle speed control unit 24. The reference predetermined route embeds a marker travel distance, a vehicle speed-related information storage unit 21, an actual travel distance estimation unit 22, an actual travel distance correction unit 23, and an actual travel distance vehicle speed control unit 24. The memory unit is executed by a CPU (not shown). Constituted by memorized procedures. A signal from the rotation angle sensor 6 and the predetermined route embedded mark detection sensor 7 is input to the vehicle travel control device 20. The vehicle travel control device 20 outputs a signal to the drive device 4 or the brake device 5.

The reference predetermined route embedment mark travel distance vehicle speed-related information storage unit 21 performs the following processing (a). The reference predetermined route embedded mark travel distance vehicle speed-related information storage unit 21 stores the reference predetermined route embedded mark travel distance vehicle speed-related information 21a in the vehicle travel control device 20 in advance. The reference speed 21a of the reference route embedded mark travel distance vehicle speed related information is information obtained by correlating the information related to the predetermined route embedded mark 31, the travel distance related information, and the vehicle speed related information. The vehicle speed-related information 21a based on the reference route embedded mark travel distance includes information obtained by associating the predetermined route embedded mark 31 with the travel distance based on the predetermined route embedded mark. In addition, the vehicle speed related information 21a based on the reference route embedded mark travel distance vehicle speed includes information obtained by associating the travel distance based on the predetermined route embedded mark 31 with the vehicle speed.

A specific example of the vehicle speed-related information 21a of the reference predetermined route embedded mark travel distance is shown in FIG. 5. In FIG. 5, the information related to the predetermined route embedding mark 31 shows a number indicating the order of the predetermined route embedding mark 31 from the start point S of the predetermined route 30. The information related to the driving distance is a mark 31 (numbered 1 and 2) embedded for each predetermined route sequentially buried from the starting point S of the predetermined route 30, which indicates the distance from the mark 31 embedded in the predetermined route. In addition, the predetermined route embedding mark 31 of the number 1 is the predetermined route embedding mark 31 embedded in the starting point S. The vehicle speed-related information indicates the vehicle speed of the golf cart 1. As shown in FIG. 5, the vehicle speed-related information 21 a based on the reference route embedding mark travel distance means that the travel distance is memorized as 0 whenever the predetermined route embed mark 31 exists. In addition, the vehicle speed-related information 21a based on the reference route embedded mark travel distance vehicle speed memorizes a vehicle speed based on the travel distance from the predetermined route embedded mark 31. As shown in FIG. 5, for example, the vehicle speed-related information 21a embedded in the reference predetermined route and the vehicle speed is stored as the target vehicle speed 2 km / when the driving distance is 1 m from the predetermined route embedded mark 31 (number 2). h. The vehicle speed-related information 21a of the reference predetermined route embedded mark travel distance is generated in advance when the golf cart 1 travels on the predetermined route 30.

Here, the amount of information obtained by associating the predetermined route embedded mark 31 with the driving distance based on the predetermined route embedded mark 31 is less than the information obtained by associating the driving distance based on the predetermined route embedded mark 31 with the vehicle speed. Of quantity. In the example of FIG. 5, the number of pieces of information obtained by associating the predetermined route embedded mark 31 with the travel distance based on the predetermined route embedded mark 31 is two. On the other hand, the number of pieces of information obtained by associating the travel distance based on the predetermined route embedded mark 31 with the vehicle speed is nine.

The actual travel distance estimation unit 22 performs the following processing (b). The actual travel distance estimating unit 22 estimates the actual travel distance based on a physical quantity related to the rotation of at least one of the wheels 3 detected by the wheel rotation detector 6 during the travel along the predetermined route 30.

The actual travel distance estimation unit 22 receives a signal that detects the rotation angle of the rear wheel 3rl by the rotation angle sensor 6. The actual traveling distance estimation unit 22 estimates the actual traveling distance of the golf cart 1 during traveling along the predetermined route 30. The actual travel distance estimating unit 22 estimates the actual travel distance of the golf cart 1 based on the signal of the rotation angle of the rear wheel 3rl detected by the rotation angle sensor 6 and the diameter of the rear wheel 3rl is memorized in advance. The actual travel distance estimating unit 22 is based on the point in time when the mark 31 is buried through the predetermined route, and based on the information related to the rotation angle of the rear wheel 3rl output from the rotation angle sensor 6, it is estimated that the mark 31 is buried through the predetermined route. The actual distance traveled since time. The actual travel distance estimating unit 22 stores information related to the diameter of the rear wheel 3rl in advance. The actual travel distance estimating unit 22 may estimate the golf ball from the time point when the mark 31 is passed through the predetermined route based on the rotation angle (revolutions) of the rear wheel 3rl and the diameter of the rear wheel 3rl from the point when the mark 31 is passed through the predetermined route. The actual driving distance of the cart 1. Specifically, the actual travel distance estimating unit 22 measures the angle of rotation of the rear wheel 3rl from the start point S of the predetermined route 30 to the time point when the mark 31 is passed through the predetermined route by the rotation angle sensor 6, by Multiply the diameter of the rear wheel 3rl to estimate the actual travel distance.

The actual travel distance correction unit 23 performs the following processing (c). The actual travel distance correction unit 23 is configured to correct the actual travel distance based on the reference travel information of vehicle speed 21 embedded in the reference route to eliminate the error of the actual travel distance when the predetermined route embedded mark 31 is detected by the predetermined route embedded mark detection sensor 7. Actual distance traveled. As described above, the error of the actual travel distance is an error caused by a change in the diameter of the plurality of wheels 3 caused by the passenger's riding condition.

The actual travel distance correction unit 23 corrects the actual travel distance in order to eliminate the error of the actual travel distance estimated from the rotation angle of the rear wheel 3rl detected by the rotation angle sensor 6. The error of the actual driving distance is caused by the change in the diameter of the rear wheel 3 caused by the passenger's riding condition. The actual travel distance correction unit 23 corrects the actual travel distance estimated by the actual travel distance estimation unit 22 based on the vehicle speed-related information 21 embedded in the reference predetermined route with the marker travel distance. As shown in FIG. 5, the vehicle speed-related information 21 based on the reference route embedded mark travel distance vehicle speed corresponds to the predetermined route embedded mark 31, and the travel distance is registered as 0. When the predetermined route embedded mark 31 is detected by the predetermined route embedded mark detection sensor 7, the error of the actual travel distance estimated based on the rotation angle of the rear wheel 3rl detected by the rotation angle sensor 6 is eliminated. That is, the actual travel distance correction unit 23 corrects the actual travel distance by resetting the actual travel distance to 0 when the predetermined path embedded mark 31 is detected by the predetermined path embedded mark detection sensor 7.

The actual travel distance vehicle speed control unit 24 performs the following processing (d). The actual travel distance vehicle speed control unit 24 controls the drive device 4 or the brake device 5 based on the actual travel distance and the reference speed-embedded vehicle speed-related information 21 on the reference predetermined route. As shown in FIG. 5, the vehicle speed-related information 21 based on the reference route embedded mark travel distance vehicle speed stores the vehicle speed based on the travel distance from the predetermined route embedded mark 31. The travel distance from the predetermined route embedding mark 31 corresponds to the actual travel distance of the golf cart 1. Here, the actual travel distance of the golf cart 1 includes the actual travel distance estimated by the actual travel distance estimation unit 22 before correction by the actual travel distance correction unit 23, the actual travel distance corrected by the actual travel distance correction unit 23, and The actual travel distance estimated by the actual travel distance estimation unit 22 after being corrected by the actual travel distance correction unit 23. That is, in the specific example of this embodiment, before the predetermined route embedded mark 31 is detected by the predetermined route embedded mark detection sensor 7, it is estimated by the actual travel distance estimation unit 22 from the starting point S to the current time point. Actual distance traveled. The actual traveling distance of the golf cart 1 is the actual traveling distance corrected by the actual traveling distance correction unit 23 when the predetermined route embedded mark 31 is detected by the predetermined route embedded mark detection sensor 7. The actual travel distance of the golf cart 1 is when the predetermined route embedded mark 31 is detected by the predetermined route embedded mark detection sensor 7 and the predetermined route embedded mark 31 is detected by the predetermined route embedded mark detection sensor 7. The actual travel distance corrected by the actual travel distance correction unit 23 is estimated by the actual travel distance estimation unit 22 immediately after the predetermined route embedded mark 31 is detected by the predetermined route embedded mark detection sensor 7 to the current time point. The actual distance traveled. Furthermore, the predetermined route embedding mark 31 detected by the predetermined route embedding mark detection sensor 7 mentioned here does not include the predetermined route embedding mark 31 that is later than the predetermined route embedding mark 31 that becomes the starting point S. Actual travel distance The vehicle speed control unit 24 controls the driving device 4 or the braking device so that the vehicle speed of the golf cart 1 becomes the memorized vehicle speed based on the travel distance from the predetermined route embedded mark 31 corresponding to the actual travel distance 5. The actual travel distance vehicle speed control unit 24 outputs an instruction signal to the drive device 4 so that the vehicle speed is memorized when the vehicle speed is accelerated. The driving device 4 to which the instruction signal is input from the actual traveling distance vehicle speed control unit 24 supplies power from the battery B to the driving motor M to drive the rear wheels 3rr and 3rl. The actual travel distance vehicle speed control unit 24 outputs an instruction signal to the braking device 5 so that the vehicle speed is memorized when the vehicle speed is decelerated. The brake device 5 to which an instruction signal is input from the actual travel distance vehicle speed control unit 24 causes the disc brake device D to be actuated to brake the four wheels 3.

Specific example 1 of the embodiment of the present invention exhibits the following effects in addition to the effects of the embodiment of the present invention described above.

The vehicle travel control device 20 is configured to drive the vehicle along the predetermined route 30, and when the predetermined route embedded mark 31 is detected by the predetermined route embedded mark detection sensor 7, the vehicle speed-related information 21a based on the reference predetermined route embedded distance The actual driving distance estimated based on the rotation angle of the rear wheel 3rl detected by the rotation angle sensor 6 is reset to 0. With this, when the embedded mark 31 of the predetermined route is detected, the actual driving distance can be reset to 0, and the error caused by the year-to-year change of the rear wheel 3rl can be eliminated.

The golf cart 1 further includes a vehicle forward direction control device 10. The vehicle forward direction control device 10 controls the forward direction of the vehicle along a predetermined route 31. The golf cart 1 further includes an induction line sensor 8 that detects electromagnetic induction lines 32 embedded along a predetermined course 30. Further, the vehicle forward direction control device 10 controls the forward direction of the vehicle so as to follow the electromagnetic induction line 32 detected by the induction line sensor 8. Thereby, the forward direction of the golf cart 1 can be controlled based on the electromagnetic induction line 32.

The vehicle speed-related information 21a based on the reference route embedded mark travel distance is to associate the predetermined route embedded mark 31 with the travel distance based on the predetermined route embedded mark 31 as a reference. Thereby, when the predetermined route embedded mark 31 is detected, the actual traveling distance is corrected to the traveling distance based on the predetermined route embedded mark 31. Thereby, the accuracy of the actual traveling distance becomes high. Thereby, the control accuracy of the vehicle speed of the golf cart 1 can be improved.

The vehicle speed-related information 21a of the reference route embedding mark travel distance is related to the vehicle speed and the travel distance using the predetermined route embedding mark 31 as a reference. That is, the vehicle speed may not be associated with the predetermined route embedding mark 31. This makes it possible to easily change the position indicating the vehicle speed only by changing the information 21a on the vehicle speed-related information embedded in the reference predetermined route. As a result, the degree of freedom in setting the position indicating the vehicle speed can be further increased.

In the reference speed-embedded route travel distance vehicle speed-related information 21a, the amount of information obtained by associating the established route-embedded mark 31 with the travel distance based on the established route-embedded mark 31 is less than the estimated route-embedded mark 31 The amount of information associated with the benchmark distance traveled and the vehicle speed. That is, the number of positions indicating the vehicle speed is more than the number of the embedded mark 31 of the predetermined route. Since the position indicating the vehicle speed of the golf cart 1 is set according to the actual travel distance, the position indicating the vehicle speed corresponding to the actual travel distance can be increased without increasing the position of the embedded mark 31 embedded in the predetermined route. Thereby, the number of embedded marks 31 in a predetermined route can be suppressed, and the frequent vehicle speed instruction of the golf cart 1 can be realized. In addition, since the position indicating the vehicle speed of the golf cart 1 is set according to the actual traveling distance, the position indicating the vehicle speed in detail can be set without increasing the number of embedded markers 31 of a predetermined route buried in one place. Thereby, the number of embedded marks 31 in a predetermined route can be suppressed, and detailed vehicle speed control of the golf cart 1 can be achieved.

The reference speed information 21a of the reference route embedding mark travel distance vehicle speed includes information obtained by associating the predetermined route embedding mark 31 and the predetermined route embedding mark 31 in the order from the start point S of the predetermined route 30. Thereby, the actual travel distance can be corrected more accurately based on the order from the start point S of the predetermined route 30 in which the mark 31 is embedded in the predetermined route.

The predetermined route embedded mark 31 is a magnetic type embedded route embedded mark. Thereby, the conventional magnetic type embedded route mark can be used in the present invention.

There is a 1-line golf cart with a self-driving vehicle on a predetermined route. Thereby, the present invention can be easily applied to a conventional golf cart.

(Modification of Specific Example 1 of Embodiment) A modification of Specific Example 1 of the embodiment of the present invention will be described with reference to FIG. 6. In the following description, descriptions of the same parts as those of the embodiment of the present invention and its specific example 1 will be omitted. Regarding the modified example of the specific example 1 of the embodiment of the present invention, the structure of the vehicle speed-related information 21b embedded in the reference predetermined route embedded mark is different from the vehicle speed-related information 21a embedded in the reference predetermined route embedded in the specific example 1. The other structures are the same as those of the specific example 1 of the embodiment.

The reference predetermined route embedded mark travel distance vehicle speed-related information storage unit 21 stores the reference predetermined route embedded mark travel distance vehicle speed-related information 21 b in the vehicle travel control device 20 in advance. The vehicle speed-related information 21b of the reference predetermined route embedded mark travel distance is information obtained by correlating the information about the predetermined route embedded mark 31, travel distance, and vehicle speed with each other. The reference speed 21b of the reference route embedding mark travel distance vehicle speed-related information includes information obtained by associating the predetermined route embedding mark 31 with the travel distance based on the predetermined route embedding mark 31. In addition, the vehicle speed related information 21b based on the reference route embedded mark travel distance vehicle speed includes information obtained by associating the travel distance based on the predetermined route embedded mark 31 with the vehicle speed.

A specific example of the vehicle speed-related information 21b with the reference predetermined route embedded mark traveling distance and vehicle speed is shown in FIG. 6. In FIG. 6, the information related to the embedded mark 31 of the predetermined route sequentially shows the numbers of the embedded mark 31 of the predetermined route from the starting point S of the predetermined route 30. The distance-related information indicates the distance from the start point S of the predetermined route 30. The vehicle speed-related information indicates the vehicle speed of the golf cart 1. As shown in FIG. 6, the reference predetermined route embedding mark travel distance vehicle speed related information 21 b memorizes the travel distance from the starting point S (that is, the predetermined route embedding mark 31 of the number 1). Further, the vehicle speed based on the travel distance from the starting point S is registered in the reference predetermined route embedment mark travel distance vehicle speed-related information 21b. As shown in FIG. 6, for example, the vehicle speed 2 km / h as the target when the travel distance from the start point S is 8 m is registered in the reference predetermined route embedded mark travel distance vehicle speed related information 21 b. The vehicle speed-related information 21b of the reference predetermined route embedded mark travel distance is generated in advance when the golf cart 1 travels on the predetermined route 30.

According to a modified example of the specific example 1, the vehicle travel control device 20 is embedded on the basis of the reference predetermined route when the predetermined route embedded mark 31 is detected by the predetermined route embedded mark detection sensor 7 while traveling along the predetermined route 30. Marking the travel distance and vehicle speed related information 21b, the actual travel distance from the starting point S, which is estimated based on the rotation angle of the rear wheel 3rl detected by the rotation angle sensor 6, is corrected to the driving distance based on the starting point S, and This corrects the actual distance traveled. With this, when the predetermined route embedded mark 31 is detected, the actual travel distance from the starting point S can be corrected to the driving distance based on the starting point S, and errors caused by the diameter change of the rear wheel 3rl can be eliminated.

(Specific Example 2 of Embodiment) Next, a specific example 2 of the embodiment of the present invention will be described with reference to Figs. 7 and 8. The second specific example of this embodiment is the same as the first specific example, and is an example in which the present invention is applied to a golf cart. In the following description, descriptions of the same parts as those of the embodiment of the present invention and its specific example 1 will be omitted. Basically, the specific example 2 of the embodiment of the present invention has all the features of the embodiment of the present invention described above.

As shown in FIG. 7, the golf cart 101 of the specific example 2 of the embodiment is different from the golf cart 1 of the specific example 1 of the embodiment in that it does not include an induction line sensor 8. In addition, regarding the golf cart 101 of the specific example 2 of the embodiment, the structure of the reference speed-embedded mark travel distance vehicle speed-related information storage unit 121 and the reference example of the specific example 1 of the embodiment of the structure embedded mark travel distance vehicle speed information The memory section 21 is different. The other structures are the same as those of the specific example 1 of the embodiment.

The reference predetermined route embedded mark travel distance vehicle speed-related information storage unit 21 stores the reference predetermined route embedded mark travel distance vehicle speed-related information 21c in the vehicle travel control device 20 in advance. The reference information 21c of the reference route embedding mark travel distance vehicle speed related information is information obtained by correlating the information relating to the embedment mark 31 of the predetermined route, travel distance, vehicle speed, and forward direction of the vehicle. The reference speed information 21c of the reference route embedded mark traveling distance vehicle speed includes information obtained by associating the predetermined route embedded mark 31 with the travel distance based on the predetermined route embedded mark 31. In addition, the vehicle speed related information 21c based on the reference route embedded mark travel distance vehicle speed includes information obtained by associating the travel distance based on the predetermined route embedded mark 31 with the vehicle speed. The vehicle speed-related information 21c of the reference route embedded mark embedded travel distance includes information obtained by associating the distance traveled with the route embedded mark 31 as a reference and information related to the forward direction of the vehicle.

A specific example of the vehicle speed-related information 21c with the reference predetermined route embedded mark travelling distance shown in FIG. 8 is shown. In FIG. 8, the information related to the embedded mark 31 of the predetermined route sequentially shows the numbers of the embedded mark 31 of the predetermined route from the starting point S. The information related to the driving distance indicates the distance from the embedded mark 31 (numbers 1, 2) of the predetermined route. The information related to the vehicle speed indicates the vehicle speed of the golf cart 101. The information related to the forward direction of the vehicle indicates the steering angle of the tire 4. In addition, the steering angle of the tire 4 is set to 0 degrees, which is the straight direction of the vehicle, that is, the forward and backward direction, the steering angle to the right is set to a positive (+) angle, and the steering angle to the left is set to negative (- ) Angle and remember. As shown in FIG. 8, the vehicle speed-related information 21c based on the reference route embedded mark travel distance corresponds to the predetermined route embedded mark 31, and the travel distance is stored as 0. Further, the vehicle speed-related information 21c based on the reference route embedded mark travel distance vehicle speed stores the vehicle speed based on the travel distance from the predetermined route embedded mark 31. In addition, the vehicle speed-related information 21c based on the reference route embedded mark travel distance vehicle speed memorizes the vehicle forward direction based on the travel distance from the predetermined route embedded mark 31. As shown in FIG. 8, for example, the vehicle speed related information 21c is embedded in the reference predetermined route, and the target vehicle forward direction 45 is memorized when the driving distance is 1 m from the predetermined route embedded mark 31 (No. 2). °. The vehicle speed-related information 21c of the reference predetermined route embedded mark travel distance is generated in advance when the golf cart 101 travels on the predetermined route 30.

The vehicle travel control device 20 controls the driving device 4 or the braking device 5 based on the actual travel distance and the reference predetermined path embedded travel distance vehicle speed-related information 21 c when the predetermined route embedded mark 31 is detected. The vehicle travel control device 20 controls vehicle forward direction by the vehicle forward direction control device 10 based on the actual travel distance and the reference predetermined route embedded travel distance vehicle speed information 21c when the predetermined route embedded mark 31 is detected.

According to the specific example 2 of the present embodiment, the golf cart 101 includes a vehicle forward direction control device 10. The vehicle forward direction control device 10 controls the forward direction of the vehicle along a predetermined route 30. The reference information 21c of the reference route embedding mark travel distance vehicle speed related information is related to the information of the route embedding mark 31, travel distance, vehicle speed, and forward direction of the vehicle. Further, the reference speed information 21c of the reference route embedding mark travel distance vehicle speed is information obtained by associating the information with the predetermined route embedding mark 31, the travel distance based on the predetermined route embedding mark 31 and the vehicle's forward direction. Thereby, the vehicle forward direction control device 10 can control the forward direction of the golf cart 101 based on the actual travel distance and the reference travel distance-embedded vehicle speed-related information 21c.

The present invention is not limited to the specific examples 1 to 2 of the embodiment described above, and various changes can be made within the scope described in the scope of the patent application. Hereinafter, modified examples of the embodiments of the present invention will be described.

In specific examples 1 and 2 of the embodiment, the drive device 4 is a drive motor including an electric motor. However, the driving device of the present invention may be an engine using gasoline or the like.

In specific examples 1 and 2 of the embodiment, the brake device 5 is a disc brake device. However, the braking device of the present invention may be used in combination with a regenerative brake and a disc brake device using a drive motor. The brake device of the present invention may be a drum brake device or the like.

In specific examples 1 and 2 of the embodiment, the wheel rotation detector 6 is a rotation angle sensor. However, the wheel rotation detector of the present invention is only required to detect a physical quantity related to the rotation of at least one of the plurality of wheels. The wheel rotation detector of the present invention may also be a rotation speed sensor or the like.

In the specific examples 1 and 2 of the embodiment, the rotation angle sensor 6 is provided on the rear wheel 3rl. However, the wheel rotation detector of the present invention may be provided on any of a plurality of wheels.

In specific examples 1 to 2 of the embodiment, the vehicle forward direction control device 10 controls the forward direction of the golf cart 1 by turning the front wheels 3fr and 3fl. However, the vehicle forward direction control device of the present invention can also steer the rear wheels and control the forward direction of the vehicle to automatically drive the vehicle on a predetermined route. The vehicle forward direction control device of the present invention can also steer at least one of the plurality of wheels to control the forward direction of a vehicle that is automatically driven by a predetermined route. Furthermore, the automatic traveling vehicle with a predetermined route of the present invention can change the number of revolutions of at least one of the plurality of wheels, and control the forward direction of the automatic traveling vehicle with a predetermined route.

In the specific examples 1 and 2 of the embodiment, the golf cart 1 includes front seats 2f and rear seats 2r. However, the seat of the present invention may have only one row of seats for a plurality of passengers.

In specific examples 1 and 2 of the embodiment, the forward direction of the golf cart 1 is the forward direction. However, the vehicle of the present invention has a predetermined route, and the vehicle may be driven so that either of the forward direction and the backward direction can be set as the forward direction.

In specific examples 1 and 2 of the embodiment, the golf cart 1 includes a steering wheel rim 11. Further, in the specific examples 1 and 2 of the present embodiment, the golf cart 1 switches between the automatic driving mode and the manual mode to control the forward direction. However, some of the people of the present invention may not have a steering wheel on an autonomous vehicle. In this case, the vehicle with a predetermined route of the present invention controls the forward direction only in the automatic driving mode.

In specific examples 1 and 2 of the embodiment, the golf cart 1 includes an accelerator pedal 12 and a brake pedal 13. Further, in specific examples 1 to 2 of the present embodiment, the golf cart 1 switches between the automatic driving mode and the manual mode to control the vehicle speed. However, some people of the present invention may not have an accelerator pedal and a brake pedal for a vehicle traveling on a predetermined route. In this case, the vehicle with a predetermined route of the present invention controls the vehicle speed only in the automatic driving mode.

In specific examples 1 and 2 of the embodiment, a predetermined route embedding mark 31 is embedded at the starting point S of the predetermined route 30. However, the mark embedded in the predetermined route of the present invention may not be embedded at the starting point of the predetermined route.

In the reference example 1 to 2 of the implementation form, the information about the vehicle speed related information 21a of the predetermined route embedded mark travel distance, the information related to the predetermined route embedded mark 31 indicates that the embedded mark 31 of the predetermined route starts from the start point S of the predetermined route 30. Sequence number. However, in the information related to the vehicle speed of the reference route embedding mark embedded in the reference predetermined route of the present invention, the information related to the embedding mark of the predetermined route may not remember the actual order. That is, among the information related to the vehicle speed of the reference route embedding mark embedded in the present invention, the information relating to the route embedding mark may memorize only the existence of the route embedding mark. Specifically, for example, in the case shown in FIG. 5, only one piece of information related to a buried mark of a predetermined route may be provided.

Further, in the reference predetermined route embedded specific examples 1 to 2 of the embodiment, the vehicle speed-related information 21a indicating the travel distance, the information related to the vehicle speed indicates the vehicle speed of the golf cart 1. However, in the information related to the vehicle speed embedded in the reference predetermined route embedded in the present invention, the vehicle speed related information may also be the increase or decrease of a vehicle traveling on a predetermined route relative to the current vehicle speed (for example, +1 km / h, -2 km / h).

In the specific example 1 of the implementation form, in the reference predetermined route embedded mark travel distance vehicle speed related information 21a, the travel distance related information is embedded for each predetermined route sequentially embedded from the start point S of the predetermined route 30. 31 (No. 1, 2) represents the distance from the embedded mark 31 on the predetermined route. Further, in the specific example 2 of the present invention, information on the travel distance vehicle speed-related information 21b is embedded in the reference predetermined route, and the information related to the travel distance indicates the start point S of the predetermined route 30 (that is, the embedded route of the predetermined route number 1). 31). However, the vehicle running control device of the present invention can also memorize the error caused by the diameter change of a plurality of wheels when the embedded mark of a predetermined route is detected by the predetermined route embedded mark detector. Furthermore, the vehicle travel control device of the present invention can also calculate, for example, the ratio of the error of the actual travel distance to the travel distance memorized in the vehicle speed-related information embedded in the reference predetermined route embedded mark travel distance. In this case, the vehicle traveling control device of the present invention can also modify the actual traveling distance based on the calculated ratio of the errors regardless of whether the predetermined route embedded mark detector detects the predetermined route embedded mark. For example, the diameter of the wheel used in the calculation of the actual driving distance may be changed based on the calculated error ratio. Here, the change in the diameter of the plurality of wheels caused by the chronological change in the tire pressure of the plurality of wheels may also be constantly generated regardless of the passengers getting on and off the vehicle. Thereby, in particular, errors caused by changes in the diameter of the plurality of wheels caused by the chronological changes in the tire pressure of the plurality of wheels can be eliminated. Moreover, the vehicle speed control accuracy of a vehicle with a predetermined route can be improved.

In the specific examples 1 to 2 of the embodiment, the reference distance 21a, 21b, and 21c related to the vehicle speed embedded in the reference predetermined route are generated in advance when the golf cart 1 travels on the predetermined route 30. However, the vehicle speed-related information embedded in the reference predetermined route embedded mark on the predetermined route may be inputted in advance using the input unit. The entered vehicle speed-related information of the embedded target route with embedded markers can be either information generated by a vehicle different from the input vehicle traveling along a predetermined route in advance, or information generated independently of driving.

In the specific examples 1 and 2 of the embodiment, the predetermined route embedding marks 31 each include one magnet. However, the predetermined embedded mark of the present invention may also include a combination of a plurality of magnets. That is, the embedded mark of a predetermined route of the present invention has identification information that is identified by a combination of the arrangement or interval of a plurality of magnets. In this case, the predetermined route embedded mark detector of the present invention detects the identification information based on the magnetic field information from the predetermined route embedded mark. Moreover, the vehicle speed-related information of the reference route embedding mark based on the predetermined route of the present invention may include information obtained by associating the route embedding mark with the identification information of the route embedding mark. Regarding the information on the vehicle speed of the reference predetermined embedded route mark embedded travel distance vehicle speed in this case, a specific example 1 of the implementation form is shown in FIG. 9 as a variation. As shown in FIG. 9, the reference speed 21d of the reference route embedding mark travel distance and vehicle speed related information is the identification information of the predetermined route embedding mark 31 for each predetermined route embedding the mark 31. As shown in FIG. 9, for example, A01 is stored as the first identification information of the embedded mark 31 of the predetermined route. With this, the actual route distance can be corrected more accurately by embedding a mark based on a predetermined route with identification information. Furthermore, in this case, the vehicle travel control device may also include identification information based on embedded marks on a predetermined route, such as instruction information for instructing travel, stopping, and deceleration. When a person on a predetermined route automatically drives a vehicle to pass a predetermined route embedded mark, the predetermined route embedded mark detector may also receive identification information of the passed route embedded mark, and output the identification information to the vehicle travel control device. The vehicle driving control device may also control a driving device or a braking device of a vehicle that automatically travels a predetermined route based on the identification information.

In specific examples 1 and 2 of the embodiment, the predetermined route embedding mark 31 is a magnetic type predetermined route embedding mark. However, the predetermined route embedding mark of the present invention may also be a radio wave type predetermined route embedding mark. Further, the predetermined route embedded mark of the present invention may be an optical or ultrasonic type embedded route mark, or a detectable mark embedded in a road surface.

In the specific examples 1 to 2 of the embodiment, the vehicle with a predetermined route and a self-driving vehicle is a golf cart. However, some of the vehicles of the present invention may be self-driving buses, small autonomous electric vehicles, and the like. The vehicle of the present invention for a person having a predetermined route may be a vehicle capable of carrying passengers and automatically traveling along a predetermined route. As long as the vehicle of the present invention has a predetermined route, the vehicle can control the speed of the vehicle without the operation of the driving device or the braking device, and control the forward movement without the steering operation performed by the operator. Directional control is sufficient for vehicles that drive automatically. In addition, someone of the present invention can drive the vehicle on a predetermined route while controlling the forward direction by the operator's steering operation, and perform the vehicle speed without the operation of the driving device or the braking device by the operator. Controlled and autonomous vehicles. Operators include passengers and remote operators.

Regarding a vehicle with a predetermined route for a person in this embodiment, it is assumed that the diameter change of the plurality of wheels 3 is caused by the passenger's riding condition. However, with regard to a vehicle of a certain route of the present invention, it may also be assumed that the diameter change of the plurality of wheels is caused by the year-on-year change in the tire pressure of the plurality of wheels, the thickness of the plurality of wheels is caused by the abrasion, And the changes in the hardness of the elastic material used in a plurality of wheels over the years.

In some cases, the vehicle speed of a vehicle with a predetermined route on a predetermined route is usually low. For example, in this embodiment, in some cases, a vehicle traveling on a predetermined route automatically runs at a speed of 20 to 40 km / h. However, the vehicle speed of a vehicle on a predetermined route may not be low speed. In addition, the vehicle speed of a person traveling on a predetermined route of the present invention is not limited to 20 to 40 km / h.

Furthermore, the vehicle of the present invention may have various sensors such as GNSS (Global Navigation Satellite System) that can detect the position of the vehicle. In addition, the vehicle of the present invention can be controlled by using the information obtained from these various sensors. For example, the golf cart 1 of this embodiment can detect the position of the starting point S of the predetermined route 30 based on the information obtained from the GNSS, and can also be used for other control of the vehicle. In addition, some people of the present invention may not have various sensors to automatically drive a vehicle on a predetermined route.

1‧‧‧ Autonomous vehicle (golf cart)

2‧‧‧ seats

2f‧‧‧seat

2r‧‧‧seat

3‧‧‧ Wheel

3fl‧‧‧ Wheel

3fr‧‧‧ Wheel

3rl‧‧‧ Wheel

3rr‧‧‧ Wheel

4‧‧‧Drive

5‧‧‧brake device

6‧‧‧ rotation angle sensor (wheel rotation detector)

7‧‧‧Built-in mark detection sensor for established route (Built-in mark detector for established route)

8‧‧‧ Induction Line Sensor

9‧‧‧ body

9a‧‧‧Ceiling Department

10‧‧‧ Vehicle forward direction control device

11‧‧‧ steering wheel

12‧‧‧ accelerator pedal

13‧‧‧Brake pedal

20‧‧‧Vehicle driving control device

21‧‧‧Built markers of reference route, distance, vehicle speed-related information memory

21a‧‧‧Embedded markers on the established route

22‧‧‧Estimated driving distance

23‧‧‧Actual driving distance correction section

24‧‧‧Actual driving distance Vehicle speed control unit

21a‧‧‧Embedded markers on the established route

21b‧‧‧Based on a predetermined route embedded mark Travel distance Vehicle speed related information

21c‧‧‧Based on a predetermined route embedded mark Travel distance Vehicle speed related information

21d‧‧‧Based on a predetermined route embedded mark Travel distance Vehicle speed related information

30‧‧‧ scheduled route

31‧‧‧Built marks on established route

32‧‧‧Electromagnetic induction wire

101‧‧‧ Autonomous vehicle (golf cart)

B‧‧‧ Arrow

D‧‧‧ Arrow

F‧‧‧ Arrow

L‧‧‧ Arrow

R‧‧‧ Arrow

S‧‧‧ starting point

U‧‧‧ Arrow

FIG. 1 is a side view schematically showing a vehicle traveling on a predetermined route. FIG. 2 is a side view schematically showing a golf cart according to a specific example 1. FIG. FIG. 3 is a block diagram showing a schematic configuration of a golf cart according to a specific example 1. FIG. FIG. 4 is a schematic diagram showing an example of a predetermined course for the golf cart of specific example 1. FIG. FIG. 5 is a data table showing information related to a vehicle speed embedded in a reference predetermined route embedded in a specific predetermined route in a specific example 1. FIG. FIG. 6 is a data table showing information related to vehicle speed on a reference predetermined route embedding mark, a modified example of specific example 1, and a travel distance. FIG. 7 is a block diagram showing a schematic configuration of a golf cart according to a specific example 2. FIG. FIG. 8 is a data table showing information related to vehicle speed in which a reference predetermined route is embedded with a mark on a predetermined route in a specific example 2. FIG. FIG. 9 is a data table showing information on a vehicle speed related to a reference predetermined route embedding mark, a modified example of specific example 1, and a travel distance.

Claims (12)

An autonomously traveling vehicle with a predetermined route, comprising: a plurality of seats, which can be used by a plurality of passengers; a plurality of wheels, which are elastically deformed in a radial direction according to the passenger's riding condition on the plurality of seats; A device that applies a driving force to at least one of the plurality of wheels; a braking device that applies a braking force to at least one of the plurality of wheels; a predetermined route embedded marker detector that detects the plurality of numbers embedded along the predetermined route A predetermined route embedded mark; and a vehicle running control device that uses the plurality of predetermined route embedded marks detected by the predetermined route embedded mark detector to control the driving device and the brake device; and further has a wheel rotation detector, The wheel rotation detector detects a physical quantity related to the rotation of at least one of the plurality of wheels. The vehicle travel control device: (a) pre-memorizes information related to the embedded mark, travel distance, and vehicle speed of the predetermined route. Build relationships Obtained reference information on vehicle speed embedded in a predetermined route embedded with a marker; (b) During the course of traveling along the predetermined route, an actual is estimated based on a physical quantity related to the rotation of the at least one wheel detected by the wheel rotation detector. Traveling distance; (c) In the course of traveling along the predetermined route, when the predetermined route embedded mark is detected by the predetermined route embedded mark detector, in order to eliminate the problem caused by the passenger ’s riding status on the plurality of seats, The error of the actual driving distance caused by the diameter change of the plurality of wheels that is elastically deformed upward is corrected based on the information about vehicle speed embedded in the reference predetermined route and the vehicle speed; (d) based on the actual driving distance and The reference predetermined route embeds information related to the vehicle speed of the marked travel distance to control the driving device or the braking device. For example, someone in claim 1 may drive a vehicle on a predetermined route automatically, wherein the vehicle travel control device is based on a predetermined route when the predetermined route embedded mark detector detects the predetermined route embedded mark during the process of traveling along the predetermined route. The route-embedded marker travels the distance-related information of the vehicle speed, and resets the actual travel distance to 0, thereby correcting the actual travel distance. For example, if someone in claim 1 runs a vehicle on a predetermined route automatically, the vehicle driving control device is based on the reference when the predetermined route embedded mark is detected by the predetermined route embedded mark detector during the driving along the predetermined route. The information about the vehicle speed embedded in the predetermined route and the vehicle speed, and the actual driving distance is corrected to the driving distance based on the embedded signal in the predetermined route, thereby correcting the actual driving distance. If any one of the claims 1 to 3 has a vehicle traveling on a predetermined route, wherein the vehicle traveling control device is in the process of traveling along the predetermined route, the predetermined route embedding mark detector detects the embedding of the predetermined route. When marking, the difference between the travel distance and the actual travel distance of the reference predetermined route embedded marker travel distance vehicle speed-related information is memorized as the error, and the actual travel distance is corrected based on the memorized error. If any one of the claims 1 to 4 has a vehicle traveling on a predetermined route, the vehicle speed-related information of the above-mentioned reference route embedding mark includes: embedding the above-mentioned established route mark and driving based on the above-mentioned predetermined route embedding mark. The information obtained by establishing the distance; and the information obtained by correlating the travel distance based on the embedded mark of the predetermined route with the speed of the vehicle; and the vehicle travel control device is based on the embedded of the predetermined route detected by the embedded mark detector. When marking, in order to eliminate the above error, the actual driving distance is corrected based on information obtained by associating the predetermined route embedded mark with the driving distance based on the predetermined route embedded mark. Based on the actual driving distance and using the predetermined route, The driving distance and the braking device are controlled by information obtained by associating the travel distance with the embedded mark as a reference and the vehicle speed. For example, if someone in claim 5 runs a vehicle on a predetermined route automatically, and among the information about the vehicle speed embedded in the above-mentioned reference route embedded mark, the above-mentioned established route embedded mark is associated with the travel distance based on the above-mentioned established route embedded mark The amount of information is less than the amount of information obtained by correlating the driving distance based on the above-mentioned embedded route mark with the above-mentioned vehicle speed. If someone in claim 5 or 6 runs the vehicle automatically on a predetermined route, it further has a vehicle forward direction control device that controls the forward direction of the vehicle along the predetermined route, and the reference predetermined route embeds a mark to drive the vehicle. The speed-related information includes correlating the information related to the above-mentioned embedded route mark, travel distance, vehicle speed, and forward direction of the vehicle, and the travel distance based on the above-mentioned embedded route mark as a reference and the above-mentioned vehicle forward direction The information obtained by establishing the correlation information, the vehicle driving control device controls the driving device and the braking based on the actual travel distance and the vehicle speed related information of the reference predetermined path embedded distance when the embedded route mark is detected. And the vehicle forward direction control device controls the forward direction of the vehicle. If any one of the claims 1 to 6 has a vehicle running on a predetermined route, it further has a vehicle forward direction control device that controls the forward direction of the vehicle along the predetermined route, and further includes electromagnetic induction. A line detector for detecting an electromagnetic induction line embedded along the predetermined route, and the vehicle forward direction control device is configured to follow the electromagnetic induction line detected by the electromagnetic induction line detector. To control the forward direction of the vehicle. If any one of the claims 1 to 8 has a vehicle traveling on a predetermined route, wherein the reference distance of the reference predetermined route embedded in the travel distance and the vehicle speed related information includes the above-mentioned predetermined route embedded mark and the predetermined route embedded mark The related information is established in the order from the starting point. For example, if any one of the claims 1 to 8 has a vehicle traveling on a predetermined route, wherein the predetermined route embedded mark detector further detects the identification information of the predetermined route embedded mark, the reference predetermined route embedded mark travel distance vehicle speed related information includes Information obtained by associating the aforementioned embedded mark of the predetermined route with the identification information of the embedded mark of the predetermined route. For example, any one of the claims 1 to 10 has a vehicle with a predetermined route, wherein the embedded mark on the predetermined route is a magnetic or radio wave embedded mark. For example, any one of the claims 1 to 11 has a vehicle with a predetermined route and the vehicle with a predetermined route is a golf cart.