WO2020009162A1 - Système de déplacement de test automatique pour véhicules en déplacement - Google Patents

Système de déplacement de test automatique pour véhicules en déplacement Download PDF

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Publication number
WO2020009162A1
WO2020009162A1 PCT/JP2019/026514 JP2019026514W WO2020009162A1 WO 2020009162 A1 WO2020009162 A1 WO 2020009162A1 JP 2019026514 W JP2019026514 W JP 2019026514W WO 2020009162 A1 WO2020009162 A1 WO 2020009162A1
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WIPO (PCT)
Prior art keywords
traveling
vehicle
control unit
driving
test
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PCT/JP2019/026514
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English (en)
Japanese (ja)
Inventor
瀬川　正樹
アラディン ムハンマド アブレラ アブダルラマン
倫太郎 上平
サンバ キム
ジャージュン ルー
Original Assignee
株式会社ブリヂストン
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Publication of WO2020009162A1 publication Critical patent/WO2020009162A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a test traveling system for a traveling vehicle that performs a traveling test on the traveling vehicle while traveling the traveling vehicle along a circuit course including, for example, a closed traveling path.
  • Patent Literature 1 discloses an actuator that operates a foot pedal of an automobile. According to this actuator, a brake pedal or an accelerator pedal can be selectively operated when performing a function test, a durability test, and the like of a device of an automobile, and an actuator that requires a minimum space and is cost-effective can be obtained. .
  • Patent Document 2 discloses an automatic vehicle driving device and a method for mounting the same. According to the automatic vehicle driving device and the mounting method thereof, the time required for the vehicle test performed using the automatic vehicle driving device can be reduced, and the vehicle is loaded before the vehicle test starts and the vehicle after the vehicle test ends. Can be carried out alone.
  • Patent Document 3 discloses a curve radius estimating device for estimating a curve radius of a lane in which the host vehicle travels, and an automatic steering control system with the curve radius estimating device. According to this system, the curve radius estimating device calculates the first curve radius based on the steering angle, and calculates the second curve radius based on the yaw rate. And a curve radius estimating means for estimating a curve radius by combining the first curve radius and the second curve radius at a predetermined compounding ratio, wherein the curve radius estimating means changes the predetermined compounding ratio according to the vehicle speed. .
  • Patent Document 4 discloses a vehicle contact avoidance assistance device that obtains a contact margin value based on a positional relationship between a host vehicle and an obstacle in front of the host vehicle.
  • a contact avoidance assisting device for a vehicle that assists avoiding contact of an own vehicle with an obstacle when an operation of a steering wheel is not detected prevents an excessive operation of a contact avoidance assisting process during traveling on a bank road. .
  • the vehicle speed is controlled by accelerating or decelerating the vehicle at the time of traveling, and it is not to detect an obstacle or control the steering at the time of traveling on a curved road or the like. Absent.
  • Patent Literature 3 when a vehicle is running on a curve, a curve radius based on a steering angle and a curve radius based on a yaw rate are calculated, and the two curve radii are combined at a predetermined combination ratio to estimate the curve radius. This controls the steering angle. Therefore, it is necessary to control the steering angle while always estimating the radius of the curve when traveling on a curve, and the amount of calculation increases and the calculation takes time.
  • Patent Literature 4 when a guardrail as an obstacle is found while traveling on a bank road, the contact avoidance support processing is not excessively activated when the contact avoidance support is performed so as not to contact the obstacle. However, this does not accurately recognize obstacles on the bank road.
  • a millimeter-wave radar, a laser radar, a stereo camera, or the like provided at the front of the vehicle is used to detect an obstacle, which makes it difficult to detect an obstacle on the above-described curved road with a bank. That is not taken into account.
  • the present invention provides a simple configuration, in which an unmanned vehicle is driven along an orbiting course including a curved road with a bank consisting of a closed road, and a running test of the unmanned vehicle is performed. It is intended to provide an automatic test driving system for a vehicle.
  • the above object is to provide an automatic test traveling of a traveling vehicle in which an unmanned vehicle is driven by a driving control unit along a circuit course including a closed traveling road and a traveling test of the unmanned driving vehicle is performed.
  • a traveling course includes a curved road with a bank, and a traveling unit and a steering unit for an unmanned vehicle traveling on the traveling road, a position sensor for detecting a traveling state on the traveling road, and a vehicle speed sensor.
  • a detection unit comprising a three-axis acceleration sensor and a lateral inclination sensor for detecting a lateral inclination angle.
  • the driving control unit detects the unmanned driving vehicle based on a detection signal from the unmanned driving vehicle detection unit.
  • the unmanned vehicle travels around the orbiting course, and the operation control unit includes a bank.
  • the operation control unit includes a bank.
  • a steering angle is calculated from map data of the orbital course created in advance, and a steering unit is driven and controlled by the calculated steering angle. Achieved by the system.
  • the unmanned driving vehicle travels along the circuit course including the banked curved road including the closed traveling road, and the traveling test of the unmanned driving vehicle is performed. It is possible to provide an automatic test traveling system for traveling vehicles.
  • FIG. 1 is a schematic diagram showing the entire configuration of an automatic test traveling system for a traveling vehicle according to the present invention.
  • FIG. 2 is a schematic diagram showing a circuit course in the automatic test traveling system of FIG. 1.
  • FIG. 3 is a sectional view taken along line AA of the curved road with a bank in FIG. 2.
  • FIG. 3 is a block diagram illustrating a configuration of an obstacle detection unit provided in the peripheral circuit of FIG. 2.
  • FIG. 2 is a block diagram illustrating a configuration of an unmanned vehicle in the automatic test traveling system in FIG. 1.
  • FIG. 2 is a block diagram illustrating a configuration of an external operation control unit in the automatic test driving system of FIG. 1.
  • FIG. 2 is a schematic diagram showing various traveling patterns constituting a traveling program in the automatic test traveling system of FIG. 1.
  • FIG. 6 is a flowchart illustrating an example of a control method of the unmanned driving vehicle of FIG. 5 at the time of traveling on a curved road with a bank by an automatic driving control unit. It is the schematic which shows the revolving course used in the test of a tire. It is a top view showing an example of a test section. It is a block diagram showing an example of composition of an external operation control part which manages a plurality of unmanned vehicles. It is a flowchart which shows an example of the procedure which controls driving
  • FIG. 1 shows an entire configuration of an embodiment of an automatic test traveling system for a traveling vehicle (hereinafter, referred to as an automatic test traveling system) according to the present invention.
  • an automatic test driving system 10 includes an orbiting course 11, an unmanned driving vehicle 20 that runs around the orbiting course 11, an external driving control unit 30 that drives and controls the unmanned driving vehicle 20 from outside, and a network 40. And is composed of
  • the orbiting course 11 includes two straight paths 11a and 11b extending in parallel with each other, and ends at both ends of the straight paths 11a and 11b. And a semi-circular curved road 11c, 11d connected to form a closed traveling road 12.
  • the traveling path 12 is divided into two traveling lanes 12a and 12b by a white line 11e as a sign extending in the longitudinal direction along the traveling path 12.
  • the traveling road 12 is configured such that the traveling vehicle travels around the counterclockwise direction.
  • the white line 11e is a continuous white line in the illustrated case, but may be a so-called broken line or chain line.
  • a parking space 11f is provided adjacent to the orbiting course 11 for waiting for a traveling vehicle to be tested on the orbiting course, and the traveling vehicle that is to test run on the orbiting course 11 departs from the parking space 11f. After returning to the parking course 11f, the vehicle returns to the parking space 11f again.
  • the parking space 11f is also called a base.
  • a switching position 11g is provided at one location of the orbiting course 11, and when a traveling vehicle that orbits the orbiting course 11 passes through the switching position 11g, the traveling program 50 constitutes a traveling program as described later. The pattern is switched.
  • one curved path 11 c of the orbiting course 11 is configured as a so-called curved path with a bank, so that the outer circumference is higher than the inner circumference and lower toward the inside in the width direction. It has a great lateral inclination.
  • the lateral inclination is formed such that the inclination angle increases toward the outer peripheral side of the curved road 11c.
  • An obstacle detector 13 is provided on the banked curved road 11c.
  • the obstacle detection unit 13 includes an obstacle sensor 13a and a transmission unit 13b that transmits an image signal captured by the obstacle sensor 13a.
  • a sensor device such as a lidar, a camera, and a millimeter-wave radar can be used.
  • the rider 13a is a sensor that is also called a laser radar, and performs light detection and ranging (LIDAR (Light Detection and Ranging)) or laser image detection and ranging (Laser Imaging Detection and Ranging). Also described as.
  • LIDAR Light Detection and Ranging
  • Laser Imaging Detection and Ranging Laser Imaging Detection and Ranging
  • a two-dimensional rider or a three-dimensional rider may be used.
  • the three-dimensional rider can detect the laser image on the curved road 11c and measure the distance to the detected object.
  • the camera a monocular camera, a binocular camera, a stereo camera, or the like can be used.
  • the obstacle sensor 13a will be described as a three-dimensional rider.
  • a stop position 11h is provided in front of the banked curved road 11c in the traveling direction, and when an obstacle is found in the banked curved road 11c as described later, the unmanned vehicle 20 moves to the stop position 11h. Make an emergency stop. This ensures safety, especially on banked curved roads.
  • the obstacle detection unit 13 has an imaging range ⁇ that covers a curved lane with a bank 11c and a traveling lane other than the curved lane with a bank 11c.
  • the three-dimensional rider 13a is disposed near the center of curvature of the banked curved road 11c, and the entire area of the running path 12 of the banked curved road 11c or the banked curved road 11c.
  • the imaging range ⁇ covers the vicinity of the stop position 11h.
  • the transmission unit 13b receives the imaging signal 13c from the three-dimensional rider 13a, and transmits the imaging signal 13c to the external operation control unit 30 via the network 40.
  • the imaging signal 13c includes distance information between the unmanned driving vehicle 20 and the obstacle detected by the three-dimensional rider 13a.
  • the network 40 is a network having an arbitrary configuration, and may be a dedicated line network or a public line network.
  • the unmanned driving vehicle 20 and the external driving control unit 30, and the obstacle detecting unit 13 and the external driving control unit 30 are connected to each other by the network 40. As will be described later, various signals are transmitted and received as necessary. Is done.
  • the unmanned driving vehicle 20 is a self-driving vehicle having a known configuration, and as shown in FIG. 5, a traveling unit 22 provided at a lower portion of a vehicle body 21, a steering unit 23, a traveling unit 22 and a steering unit 23. , An automatic driving control unit 25, a transmission / reception unit 26, a storage unit 27, a detection unit 28, and an operation state display unit 29. In the description of the unmanned driving vehicle 20, the automatic driving control unit 25 is also simply referred to as a driving control unit.
  • the vehicle body 21 is configured as a known automobile including the traveling unit 22, the steering unit 23, the vehicle control unit 24, and other devices 21a necessary for traveling.
  • the vehicle body 21 can be driven by a driver in the same manner as a normal automobile.
  • the traveling unit 22 includes, for example, four wheels 22a and a drive source 22b that drives, for example, front wheels or rear wheels as drive wheels among the four wheels 22a.
  • the drive source 22b has a known configuration, and includes an engine such as a gasoline engine or a diesel engine, or a drive motor.
  • the drive motor is an electric vehicle, a fuel cell vehicle, or a motor serving as a drive source 22b together with a gasoline engine.
  • the steering unit 23 has a known configuration, and swings the unmanned driving vehicle 20 straight, or turns left or right, for example, by swinging the front wheel out of the four wheels 22a as a steering wheel.
  • the drive wheel and the steered wheel may be the same wheel.
  • the drive source 22b and the steering unit 23 are controlled by the vehicle control unit 24, respectively, so that the drive wheels among the wheels 22a are driven to rotate, and the steered wheels swing right and left, so that the unmanned driving vehicle 20 moves forward. , Retreating or turning left and right to travel in a predetermined direction.
  • the vehicle control unit 24 controls the driving of the driving source 22b and the steering unit 23 of the traveling unit 22 based on a traveling program 50 described later, drives the corresponding wheels 22a (also referred to as driving wheels), and sets the driving program 22 in the traveling program 50.
  • the vehicle speed, forward, reverse, turn left and right, etc., are performed.
  • the vehicle control unit 24 can operate or control the various devices 21a of the vehicle main body 21 so that the vehicle main body 21 can travel reliably. Note that, when the driver who has boarded the unmanned driving vehicle 20 starts driving manually by operating the vehicle body 21, the vehicle control unit 24 interrupts the automatic test traveling based on the traveling program 50.
  • the traveling program 50 is input directly by the automatic driving control unit 25, or is set in advance and stored in the storage unit 27, or is received from the external external driving control unit 30 via the network 40 from the transmitting / receiving unit 26. It is acquired and input to the vehicle control unit 24.
  • the automatic operation control unit 25 includes various detection signals S1 to S5 to be described later input from the detection unit 28, and an obstacle detection signal (the imaging signal 13c) transmitted from the obstacle detection unit 13 via the external operation control unit 30. ), The drive of the traveling unit 22 and the steering unit 23 is controlled based on the traveling program 50, and the detection signals S1 to S5 are registered in the storage unit 27, or an external device is transmitted from the transmission / reception unit 26 via the network 40. This is transmitted to the external operation control unit 30.
  • the transmission / reception unit 26 transmits the detection signals S1 to S5 and the imaging signal 13c by wireless communication with the external operation control unit 30 provided outside via the network 40, and is set in advance by the external operation control unit 30.
  • the traveling program 50 is received and registered in the storage unit 27, or the traveling program 50 is transmitted to the vehicle control unit 24.
  • the transmission / reception unit 26 may receive the traveling program 50 set in advance from the external operation control unit 30 and register the traveling program 50 in the storage unit 27, and may transmit the traveling program 50 to the vehicle control unit 24.
  • the storage unit 27 sequentially stores the traveling program 50 input by the automatic driving control unit 25 or received from the external external driving control unit 30 via the network 40 and the detection signals S1 to S5 from the detecting unit 28. Further, the storage unit 27 stores map data relating to the traveling path 12 of the circuit course 11 created in advance.
  • the detection unit 28 includes a monitoring camera 28a, a position detection unit 28b, a vehicle speed sensor 28c, a three-axis acceleration sensor 28d, and a lateral inclination sensor 28e.
  • a monitoring camera 28a a monocular camera, a binocular camera, a stereo camera, or the like can be used.
  • the detection unit 28 may include a camera or a rider 28f for monitoring ahead as well as the obstacle sensor 13a.
  • a three-dimensional rider may be used. In the following description, the rider 28f will be described as a three-dimensional rider.
  • the monitoring camera 28a is arranged near the front end of the vehicle body 21, captures an image of the front of the traveling path 12 in the traveling direction, and sends the captured image signal to the automatic driving control unit 25 as a detection signal S1.
  • the automatic driving control unit 25 recognizes the current position in the driving lanes 12a and 12b based on the detection signal S1 by recognizing the situation in front of the unmanned driving vehicle 20, in particular, the white line 11e of the driving path 12 of the orbiting course 11 by image recognition. Then, self-position estimation is performed by comparing with map data of the traveling road 12 set in advance, and the traveling program 50 is modified so as to maintain the course in the traveling lanes 12a and 12b. To send to. Accordingly, the vehicle control unit 24 controls the steering unit 23 to allow the unmanned driving vehicle 20 to reliably travel in the traveling lanes 12a and 12b without deviating from the traveling lanes 12a and 12b.
  • the position detection unit 28b detects longitude and latitude by, for example, a GPS sensor.
  • the position detection unit 28b detects the geodetic data of the unmanned driving vehicle 20 at that time, for example, at a predetermined time interval, and sends the data as the detection signal S2 to the automatic driving control unit 25.
  • the automatic driving control unit 25 compares the detection signal S2 with the map data of the traveling path 12 read from the storage unit 27, and determines the traveling position of the unmanned vehicle 20 on the traveling path 12 and the curved roads 11c and 11d. Is obtained, the traveling program is modified so as to maintain the course in the traveling lanes 12a and 12b, and transmitted to the vehicle control unit 24.
  • the vehicle speed sensor 28c detects, for example, the rotational speed of the wheel 22a and sends the detected rotational speed to the automatic driving control unit 25 as a detection signal S3.
  • the three-axis acceleration sensor 28d is a so-called gyro, detects the three-dimensional attitude of the unmanned driving vehicle 20 based on the three-axis acceleration of the vehicle body 21, and sends a detection signal S4 to the automatic driving control unit 25.
  • the lateral inclination sensor 28e detects the lateral inclination angle of the vehicle body 21 and sends a detection signal S5 to the automatic driving control unit 25.
  • the lateral inclination sensor 28e may be omitted. Further, when the three-dimensional rider 28f is provided, the three-dimensional rider 28f detects an object in front of the unmanned driving vehicle 20 and its distance, and outputs data on the distance between the laser image in front and the detected object. It is sent to the automatic operation control unit 25 as the detection signal S6.
  • the automatic driving control unit 25 performs three-dimensional detection based on the detection signals S1 to S5 from the monitoring camera 28a, the position detection unit 28b, the vehicle speed sensor 28c, the three-axis acceleration sensor 28d, and the lateral inclination sensor 28e.
  • the traveling state such as the traveling position, traveling speed, attitude, and lateral inclination of the unmanned vehicle 20 is grasped based on the detection signals S1 to S6, and the position on the orbiting course 11 is determined.
  • the progress of the traveling program 50 at that time is determined.
  • the distance to an object in the area in front of the unmanned driving vehicle 20 for example, an obstacle or another vehicle can be grasped as the traveling state.
  • the automatic driving control unit 25 finds an obstacle or another traveling vehicle on the traveling path 12 of the orbiting course 11 including the banked curved path 11c based on the detection signal S1 or the imaging signal 13c, An obstacle detection signal 25a is generated, and the traveling program 50 is corrected so as not to contact the obstacle or another traveling vehicle, and is sent to the vehicle control unit 24. Accordingly, the vehicle control unit 24 controls the traveling unit 22 so as not to come into contact with the obstacle or another traveling vehicle, decelerates or stops the unmanned driving vehicle 20, or controls the steering unit 23 to drive the traveling lane 12a. , 12b. In particular, when an obstacle is found on the banked curved road 11c, the automatic driving control unit 25 controls the vehicle control unit 24 irrespective of the traveling program 50, and stops the unmanned driving vehicle 20 at the stop position 11h. Stop.
  • the automatic operation control unit 25 When the automatic operation control unit 25 generates the obstacle detection signal 25a, the automatic operation control unit 25 transmits the detection signal S1 and / or the obstacle detection signal 25a from the transmission / reception unit 26 to the external operation control unit 30 via the network 40. Further, the automatic driving control unit 25 can control the vehicle control unit 24 based on a driving stop command described later included in the driving program 50 to stop the driving of the unmanned driving vehicle 20.
  • the operating state display section 29 is an indicator light capable of displaying, for example, three colors of blue, yellow, and red.
  • a blue light is displayed.
  • yellow display is performed, and in the case of error occurrence or emergency stop, red display is performed.
  • the automatic operation control unit 25 transmits a blue lighting instruction to the operating state display unit 29, and causes the operating state display unit 29 to display a blue light.
  • the automatic driving control unit 25 issues a yellow lighting instruction to the driving state display unit 29 before that. The transmission is performed, and the operation state display unit 29 performs yellow lighting display.
  • the automatic driving control unit 25 generates an error signal 25b as device failure or communication failure, and transmits the error signal 25b to the vehicle control unit 24 and the external driving control unit 30.
  • a command to turn on red light is transmitted to the operation state display unit 29, and the operation state display unit 29 performs red light display.
  • the vehicle control unit 24 that has received the error signal 25b controls the driving of the traveling unit 22 and the steering unit 23 to stop the unmanned driving vehicle 20 urgently.
  • the external operation control unit 30 is disposed adjacent to the orbiting course 11, and as shown in FIG. 6, a transmission / reception unit 31, a storage unit 32, a control unit 33, and a display unit 34 connected to a network 40. And an input unit 35.
  • the control unit 33 of the external driving control unit 30 detects the detection signals S1 to S5 from the unmanned driving vehicle 20 and the obstacle detection signals 25a and 25b received by the transmission / reception unit 31, the imaging signal 13c from the obstacle detection unit 13, Is stored in the storage unit 32, and the position of the unmanned driving vehicle 20 on the orbiting course 11 is displayed on the display screen of the display unit 34 based on the detection signals S1 to S5.
  • control unit 33 transmits the imaging signal 13 c from the obstacle detection unit 13 to the unmanned driving vehicle 20 via the network 40.
  • the external driving control unit 30 creates a traveling program 50 for the unmanned driving vehicle 20 by the input unit 35 and stores the traveling program 50 in the storage unit 32.
  • the control unit 33 of the external operation control unit 30 can set these traveling programs 50 in advance, read the traveling programs 50 from the storage unit 32, and transmit the traveling programs 50 to the unmanned driving vehicle 20 via the network 40 from the transmission / reception unit 31. Transmit.
  • the unmanned driving vehicle 20 receives the traveling program 50 from the transmission / reception unit 26 and stores the traveling program 50 in the storage unit 27.
  • the vehicle control unit 24 of the unmanned driving vehicle 20 reads out the traveling program 50 from the storage unit 27, and drives and controls the traveling unit 22 and the steering unit 23.
  • the unmanned driving vehicle 20 performs the test traveling according to the traveling pattern according to the traveling program 50 set in advance.
  • the external operation control unit 30 can correct the already created traveling program 50 or the traveling program 50 being executed in the unmanned vehicle 20.
  • the control unit 33 of the external operation control unit 30 changes the combination of P2 and P3 among the travel patterns P1 to P4 constituting the travel program 50 or the contents of the individual travel patterns P1 to P4, that is, the travel lane. Designation of 12a and 12b, correction of running speed, etc. can be performed.
  • the control unit 33 of the external driving control unit 30 transmits the corrected traveling program 50 to the unmanned driving vehicle 20 via the network 40 immediately.
  • the automatic driving control unit 25 controls the driving control unit 24 of the unmanned driving vehicle 20 based on the corrected driving program 50, and the current traveling pattern of the unmanned driving vehicle 20 is Can also be changed, and the automatic test drive can be continued with the changed contents.
  • FIG. 7A shows a traveling start pattern P1, in which the vehicle departs from the parking space 11f of the orbiting course 11, enters the traveling lane 12b outside the orbiting course 11, passes through the curved road 11c, and travels straight.
  • This is a traveling pattern that proceeds to the switching position 11g along 11b.
  • the unmanned driving vehicle 20 can depart from the parking space 11f and enter the surrounding course 11.
  • FIG. 7B shows a course circling pattern P2, in which the vehicle enters the straight road 11a from the switching position 11g along the outer traveling lane 12b through the curved road 11d, and enters the inner traveling lane 12a on the way. After the lane is changed, the lane is changed to the driving lane 12b again, and the vehicle travels from the straight road 11a through the curved road 11c and the straight road 11b to the switching position 11g.
  • the course circling pattern P2 allows the unmanned driving vehicle 20 to test-run the circulating course 11 on the circulating course 11 from the switching position 11g to the switching position 11g by the set number of laps.
  • FIG. 7 (C) shows a traveling stop pattern P3, in which the vehicle enters the straight road 11a from the switching position 11g along the outer traveling lane 12b through the curved road 11d, and the traveling stop zone on the way.
  • the driving of the unmanned driving vehicle 20 is stopped, and after passing through the driving stop zone 11h, the unmanned driving vehicle 20 is operated again to switch from the straight road 11a through the curved road 11c and the straight road 11b to the switching position.
  • This is a running pattern that proceeds to 11 g.
  • the unmanned driving vehicle 20 can stop traveling in the traveling stop zone 11h on the orbiting course 11.
  • FIG. 7D shows a traveling end pattern P4, in which the vehicle enters the straight road 11a through the curved road 11d from the switching position 11g along the outer traveling lane 12b, and travels inward on the way.
  • the lane is changed to the driving lane 12b again, and the driving pattern returns from the straight road 11a to the parking space 11f.
  • the unmanned driving vehicle 20 can return from the orbiting course 11 to the parking space 11f.
  • the traveling program 50 is configured by a combination of these four traveling patterns P1 to P4, and switching of these traveling patterns P1 to P4 is performed at the switching position 11g of the orbiting course 11. Thereby, switching of each running pattern is easily performed.
  • the running program 50 must start with a running start pattern P1 at the start and end with a running end pattern P4.
  • the course circling pattern P2 and the traveling stop pattern P3 can be combined continuously or alternately any number of times during the traveling program 50.
  • a traveling program including the traveling start pattern P1, the course lapping pattern P2 (number of laps 4) and the traveling end pattern P4, or the traveling start pattern P1 and the traveling stop pattern P3 (lapping)
  • a traveling program composed of the number of times 1) and the traveling end pattern P4 or a traveling program composed of the traveling start pattern P1, the course lapping pattern P2 (number of laps 2), the traveling stop pattern P3 (the number of laps 1), and the traveling end pattern P4.
  • the traveling patterns P1 to P4 the lateral positions to be traveled, the traveling lanes 12a and 12b as lanes, the traveling speed, temporary stop, and the like are set as parameters, and the traveling patterns P2 and P3 have the number of turns. Is also set.
  • the speed is changed for each position on the orbiting course 11, for example, the speed is reduced before the curved roads 11c and 11d, and after passing through the curved roads 11c and 11d at a lower speed. It is also possible to set to accelerate again and run at a higher speed. Thereby, various test runs can be performed by changing the parameters.
  • the traveling program 50 is composed of a combination of the above-described traveling patterns P1 to P4, is created by the automatic driving control unit 25 of the unmanned driving vehicle 20, or is created by the control unit 33 of the external driving control unit 30, and is connected to the network 40. Is transmitted to the unmanned driving vehicle 20 through the storage unit 27 and stored in the storage unit 27 of the unmanned driving vehicle 20.
  • the automatic driving control unit 25 of the unmanned driving vehicle 20 reads out the traveling program 50 created in advance from the storage unit 27 and sends it to the vehicle control unit 24, thereby controlling the vehicle.
  • the section 24 controls the driving of the traveling section 22 and the steering section 23 based on the traveling program 50.
  • the unmanned driving vehicle 20 performs the test traveling on the orbiting course 11 according to the traveling program 50.
  • Various automatic test runs can be easily performed by a combination of test run patterns set in advance.
  • a target speed may be set for each traveling pattern. In this case, by setting the target speed for each traveling pattern, a more appropriate automatic test traveling can be performed.
  • the automatic driving control unit 25 or the control unit 33 of the external driving control unit 30 controls various parameters of each of the driving patterns P1 to P4 or each of the driving patterns P1 to P4 during the automatic driving of the unmanned driving vehicle 20 by the test driving program. You may edit it.
  • the automatic driving control unit 25 recognizes the white line 11e of the orbiting course 11 based on the detection signal S1 from the monitoring camera 28a, and determines the traveling patterns P1 to P4 that are traveling at that time in the traveling program 50.
  • the unmanned vehicle 20 is corrected so as not to deviate from the designated traveling lane 12a or 12b, and is transmitted to the vehicle control unit 24. Accordingly, the vehicle control unit 24 controls the driving of the traveling unit 22 and the steering unit 23 based on the modified traveling patterns P1 to P4. Therefore, the unmanned traveling vehicle 20 can reliably continue the test traveling in the traveling lane 12a or 12b without departing from the designated traveling lane 12a or 12b.
  • the automatic driving control unit 25 when the automatic driving control unit 25 finds an obstacle or another vehicle on the orbiting course 11, The operation control unit 25 generates an obstacle detection signal 25a, transmits the obstacle detection signal 25a to the external operation control unit 30, and generates the traveling patterns P1 to P4 of the traveling program 50 that are currently proceeding.
  • the vehicle In order to prevent the unmanned driving vehicle 20 from contacting an obstacle or another vehicle, the vehicle is corrected to decelerate, stop, or change lanes of the traveling lane 12a or 12b, and sends it to the vehicle control unit 24.
  • An image pickup signal 13c relating to an obstacle from the obstacle detection unit 13 is input from the network 40 to the automatic operation control unit 25 via the transmission / reception unit 26. Furthermore, the imaging signal 13c from the obstacle detection unit 13 by the rider or the like may be directly transmitted to the transmission / reception unit 26 so that a delay time due to the transmission via the network 40 does not occur.
  • the vehicle control unit 24 controls the driving of the traveling unit 22 and the steering unit 23 based on the modified traveling patterns P1 to P4. Therefore, the unmanned traveling vehicle 20 can decelerate or stop or change lanes of the traveling lanes 12a and 12b so as to avoid contact with an obstacle or another vehicle, and thereafter can continue the test traveling.
  • the automatic driving control unit 25 appropriately corrects (edits) parameters of the traveling patterns P1 to P4 in the traveling program 50 in consideration of the traveling state of the unmanned vehicle 20.
  • the automatic driving control unit 25 can change the traveling speed or the traveling lane in the traveling patterns P1 to P4, or modify the number of laps, for example.
  • the automatic driving control unit 25 sends a traveling program 50 including the corrected traveling patterns P1 to P4 to the vehicle control unit 24.
  • the vehicle control unit 24 controls the driving of the traveling unit 22 and the steering unit 23 based on the modified traveling patterns P1 to P4. Therefore, the unmanned traveling vehicle 20 can continue the test traveling in accordance with the traveling patterns P1 to P4 whose parameters have been corrected.
  • the traveling pattern itself is changed, added, deleted, the traveling speed is increased / decreased, the traveling lane is changed, and the like. , Can be immediately reflected in the ongoing automatic test drive.
  • the automatic driving control unit 25 estimates the self-position in the following manner at the time of traveling control on the banked curved road 11c. In other words, the automatic driving control unit 25 estimates the self-position based on the detection signal from the detecting unit 28, and when the unmanned driving vehicle 20 is stopped, the tertiary order obtained from the detection signal S4 of the triaxial acceleration sensor 28d.
  • the automatic driving control unit 25 estimates the attitude angle of the vehicle body 21 of the unmanned driving vehicle 20 by integrating the angular velocity obtained from the detection signal S4 of the three-axis acceleration sensor 28d and performing signal processing such as filtering.
  • the posture angle is estimated by, for example, simple integration, estimation by an EKF (extended Kalman filter), estimation by a PF (particle filter), or integration by the Runge-Kutta method.
  • the automatic driving control unit 25 controls the steering angle on the banked curved road 11c as follows in accordance with the flowchart of FIG. First, in step ST1, the automatic driving control unit 25 acquires the radius of curvature of the banked curved road 11c from the map data of the traveling road 12 described above. Note that the radius of curvature of the curved road with bank 11c based on the map data is different from the actual radius of curvature since the radius of curvature is obtained from the projected image of the curved road with bank 11c on the horizontal plane.
  • step ST2 the automatic driving control unit 25 acquires the lateral inclination angle as the position and the posture angle of the unmanned driving vehicle 20 based on the detection signal from the detection unit 28.
  • step ST3 the automatic driving control unit 25 sets a target point on the traveling route that is the planned route, and in step ST4, calculates an optimal steering angle for traveling toward the target point.
  • step ST5 the automatic driving control unit 25 determines the centrifugal force and the lateral inclination by the vehicle speed applied to the unmanned driving vehicle 20 from the speed and the roll angle of the unmanned driving vehicle 20 based on the detection signal from the detection unit 28.
  • the corrected steering angle is calculated in consideration of the side slip force due to the angle, that is, the lateral force.
  • step ST6 the automatic driving control unit 25 outputs the angle obtained by adding the steering angle and the corrected steering angle to the vehicle control unit 24 as a steering angle.
  • the vehicle control unit 24 controls the driving of the steering unit 23 based on the steering angle.
  • the automatic driving control unit 25 controls the traveling control unit 24 based on the detection signal from the detection unit 28 so that the unmanned driving vehicle 20 travels along the orbiting course, and the traveling control unit 24 By controlling the driving of the steering unit 22 and the steering unit 23, the unmanned driving vehicle 20 can make an orbit around the orbit course and perform an automatic test run.
  • the curved road of the unmanned vehicle 20 is used. It is not necessary to detect the curvature of the successively curved road during traveling and calculate the steering angle from this curvature.
  • the curvature of the curved road obtained from the map data is calculated. It is possible to surely travel along a banked curved road of a circuit course.
  • a corrected steering angle taking into account the lateral acceleration acting on the vehicle body according to the vehicle speed and attitude of the unmanned vehicle 20 is given.
  • the detection of the obstacle on the banked curved road 11c is performed as follows.
  • the automatic driving control unit 25 finds an obstacle on the banked curved road 11c based on the imaging signal 13c of the obstacle detecting unit 13
  • the automatic driving control unit 25 interrupts the control by the traveling program 50 and performs an emergency stop.
  • a command 25b is generated and sent to the vehicle control unit 24. Accordingly, the vehicle control unit 24 causes the unmanned driving vehicle 20 to emergency stop at the stop position 11h before the banked curved road 11c based on the emergency stop command 25b.
  • an obstacle existing in the traveling direction of the banked curved road which cannot be detected by the camera for monitoring the front provided on the vehicle body of the unmanned driving vehicle 20, is an obstacle fixedly disposed on the banked curved road side. It is recognized by the sensor 13a. Since the obstacle on the banked curved road is reliably detected, the automatic driving control unit 25 drives the traveling unit 22 and the steering unit 23 of the unmanned driving vehicle 20 so as not to contact the obstacle on the banked curved road. By controlling, it is possible to travel on a banked curved road so as to avoid obstacles, or to make an emergency stop in front of the banked curved road, and to temporarily stop other vehicles from passing. It is also possible to wait.
  • the automatic test traveling system 10 is configured as described above, and operates as follows.
  • the driving program 50 is created by the automatic driving control unit 25 or the external driving control unit 30 of the unmanned driving vehicle 20 and stored in the storage unit 27 of the unmanned driving vehicle 20.
  • the automatic driving control unit 25 of the unmanned driving vehicle 20 reads the traveling program 50 from the storage unit 27 and controls the vehicle control unit 24 based on the traveling program 50. Since the vehicle control unit 24 controls the driving of the traveling unit 22 and the steering unit 23 according to the traveling program 50, the unmanned driving vehicle 20 performs the automatic test traveling according to the traveling program 50.
  • the driving state display unit 29 of the unmanned driving vehicle 20 shows a blue lighting display.
  • the automatic driving control unit 25 generates the white line 11e of the orbiting course 11 based on the detection signal S1 of the monitoring camera 28a and the map data of the orbiting course 11 set in advance based on the detection signal S2 of the position detection unit 28b.
  • the position of the unmanned driving vehicle 20 on the orbiting course 11 is always recognized by comparing with. Therefore, when the unmanned driving vehicle 20 attempts to deviate from the designated traveling lane 12a or 12b, the automatic driving control unit 25 immediately switches the steering unit 23 to return the unmanned driving vehicle 20 to the designated traveling lane 12a or 12b. Since the drive control is performed, the unmanned driving vehicle 20 does not deviate from the designated traveling lane 12a or 12b during the automatic test traveling.
  • the automatic driving control unit 25 refers to the lateral inclination angle and the vehicle speed of the vehicle body 21 from the radius of curvature of the banked curved road 11c obtained from the map data. Correct the steering angle. Thereby, the unmanned driving vehicle 20 can stably and reliably travel on the banked curved road 11c.
  • the automatic driving control unit 25 may detect an obstacle or another vehicle in the area in front of the orbiting course 11 if the obstacle is found.
  • a detection signal 25a is generated and transmitted to the vehicle control unit 24 and the external operation control unit 30.
  • the vehicle control unit 24 controls the driving of the traveling unit 22 and the steering unit 23 to decelerate or stop the unmanned driving vehicle 20 so as not to contact an obstacle or another vehicle, or to control the traveling lanes 12a and 12b. Make a change.
  • the automatic driving control unit 25 transmits a yellow display command to the driving state display unit 29 before starting driving again, and The status display unit 29 is caused to perform yellow lighting display.
  • the automatic driving control unit 25 when an obstacle or another vehicle is found in the area of the banked curved road 11c of the orbiting course 11, an emergency stop command 25b. Is generated and transmitted to the vehicle control unit 24 and the external operation control unit 30. Accordingly, the vehicle control unit 24 controls the driving of the traveling unit 22 and the steering unit 23 based on the emergency stop command 25b, and stops the unmanned vehicle 20 at the stop position 11h just before the banked curved road 11c.
  • the automatic driving control unit 25 when any one of the detection signals S1 to S5 cannot be received from the detection unit 28, the automatic driving control unit 25 generates an error signal 25b and sends the error signal 25b to the vehicle control unit 24 and the external driving control unit 30. At the same time, a command for turning on the red color is transmitted to the operation state display unit 29, and the operation state display unit 29 performs a red light display.
  • the vehicle control unit 24 receives the error signal 25b, controls the driving of the traveling unit 22 and the steering unit 23 based on the error signal 25b, and stops the unmanned driving vehicle 20 in an emergency.
  • the automatic driving control unit 25 detects the manual operation by the driver, and Suspend the test run.
  • the driver can drive the unmanned driving vehicle 20 in the same manner as a normal automobile.
  • the automatic test traveling around the orbiting course 11 can be executed without the driver based on the traveling program 50. Therefore, even in a test run in which the number of laps is repeated over several hours, for example, the driver is unnecessary, so that no physical or mental burden is imposed on the driver. Further, by executing the same traveling program 50, it is possible to carry out the test traveling under exactly the same conditions every time, and the variation in the test result for each driver does not occur unlike the conventional case.
  • the control unit 33 of the external driving control unit 30 sends the driving state of the unmanned driving vehicle 20, that is, the detection signals S1 to S5 and the obstacle detection signal 25a from the automatic driving control unit 25 of each unmanned driving vehicle 20.
  • the traveling state such as the traveling position, traveling speed, and the like of each unmanned vehicle 20 on the orbiting course 11 can be grasped.
  • control unit 33 of the external driving control unit 30 determines, based on the running state such as the running position and the running speed of each unmanned vehicle 20, the running position and the running speed of each unmanned vehicle 20 after a predetermined time. Can be predicted. Thereby, the control unit 33 of the external operation control unit 30 creates the approach prediction information 33a for the unmanned driving vehicle 20 that may approach or contact with each other after a predetermined time, and transmits the information through the network 40. Upon receiving the approach prediction information 33a, the automatic driving control unit 25 of the unmanned driving vehicle 20 appropriately corrects the driving patterns P1 to P4 of the driving program 50 so as not to come into contact with the other unmanned driving vehicle 20, and decelerates and stops. Alternatively, the lanes of the traveling lanes 12a and 12b are changed to avoid contact with another unmanned vehicle 20.
  • the unmanned driving vehicle 20 is configured to travel on the ground by the wheels 22a, but may include traveling means other than wheels, such as an endless track.
  • the detection unit 28 of the unmanned driving vehicle 20 includes the monitoring camera 28a and the rider 28f for detecting an obstacle or the like ahead in the traveling direction, but is not limited thereto, and further includes a millimeter wave radar. May be provided. By providing a plurality of millimeter-wave radars or a plurality of three-dimensional riders 28f around the vehicle main body 21, obstacles and other vehicles around the unmanned driving vehicle 20 can be detected. It is possible to more effectively avoid contact with another vehicle.
  • the orbiting course 11 is configured as a so-called oval circuit, but is not limited to this, and may be an orbiting course of any shape obtained by combining a left turn and a right turn. It is clear that the road may be used to provide a sign along a previously set route, so that a circuit course for a test run may be set.
  • the present invention can be used, for example, for testing tires.
  • An example in which the present invention is used for a tire test will be specifically described.
  • the unmanned vehicle 20 runs on the orbiting course 11 in the same manner as described in the above embodiment.
  • the orbiting course 11 has a test section 210 for testing a tire of the unmanned vehicle 20.
  • the tire test is a passing noise test.
  • the passing noise test is also called a PBN (PassPBy Noise) test.
  • the passing noise test is performed based on a predetermined standard for testing tires.
  • the predetermined standard may be, for example, ECE @ R117-02, which is an international standard related to tire noise regulations.
  • the road surface in the test section 210 may be a road surface based on the standard of ISO10844.
  • the test data in the passing noise test includes the noise level of the traveling noise generated by the friction between the tire and the road surface when the unmanned driving vehicle 20 equipped with the tire travels.
  • test data is acquired so that the running noise of the unmanned driving vehicle 20 does not include the driving sound of the engine or the motor of the unmanned driving vehicle 20.
  • the automatic driving control unit 25 controls the traveling of the unmanned driving vehicle 20 so that the unmanned driving vehicle 20 passes through the test section 210 with the engine or the motor stopped. Traveling in a state where the engine or the motor is stopped while the unmanned driving vehicle 20 is traveling is also referred to as coasting travel.
  • the test data based on ECE @ R117-02 indicates the noise level of the traveling noise obtained by running the unmanned vehicle 20 at eight or more test speeds at substantially equal intervals within a range of ⁇ 10 km / h with respect to the reference speed. Including.
  • the running-in of the unmanned driving vehicle 20 is performed before starting the tire test.
  • the running-in is for running the unmanned driving vehicle 20 for a predetermined distance.
  • the running distance of the running-in is determined by a predetermined standard.
  • the test of the tire is not limited to the PBN test, and may be another test.
  • two microphones 212 are provided on one or both of the two traveling lanes 12a and 12b of the test section 210.
  • the unmanned driving vehicle 20 travels along a route indicated by a dashed arrow.
  • the microphones 212 are located on the left and right as viewed from the unmanned driving vehicle 20 and are equidistant from the route on which the unmanned driving vehicle 20 travels.
  • the automatic driving control unit 25 controls the traveling of the unmanned driving vehicle 20 so that the unmanned driving vehicle 20 passes through the center of the position where the two microphones 212 are provided side by side.
  • the microphone 212 detects the noise level of the traveling noise of the unmanned driving vehicle 20 while the unmanned driving vehicle 20 is passing through the test section 210, and acquires the noise level as tire test data.
  • the microphone 212 is also called a test device.
  • a speedometer that measures the speed at which the unmanned driving vehicle 20 passes between the microphones 212 may be provided in the test section 210.
  • the speedometer may be of various forms, such as a laser speedometer.
  • the test data detected by the two microphones 212 located on the left and right as viewed from the unmanned driving vehicle 20 is determined based on a predetermined standard as to whether or not the data is normal. For example, when the difference between the noise levels detected by the left and right microphones 212 is equal to or greater than a predetermined value, it is determined that the test data is not normal. If the difference between the speed of the unmanned driving vehicle 20 and the test speed when detecting the test data is equal to or greater than a predetermined value, it is determined that the test data is not normal.
  • the external driving communication unit 30 communicably connected to the unmanned driving vehicle 20 is communicably connected to the microphone 212 provided in the test section 210 via the network 40. May be.
  • the external driving communication unit 30 acquires test data from the microphone 212.
  • the test data from the microphone 212 does not necessarily need to be acquired by the external driving communication unit 30.
  • a separately provided server may be communicably connected to the microphone 212 via the network 40 and acquire test data from the microphone 212. In this example, the description will be given on the assumption that the test data of the microphone 212 is acquired by the external driving communication unit 30.
  • the external driving communication unit 30 manages tire test data.
  • the external driving communication unit 30 transmits the running conditions of the unmanned driving vehicle 20 for testing the tire to the unmanned driving vehicle 20 wearing the tire to be tested.
  • the running conditions of the unmanned vehicle 20 for testing the tire are also referred to as test conditions.
  • the test condition may include information on a predetermined standard.
  • the test condition may include a reference speed of the unmanned driving vehicle 20 when acquiring the test data.
  • the test condition may include the number of test data to be acquired.
  • the test condition may include a criterion for determining whether the acquired test data is normal.
  • the automatic driving control unit 25 may acquire test data from the external driving communication unit 30 and determine whether or not the test data is normal based on the test conditions. If the automatic driving control unit 25 determines that the test data is not normal, the automatic driving control unit 25 may cause the unmanned driving vehicle 20 to run in the test section 210 so as to acquire the test data again. The automatic driving control unit 25 may cause the unmanned driving vehicle 20 to run so as to re-acquire only the abnormal test data, or to re-acquire all the test data included in the test conditions. May be run. When the automatic driving control unit 25 determines that the test data is normal, the automatic driving control unit 25 may end the control of the traveling of the unmanned driving vehicle 20 based on the test conditions. When the automatic driving control unit 25 ends the control based on the determination result of the test data, the possibility that the test of the tire is redone is reduced. As a result, the efficiency of tire testing is increased.
  • the external operation communication unit 30 may determine whether the acquired test data is normal.
  • the determination result of whether or not the test data is normal may be obtained from the automatic operation control unit 25 and the external operation communication unit 30.
  • the automatic driving control unit 25 obtains the determination result indicating that the test data is not normal from the external driving communication unit 30, the automatic driving control unit 25 causes the unmanned driving vehicle 20 to travel in the test section 210 so as to obtain the test data again. Good.
  • the traveling control device 10 may end the traveling control of the unmanned driving vehicle 20 based on the test conditions.
  • the external driving communication unit 30 may transmit an instruction to the automatic driving control unit 25 to terminate the control of the unmanned driving vehicle 20 based on the test conditions.
  • the automatic driving control unit 25 may end the control of the traveling of the unmanned driving vehicle 20 based on the test condition based on the instruction from the external driving communication unit 30. By doing so, the efficiency of the tire test is increased.
  • the automatic driving control unit 25 may control the running of the unmanned driving vehicle 20 so that the external driving communication unit 30 can acquire the tire test data according to the procedure of the flowchart illustrated in FIG. 9.
  • the automatic driving control unit 25 causes the unmanned driving vehicle 20 to travel in the test section 210 so that the microphone 212 can acquire test data based on the test conditions (step ST11).
  • the microphone 212 transmits the test data to the external driving communication unit 30.
  • the automatic operation control unit 25 proceeds to step ST12 after performing traveling to acquire all test data included in the test conditions.
  • the automatic operation control unit 25 determines whether the test data is normal (step ST12).
  • the automatic operation control unit 25 may acquire test data from the external operation communication unit 30 and determine whether the test data is normal based on the test conditions.
  • the automatic operation control unit 25 may acquire, from the external operation communication unit 30, a result of the external operation communication unit 30 determining whether the test data is normal based on the test conditions.
  • step ST12: Yes If the test data is normal (step ST12: Yes), the automatic operation control unit 25 ends the procedure of the flowchart in FIG. If the test data is not normal (step ST12: No), the automatic driving control unit 25 causes the unmanned driving vehicle 20 to travel in the test section 210 so that the test data can be reacquired by the microphone 212 (step S13). After step S13, the automatic driving control unit 25 returns to the determination procedure of step ST12.
  • the automatic driving control unit 25 may proceed to step ST12 after performing traveling for acquiring one test data in step ST11. In this case, if it is determined in the determination procedure of step ST12 that the test data is normal, the control unit 12 returns to step ST11 and performs traveling to acquire other test data.
  • the present invention can be used for tire testing.
  • the unmanned driving vehicle 20 runs automatically and acquires tire test data. That is, when the unmanned driving vehicle 20 travels by automatic driving, a driver who has acquired a technology capable of driving based on a predetermined standard for tire testing is not required. As a result, the time and cost for training the driver in the technique are reduced.
  • the tire test data is collected in the external operation control unit 30. In this case, by confirming the external operation control unit 30 by one operator, the acquisition status of the test data in the plurality of unmanned vehicles 20 can be confirmed in parallel. As a result, the unmanned driving vehicle 20 equipped with various tires can travel efficiently based on a predetermined standard.
  • the operator who checks the external operation control unit 30 may or may not have acquired the driving technique. As a result, the time and cost for training the operator in the technique are reduced. In this way, by controlling the travel of the unmanned driving vehicle 20 by automatic driving, acquisition of tire test data is made more efficient.
  • the automatic driving control unit 25 may notify an alarm indicating that the test data is not normal. By notifying the alarm, the reacquisition of the tire test data is facilitated. As a result, acquisition of tire test data is made more efficient.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de déplacement de test automatique pour véhicules en déplacement, lequel système amène un véhicule sans conducteur (20) à se déplacer et effectue un test de déplacement sur le véhicule sans conducteur (20), à l'aide d'une unité de commande de conduite (25), le long d'un parcours circulaire (11) comprenant une trajectoire à virages relevés. Le véhicule sans conducteur (20) comprend : une unité de déplacement (22) et une unité de direction (23), pour se déplacer le long d'une trajectoire de déplacement ; et une unité de détection pour détecter l'état de déplacement sur la trajectoire de déplacement. L'unité de commande de conduite (25) détecte la position, la vitesse et l'orientation du véhicule sans conducteur (20) sur la base des résultats de détection provenant de l'unité de détection dans le véhicule sans conducteur (20), commande pour la conduite l'unité de déplacement (22) et l'unité de direction (23), et amène le véhicule sans conducteur (20) à effectuer des tours le long du parcours circulaire. L'unité de commande de conduite (25) se réfère également à un angle d'inclinaison latérale sur la trajectoire à virages relevés (11c), elle calcule un angle de direction à partir de données de carte pré-créées pour la trajectoire circulaire (11), et elle commande pour la conduite l'unité de direction (23) à l'aide de l'angle de direction calculé.
PCT/JP2019/026514 2018-07-03 2019-07-03 Système de déplacement de test automatique pour véhicules en déplacement WO2020009162A1 (fr)

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