WO2020189462A1 - Véhicule de déplacement à itinéraire prédéfini - Google Patents

Véhicule de déplacement à itinéraire prédéfini Download PDF

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Publication number
WO2020189462A1
WO2020189462A1 PCT/JP2020/010673 JP2020010673W WO2020189462A1 WO 2020189462 A1 WO2020189462 A1 WO 2020189462A1 JP 2020010673 W JP2020010673 W JP 2020010673W WO 2020189462 A1 WO2020189462 A1 WO 2020189462A1
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WIPO (PCT)
Prior art keywords
road surface
default route
vehicle
information
route
Prior art date
Application number
PCT/JP2020/010673
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English (en)
Japanese (ja)
Inventor
山崎　章弘
Original Assignee
ヤマハ発動機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to KR1020217025245A priority Critical patent/KR20210113322A/ko
Priority to JP2021507254A priority patent/JPWO2020189462A1/ja
Priority to TW109108375A priority patent/TWI743705B/zh
Publication of WO2020189462A1 publication Critical patent/WO2020189462A1/fr
Priority to JP2023037696A priority patent/JP2023060344A/ja

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B55/00—Bags for golf clubs; Stands for golf clubs for use on the course; Wheeled carriers specially adapted for golf bags
    • A63B55/60—Wheeled carriers specially adapted for golf bags
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to a default route traveling vehicle traveling on a predetermined route.
  • Patent Document 1 As a default route traveling vehicle that travels on a predetermined route, for example, there is a golf car described in Patent Document 1.
  • a golf car described in Patent Document 1 an obstacle on the road surface of a predetermined route is detected based on an image captured by an imaging device.
  • golf cars have a slow running speed. Therefore, the golf car can run on a curve having a small radius of curvature. If the horizontal angle of view of the image pickup apparatus of Patent Document 1 is small, the imaging range of the image pickup apparatus becomes small. Therefore, when traveling on a curve having a small radius of curvature, it may be difficult to detect an obstacle on the road surface of the default route. Alternatively, it may be difficult to detect an obstacle on the road surface of the default route until the golf car is fairly close to the obstacle.
  • the detection of obstacles on the road surface of the default route using an imaging device it is required to increase the distance between the obstacles that can be reliably detected and the golf car. In other words, it is required to detect obstacles farther from the vehicle with high accuracy.
  • the larger the horizontal angle of view of the image pickup device the more difficult it is to accurately detect the position of the object far from the image pickup device, and therefore the accuracy of detecting an obstacle far from the own vehicle becomes low.
  • the larger the horizontal angle of view of the image pickup device the more difficult it is to detect an object far from the image pickup device, so that the detection rate of obstacles far from the own vehicle also decreases.
  • the detection accuracy and detection rate of obstacles far from the own vehicle are improved, and the obstacles are approached when traveling on a curve with a small radius of curvature. Detecting obstacles before doing so is difficult to achieve at the same time.
  • the present invention can improve the detection accuracy and detection rate of obstacles on the road surface of the default route and far from the vehicle traveling on the default route, and the vehicle traveling on the default route is on the road surface even while traveling on a curve having a small radius of curvature. It is an object of the present invention to provide a vehicle traveling on a default route capable of detecting an obstacle before approaching the obstacle.
  • an image pickup device that images with a horizontal angle of angle of 40 ° or more and 90 ° or less and a future traveling position of the own vehicle on the road surface of the predetermined route are described.
  • Imaging by the swinging device that swings the imaging device with respect to the vehicle body around the swinging axis along the vertical direction of the vehicle of the own vehicle and the swinging imaging device so as to be included in the imaging range of the imaging device.
  • the road surface position-related information acquisition unit for acquiring the road surface position-related information for estimating the position of the road surface of the predetermined route in the image, and the road surface by controlling the swing of the imaging device by the rocking device.
  • the position of the road surface of the predetermined route in the image imaged by the swinging imaging device was estimated, and the estimated position in the image was estimated. It is characterized by having a control device for detecting an obstacle on the road surface of the predetermined route in the image based on the position of the road surface of the predetermined route.
  • the default route traveling vehicle traveling on the predetermined route includes an imaging device, a rocking device, a road surface position related information acquisition unit, and a control device.
  • the imaging device captures images at a horizontal angle of view of 40 ° or more and 90 ° or less. That is, the horizontal angle of view of the imaging device is relatively small. In other words, the imaging range of the imaging device is relatively small.
  • the rocking device is an image pickup device centered on a swing axis along the vehicle vertical direction of the default route traveling vehicle so that the future traveling position of the predetermined route traveling vehicle on the road surface of the predetermined route is included in the imaging range of the imaging device. To rock.
  • the road surface position related information acquisition unit acquires the road surface position related information.
  • the road surface position-related information is information for estimating the position of the road surface of a predetermined route in an image captured by a swinging imaging device.
  • the control device estimates the position of the road surface of the default route in the image captured by the swinging image pickup device based on the road surface position-related information acquired by the road surface position-related information acquisition unit.
  • the control device detects obstacles on the road surface of the default route in the image based on the estimated road surface position of the default route in the image.
  • the obstacle can be detected before the vehicle traveling on the default route approaches the obstacle on the road surface of the default route. ..
  • the horizontal angle of view of the imaging device is small, it is possible to improve the detection accuracy and the detection rate of obstacles on the road surface of the default route and far from the vehicle traveling on the default route.
  • the default route traveling vehicle of the present invention preferably has the following configuration in addition to the configuration of (1) above.
  • the control device controls the swing device so that the image pickup device swings within a swing angle range of 30 ° or more and 180 ° or less about the swing axis.
  • the swing angle range is relatively large at 30 ° or more. Therefore, even if the horizontal angle of view of the imaging device is small, when the vehicle traveling on the default route travels on a curve having a small radius of curvature, the imaging range of the imaging device more reliably includes the future traveling position on the road surface of the default route. be able to.
  • the default route traveling vehicle of the present invention preferably has the following configuration in addition to the above configuration (1) or (2). It has a storage unit that stores in advance first default route map information including information on the shape of the road surface of the default route and relative position information or absolute position information of a plurality of positions on the road surface of the default route.
  • the control device estimates the current position of the own vehicle on the road surface of the predetermined route, and the control device includes the future traveling position of the own vehicle on the road surface of the predetermined route in the imaging range of the imaging device.
  • the target swing angle of the swing device is set based on the first default route map information stored in the storage unit and the current position of the own vehicle estimated by the control device.
  • the swing device swings the image pickup device around the swing axis based on the target swing angle set by the control device.
  • the control device sets the target swing angle of the swing device based on the first default route map information stored in the storage unit and the current position estimated by the control device.
  • the target rocking angle is suppressed while suppressing the amount of information acquired by the default route traveling vehicle during use.
  • the road surface of the predetermined route can be more reliably included in the suitable position in the captured image.
  • the detection accuracy and the detection rate of obstacles on the road surface of the default route and far from the vehicle traveling on the default route can be further improved.
  • the default route traveling vehicle of the present invention preferably has the following configuration in addition to the above configuration (1) or (2).
  • the control device has a road surface shape information acquisition unit that acquires information on the shape of a part of the road surface of the default route including the future traveling position of the vehicle during use of the own vehicle, and the control device is of the default route. Based on the shape information of the part of the road surface of the predetermined route acquired by the road surface shape information acquisition unit, the future traveling position of the own vehicle on the road surface is included in the imaging range of the imaging device.
  • a target rocking angle of the rocking device is set, and the rocking device swings the image pickup device around the rocking axis based on the target rocking angle set by the control device.
  • the default route traveling vehicle of the present invention preferably has the following configuration in addition to the above configuration (1) or (2).
  • the control device targets the swing device acquired by the vehicle during use of the vehicle so that the future traveling position of the vehicle on the road surface of the predetermined route is included in the imaging range of the image pickup device.
  • the image pickup device is swung around the swing axis based on the moving angle.
  • the target swing angle of the image pickup device can be finely set while it is not necessary to estimate the current position for setting the target swing angle of the image pickup device.
  • the default route traveling vehicle of the present invention preferably has the following configuration in addition to the configuration of any one of (1) to (5) above.
  • the road surface position-related information acquisition unit is a storage unit that stores the road surface position-related information in advance.
  • the road surface position related information acquisition unit stores the road surface position related information in advance.
  • the amount of information acquired while using the default route traveling vehicle is suppressed, and the road surface position related information is obtained. It can be obtained in detail.
  • the control device detects obstacles on the road surface of the default route by using the road surface position-related information acquired in this way. Therefore, the detection accuracy and the detection rate of obstacles on the road surface of the default route and far from the vehicle traveling on the default route can be further improved.
  • the default route traveling vehicle of the present invention preferably has the following configuration in addition to the configuration of (6) above.
  • the road surface position-related information acquisition unit includes, as the road surface position-related information, information on the shape and width of the road surface of the default route, and relative position information or absolute position information of a plurality of positions on the road surface of the default route.
  • the second default route map information including the above is stored in advance, the control device estimates the current position of the own vehicle on the road surface of the default route, and the control device is stored in the road surface position related information acquisition unit. Swing based on the second default route map information, the current position of the own vehicle estimated by the control device, and the information related to the current swing angle around the swing axis of the image pickup device. The position of the road surface of the predetermined route in the image captured by the imaging device is estimated.
  • the road surface position-related information acquisition unit receives information on the shape and width of the road surface of the default route and relative position information or absolute position information of a plurality of positions on the road surface of the default route as road surface position-related information.
  • the second default route map information including is stored in advance. Therefore, the control device is related to the road surface position related information (second default route map information) stored in advance, the current position of the default route traveling vehicle estimated by the control device, and the current swing angle of the image pickup device. Based on the information, the position of the road surface of the default route in the image captured by the imaging device can be estimated.
  • the default route traveling vehicle of the present invention preferably has the following configuration in addition to the configuration of (6) above.
  • the road surface position-related information acquisition unit receives, as the road surface position-related information, three-dimensional road surface information which is three-dimensional information of the road surface of the default route that can be projected onto an image captured by the imaging device, and the default route.
  • Relative position information or absolute position information of a plurality of positions on the road surface is stored in advance, the control device estimates the current position of the own vehicle on the road surface of the predetermined route, and the control device determines the road surface position.
  • the said in the image imaged by the swinging image pickup device based on the information related to the current position of the own vehicle and the current swing angle around the swing axis of the image pickup device. Estimate the position of the road surface of the default route.
  • the control device is related to the road surface position-related information stored in the road surface position-related information acquisition unit, the current position of the default route traveling vehicle estimated by the control device, and the current swing angle of the image pickup device. Based on the information provided, the position of the road surface of the default route in the image captured by the imaging device is estimated. As a result, the road surface position-related information is acquired in more detail while suppressing the amount of information acquired while the default route traveling vehicle is in use, as compared with the case where the vehicle acquires the road surface position-related information while using the default route traveling vehicle. be able to.
  • the accuracy of estimating the position of the road surface of the default route in the image is high even when the road surface of the default route includes a slope.
  • the control device detects obstacles on the road surface of the default route by using the road surface position-related information acquired in this way. Therefore, the detection accuracy and the detection rate of obstacles on the road surface of the default route and far from the vehicle traveling on the default route can be further improved.
  • the default route traveling vehicle of the present invention preferably has the following configuration in addition to the configuration of any one of (1) to (5) above.
  • the road surface position-related information acquisition unit acquires the road surface position-related information while the vehicle is in use.
  • the default route traveling vehicle of the present invention preferably has the following configuration in addition to the configuration of (9) above.
  • the road surface position-related information acquisition unit acquires information on the shape of a part of the road surface of the predetermined route including the future traveling position of the vehicle as the road surface position-related information, and obtains the default information.
  • the control device has a storage unit that stores information on the width of the road surface of the route in advance, and the control device acquires information on the width of the road surface of the default route stored in the storage unit and the information acquisition unit related to the road surface position.
  • the image is captured by the swinging image pickup device.
  • the position of the road surface of the predetermined route in the image is estimated.
  • the default route traveling vehicle of the present invention preferably has the following configuration in addition to the configuration of (9) above.
  • the road surface position-related information acquisition unit acquires information on the shape and width of a part of the road surface of the predetermined route including the future traveling position of the own vehicle as the road surface position-related information.
  • the control device has information on the shape and width of the part of the road surface of the predetermined route acquired by the road surface position related information acquisition unit, and the current swing angle centered on the swing axis of the image pickup device. Based on the information related to, the position of the road surface of the predetermined route in the image imaged by the swinging imaging device is estimated.
  • the default route traveling vehicle of the present invention has the following configurations in addition to the configurations of any of the above (1) to (7) and (9) to (11). It is preferable to have.
  • the image pickup device is a stereo camera having a left image sensor and a right image sensor arranged at a position distant from the left image sensor in the right direction of the vehicle.
  • the image pickup device is a stereo camera having a left image sensor and a right image sensor.
  • a stereo camera having a left image sensor and a right image sensor as an image pickup device, a disparity image is generated based on the left image captured by the left image sensor and the right image captured by the right image sensor.
  • Obstacles can be detected using this differential image.
  • the obstacle detection using the laser radar of the one-dimensional scan there is a problem that the undulating road surface can be easily detected as an obstacle.
  • obstacles can be detected while suppressing the influence of undulations on the road surface. As a result, the detection accuracy and the detection rate of obstacles on the road surface of the default route and far from the vehicle traveling on the default route can be further improved.
  • the default route traveling vehicle of the present invention preferably has the following configuration in addition to the configuration of any of the above (1) to (12).
  • the control device detects the obstacle on the road surface of the predetermined route in the image, the control device reduces the speed of the own vehicle or stops the traveling of the own vehicle.
  • the control device when the control device detects an obstacle on the road surface of the default route, the speed of the vehicle traveling on the default route is reduced or the traveling of the vehicle traveling on the default route is stopped. As a result, the vehicle traveling on the default route can be decelerated or stopped automatically instead of manually. As a result, the possibility of avoiding contact with obstacles can be increased.
  • the "road surface of the default route” is the road surface on which the vehicle traveling on the default route travels.
  • the "road surface of the default route” may be the road surface of a general road, or may be the road surface of a dedicated road in a facility such as a golf course.
  • the "road surface of the default route” may or may not be visually clear at both ends in the width direction.
  • An example of the former is, for example, when the road surface of the default route is a paved surface and the outside of the road surface of the default route is the ground.
  • An example of the latter is the case where the road surface of the default route is provided in a paved square.
  • the "default route traveling vehicle” is a vehicle traveling on a predetermined route.
  • the default route traveling vehicle of the present invention includes, for example, a golf car, an autonomous driving bus, a small automatic electric vehicle, and the like.
  • the default route traveling vehicle of the present invention does not include a vehicle that can travel other than the default route, such as a route bus driven by a driver.
  • the default route traveling vehicle of the present invention is a vehicle whose traveling direction is controlled without the operation of an operator. Operators include the occupants of the default route traveling vehicle and those who perform remote operations on the default route traveling vehicle.
  • the vehicle speed of the default route traveling vehicle of the present invention may be controllable without the operation of an operator.
  • the vehicle traveling on the default route of the present invention may be able to stop without the operation of an operator.
  • the default route traveling vehicle of the present invention may be an autonomous driving vehicle that automatically travels on a predetermined route.
  • the self-driving vehicle here is a vehicle in which the traveling direction and the vehicle speed are controlled without the operation of the operator, and the vehicle stops without the operation of the operator.
  • the vehicle traveling on the default route of the present invention may be stopped by an operator's operation.
  • the vehicle speed of the default route traveling vehicle of the present invention may be controllable by an operator's operation.
  • the vehicle traveling on the default route of the present invention may be switchable so that the traveling direction can be controlled by the operation of the operator.
  • the "future traveling position of the own vehicle on the road surface of the predetermined route” is the future traveling position of the own vehicle away from the current traveling position of the own vehicle on the road surface of the predetermined route in the traveling direction.
  • the traveling position referred to here is a position where the own vehicle is arranged on the road surface of the default route. More specifically, the traveling position may be a position where the front surface of the own vehicle is arranged on the road surface of the predetermined route.
  • the distance away in the traveling direction referred to here may be a fixed value, or may be a value that changes according to the speed of the own vehicle or the like. That is, the "future driving position of the own vehicle on the road surface of the default route" is the latest future traveling position of the own vehicle on the road surface of the default route.
  • estimating the current position of the own vehicle on the road surface of the default route may mean estimating the distance from a certain position on the road surface of the default route to the current position, with respect to a reference position. It may be to estimate the relative current position of the own vehicle, or it may be to estimate the current absolute position of the own vehicle.
  • the horizontal angle of view of the image pickup apparatus is the horizontal angle of view of the vehicle traveling on the predetermined route in the horizontal direction.
  • the horizontal direction of the default route traveling vehicle here is the horizontal direction when the default route traveling vehicle is stopped with all the wheels (or traveling means replacing the wheels) of the default route traveling vehicle in contact with the horizontal plane. ..
  • the "image captured by the imaging device” of the present invention is an image captured by the imaging device at a certain point in time.
  • the image pickup device of the present invention is a stereo camera having a plurality of image sensors (image sensors)
  • the "image captured by the image pickup device” of the present invention is a plurality of images captured by the plurality of image sensors at the same timing. It may be at least one of these images, or it may be one image generated based on a plurality of images captured at the same timing by a plurality of image sensors.
  • the image pickup apparatus of the present invention may be a monocular camera having only one image sensor.
  • estimating the position of the road surface of the default route in the image means estimating at least the positions of both ends of the road surface of the default route in the image in the width direction. Estimating the positions of both ends of the road surface of the default route in the image in the width direction is not limited to exactly estimating the positions of both ends of the road surface of the default route in the image. The accuracy of estimating the positions of both ends of the road surface of the default route in the image in the width direction is sufficient as long as it can detect obstacles on the road surface of the default route in the image.
  • the "obstacle on the road surface of the default route" is an obstacle in contact with the road surface of the default route.
  • the vehicle traveling on the default route of the present invention may detect not only obstacles on the road surface of the default route but also obstacles that are not in contact with the road surface of the default route and exist directly above the road surface of the default route. ..
  • the "information on the shape of the road surface of the default route" included in the first default route map information is information on the shape of the entire road surface of the default route.
  • “Information on the shape of the road surface of the default route” does not include information on the width of the road surface of the default route.
  • “Information on the shape of the road surface of the default route” is information that can determine whether a part of the road surface of the default route is straight or curved.
  • the "information on the shape of the road surface of the default route” is information that can determine the degree of bending (for example, radius of curvature).
  • the definition of "information on the road surface shape of the default route” included in the second default route map information of the present invention is the same as the above definition of "information on the road surface shape of the default route” included in the first default route map information. It is the same.
  • the "information on the shape of a part of the road surface of the default route” may be information that can determine whether the part of the road surface of the default route is straight or curved.
  • the "information on the shape of a part of the road surface of the default route” may be information that can determine the degree of bending.
  • the "information on the shape of a part of the road surface of the default route” may be information indicating the direction of the part of the road surface of the default route.
  • the "in use of own vehicle” of the present invention is when the vehicle traveling on the default route is traveling on the default route for the purpose of using the vehicle traveling on the default route. "In use of own vehicle” does not include when the default route traveling vehicle is traveling on the default route in order to acquire information to be stored in advance in the storage unit of the default route traveling vehicle.
  • the own vehicle acquires the target swing angle of the swing device while the own vehicle is in use means that the information of the target swing angle of the swing device is obtained from the outside while the own vehicle is in use. It may be acquired by the car. Alternatively, while the vehicle is in use, the vehicle acquires identification information associated with the target rocking angle of the rocking device from the outside, and based on this identification information, the target of the rocking device is stored in the storage unit of the vehicle. The information on the swing angle may be read out.
  • “Own vehicle acquires the target rocking angle of the rocking device while using the vehicle” means that the vehicle acquires the target rocking angle of the rocking device from the storage unit of the vehicle regardless of the information acquired from the outside while the vehicle is in use. It does not include reading the road surface position related information acquisition unit.
  • the own vehicle acquires information from the outside it means, for example, acquiring information from a wireless communication device, an RFID tag, or the like.
  • the road surface position-related information acquisition unit acquires the road surface position-related information while the vehicle is in use means that the road surface position-related information acquisition unit acquires the road surface position-related information while the vehicle is in use. The information may be obtained from the outside.
  • the vehicle acquires the identification information associated with the road surface position-related information from the outside, and the road surface position-related information is read out from the storage unit of the vehicle based on this identification information.
  • the road surface position-related information acquisition unit may acquire the road surface position-related information.
  • the road surface position-related information acquisition unit acquires the road surface position-related information while the vehicle is in use means that the road surface position-related information is acquired regardless of the information that the vehicle acquires from the outside while the vehicle is in use. It does not include the acquisition of the road surface position related information acquisition unit from the storage unit of the own vehicle.
  • the definition of "the road surface shape information acquisition unit acquires the shape information of a part of the road surface of the default route including the future traveling position of the own vehicle while using the own vehicle” in the present invention is also defined as above. The same is true.
  • the relative position information of the position A is information indicating the relative position of the position A with respect to the reference position.
  • the reference position of the relative position information depends on the default route. Further, the reference position of the relative position information may differ depending on the position A.
  • the absolute position information of the position A is information indicating the relative position of the position A with respect to the origin. The origin is fixed regardless of the default route.
  • the swinging device swings the image pickup device means that the swinging device rotates the image pickup device by less than 360 °.
  • the rocking device of the present invention may be capable of rotating the image pickup device by 360 ° or more.
  • the rocking device of the present invention may rotate the image pickup device by 360 ° or more in order to include the future running position of the vehicle traveling on the default route on the road surface of the default route in the image captured by the image pickup device. Good.
  • the "swing angle range” in the present invention is the maximum range in which the rocking device controlled by the control device can swing the image pickup device with respect to the vehicle body in one predetermined route traveling vehicle.
  • the swing angle range is 180 °
  • the swing device controlled by the control device may be able to swing the imaging device 90 ° from the reference position and ⁇ 90 ° from the reference position, for example.
  • the swinging device a device capable of rotating 360 ° may be used as the swinging device. That is, the swing angle range is the maximum swing range controlled by the control device, not the maximum structural swing range of the swing device.
  • the "current swing angle" of the image pickup device may be the actual swing angle of the current image pickup device, or may be an angle estimated to be the swing angle of the current image pickup device. Good.
  • the "vehicle vertical direction” is a direction orthogonal to the horizontal plane when the vehicle traveling on the predetermined route is stopped with all the wheels in contact with the horizontal plane.
  • the "vehicle right direction” is a direction in the horizontal plane when the default route traveling vehicle is stopped with all wheels in contact with the horizontal plane, and faces the traveling direction of the default route traveling vehicle. It is to the right for the passengers on board.
  • the fact that the right image sensor is arranged at a position away from the left image sensor in the vehicle right direction means that the right image sensor is located in the vehicle right direction from the left image sensor in at least a part of the swingable range of the imaging device. It means that it is placed at a remote position.
  • the right image sensor may be arranged at a position distant from the left image sensor in the right direction of the vehicle when the swing angle of the image pickup device is a certain angle.
  • the "position away from the left image sensor in the right direction of the vehicle" is a position separated from the plane orthogonal to the right direction of the vehicle through the right end of the left image sensor in the right direction of the vehicle in the right direction of the vehicle. ..
  • the "information related to the swing angle” is information that directly or indirectly indicates the swing angle.
  • the straight line along the A direction is not limited to the straight line parallel to the A direction.
  • the straight line along the A direction 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.
  • Other expressions using "along” include, for example, "axis along the A direction", “direction along the A direction", “multiple Bs are arranged along the A direction", and the like. , "One B is along the A direction” and the like.
  • the A direction does not point to a specific direction.
  • the A direction can be replaced with the horizontal direction or the front-back direction.
  • the "swing axis along the vehicle vertical direction” is not limited to the rocking axis parallel to the vehicle vertical direction.
  • the “swing axis along the vehicle vertical direction” includes a rocking axis that is inclined within a range of ⁇ 45 ° with respect to the vehicle vertical direction.
  • the terms mounted, connected, coupled, and supported are used in a broad sense. Specifically, it includes not only direct mounting, connection, connection and support, but also indirect mounting, connection, connection and support. Moreover, connected and coupled are not limited to physical or mechanical connections / couplings. They also include direct or indirect electrical connections / couplings.
  • At least one of the plurality of options includes all possible combinations of the plurality of options.
  • At least one of the plurality of options may be any one of the plurality of options, or may be all of the plurality of options.
  • at least one of A, B, and C may be only A, only B, only C, A, B, and A and C. It may be, B and C, or A, B and C.
  • the term “favorable” is non-exclusive.
  • Preferable means “preferable, but not limited to”.
  • the configuration described as “preferable” exhibits at least the above-mentioned effect obtained by the above-mentioned configuration (1).
  • the term “may” is non-exclusive.
  • May means “may be, but is not limited to”.
  • the configuration described as “may” exerts at least the above-mentioned effect obtained by the above-mentioned configuration (1).
  • the present invention may have a plurality of these components if, within the scope of the patent claim, the number of certain components is not explicitly specified and is displayed as a single component when translated into English. .. Further, the present invention may have only one of these components.
  • the present invention does not limit the combination of the above-mentioned preferable configurations with each other.
  • the invention is not limited to the details of component configuration and arrangement described in the following description or illustrated in the drawings.
  • the present invention is also possible in embodiments other than the embodiments described later.
  • the present invention is also possible in embodiments in which various modifications are made to the embodiments described later.
  • the present invention can be implemented by appropriately combining embodiments, specific examples, and modified examples described later.
  • the default route traveling vehicle of the present invention it is possible to improve the detection accuracy and detection rate of obstacles on the road surface of the predetermined route and far from the default route traveling vehicle, and it is defined even when traveling on a curve having a small radius of curvature. Obstacles can be detected before the route vehicle approaches an obstacle on the road surface of the default route.
  • the default route traveling vehicle 1 of the present embodiment includes an imaging device 10, a road surface position related information acquisition unit 20, a control device 30, and a rocking device 40.
  • the image pickup device 10, the road surface position related information acquisition unit 20, the control device 30, and the rocking device 40 are mounted on the default route traveling vehicle 1.
  • the default route traveling vehicle 1 travels on the road surface 60 of the default route. That is, the default route traveling vehicle 1 travels on the default route.
  • the imaging device 10 images with a horizontal angle of view A of 40 ° or more and 90 ° or less. That is, the horizontal angle of view of the imaging device 10 is relatively small. In other words, the imaging range of the imaging device 10 is relatively small.
  • the rocking device 40 has a rocking axis along the vehicle vertical direction of the default route traveling vehicle 1 so that the future traveling position of the default route traveling vehicle 1 on the road surface 60 of the predetermined route is included in the imaging range of the imaging device 10.
  • the image pickup device 10 is swung with respect to the vehicle body around 40.
  • the road surface position related information acquisition unit 20 acquires the road surface position related information.
  • the road surface position-related information is information for estimating the position of the road surface 60 of the default route in the image captured by the swinging image pickup device 10.
  • the control device 30 controls the swing of the image pickup device 10 by the swing device 40.
  • the control device 30 estimates the position of the road surface 60 of the default route in the image captured by the swinging image pickup device 10 based on the road surface position-related information acquired by the road surface position-related information acquisition unit 20.
  • the control device 30 detects an obstacle on the road surface 60 of the default route in the image.
  • FIG. 1 is a top view of the default route traveling vehicle 1 on the road surface 60 of the default route
  • FIG. 10 is a top view of the conventional default route traveling vehicle 301 on the road surface 60 of the default route. Is. 1 and 10 show a situation in which the vehicle 1 traveling on the default route approaches a sharp curve (a curve having a small radius of curvature).
  • the image pickup device 310 of the conventional default route traveling vehicle 301 does not swing.
  • the horizontal angle of view of the imaging device 310 is the same as the horizontal angle of view A of the imaging device 10
  • the horizontal angle of view of the imaging device 310 is relatively small. Therefore, as shown in FIG. 10, when traveling on a curve having a small radius of curvature, the future traveling position of the default route traveling vehicle 301 on the road surface 60 of the predetermined route is not included or slightly within the imaging range of the imaging device 310. Only included. As a result, the obstacle cannot be detected until the vehicle 301 traveling on the default route approaches the obstacle on the road surface 60 of the default route.
  • the obstacle can be detected before the default route traveling vehicle 301 approaches the obstacle on the road surface 60 of the default route.
  • the horizontal angle of view A of the image pickup apparatus 310 is large, the detection accuracy and the detection rate of obstacles on the road surface 60 of the default route and far from the vehicle 1 traveling on the default route are low.
  • the default route traveling vehicle 1 includes a rocking device 40 that swings the imaging device 10 so that the future traveling position of the default route traveling vehicle 1 on the road surface 60 of the default route is included in the imaging range of the imaging device 10.
  • a rocking device 40 that swings the imaging device 10 so that the future traveling position of the default route traveling vehicle 1 on the road surface 60 of the default route is included in the imaging range of the imaging device 10.
  • the obstacle can be detected before 1 approaches the obstacle on the road surface 60 of the predetermined route.
  • Specific Example 1 of the Embodiment is an example in which the present invention is applied to a golf car.
  • the golf car 1 of the specific example 1 has all the features of the default route traveling vehicle 1 of the above-described embodiment. In the following description, the description of the same parts as those in the above-described embodiment will be omitted.
  • the vertical direction, the front-rear direction, and the left-right direction are the vehicle up-down direction, the vehicle front-rear direction, and the vehicle left-right direction.
  • the vehicle vertical direction is a direction orthogonal to the horizontal plane when the default route traveling vehicle 1 is stopped with all the wheels in contact with the horizontal plane.
  • the vehicle left-right direction is the direction in the horizontal plane when the default route traveling vehicle 1 is stopped with all wheels in contact with the horizontal plane, and the occupant who rides in the direction of travel of the default route traveling vehicle 1. Left and right direction for.
  • the vehicle front-rear direction is a direction orthogonal to the vehicle up-down direction and the vehicle left-right direction, and is a front-rear direction for an occupant who rides in the traveling direction of the vehicle traveling on the predetermined route.
  • the arrows F, arrow B, arrow U, arrow D, arrow L, and arrow R shown in each figure represent the forward direction, the rear direction, the upward direction, the downward direction, the left direction, and the right direction, respectively.
  • FIG. 2 is a side view schematically showing the golf car of the first embodiment.
  • FIG. 3 is a block diagram showing a schematic configuration of a golf car.
  • the golf car 1 includes a vehicle body 9 and four wheels 3.
  • the four wheels 3 include two front wheels 3fl and 3fr.
  • the two front wheels 3fl and 3fr are arranged side by side in the left-right direction at the front portion of the vehicle body 9.
  • the four wheels 3 include two rear wheels 3rl and 3rr.
  • the two rear wheels 3rl and 3rr are arranged side by side in the left-right direction at the rear portion of the vehicle body 9.
  • the golf car 1 travels by rotating four wheels 3.
  • the vehicle body 9 has a seat 2 and a roof portion 9a.
  • the seat 2 is configured so that a plurality of occupants can be seated.
  • the seat 2 includes a front seat 2f and a rear seat 2r.
  • the front seat 2f and the rear seat 2r are arranged in the front-rear direction.
  • the front seat 2f and the rear seat 2r are configured so that two occupants can each sit.
  • the front seat 2f is arranged in front of the rear seat 2r.
  • the roof portion 9a is arranged on the front seat 2f and the rear seat 2r.
  • the configuration of the sheet 2 is not limited to this.
  • the maximum number of occupants that can be seated in the seat 2 is not limited to four.
  • the golf car 1 includes a drive device 4.
  • the drive device 4 has, for example, an electric motor.
  • the golf car 1 is an electric car.
  • Battery power (not shown) is supplied to the electric motor of the drive device 4.
  • the drive device 4 is configured to be able to apply a driving force to the rear wheels 3rr and 3rl.
  • the golf car 1 includes a plurality of braking devices 5.
  • the number of braking devices 5 included in the golf car 1 is four.
  • the four braking devices 5 are provided on each of the four wheels 3.
  • the four braking devices 5 are configured to be able to apply braking force to the four wheels 3.
  • the braking device 5 is composed of, for example, a hydraulic disc brake device.
  • the golf car 1 includes a steering wheel 11.
  • the steering wheel 11 is connected to the steering device 15.
  • the steering wheel 11 is arranged at a position that can be operated by one occupant sitting on the front seat 2f.
  • the steering wheel 11 is operated by an occupant in order to change the traveling direction of the golf car 1.
  • the rotation of the steering wheel 11 controls the steering device 15, and the front wheels 3fr and 3fl are steered.
  • the golf car 1 of the specific example 1 is driven in either an automatic driving mode or a manual driving mode. In the automatic driving mode, the traveling direction of the golf car 1 is controlled regardless of the operation of the steering wheel 11. In the manual driving mode, the traveling direction of the golf car 1 is controlled by the occupant operating the steering wheel 11.
  • the golf car 1 includes an accelerator pedal 12 and a brake pedal 13.
  • the accelerator pedal 12 is operated by an occupant to start or accelerate the running of the golf car 1.
  • the brake pedal 13 is operated by an occupant to stop or decelerate the running of the golf car 1.
  • the braking device 5 is operated by operating the brake pedal 13.
  • the golf car 1 of the specific example 1 is driven in either an automatic driving mode or a manual driving mode. In the automatic driving mode, the speed of the golf car 1 is controlled regardless of the operation of the accelerator pedal 12 and the brake pedal 13. In the manual driving mode, the speed of the golf car 1 is controlled by the occupant operating the accelerator pedal 12 and the brake pedal 13.
  • the golf car 1 includes a guide wire sensor 8.
  • the guide wire sensor 8 is provided at the lower part of the vehicle body 9.
  • the induction wire sensor 8 detects an electromagnetic induction wire embedded in a predetermined route on which the golf car 1 travels.
  • FIG. 4 is a schematic view showing an example of the road surface 60 of the default route on which the golf car 1 travels.
  • the electromagnetic induction wire 62 is buried along a predetermined route.
  • the electromagnetic induction wire 62 emits an electromagnetic wave.
  • the induction wire sensor 8 receives the electromagnetic wave transmitted by the electromagnetic induction wire 62. When the induction wire sensor 8 receives the electromagnetic wave of the electromagnetic induction wire 62, it outputs a detection signal indicating the strength of the electromagnetic induction wire 62 to the control device 50 described later.
  • the control device 50 detects the amount of deviation of the electromagnetic induction wire 62 in the left-right direction with respect to the induction wire sensor 8 based on this detection signal.
  • the control device 50 controls the traveling direction of the golf car 1 by controlling the steering device 15 so that the deviation of the electromagnetic induction wire 62 with respect to the induction wire sensor 8 in the left-right direction is eliminated. As a result, the golf car 1 can travel along the predetermined route.
  • the golf car 1 includes a wheel rotation sensor 6.
  • the wheel rotation sensor 6 is provided on the rear wheel 3rl.
  • the wheel rotation sensor 6 detects the rotation angle of the rear wheel 3rl.
  • the wheel rotation sensor 6 is composed of, for example, a rotary encoder.
  • the wheel rotation sensor 6 outputs the detected signal of the rotation angle of the rear wheel 3rl to the control device 50 described later.
  • the wheel rotation sensor 6 may be provided on any of the front wheels 3fl, 3fr, and the rear wheels 3rr.
  • the golf car 1 includes an embedded marker detection sensor 7.
  • the embedded marker detection sensor 7 is provided at the lower part of the vehicle body 9.
  • the buried marker detection sensor 7 detects the buried marker 61 buried in the road surface 60 of the default route.
  • a plurality of buried markers 61 are buried along the road surface 60 of the default route.
  • the buried marker 61 is a magnetic buried marker.
  • Each embedded marker 61 is composed of a plurality of magnets.
  • the embedded marker 61 generates a magnetic field composed of a combination of arrangements and intervals of a plurality of magnets.
  • a plurality of buried markers 61 are embedded at equal intervals, for example, from the start position S of the default route.
  • FIG. 4 a plurality of buried markers 61 are embedded at equal intervals, for example, from the start position S of the default route.
  • the buried marker 61 is embedded at the start position S of the default route.
  • the buried marker 61 buried at the start position S of the default route is the buried marker 61 through which the golf car 1 first passes.
  • the buried marker 61 may not be embedded at the start position S of the default route.
  • the buried marker may be a radio wave type buried marker, or may be an optical type or an ultrasonic type buried marker.
  • the buried marker detection sensor 7 is configured to be able to read information from the buried marker 61.
  • the embedded marker detection sensor 7 is a magnetic force sensor.
  • the buried marker detection sensor 7 detects the magnetic field of the buried marker 61 when the golf car 1 passes through the buried marker 61.
  • the control device 50 acquires a detection signal indicating identification information identified based on the shape of the magnetic field of the buried marker 61 detected by the buried marker detection sensor 7.
  • the golf car 1 includes an image pickup device 10.
  • the image pickup device 10 is provided at the center of the front surface of the vehicle body 9.
  • the image pickup device 10 may be provided at the upper part of the vehicle body 9, may be provided at the lower part of the vehicle body 9, or may be provided at the central portion in the vertical direction of the vehicle body 9.
  • the horizontal angle of view of the image pickup apparatus 10 is 40 ° or more and 90 ° or less.
  • the horizontal angle of view of the image pickup apparatus 10 may be 45 ° or more.
  • the horizontal angle of view of the image pickup apparatus 10 may be 80 ° or less.
  • the horizontal angle of view of the image pickup apparatus 10 may be 75 ° or less.
  • the golf car 1 is provided with a rocking device 40.
  • the rocking device 40 is configured to swing the image pickup device 10 around the rocking axis L1.
  • the swing axis L1 is parallel in the vertical direction.
  • the swing axis L1 may be inclined within a range of ⁇ 45 ° with respect to the up-down direction.
  • the rocking device 40 can swing the image pickup device 10 with respect to the vehicle body 9 within an angle range of less than 360 °.
  • the swing angle of the image pickup device 10 is an angle at which the image pickup device 10 swings with respect to the vehicle body 9 about the swing axis L1.
  • the swing angle of the image pickup device 10 is an angle at which the image pickup device 10 swings with respect to the vehicle body 9 about the swing axis L1.
  • the rocking device 40 may be configured so that the image pickup device 10 can rotate 360 ° or more with respect to the vehicle body 9.
  • the rocking device 40 has, for example, an electric motor that can rotate in two directions. Battery power (not shown) is supplied to the electric motor of the drive device 4.
  • the swing device 40 is controlled by the control device 50.
  • the swing device 40 controlled by the control device 50 swings the image pickup device 10 so that the future traveling position of the golf car 1 on the road surface 60 of the predetermined route is included in the image pickup range. That is, the rocking device 40 swings the image pickup device 10 so that a region on the road surface 60 of the predetermined route away from the own vehicle 1 in the traveling direction is included in the image captured by the image pickup device 10.
  • the rocking device 40 swings the image pickup device 10 based on the target rocking angle set by the control device 50.
  • the target swing angle is the same as or almost the same as the direction of the road surface 60 of the default route several meters ahead (for example, 5 m ahead).
  • the target swing angle is set based on the default route map information described later and the current position of the golf car 1.
  • the control device 50 controls the swing device 40 so that the image pickup device 10 swings within a predetermined swing angle range centered on the swing axis L1.
  • the swing angle range may be, for example, 30 ° or more.
  • the swing angle range may be, for example, 180 ° or less.
  • the swing angle range may be set so that the total of the horizontal angle of view and the swing angle range of the imaging device 10 is, for example, 120 ° or more and 180 ° or less. That is, when the horizontal angle of view of the image pickup apparatus 10 is 90 °, the swing angle range may be 30 ° or more and 90 ° or less. Further, when the horizontal angle of view of the image pickup apparatus 10 is 40 °, the swing angle range may be 80 ° or more and 120 ° or less.
  • the image pickup device 10 is a stereo camera. As shown in FIG. 3, the image pickup apparatus 10 has a left image sensor 10a, a right image sensor 10b, and a holding body 10c that holds these two image sensors 10a and 10b. The left image sensor 10a and the right image sensor 10b are held by the holding body 10c under predetermined geometric conditions. The holding body 10c is supported by the rocking device 40. The optical axis of the left image sensor 10a and the optical axis of the right image sensor 10b are parallel. The left image sensor 10a and the right image sensor 10b are at the same height when the default route traveling vehicle 1 is stopped with all the wheels 3 in contact with the horizontal plane.
  • the right image sensor 10b and the left image sensor 10a are on one straight line parallel to the left-right direction. That is, the right image sensor 10b is arranged at a position away from the left image sensor 10a in the right direction of the vehicle.
  • the left image sensor 10a and the right image sensor 10b are general visible light sensors such as a CCD (Chargecoupled Device) sensor and a CMOS (Complementary Metal Oxide Semiconductor) sensor.
  • FIG. 5 shows the coordinate system fixed to the left image sensor 10a and the right image sensor 10b.
  • the X-axis of the coordinate system is parallel in the left-right direction
  • the Y-axis is parallel in the up-down direction
  • the Z-axis is parallel in the front-back direction.
  • the X-axis and the Y-axis are the coordinate axes of the left image and the right image.
  • the image captured by the left image sensor 10a is defined as the left image
  • the image captured by the right image sensor 10b is defined as the right image.
  • the image pickup device 10 outputs the left image and the right image to the control device 50 described later.
  • the golf car 1 includes a control device 50.
  • the control device 50 includes a processor 51 and a storage unit 52.
  • the processor 51 includes, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a multiprocessor, an application specific integrated circuit (ASIC), a programmable logic circuit (PLC), and a field programmable gate array (FPGA). And any other circuit capable of performing the processes described herein.
  • the storage unit 52 stores information necessary for processing executed by the processor 51.
  • the storage unit 52 includes, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory).
  • Golf car 1 can be switched between automatic driving mode and manual driving mode.
  • the automatic driving mode the golf car 1 automatically travels on a predetermined route.
  • the control device 50 performs automatic driving control for automatically driving the golf car 1. Further, in the automatic operation mode, the control device 50 performs an obstacle detection process for detecting an obstacle on the road surface 60 of the default route based on the road surface position-related information described later. In the automatic driving mode, the control device 50 reduces the speed of the golf car 1 when it detects an obstacle on the road surface 60 of the predetermined route.
  • the control device 50 acquires a detection signal from the guide line sensor 8.
  • the control device 50 controls the steering device 15 based on the detection signal from the guide line sensor 8.
  • the storage unit 52 of the control device 50 stores the speed control information in advance.
  • the speed control information is information in which the identification information identified based on the magnetic field is associated with the speed of the golf car 1.
  • the control device 50 reads out the speed control information from the storage unit 52 based on the acquired identification information. Then, the control device 50 acquires the speed of the golf car 1 associated with the acquired identification information.
  • the control device 50 calculates the current speed of the golf car 1 based on the signal of the wheel rotation sensor 6. Then, the control device 50 controls the drive device 4 and the braking device 5 so that the current speed of the golf car 1 becomes the acquired speed. Even if the golf car 1 has a sensor for detecting the rotation speed of any one of the four wheels 3 in addition to the wheel rotation sensor 6 in order to detect the current speed of the golf car 1. Good.
  • the control device 50 transmits a signal to the drive device 4 to increase the driving force applied to the rear wheels 3rr and 3rl.
  • the control device 50 transmits a signal to the braking device 5 for reducing the driving force applied to the rear wheels 3rr and 3rl.
  • the control device 50 transmits a signal for applying braking force to the four wheels 3 to the braking device 5 in addition to sending a signal to the driving device 4. ..
  • the control device 50 reduces the speed of the golf car 1 when it detects an obstacle on the road surface 60 of the default route.
  • the control device 50 may reduce the speed of the golf car 1 and finally stop the running of the golf car 1.
  • the control device 50 may return the speed of the golf car 1 to the speed at the time of normal automatic driving control.
  • the control device 50 controls at least one of the braking device 5 and the driving device 4 to reduce the speed of the golf car 1 or the golf car 1 Stop running.
  • the golf car 1 may have a notification means for notifying the occupant and those around the golf car 1 by sound or light.
  • the control device 50 may activate the notification means when it detects an obstacle on the road surface 60 of the predetermined route.
  • the operation of the notification means may be started before the speed of the golf car 1 is reduced.
  • the storage unit 52 of the control device 50 stores in advance the default route map information Ia used for the obstacle detection process.
  • the default route map information Ia may also be used for normal automatic driving control.
  • the default route map information Ia includes information on the shape and width of the road surface 60 of the default route, and relative position information or absolute position information of a plurality of positions on the road surface 60 of the default route.
  • the default route map information Ia corresponds to both the first default route map information and the second default route map information of the present invention.
  • the shape of the road surface 60 of the default route is composed of a straight line and a curve.
  • the information on the shape and width of the road surface 60 of the default route may be information on the shape of the electromagnetic induction wire 62 and the width of the road surface 60 of the default route.
  • the shape of the road surface 60 of the default route can be specified from the shape of the electromagnetic induction wire 62 and the width of the road surface 60 of the default route.
  • the relative position information of the plurality of positions on the road surface 60 of the default route is, for example, information on how far away from the start position S shown in FIG.
  • the relative position information of the position Sa shown in FIG. 4 is information that the distance Da is away from the start position S.
  • the absolute position information of a plurality of positions on the road surface 60 of the default route is represented by, for example, latitude and longitude.
  • the control device 50 executes the current position estimation process, the road surface position estimation process, the obstacle detection process, and the image pickup device swing process in the obstacle detection process. These processes are performed during the use of the golf car 1.
  • the control device 50 includes the control device 30 of the above-described embodiment.
  • the control device 50 includes the control device of the present invention. The details of each process will be described below.
  • the control device 50 executes a current position estimation process for estimating the current position of the own vehicle 1 on the road surface 60 of the default route.
  • the control device 50 determines the default route based on the default route map information Ia stored in the storage unit 52, the detection signal from the wheel rotation sensor 6, and the detection signal from the guide line sensor 8.
  • the current position of the own vehicle 1 on the road surface 60 is estimated. The details of the current position estimation process will be described below.
  • the control device 50 calculates the movement distance of the golf car 1 from the start position S or from the buried marker 61 that has passed by the odometry (mileage measurement method) using the detection signal from the wheel rotation sensor 6. Further, the control device 50 estimates the amount of deviation of the electromagnetic induction wire 62 in the left-right direction with respect to the induction wire sensor 8 based on the detection signal from the induction wire sensor 8. The control device 50 estimates the current position of the own vehicle 1 on the road surface 60 of the default route based on the calculated travel distance, the default route map information Ia, and the estimated deviation amount. From the travel distance and the default route map information Ia, the current approximate position of the golf car 1 on the default route can be estimated. By using the estimated deviation amount in addition to the travel distance and the default route map information Ia, the current position of the own vehicle 1 on the road surface 60 of the default route can be estimated.
  • the identification information of the buried marker 61 detected by the buried marker detection sensor 7 is also used for estimating the current position. That is, in this case, in the current position estimation process, the control device 50 includes the default route map information Ia stored in the storage unit 52, the detection signal from the wheel rotation sensor 6, and the detection signal from the embedded marker detection sensor 7. , The current position of the own vehicle 1 on the road surface 60 of the predetermined route is estimated based on the detection signal from the guide line sensor 8.
  • the shape information of the road surface 60 of the default route included in the default route map information Ia and the relative position information or absolute position information of a plurality of positions on the road surface 60 of the default route are used.
  • the information on the width of the road surface 60 of the default route included in the default route map information Ia is not used.
  • the control device 50 executes the road surface position estimation process after the current position estimation process.
  • the control device 50 estimates the position of the road surface 70 of the predetermined route in the image captured by the image pickup device 10 while the golf car 1 is in use.
  • road surface position related information is used.
  • the road surface position-related information is information for estimating the position of the road surface 70 of the default route in the image captured by the image pickup device 10 while the golf car 1 is in use.
  • the road surface position-related information is the default route map information Ia.
  • the storage unit 52 stores road surface position-related information in advance. That is, the storage unit 52 of the specific example 1 is an example of the road surface position-related information acquisition unit 20 of the above-described embodiment.
  • the control device 50 acquires the current swing angle of the image pickup device 10.
  • the control device 50 includes the default route map information Ia (road surface position related information) stored in the storage unit 52, the current position of the default route traveling vehicle 1 estimated by the control device 50, and the current swing of the image pickup device 10. Based on the information related to the angle, the position of the road surface 70 of the default route in the image captured by the imaging device 10 is estimated. From the estimated current position of the own vehicle 1 and the default route map information Ia, the shape and width of a part of the road surface 60 of the default route including the future traveling position of the own vehicle 1 can be estimated.
  • Ia road surface position related information
  • the image pickup device at the current swing angle at the current position.
  • the position of the road surface 70 of the default route in the image captured by 10 can be estimated. Therefore, the position of the road surface 70 of the default route in the image can be estimated from the default route map information Ia, the estimated current position of the own vehicle 1, and the current swing angle of the image pickup device 10.
  • the road surface position estimation process information on the shape and width of the road surface 60 of the default route included in the default route map information Ia, and relative position information or absolute position information of a plurality of positions on the road surface 60 of the default route are used.
  • To estimate the position of the road surface 70 of the default route in the image is to estimate at least the positions of both ends of the road surface 70 of the default route in the image in the width direction.
  • the control device 50 generates a parallax image based on the left image captured by the left image sensor 10a and the right image captured by the right image sensor 10b.
  • the parallax image can be generated by stereo matching such as SAD (Sum of Absolute Difference). Other stereo matching methods include the area correlation method and Census transform.
  • the coordinate system of the parallax image is the same as the coordinate system fixed to the image pickup apparatus 10 shown in FIG. That is, the parallax image has the X-axis and the Y-axis shown in FIG. 5 as coordinate axes.
  • the parallax image has a parallax value for each coordinate value.
  • the parallax value is the amount of pixel shift between the right image and the left image.
  • the parallax value may be, for example, the amount of displacement of pixels in the horizontal direction of the right image with respect to the left image.
  • FIG. 6 shows a parallax image P1 which is an example of a parallax image generated by the control device 50.
  • the parallax image P1 is a parallax image generated based on an image captured by the image pickup device 10 having a swing angle ⁇ a at a position Sa separated from the start position S in FIG.
  • the control device 50 is in the parallax image based on the default route map information Ia (road surface position related information), the estimated current position of the own vehicle 1, and the information related to the current swing angle of the imaging device 10.
  • the position of the road surface 70 of the default route is estimated. Specifically, the control device 50 calculates (estimates) a plurality of X coordinate values indicating both ends of the road surface 70 of the default route in the parallax image. More specifically, the control device 50 calculates a plurality of X coordinate values indicating both ends of the road surface 70 of the default route in the parallax image, and a range of the parallax values associated with each X coordinate value.
  • control device 50 does not strictly indicate both ends of the road surface 70 of the default route in the parallax image, but calculates a plurality of X coordinate values indicating both ends of the road surface 70 of the default route in the parallax image and its vicinity. ..
  • the control device 50 has information on the shape of the road surface 60 of the default route included in the default route map information Ia and relative position information or absolute position information of a plurality of positions on the road surface 60 of the default route included in the default route map information Ia. Based on the position information, the estimated current position of the own vehicle 1, and the information related to the current swing angle of the image pickup device 10, a line passing through the center of the road surface 70 of the default route in the parallax image in the width direction. You may estimate. In this case, the control device 50 determines the default route on the parallax image based on the plurality of parallax values on the estimated line and the information on the actual width of the road surface 60 of the default route included in the default route map information Ia.
  • a plurality of X coordinate values indicating both ends of the road surface 70 and a range of parallax values corresponding to each X coordinate are calculated. Further, for example, the control device 50 sets a default in the parallax image based on the default route map information Ia, the estimated current position of the own vehicle 1, and the information related to the current swing angle of the image pickup device 10.
  • a plurality of X coordinate values indicating both ends of the road surface 70 of the route and a range of parallax values corresponding to each X coordinate may be directly calculated.
  • the plurality of X coordinate values indicating the positions of both ends in the width direction of the road surface 70 of the default route in the disparity image P1 shown in FIG. 6 are the X coordinate values X 1 and X 10 associated with the disparity value range da and the disparity.
  • the coordinate values X 4 and X 7 and the X coordinate values X 5 and X 6 associated with the range de of the disparity values.
  • the relationship between the parallax value range da to deg is da>db>dc>dd>def>df> deg.
  • the control device 50 estimates, for example, the position of a line segment having a parallax value of range de and an X coordinate value of X 5 in the parallax image P1 from a line segment having a parallax value of range de and an X coordinate value of X 6 .
  • the control device 50 executes an obstacle detection process after the road surface position estimation process.
  • the control device 50 detects an obstacle on the road surface 70 (60) of the predetermined route in the image captured by the image pickup device 10.
  • the control device 50 detects an obstacle in the image captured by the image pickup device 10.
  • the control device 50 uses the generated parallax image to detect an obstacle in the image.
  • the obstacle here refers to a three-dimensional object regardless of whether or not it has a possibility of becoming an obstacle to the running of the golf car 1.
  • the process of detecting an obstacle in the image may be performed after estimating the position of the road surface 70 of the default route in the image, or may be performed before the estimation.
  • the control device 50 sets an obstacle in a region in which the same parallax value is continuous in the Y-axis direction beyond a predetermined number of pixels and a region in which the parallax value is different and a region adjacent in the X-axis direction.
  • the control device 50 has, for example, a region in which the parallax value within a predetermined range continues to exceed a predetermined number of pixels in the Y-axis direction and the difference in the parallax value is larger than the predetermined value and the X-axis.
  • the area adjacent to the side may be detected as an obstacle.
  • regions Ob1, Ob2, Ob3, and Ob4 are detected as obstacles.
  • the control device 50 determines whether or not the detected obstacle exists on the road surface 70 of the default route. That is, the control device 50 determines whether or not the obstacle in the parallax image exists on the road surface 70 of the default route in the parallax image estimated by the road surface position estimation process. Specifically, in the parallax image, the control device 50 indicates that the X coordinate value indicating the lower end of the obstacle indicates the road surface 70 of the default route, and the X is associated with the same parallax value as the parallax value of the lower end of the obstacle. Determine if it is within the range of coordinate values. If included, it is determined that the obstacle is on the road surface 70 of the default route.
  • not only obstacles that are in contact with the road surface 60 of the default route but also obstacles that are not in contact with the road surface 60 of the default route and exist directly above the road surface 60 of the default route can be detected.
  • the control device 50 detects an obstacle on the road surface 60 of the predetermined route.
  • the control device 50 determines whether or not the smallest rectangular area surrounding the obstacle in the parallax image overlaps the road surface 70 of the default route in the parallax image, and then the inside of the rectangular area overlaps the road surface 70 of the default route.
  • the above-mentioned determination may be made for the obstacles of. By this two-step determination, it is possible to determine whether or not an obstacle exists on the road surface 70 of the default route at a higher speed.
  • the control device 50 stores the image pickup device rocking process so that the future traveling position of the own vehicle 1 on the road surface 60 of the predetermined route is included in the image pickup range of the image pickup device 10.
  • the target swing angle of the swing device 40 is set based on the default route map information Ia stored in the unit 52 and the current position of the own vehicle 1 estimated by the control device 50. From the estimated current position of the own vehicle 1 and the default route map information Ia, the shape of a part of the road surface 60 of the default route including the future traveling position of the own vehicle 1 can be estimated.
  • the direction of a part of the road surface 60 of the default route including the future traveling position of the own vehicle 1 can be estimated.
  • the shape information of the road surface 60 of the default route included in the default route map information Ia and the relative position information or absolute position information of a plurality of positions on the road surface 60 of the default route are used.
  • the information on the width of the road surface 60 of the default route included in the default route map information Ia is not used.
  • the control device 50 controls the swing device 40 based on the set target swing angle in the image pickup device swing process.
  • the rocking device 40 swings the image pickup device 10 so as to have a set target swing angle. The above is the description of the obstacle detection process.
  • the control device 50 controls the swing device 40 so that the image pickup device 10 swings within a swing angle range of 30 ° or more and 180 ° or less centered on the swing axis L1.
  • the swing angle range is relatively large at 30 ° or more. Therefore, even if the horizontal angle of view of the image pickup device 10 is small, when the golf car 1 travels on a curve having a small radius of curvature, the image captured by the image pickup device 10 is used to show the future travel position on the road surface 60 of the predetermined route. Can be included more reliably.
  • the control device 50 sets the target swing angle of the swing device 40 based on the default route map information Ia stored in the storage unit 52 and the current position estimated by the control device 50.
  • the target swing angle can be made finer while suppressing the amount of information acquired by the golf car 1 during use, as compared with the case where the golf car 1 acquires the target swing angle information during use of the golf car 1.
  • the road surface 60 of the predetermined route can be more reliably included in the suitable position in the captured image.
  • the detection accuracy and the detection rate of obstacles on the road surface 60 of the predetermined route and far from the golf car 1 can be further improved.
  • the storage unit 52 (road surface position-related information acquisition unit) stores the road surface position-related information in advance. As a result, as compared with the case where the golf car 1 acquires the road surface position-related information while the golf car 1 is in use, the road surface position-related information is acquired in more detail while suppressing the amount of information acquired while the golf car 1 is in use. be able to.
  • the control device 50 detects an obstacle on the road surface 60 of the default route by using the road surface position-related information acquired in this way. Therefore, the detection accuracy and the detection rate of obstacles on the road surface 60 of the predetermined route and far from the golf car 1 can be further improved.
  • the storage unit 52 (road surface position-related information acquisition unit) includes information on the shape and width of the road surface 60 of the default route and relative position information or absolute position information of a plurality of positions on the road surface 60 of the default route as road surface position-related information.
  • the default route map information Ia including and is stored in advance. Therefore, the control device 50 is based on the predetermined route map information Ia (road surface position related information) stored in advance, the current position estimated by the control device 50, and the information related to the current swing angle of the image pickup device 10. Therefore, the position of the road surface 60 (70) of the default route in the image captured by the image pickup device 10 can be estimated.
  • the image pickup device 10 is a stereo camera having a left image sensor 10a and a right image sensor 10b.
  • a stereo camera having the left image sensor 10a and the right image sensor 10b as the image pickup device 10
  • the difference is based on the left image captured by the left image sensor 10a and the right image captured by the right image sensor 10b.
  • An image can be generated and an obstacle can be detected using this differential image.
  • the obstacle detection using the laser radar of the one-dimensional scan there is a problem that the undulating road surface can be easily detected as an obstacle.
  • obstacles can be detected while suppressing the influence of undulations on the road surface. As a result, the detection accuracy and the detection rate of obstacles on the road surface 60 of the predetermined route and far from the golf car 1 can be further improved.
  • control device 50 When the control device 50 detects an obstacle on the road surface 60 of the predetermined route, the control device 50 reduces the speed of the golf car 1 or stops the running of the golf car 1. As a result, the golf car 1 can be decelerated or stopped automatically instead of manually. As a result, the possibility of avoiding contact with obstacles can be increased.
  • the storage unit 52 stores the default route map information Ia in advance as the road surface position-related information.
  • the control device 50 includes the generated parallax image, the default route map information Ia (road surface position related information) stored in the storage unit 52, the current position of the own vehicle 1 estimated by the control device 50, and the imaging device 10. Based on the information related to the current swing angle of, a plurality of X coordinate values indicating both ends of the road surface 70 of the default route in the parallax image are calculated.
  • the storage unit 52 includes, as road surface position-related information, a plurality of X coordinate values indicating both ends of the road surface 60 of the default route in the pre-acquired parallax images of the plurality of positions S1 to Sn of the road surface 60 of the default route.
  • the road surface coordinate information may be stored in advance.
  • the pre-acquired parallax images of the plurality of positions S1 to Sn are parallax images created based on the right image and the left image preliminarily captured by the image pickup device 10 of the golf car 1 at each of the plurality of positions S1 to Sn. is there. More specifically, the pre-acquired parallax image is a parallax image generated based on the right image and the left image captured without swinging the image pickup device 10 of the golf car 1.
  • the image pickup device 10 for capturing a pre-acquired parallax image is fixed in a state where the swing angle is zero.
  • the plurality of positions S1 to Sn may be arranged at equal intervals, for example.
  • the plurality of positions S1 to Sn may include the start position S.
  • the road surface coordinate information also includes a parallax value or a range of parallax values associated with the X coordinate value.
  • the plurality of road surface coordinate information is stored in the storage unit 52 in association with the plurality of positions S1 to Sn.
  • the number of road surface coordinate information for one position is one.
  • the road surface coordinate information is generated based on the image previously captured by the image pickup device 10 of the golf car 1.
  • the plurality of road surface coordinate information is generated based on an image captured without swinging the image pickup device 10 of the golf car 1.
  • the road surface coordinate information is generated based on the image captured in advance, the position information of the position where the image is captured, and the shape information of the road surface 60 of the default route.
  • the road surface coordinate information may be generated based on an image captured in advance by an image pickup device of a vehicle different from the golf car 1. However, even in this case, the imaging device is not shaken.
  • FIG. 7 shows a pre-acquired parallax image P2 which is an example of a pre-acquired parallax image used for generating road surface position-related information of the modified example 1 of the specific example 1.
  • the pre-acquired parallax image P2 shown in FIG. 7 is generated based on the image captured at the position Sa shown in FIG. As described above, the parallax image P1 shown in FIG. 6 is also generated based on the image captured at the position Sa.
  • the road surface coordinate information generated based on the pre-acquired disparity image P2 is the X coordinate values X 11 and X 20 associated with the disparity value range da and the X coordinate values associated with the disparity value range db.
  • X 12 and X 19 X coordinate values X 13 and X 18 associated with the disparity range dc
  • X coordinate values X 14 and X 17 associated with the disparity range dd
  • disparity The X coordinate values X 15 and X 16 associated with the value range de.
  • the control device 50 associates the plurality of positions S1 to Sn with the road surface associated with the position closest to the estimated current position of the own vehicle 1 from the plurality of road surface coordinate information stored in the storage unit 52. Extract coordinate information. For example, when the estimated current position of the own vehicle 1 is closest to the position Sa, the road surface coordinate information generated based on the pre-acquired parallax image P2 is extracted. The control device 50 corrects the X coordinate value and the parallax value of the extracted road surface coordinate information based on the information related to the current swing angle of the image pickup device 10.
  • the control device 50 can estimate the position of the road surface 70 of the default route in the image taken by the image pickup device 10 at the current swing angle from the corrected X coordinate value and parallax value, so that the X coordinate value and parallax can be estimated. Correct the value.
  • the road surface position related information is different from the specific example 1.
  • the golf car 1 acquires the road surface position-related information while the golf car 1 is in use, as compared with the case where the golf car 1 acquires the road surface position-related information while the golf car 1 is in use. It is possible to acquire more detailed information related to the road surface position while suppressing the amount of information.
  • the control device 50 detects an obstacle on the road surface 60 of the default route by using the road surface position-related information acquired in this way. Therefore, the detection accuracy and the detection rate of obstacles on the road surface 60 of the predetermined route and far from the golf car 1 can be further improved.
  • the plurality of road surface coordinate information is generated based on the image captured without swinging the image pickup device 10 of the golf car 1.
  • the plurality of road surface coordinate information may be generated based on the image captured while swinging the image pickup device 10 so that the future traveling position of the own vehicle on the road surface 60 of the predetermined route is included in the image.
  • the road surface coordinate information may be generated based on an image captured in advance by an image pickup device of a vehicle different from that of the golf car 1, as in the modification example 1 of the specific example 1.
  • the points different from the modification 1 of the specific example 1 will be described.
  • Each of the plurality of road surface coordinate information is stored in the storage unit 52 in association with the swing angle of the image pickup device 10. Specifically, the road surface coordinate information is stored in association with the swing angle of the image pickup apparatus 10 when the image for generating the pre-acquired parallax image is taken.
  • the control device 50 associates the plurality of positions S1 to Sn with the road surface associated with the position closest to the estimated current position of the own vehicle 1 from the plurality of road surface coordinate information stored in the storage unit 52. Extract coordinate information.
  • the control device 50 X of the extracted road surface coordinate information based on the information related to the current swing angle of the image pickup device 10 and the swing angle of the image pickup device 10 associated with the extracted road surface coordinate information. Correct the coordinate value and parallax value.
  • the control device 50 can estimate the position of the road surface 70 of the default route in the image taken by the image pickup device 10 at the current swing angle from the corrected X coordinate value and parallax value, so that the X coordinate value and parallax can be estimated. Correct the value.
  • the road surface position-related information is suppressed while suppressing the amount of information acquired while the golf car 1 is in use, as compared with the case where the golf car 1 acquires the road surface position-related information while the golf car 1 is in use.
  • Information can be obtained in more detail.
  • the control device 50 detects an obstacle on the road surface 60 of the default route by using the road surface position-related information acquired in this way. Therefore, the detection accuracy and the detection rate of obstacles on the road surface 60 of the predetermined route and far from the golf car 1 can be further improved.
  • FIG. 8 is a block diagram showing a schematic configuration of a golf car.
  • the golf car 101 of the specific example 2 has all the features of the default route traveling vehicle 1 of the above-described embodiment. In the following description, the description of the same parts as those of the above-described embodiment and Specific Example 1 will be omitted.
  • the control device 150 of the golf car 101 of the specific example 2 includes a processor 151 and a storage unit 152.
  • the storage unit 152 stores information on the width of the road surface 60 of the default route in advance.
  • the control device 150 does not estimate the current position of the own vehicle 101 on the road surface 60 of the default route.
  • the golf car 101 of the specific example 2 acquires the target speed information used for controlling the speed of the golf car 101 while the golf car 101 is in use.
  • the target speed information is information on the target speed of the golf car 101 immediately after the target speed information is acquired. Therefore, the golf car 101 does not include the wheel rotation sensor 6 and the embedded marker detection sensor 7 necessary for estimating the position of the own vehicle 101 and controlling the speed of the golf car 101.
  • the golf car 101 of Specific Example 2 is provided with an RFID reader 170 that reads information from an RFID (Radio Frequency Identification) tag. While using the golf car 101, the RFID reader 170 acquires information on the shape of a part of the road surface 60 of the default route including the future traveling position of the own vehicle 101. The information on the shape of a part of the road surface 60 of the default route acquired by the RFID reader 170 during use of the golf car 101 corresponds to the road surface position-related information of the present invention.
  • the RFID reader 170 of Specific Example 2 is an example of the road surface position related information acquisition unit 20 of the above-described embodiment. That is, the RFID reader 170 of the second embodiment corresponds to the road surface position related information acquisition unit of the present invention. Further, the RFID reader 170 of the second embodiment also corresponds to the road surface shape information acquisition unit of the present invention.
  • a plurality of RFID tags are arranged along a default route instead of the plurality of buried markers 61 shown in FIG.
  • the RFID tag may be exposed on the surface of the earth or may be buried in the ground.
  • Each of the RFID tags stores information on the target speed of the golf car 101 and information on the shape of a part of the road surface 60 of the default route.
  • the RFID reader 170 acquires target speed information from the RFID tag directly below each time the golf car 101 passes over the RFID tag.
  • the control device 150 controls the drive device 4 and / and the braking device 5 based on the target speed information acquired by the RFID reader 170.
  • the control device 150 includes information on the width of the road surface 60 of the default route stored in the storage unit 152, information on the shape of a part of the road surface 60 of the default route acquired by the RFID reader 170 (road surface position related information acquisition unit), and Based on the information related to the current swing angle of the image pickup device 10, the position of the road surface 60 (70) of the predetermined route in the image captured by the image pickup device 10 is estimated. Then, the control device 150 detects an obstacle on the road surface 60 (70) of the predetermined route in the image.
  • the control device 150 includes the control device 30 of the above-described embodiment.
  • the RFID reader 170 acquires information on the shape of a part of the road surface 60 of the default route from the RFID tag directly underneath.
  • the control device 150 is the road surface 60 of the default route acquired by the RFID reader 170 (road surface shape information acquisition unit) so that the future traveling position of the own vehicle 101 on the road surface 60 of the default route is included in the imaging range of the image pickup device 10.
  • the target swing angle of the swing device 40 is set based on the information on the shape of a part of the swing device 40.
  • the swing device 40 swings the image pickup device 10 based on the target swing angle set by the control device 150.
  • Specific example 2 has the following effects in addition to the effects of the above-described embodiment.
  • Specific Example 2 has the same effect as that of Specific Example 1 with respect to the same configuration as that of Specific Example 1. Further, in the specific example 2, it is not necessary to estimate the current position for setting the target swing angle of the image pickup apparatus 10. Further, in the second embodiment, it is not necessary to estimate the current position for estimating the position of the road surface 60 (70) of the default route in the image. Although it is not necessary to estimate the current position for estimating the position of the road surface 60 (70) of the default route in the image, the position of the road surface 60 (70) of the default route in the image can be estimated accurately.
  • the RFID reader 170 acquires information on the shape of a part of the road surface 60 of the default route as road surface position-related information while using the golf car 101.
  • Information on the width of the road surface 60 of the default route is stored in advance in the storage unit 152.
  • the control device 150 includes information on the width of the road surface 60 of the default route stored in the storage unit 152, information on the shape of a part of the road surface 60 of the default route acquired by the RFID reader 170, and the current swing of the image pickup device 10. Based on the information related to the angle, the position of the road surface 60 (70) of the default route in the image captured by the imaging device 10 is estimated.
  • the RFID reader 170 may acquire information on the shape and width of a part of the road surface 60 of the default route as the road surface position-related information while using the golf car 101.
  • the storage unit 152 does not have to store the information on the width of the road surface 60 of the default route.
  • the control device 150 is imaged by the image pickup device 10 based on the shape and width information of a part of the road surface 60 of the default route acquired by the RFID reader 170 and the information related to the current swing angle of the image pickup device 10. The position of the road surface 60 of the default route in the image is estimated.
  • the method of estimating the position of the road surface 60 (70) of the default route in the image is different from the specific example 2.
  • the position of the road surface 60 (70) of the default route in the image is not required to estimate the current position for estimating the position of the road surface 60 (70) of the default route in the image. Can be estimated accurately.
  • the control device 150 sets the target swing angle of the swing device 40 based on the shape information of a part of the road surface 60 of the default route acquired by the RFID reader 170 while using the golf car 101. ..
  • the RFID reader 170 may acquire the target swing angle while the golf car 101 is in use, and the control device 150 may control the swing device 40 based on the acquired target swing angle. That is, the RFID tag stores information related to the target swing angle of the swing device 40.
  • the method of setting the target rocking angle of the rocking device 40 is different from that of the specific example 2.
  • the target swing angle of the imaging device can be finely set while it is not necessary to estimate the current position for setting the target swing angle of the imaging device.
  • FIG. 9 is a block diagram showing a schematic configuration of a golf car.
  • the golf car 201 of the specific example 3 has all the features of the default route traveling vehicle 1 of the above-described embodiment. In the following description, the description of the same parts as those of the above-described embodiments and the specific examples 1 and 2 will be omitted.
  • the control device 250 of the specific example 3 includes a processor 251 and a storage unit 252.
  • the storage unit 252 stores the default route map information Ib in advance.
  • the default route map information Ib includes information on the shape of the road surface 60 of the default route and relative position information or absolute position information of a plurality of positions on the road surface 60 of the default route.
  • the default route map information Ib corresponds to the first default route map information of the present invention.
  • the storage unit 252 stores information on the width of the road surface 60 of the default route. That is, substantially, as in the first embodiment, the storage unit 252 has information on the shape and width of the road surface 60 of the default route, and relative position information or absolute position information of a plurality of positions on the road surface 60 of the default route. And remember.
  • the golf car 201 of the specific example 3 includes a wheel rotation sensor 6 and a buried marker detection sensor 7 like the golf car 1 of the specific example 1.
  • the control device 250 is based on the default route map information Ib stored in the storage unit 52, the detection signal from the wheel rotation sensor 6, and the detection signal from the guide line sensor 8, and the own vehicle on the road surface 60 of the default route.
  • the current position of 201 is estimated.
  • the control device 250 of the specific example 3 has a default route map information Ib stored in the storage unit 52, a detection signal from the wheel rotation sensor 6, a detection signal from the embedded marker detection sensor 7, and a guide line sensor 8.
  • the current position of the own vehicle 201 on the road surface 60 of the predetermined route is estimated based on the detection signal from.
  • the golf car 201 of the specific example 3 is provided with the RFID reader 170 like the golf car 101 of the specific example 2. While the golf car 201 is in use, the RFID reader 170 acquires information on the shape of a part of the road surface 60 of the default route from the RFID tag as road surface position-related information.
  • the RFID reader 170 of Specific Example 3 is an example of the road surface position related information acquisition unit 20 of the above-described embodiment.
  • the control device 250 has information on the width of the road surface 60 of the default route stored in the storage unit 252 and information on the shape of a part of the road surface 60 of the default route acquired by the RFID reader 170. , And, based on the information related to the current swing angle of the image pickup device 10, the position of the road surface 60 (70) of the predetermined route in the image captured by the image pickup device 10 is estimated.
  • the control device 250 includes the control device 30 of the above-described embodiment.
  • control device 250 stores in the storage unit 252 so that the future traveling position of the own vehicle 201 on the road surface 60 of the predetermined route is included in the image pickup range of the image pickup device 10, similarly to the control device 50 of the first embodiment.
  • the target swing angle of the swing device 40 is set based on the default route map information Ib and the current position of the own vehicle 201 estimated by the control device 250.
  • the swing device 40 swings the image pickup device 10 based on the target swing angle set by the control device 250.
  • Specific Example 3 has the following effects in addition to the effects of the above-described embodiment. Specific Example 3 has the same effect as that of Specific Example 1 with respect to the same configuration as that of Specific Example 1. Specific Example 3 has the same effect as that of Specific Example 2 with respect to the same configuration as that of Specific Example 2.
  • the method of setting the target rocking angle of the rocking device 40 is the same as that of the specific example 1.
  • the target swing angle of the swing device 40 is set based on the default route map information Ib stored in the storage unit 252 and the current position estimated by the control device 250.
  • the target swing angle can be made finer while suppressing the amount of information acquired by the golf car 201 during use, as compared with the case where the golf car 201 acquires the target swing angle information during use of the golf car 201.
  • the road surface 60 of the predetermined route can be more reliably included in the suitable position in the captured image.
  • the detection accuracy and the detection rate of obstacles on the road surface 60 of the predetermined route and far from the golf car 201 can be further improved.
  • the method of estimating the position of the road surface 60 (70) of the default route in the image is the same as that of the specific example 2.
  • the position of the road surface 60 (70) of the default route in the image can be estimated accurately.
  • the RFID reader 170 acquires information on the shape of a part of the road surface 60 of the default route as road surface position-related information while the golf car 201 is in use.
  • Information on the width of the road surface 60 of the default route is stored in advance in the storage unit 252.
  • the control device 250 includes information on the width of the road surface 60 of the default route stored in the storage unit 252, information on the shape of a part of the road surface 60 of the default route acquired by the RFID reader 170, and the current swing of the image pickup device 10. Based on the information related to the angle, the position of the road surface 60 of the default route in the image captured by the imaging device 10 is estimated.
  • the RFID reader 170 may acquire information on the shape and width of a part of the road surface 60 of the default route as the road surface position-related information while using the golf car 201.
  • the storage unit 252 does not have to store the information on the width of the road surface 60 of the default route.
  • the control device 250 is imaged by the image pickup device 10 based on the shape and width information of a part of the road surface 60 of the default route acquired by the RFID reader 170 and the information related to the current swing angle of the image pickup device 10. The position of the road surface 60 of the default route in the image is estimated.
  • the method of estimating the position of the road surface 60 (70) of the default route in the image is the same as the modified example 1 of the specific example 2.
  • the position of the road surface 60 (70) of the default route in the image is not required to estimate the current position for estimating the position of the road surface 60 (70) of the default route in the image. Can be estimated accurately.
  • the control devices 50, 150, and 250 are composed of one processor.
  • the control devices 50, 150, and 250 may be composed of a plurality of processors.
  • the control device of the present invention is composed of at least one processor.
  • the plurality of processors may include two processors that are physically separated from each other.
  • the storage unit of the present invention is composed of at least one storage device.
  • the storage unit of the present invention may include an external storage device.
  • the plurality of storage devices may include two physically separated storage devices.
  • the drive device 4 is a drive device including an electric motor and converting electric energy into kinetic energy.
  • the drive device included in the default route traveling vehicle of the present invention may be a drive device that converts the combustion energy of fuel such as gasoline into kinetic energy.
  • the drive device of the present invention may be, for example, an engine.
  • the drive device of the present invention may include both an engine and an electric motor.
  • the braking device 5 is a disc brake device.
  • the braking device of the present invention may include a mechanical brake other than the disc braking device that converts kinetic energy into thermal energy.
  • the mechanical brake other than the disc brake device may be, for example, a drum brake device.
  • the braking device included in the vehicle traveling on the default route of the present invention may include an electric brake that converts kinetic energy into electric energy.
  • the electric brake may be, for example, a regenerative brake using a generator with a motor function.
  • the braking device of the present invention may be a combination of a mechanical brake and an electric brake.
  • the golf cars 1, 101 and 201 have two front wheels 3fr and 3fl and two rear wheels 3rr and 3rl.
  • the default route traveling vehicle of the present invention may have one or more front wheels.
  • the default route traveling vehicle of the present invention may have one or more rear wheels.
  • Example 1 of changing the running control of the vehicle traveling on the default route In Specific Examples 1, 2, and 3, the control devices 50, 150, and 250 steer the front wheels 3fr and 3fl to control the traveling directions of the golf cars 1, 101, and 201.
  • the control device of the present invention may steer at least one rear wheel to control the traveling direction of the predetermined route traveling vehicle.
  • the control device of the present invention may steer at least one front wheel and at least one rear wheel to control the traveling direction of the vehicle traveling on a predetermined route.
  • the control device of the present invention may steer at least one of a plurality of wheels to control the traveling direction of the vehicle traveling on a predetermined route.
  • the control device of the present invention controls the rotation speed of the left wheel arranged on the left side of the vehicle and the rotation speed of the right wheel arranged on the right side of the vehicle so as to be different from each other. The direction of travel may be controlled.
  • Example 2 of changing the running control of the vehicle traveling on the default route In Specific Examples 1, 2, and 3, the golf cars 1, 101, and 201 are controlled in the traveling direction based on the detection signal from the induction line sensor 8, and are based on the detection signal from the embedded marker detection sensor 7. The speed is controlled. However, when the default route traveling vehicle of the present invention travels automatically, the method of controlling the speed and the traveling direction for automatically traveling is not limited to this.
  • the golf cars 1, 101, and 201 include a steering wheel 11.
  • the default route traveling vehicle of the present invention does not have to be provided with a steering wheel.
  • the golf cars 1, 101, and 201 include an accelerator pedal 12.
  • the default route traveling vehicle of the present invention does not have to be provided with an accelerator pedal.
  • the golf cars 1, 101 and 201 include a brake pedal 13.
  • the default route traveling vehicle of the present invention does not have to be provided with an accelerator pedal and a brake pedal.
  • the normal traveling direction of the golf cars 1, 101 and 201 is the vehicle front direction.
  • the normal direction of travel does not include the temporary direction of travel.
  • the default route traveling vehicle of the present invention may be a switchback capable vehicle (Bi-directional vehicle) capable of traveling by changing the traveling direction to the rear direction of the vehicle.
  • the default route traveling vehicle of the specific examples 1, 2 and 3 of the embodiment is a golf car.
  • the default route traveling vehicle of the present invention may be an automatic driving bus, a small automatic electric vehicle, or the like.
  • the vehicle traveling on the default route of the present invention may or may not include a vehicle traveling on the rail along the rail.
  • the default route traveling vehicle of the present invention may be a vehicle traveling with an occupant or a vehicle without an occupant.
  • the control devices 50 and 250 use the default route map information Ia and Ib stored in the storage units 52 and 252, the detection signal from the wheel rotation sensor 6, and the embedded marker detection sensor 7.
  • the current positions of the golf cars 1 and 201 are estimated based on the detection signal from the guide line sensor 8 and the detection signal from the guide line sensor 8.
  • the control device of the present invention may estimate the current position of the vehicle traveling on the default route by other methods.
  • the control devices 50 and 250 use the default route map information Ia and Ib stored in the storage units 52 and 252, the wheel rotation sensor 6 and the embedded marker detection sensor without using the detection signal from the guide line sensor 8.
  • the current position of the vehicle traveling on the default route may be estimated based on the detection signal from 7.
  • the control device of the present invention may estimate the current position of the vehicle traveling on the default route by using GNSS (Global Navigation Satellite System) such as GPS.
  • GNSS Global Navigation Satellite System
  • the RFID reader 170 is used as a means for acquiring information while using the golf cars 101 and 201.
  • a wireless communication device that acquires information by wireless communication may be used instead of the RFID reader.
  • the wireless communication device mounted on the vehicle traveling on the default route may acquire information from a plurality of communication devices arranged outside the road surface along the default route.
  • the wireless communication device mounted on the vehicle traveling on the default route may acquire road surface position-related information, such as the RFID reader 170 of Specific Examples 2 and 3.
  • the wireless communication device corresponds to the road surface position related information acquisition unit of the present invention.
  • the wireless communication device mounted on the vehicle traveling on the default route may acquire information on the shape of a part of the road surface of the default route including the future traveling position of the own vehicle, as in the RFID reader 170 of the second embodiment. Good.
  • the wireless communication device corresponds to the road surface shape information acquisition unit of the present invention.
  • the wireless communication device mounted on the vehicle traveling on the default route may acquire the target swing angle, as in the RFID reader 170 of the second modification of the second embodiment.
  • the wireless communication device mounted on the vehicle traveling on the default route may acquire the target speed information as in the RFID reader 170 of the second embodiment.
  • the image pickup apparatus 10 is a stereo camera having two image sensors.
  • the image pickup apparatus of the present invention may be a stereo camera having three or more image sensors.
  • the imaging device of the present invention may be a monocular camera.
  • the control device of the present invention does not have to use the parallax image to estimate the position of the road surface of the predetermined route in the image captured by the image pickup device.
  • the road surface position-related information of the present invention may include, for example, information that is projected onto an image captured by the imaging device and represents the road surface of a predetermined route in the image. This information is called projected road surface information.
  • the projected road surface information is information representing the shape and width of the road surface of the default route in the image.
  • the projected road surface information is generated based on, for example, the information on the three-dimensional movement trajectory of the imaging device acquired in advance when the vehicle traveling on the default route travels on the default route, and the information on the width of the road surface on the default route. It may be three-dimensional road surface information.
  • the imaging device is kept fixed without swinging.
  • the road surface position-related information acquisition unit of the present invention stores the road surface position-related information in advance
  • the road surface position-related information includes relative position information or absolute position information of a plurality of positions on the road surface of the default route and the road surface of the default route. It may include the projected road surface information of the entire road surface of the default route associated with the position information of.
  • the control device is an image captured by the image pickup device based on the road surface position-related information stored in advance, the current position of the own vehicle estimated by the control device, and the current swing angle of the image pickup device.
  • the position of the road surface of the default route inside may be estimated.
  • the road surface position-related information acquisition unit of the present invention acquires the road surface position-related information while the vehicle traveling on the default route is in use
  • the road surface position-related information is the projected road surface of a part of the road surface of the default route including the future traveling position of the own vehicle. It may contain information.
  • the control device determines the road surface of the default route in the image captured by the image pickup device based on the road surface position related information acquired while using the vehicle traveling on the default route and the current swing angle of the image pickup device. The position may be estimated.
  • the road surface position related information including the projected road surface information the accuracy of estimating the position of the road surface of the default route in the image is high even when the road surface of the default route includes a slope.
  • the control device of the present invention does not have to use a parallax image to detect an obstacle (three-dimensional object) in the image captured by the image pickup device.
  • the control device may detect a specific obstacle (three-dimensional object) such as a person or a vehicle from the image captured by the image pickup device by machine learning.
  • the control device of the present invention does not have to use the parallax image in order to detect an obstacle on the road surface of the predetermined route based on the image captured by the image pickup device. If the parallax image is not required, the imaging device may be a monocular camera.
  • the golf cars 1, 101, and 201 are automatically decelerated by the control devices 50, 150, and 250 when an obstacle on the road surface 60 of the predetermined route is detected. ..
  • the vehicle traveling on the default route of the present invention does not have to be automatically decelerated when an obstacle on the road surface of the default route is detected.
  • the default route traveling vehicle of the present invention may have a notification means for notifying the occupants and persons around the default route traveling vehicle (for example, pedestrians) by sound or light. Then, when an obstacle on the road surface of the default route is detected, the control device may activate the notification means. The vehicle traveling on the default route may be decelerated by the operation of the occupant who recognizes that there is an obstacle on the road surface of the default route by the notification means. In this case, the vehicle may finally stop traveling on the default route by the operation of the occupant. When an obstacle on the road surface of the default route is detected during the automatic driving modes in Specific Examples 1, 2 and 3, the vehicle traveling on the default route may be decelerated by the operation of the occupant.
  • information may be transmitted from the vehicle traveling on the default route to the management device.
  • the information received by the management device is monitored by the remote operator.
  • the remote operator recognizes that there is an obstacle on the road surface of the default route based on the information transmitted from the control device to the management device.
  • a control signal is transmitted to the vehicle traveling on the default route by the operation of the remote operator who recognizes that there is an obstacle.
  • the control device of the default route traveling vehicle decelerates the default route traveling vehicle based on this control signal. That is, the vehicle traveling on the default route may be decelerated by the operation of the remote operator. In this case, the remote operator may finally stop the vehicle traveling on the default route.
  • the vehicle traveling on the default route may be decelerated by the operation of the remote operator.
  • the “image track specific information” and “image track specific information acquisition unit” in the basic application correspond to the “road surface position related information” and “road surface position related information acquisition unit” of the present application, respectively.
  • the “road shape information acquisition unit” in the basic application corresponds to the “road surface shape information acquisition unit” in the present application.
  • the “first default track map information” and “second default track map information” in the basic application correspond to the “first default route map information” and “second default route map information” of the present application, respectively.
  • the "three-dimensional track information” in the basic application corresponds to the "three-dimensional road surface information” in the present application.

Abstract

Cette invention concerne un véhicule de déplacement à itinéraire prédéfini (1) pour se déplacer sur un itinéraire prédéfini, comprenant : un dispositif d'imagerie (10) qui capture une image dans un champ angulaire horizontal de 40° à 90° ; un dispositif de pivotement (40) qui fait pivoter le dispositif d'imagerie (10) par rapport à une carrosserie de véhicule de telle sorte qu'une future position de déplacement du véhicule sur une surface de route (60) d'un itinéraire prédéfini soit incluse dans la région d'imagerie ; une unité d'acquisition d'informations relatives à la position d'une surface de route (20) qui acquiert des informations relatives à la position d'une surface de route pour estimer la position d'une surface de route d'un itinéraire prédéfini dans une image capturée par le dispositif d'imagerie (10) ; et un dispositif de commande (30) qui estime la position de la surface de route de l'itinéraire prédéfini dans l'image sur la base des informations relatives à la position de la surface de route, et détecte une obstruction sur la surface de route de l'itinéraire prédéfini dans l'image.
PCT/JP2020/010673 2019-03-15 2020-03-11 Véhicule de déplacement à itinéraire prédéfini WO2020189462A1 (fr)

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KR1020217025245A KR20210113322A (ko) 2019-03-15 2020-03-11 기정 루트 주행 차량
JP2021507254A JPWO2020189462A1 (ja) 2019-03-15 2020-03-11 既定ルート走行車両
TW109108375A TWI743705B (zh) 2019-03-15 2020-03-13 既定路線行駛車輛
JP2023037696A JP2023060344A (ja) 2019-03-15 2023-03-10 既定ルート走行車両

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JP2017037398A (ja) * 2015-08-07 2017-02-16 ヤマハ発動機株式会社 自動走行車両

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KR20210113322A (ko) 2021-09-15
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JP2023060344A (ja) 2023-04-27
JPWO2020189462A1 (ja) 2021-11-18

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