WO2021033354A1 - 自律走行車両の衝突回避装置、衝突回避方法、衝突回避プログラム - Google Patents
自律走行車両の衝突回避装置、衝突回避方法、衝突回避プログラム Download PDFInfo
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- 238000012545 processing Methods 0.000 claims abstract description 28
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Definitions
- the present invention relates to a collision avoidance device for an autonomous traveling vehicle, a collision avoidance method, and a collision avoidance program.
- the conventionally used laser radar can detect an object existing in a two-dimensional plane, for example, but it may be difficult to detect an object existing in a three-dimensional space.
- a millimeter-wave radar for example, an object in a three-dimensional space can be detected.
- the millimeter wave radar if there is another object with a relatively small reflected power of the reflected wave in front of an object with a relatively large reflected power of the reflected wave, such as a metal wall, the reflected power will be high.
- the reflected wave of a relatively large object may overlap with the reflected wave of another object having a relatively small reflected power, and it may be difficult to separate the two. Therefore, it may be difficult to detect other objects.
- the present invention has been made in view of the above circumstances, and an object of the present invention is to avoid a collision with an object that is difficult to detect with a radar sensor.
- One aspect of the present invention is a collision avoidance device for an autonomous vehicle having a radar sensor that transmits a radar wave and receives a reflected wave from the object, and the signal received by the radar sensor of the object.
- a processing unit that acquires information on the position and information on the reflected power of the reflected wave, and traveling in an area around the object where the autonomous traveling vehicle cannot travel when the reflected power is equal to or higher than a predetermined value.
- It is a collision avoidance device for an autonomous traveling vehicle including a generation unit that generates information about a non-travelable area and an output unit that outputs information about the non-travelable area.
- a non-travelable area is set around the object. Therefore, for example, when an object having a large reflection power is detected, even if there is another object (hereinafter, also simply referred to as another object) that cannot be detected by the radar sensor due to the small reflection power around the object. , The non-travelable area is generated so that other objects exist in the non-travelable area. Then, when the autonomous traveling vehicle (hereinafter, also simply referred to as a vehicle) travels while avoiding the non-travelable area, the vehicle can avoid other objects having a small reflection power.
- the predetermined value is, for example, a reflection power that cannot detect another object or a reflection power that may not be able to detect another object when another object exists around the detected object.
- the radar sensor for example, a millimeter wave radar can be used.
- the radar system is not particularly limited, but may be, for example, an FMCW system or a pulse system.
- the radar sensor receives, for example, reflected waves from an object such as an obstacle that exists around the vehicle.
- the radar sensor can include a plurality of receiving antennas.
- a radar sensor having a plurality of receiving antennas can detect the position of an object in three-dimensional space.
- the processing unit acquires information on the position of the object and information on the reflected power of the reflected wave based on the signal received by the radar sensor.
- the information regarding the position of the object may be regarded as information regarding the position of each of a plurality of points (point groups) constituting the object.
- the information on the reflected power may be information on the reflected power corresponding to each position.
- the reflected power of the reflected wave from the object is proportional to the radar cross section (RCS: Radar cross-section) of the object. That is, the larger the RCS, the larger the reflected power. If another object with a small reflected power exists around an object with a large reflected power, the reflected wave of the other object with a small reflected power is buried in the reflected wave of the object with a large reflected power and is reflected. It can be difficult to detect other objects with low power. Therefore, when an object having a reflected power of a predetermined value or more is detected, the generation unit sets a non-travelable area around the object.
- the non-travelable area may be an area where it is difficult to detect another object even if another object having a reflection power smaller than that of the object exists around the object.
- Information on the non-travelable area includes, for example, coordinate information indicating the non-travelable area in three-dimensional space, information on a function or calculation formula indicating the non-travelable area, link data on a link, node data on a node point, and the like. Can include. Further, the information regarding the non-travelable area can include, for example, information that a virtual object exists at the outer edge of the non-travelable area.
- the output unit can output information about the non-travelable area to, for example, a travel control unit that controls the travel of the vehicle.
- a travel control unit that controls the travel of the vehicle.
- the vehicle can be controlled so that the vehicle does not enter the non-travelable area. Therefore, for example, the vehicle can avoid other objects having a small reflection power existing in the non-travelable area.
- the generation unit may generate information on the non-travelable area so that the larger the reflected power, the longer the distance from the object to the outer edge of the non-travelable area.
- it is difficult to detect other objects by setting the non-travelable area so that the greater the reflected power of the reflected wave from the object, the longer the distance from the object to the outer edge of the non-travelable area. It is possible to set a non-travelable area according to the size of the area. That is, the larger the reflected power of the reflected wave from the object, the larger the non-travelable area, so that it is possible to prevent the vehicle from colliding with another object that is difficult to detect.
- the distance from the object to the outer edge of the non-travelable area may be continuously changed according to the reflected power, or may be changed stepwise according to the reflected power. Further, the relationship between the distance from the object to the outer edge of the non-travelable area and the reflected power is not limited to the proportional relationship, and any correlation may be sufficient.
- the generation unit is based on a signal having the smallest reflected power acquired by the processing unit among the signals received by the plurality of radar sensors. Information about the non-travelable area may be generated.
- the plurality of radar sensors having different directivity directions may be, for example, a plurality of radar sensors having different irradiation directions or a plurality of radar sensors having different directions in which the gain is maximized. Even if the same object is detected by the radar waves transmitted from such a plurality of radar sensors, the angle of the radar wave incident on the object from the transmitting antenna differs for each radar sensor, so that each radar wave is supported.
- the reflected power may be different. That is, the reflected power of the reflected wave from the same position may differ depending on the radar sensor.
- the reflected power of the reflected wave from the object is small, the area where other objects cannot be detected becomes small, so that the non-travelable area becomes small.
- the non-travelable area can be made as small as possible.
- An object existing outside the non-travelable area set in this way can be detected by a radar sensor that outputs a signal having the smallest reflected power.
- One aspect of the present invention is a collision avoidance method for an autonomous vehicle having a radar sensor that transmits a radar wave and receives a reflected wave from an object, from a signal received by the radar sensor by a computer. Acquiring information on the position of the object and the reflected power of the reflected wave, and when the reflected power is equal to or more than a predetermined value, in an area around the object where the autonomous traveling vehicle cannot travel. It is a collision avoidance method of an autonomous traveling vehicle that generates information about a certain non-travelable area and outputs information about the non-travelable area.
- One aspect of the present invention is a collision avoidance program for an autonomous vehicle having a radar sensor that transmits a radar wave and receives a reflected wave from an object, from a signal received by the radar sensor to a computer. Acquiring information on the position of the object and the reflected power of the reflected wave, and when the reflected power is equal to or more than a predetermined value, in an area around the object where the autonomous traveling vehicle cannot travel. It is a collision avoidance program of an autonomous traveling vehicle that generates information about a certain non-travelable area and outputs information about the non-travelable area.
- the present invention may be regarded as a control device for an autonomous traveling vehicle having at least a part of the above configuration. Further, the present invention can be regarded as a control method including at least a part of the above processing, a program for realizing such a method, or a recording medium in which the program is recorded non-temporarily. It should be noted that each of the above configurations and processes can be combined with each other as much as possible to construct the present invention.
- the collision avoidance device for an autonomous vehicle is a device that uses a radar sensor to prevent an automatic guided vehicle from colliding with an object such as an obstacle.
- the collision avoidance device of an autonomous vehicle acquires reflected power based on a signal from a radar sensor, and when the acquired reflected power is equal to or more than a predetermined value, an area that restricts the vehicle from traveling around the object (non-travelable area). ) Is set. For example, if there is another object with a relatively small reflection power in front of a metal wall with a relatively large reflection power, it may be difficult to detect the other object with a relatively small reflection power.
- the collision avoidance device for an autonomous traveling vehicle sets a non-travelable area including the position of another object around a metal wall. Since the vehicle is controlled so as not to enter the non-travelable area, it is possible to prevent the vehicle from colliding with another object having a relatively small reflection power.
- FIG. 1 is a block diagram schematically showing a schematic configuration of the vehicle 1 of the embodiment.
- the vehicle 1 of the present embodiment has a radar sensor 11, a control unit 12, a travel control unit 13, and a drive unit 14 as main configurations.
- the vehicle 1 is a vehicle that can travel autonomously, and is, for example, an automatic guided vehicle.
- the vehicle 1 is an example of an autonomous traveling vehicle.
- the radar sensor 11 is, for example, a radar sensor using a millimeter wave radar.
- the FMCW radar can be exemplified as the radar detection method, but the detection method is not limited to this, and other detection methods (for example, pulse radar) can also be adopted.
- the control unit 12 detects the distance from the vehicle 1 to the object and the direction of the object by processing the signal output from the radar sensor 11.
- the control unit 12 may calculate the position (for example, three-dimensional coordinates) of the object based on the distance to the object and the direction of the object. Further, the control unit 12 outputs information about the object to the travel control unit 13, and the travel control unit 13 controls the drive unit 14 so as to avoid the object.
- FIG. 2 is a schematic configuration diagram of the radar sensor 11.
- the radar sensor 11 includes a synthesizer 101, a transmitting antenna 102, a receiving antenna 103, and a mixer 104.
- the synthesizer 101 generates a chirp signal.
- a chirp signal is a signal whose frequency increases or decreases over time.
- the transmitting antenna 102 transmits a radar wave (radio wave) according to the chirp signal.
- the irradiation direction of the radar wave may be set so as to direct the radar wave in the straight direction of the vehicle 1, for example.
- the receiving antenna 103 receives the reflected wave reflected by the object from the radar wave transmitted from the transmitting antenna 102. There may be a plurality of receiving antennas 103.
- a plurality of receiving antennas 103 are arranged in a horizontal direction and a plurality of receiving antennas 103 are arranged in a vertical direction. May be good.
- the mixer 104 combines the chirp signal generated by the synthesizer 101 with the reflected wave signal received by the receiving antenna 103 to generate an intermediate frequency signal.
- the intermediate frequency signal is output to the control unit 12.
- Information that enables the calculation of the distance to the object, the direction of the object, and the reflected power of the reflected wave from the object may be output from the radar sensor 11 to the control unit 12. Further, the radar sensor 11 may have a filter for removing unnecessary signal components from the output of the mixer 104 and an A / D converter.
- the control unit 12 is a computer that performs object detection processing, and includes, for example, a processor and a memory.
- the processor is, for example, a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or the like.
- the memory is, for example, RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable ROM), hard disk drive (HDD, Hard Disk Drive), removable media, or the like.
- a memory is a computer-readable recording medium.
- Various programs and the like are stored in the memory.
- the processor executes the program stored in the memory, and each component and the like are controlled through the execution of this program. As a result, the control unit 12 realizes a function that meets a predetermined purpose.
- the control unit 12 may be composed of a plurality of computers.
- the control unit 12 performs object detection processing using the output signal from the radar sensor 11.
- the object detection process includes calculation of the distance from the vehicle 1 to the object and the direction of the object.
- FIG. 3 is a diagram showing an example of the functional configuration of the control unit 12.
- the control unit 12 includes a transmission / reception unit 201, a processing unit 202, a determination unit 203, a generation unit 204, and an output unit 205 as functional components.
- the transmission / reception unit 201, the processing unit 202, the determination unit 203, the generation unit 204, and the output unit 205 are functional components provided by, for example, a processor executing various programs stored in a memory.
- the transmission / reception unit 201 controls the transmission / reception of radar waves by the radar sensor 11.
- the transmission / reception unit 201 outputs a chirp signal from the synthesizer 101, and acquires an intermediate frequency signal from the mixer 104.
- the processing unit 202 performs object detection processing based on an intermediate frequency signal or the like.
- the processing unit 202 calculates the distance to the object and the direction of the object based on the signal from the transmission / reception unit 201. Further, the processing unit 202 calculates the reflected power of the reflected wave based on the signal from the transmitting / receiving unit 201.
- the reflected power may be, for example, received power or received intensity. Known techniques can be used for these calculations.
- the determination unit 203 determines whether or not there is a non-travelable area based on the reflected power of the reflected wave.
- the non-travelable area may be an area where the travel of the vehicle 1 is restricted. Further, the non-travelable area may be an area where it is difficult to determine whether or not an object exists. For example, the determination unit 203 determines whether or not the reflected power of the reflected wave when the object is detected is equal to or greater than a predetermined value, and if it is equal to or greater than the predetermined value, it is determined that there is a non-travelable area.
- the predetermined value is a threshold value of the reflected power in which an area where it is difficult to determine whether or not an object exists can exist.
- the predetermined value may be obtained by an experiment, a simulation, or the like. It should be noted that the predetermined value may have a certain margin and may be smaller than the reflected power at which other objects cannot be detected.
- the generation unit 204 generates information about the non-travelable area.
- the information regarding the non-travelable area includes, for example, information regarding coordinates indicating the outer edge of the non-travelable area.
- the generation unit 204 obtains a non-travelable area corresponding to the object based on the reflected power and the information stored in the memory. When determining the non-travelable area, for example, the peak value of the reflected power is used.
- the non-travelable area can be obtained based on the non-travelable distance from the position (point) where the object is detected.
- the non-travelable distance is the maximum distance from the object in which the vehicle 1 is restricted from traveling, and corresponds to the distance from the object to the outer edge of the non-travelable area.
- Information on the non-travelable distance corresponding to the reflected power may be obtained by experiment or simulation and stored in the memory.
- the non-travelable distance is set in consideration of the separation resolution of the radar and the detection error. That is, since the area where it is difficult to detect other objects changes depending on the separation resolution and detection error of the radar, the travel impossible distance is included so that the area where it is difficult to detect other objects is included in the non-travelable area. Is set.
- the separation resolution and detection error of the radar sensor 11 may be obtained, for example, based on the specifications of the radar sensor 11.
- FIG. 4 is a diagram for explaining a non-travelable distance and a non-travelable area according to the present embodiment.
- FIG. 4 illustrates a case where the metal wall 40 exists in front of the vehicle 1 and the metal rod 50 exists in the vicinity of the metal wall 40 between the vehicle 1 and the metal wall 40.
- the straight-ahead direction of the vehicle 1 is orthogonal to the wall surface of the metal wall 40. Therefore, the directivity direction of the radar wave and the wall surface of the metal wall 40 are orthogonal to each other.
- the metal wall 40 corresponds to an object having a relatively large reflected power of the reflected wave
- the metal rod 50 corresponds to another object having a relatively small reflected power of the reflected wave.
- the broken line 60 in FIG. 4 indicates the outer edge of the area (monitoring area A1) for detecting an object by radar waves.
- the arrow 61 in FIG. 4 indicates the non-travelable distance corresponding to each position 62 of the metal wall 40.
- the radar sensor 11 receives reflected waves from each position 62 of the metal wall 40, respectively. Therefore, the metal wall 40 is detected as a point cloud.
- the alternate long and short dash line 63 in FIG. 4 indicates the outer edge of the non-travelable area corresponding to each position 62 of the metal wall 40.
- the metal wall 40 has a relatively large radar cross section (RCS) and easily reflects radar waves, so that the reflected power of the reflected waves received by the radar sensor 11 is relatively large.
- the metal rod 50 has a smaller RCS than the metal wall 40, the reflected power of the reflected wave received is small.
- the radar sensor 11 if an object having a large RCS exists in the monitoring area A1, the RCS near the object having a large RCS may not be able to detect another object having a small RCS. That is, the reflected wave of an object having a large RCS may be embedded with the reflected wave of another object having a small RCS, making it impossible to separate the two.
- the determination unit 203 determines that there is a non-travelable area around the metal wall 40.
- the generation unit 204 sets a non-travelable area around the metal wall 40 and generates information about the non-travelable area.
- the reflected power is the largest in the front surface of the vehicle 1, and the angle of incidence of the radar wave on the metal wall 40 decreases as the distance from the front surface increases to the left and right, so that the reflected power increases. It gets smaller.
- the non-travelable distance corresponding to each position 62 of the metal wall 40 is the longest in the front of the vehicle 1, and becomes shorter as the distance from the front to the left and right is increased.
- the separation resolution may be a frequency band
- the detection error it depends on the reflected power, the separation resolution, and the detection error.
- the non-travelable distance may be set. However, since the separation resolution and the detection error are obtained in advance, if the relationship between the reflected power and the non-travelable distance in consideration of these is obtained in advance, the non-travelable distance can be obtained according to the reflected power. Then, the area up to the non-travelable distance centered on each position 62 is set as the non-travelable area corresponding to each position 62. In this case, a plurality of non-travelable areas are set for the metal wall 40.
- the alternate long and short dash line B1 of FIG. 4 may be set as the outer edge of the non-travelable area A2 of the metal wall 40 as a whole.
- the alternate long and short dash line B1 is a tangent to the outer edge 63 of the non-travelable area corresponding to each position 62 of the metal wall 40.
- the alternate long and short dash line B1 does not have to be a straight line.
- FIG. 5 is a diagram for explaining a case where a non-travelable area is not set.
- the traveling direction of the vehicle 1 is oblique to the metal wall 40
- the reflected power of the reflected wave from the metal wall 40 is higher than that when the traveling direction of the vehicle 1 is orthogonal to the wall surface of the metal wall 40. It becomes smaller. Therefore, it may be possible to separate the reflected wave from the metal wall 40 and the reflected wave from the metal rod 50.
- the metal rod 50 existing in front of the metal wall 40 can be detected by the processing unit 202.
- the determination unit 203 determines that the non-travelable area does not exist. Therefore, the generation unit 204 does not generate information about the non-travelable area.
- the output unit 205 outputs information regarding the non-travelable area to the travel control unit 13.
- the output information includes, for example, the coordinates of the outer edge of the non-travelable area.
- the output unit 205 outputs information about the detected object to the travel control unit 13. This information may include, for example, information regarding the distance from the vehicle 1 to the object and the direction of the object calculated by the processing unit 202.
- the travel control unit 13 is a computer that controls the travel of the vehicle 1, and includes, for example, a processor and a memory. Since the processor and the memory are the same as those of the control unit 12, the description thereof will be omitted.
- the control unit 12 and the travel control unit 13 may be configured by one computer.
- the travel control unit 13 generates a control command for controlling the autonomous travel of the vehicle 1 based on the operation plan input by the user and the information output from the output unit 205.
- the operation plan may be stored in the memory in advance.
- the travel control unit 13 travels along a predetermined travelable area according to the operation plan so that an obstacle does not enter the predetermined area centered on the vehicle 1 and the vehicle 1 enters the non-travelable area.
- a control command is generated to drive the vehicle 1 so as not to enter.
- the generated control command is transmitted to the drive unit 14.
- a method for generating a control command for autonomously traveling the vehicle 1 a known method can be adopted.
- the drive unit 14 drives the vehicle 1 based on the control command generated by the travel control unit 13.
- the drive unit 14 is configured to include, for example, a motor, an inverter, a brake, a steering mechanism, and the like for driving the wheels included in the vehicle 1, and by driving these devices in accordance with a control command, the vehicle 1 autonomously travels. Is realized.
- FIG. 6 is a flowchart showing a control flow by the control unit 12 according to the present embodiment. This flowchart is repeatedly executed by the control unit 12 at predetermined time intervals. It is assumed that the operation plan is stored in the memory in advance, and that the vehicle 1 is operating according to this operation plan.
- step S101 the transmission / reception unit 201 transmits / receives radar waves.
- step S102 the processing unit 202 performs object detection processing. That is, the processing unit 202 calculates the position (distance and direction) and the reflected power of the object based on the output from the radar sensor 11.
- step S103 the processing unit 202 determines whether or not the object is detected by the object detection process. If an affirmative determination is made in step S103, the process proceeds to step S104, and if a negative determination is made, the process proceeds to step S108.
- step S108 the output unit 205 outputs information indicating that the object has not been detected to the travel control unit 13.
- step S104 the determination unit 203 determines whether or not the reflected power of the reflected wave from the detected object is equal to or greater than a predetermined value. That is, the determination unit 203 determines whether or not there is a non-travelable area. If an affirmative determination is made in step S104, the process proceeds to step S105, and if a negative determination is made, the process proceeds to step S107.
- step S105 the generation unit 204 generates information regarding the non-travelable area.
- the generation unit 204 acquires the non-travelable distance from the position where the reflected power is detected, based on the reflected power and the information stored in the memory (information on the non-travelable distance corresponding to the reflected power, etc.). .. Then, the non-travelable area corresponding to each position is obtained by obtaining the non-travelable distance from each position where the reflected power is equal to or more than a predetermined value.
- the non-travelable area corresponding to the entire object may be calculated based on the non-travelable distance corresponding to each position.
- step S106 the output unit 205 outputs information regarding the non-travelable area to the travel control unit 13. Further, in step S107, the output unit 205 outputs information about the object to the travel control unit 13.
- the travel control unit 13 that has received the signal from the control unit 12 controls the travel of the vehicle 1 based on the signal.
- the travel control unit 13 acquires information about an object, that is, when information about an object is output in step S107, the moving direction of the vehicle 1 is changed so as to avoid the object, or contact with the object.
- the vehicle 1 is decelerated or stopped so as to avoid the problem.
- the information on the non-travelable area that is, when the information on the non-travelable area is output in step S106
- the moving direction of the vehicle 1 is changed so that the vehicle 1 does not enter the non-travelable area. Or, the vehicle 1 is decelerated or stopped.
- the vehicle 1 travels along the travelable area, the vehicle 1 is assumed to have a narrower travelable area at the place where the travelable area and the non-travelable area overlap. You may run it. Further, when the object is not detected, that is, when the information indicating that the object is not detected is output in step S108, the vehicle 1 is controlled according to the operation plan.
- FIG. 7 is a block diagram schematically showing a schematic configuration of the vehicle 1 of the modified example.
- a plurality of radar sensors 11 having different directivity directions of radar waves are provided.
- the configuration peculiar to this modification will be described, and the description of the configuration common to the above-described embodiment will be omitted.
- the reflected power of the reflected wave is increased by the radar wave incident on the wall surface from an oblique direction. Relatively small.
- the metal rod 50 existing in the immediate vicinity of the metal wall 40 can be detected. Therefore, it is not necessary to include the position of the metal rod 50 in the non-travelable area, and the travel control unit 13 may drive the vehicle 1 so as to avoid the detected metal rod 50.
- the reflected power of the reflected wave from the same object may be different for each radar sensor 11, and therefore, the non-travelable area set for the same object may be different for each radar sensor 11.
- the signal having the smallest reflected power of the reflected wave is selected, and the object is supported based on the selected signal. Set the non-driving area.
- step S101 the transmission / reception unit 201 transmits / receives radar waves to each radar sensor 11.
- step S102 the processing unit 202 calculates the position (distance and direction) and reflected power of the object based on the output from each radar sensor 11.
- step S103 the processing unit 202 determines whether or not the object is detected by the object detection process. In this case, when an object is detected by any of the radar sensors 11, a positive determination may be made.
- step S104 the determination unit 203 determines whether or not all the reflected powers of the reflected waves from the objects detected by the radar sensors 11 are equal to or higher than a predetermined value. Further, in step S105, the generation unit 204 selects the signal having the smallest reflected power of the reflected wave among the signals output from each radar sensor 11, and travels corresponding to the object based on the selected signal. Generate information about disabled areas.
- step S106 the output unit 205 outputs information regarding the non-travelable area to the travel control unit 13. Further, in step S107, the output unit 205 outputs information about the object to the travel control unit 13. In step S108, the output unit 205 outputs information indicating that the object has not been detected to the travel control unit 13.
- the non-travelable area becomes as small as possible.
- a reflected wave having a reflected wave power of a predetermined value or more and a reflected wave having a reflected wave power of less than a predetermined value are detected for the same object, it is not necessary to set the non-travelable area.
- the non-travelable area can be made as small as possible, the area where the vehicle 1 can travel can be made as wide as possible while suppressing contact with an object. In addition, it is possible to suppress unnecessary deceleration or stop of the vehicle 1.
- an automatic guided vehicle has been illustrated, but it may be applied to an autonomous vehicle that is not intended for transportation.
- the vehicle 1 has the control unit 12, but at least a part of the control unit 12 may be arranged outside the vehicle 1.
- the non-travelable distance is lengthened according to the reflected power of the reflected wave from the object, but instead, the non-travelable distance when the reflected power is equal to or more than a predetermined value may be set to a constant value. Good. In this case, for example, the non-travelable distance may be set assuming that the reflected power is the largest.
- the generation unit 204 generates information on the non-travelable area according to the reflected power of the reflected wave from the object, and this information includes the outer edge of the non-travelable area (for example, FIG. 4).
- Information indicating that a virtual object exists can be included in the alternate long and short dash line B1).
- the travel control unit 13 generates a control command so as to avoid a virtual object.
- a collision avoidance device for an autonomous vehicle having a radar sensor 11 that transmits radar waves and receives reflected waves from an object.
- a processing unit 202 that acquires information on the position of the object and information on the reflected power of the reflected wave from the signal received by the radar sensor 11.
- the generation unit 204 that generates information about the non-travelable area that is the area around the object and the non-travelable area of the autonomous traveling vehicle,
- An output unit 205 that outputs information about the non-travelable area, and A collision avoidance device for autonomous vehicles equipped with.
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Abstract
Description
本発明に係る自律走行車両の衝突回避装置の適用例の一つについて説明する。自律走行車両の衝突回避装置は、レーダセンサを利用して、例えば、無人搬送車が障害物などの物体に衝突することを回避する装置である。
(車両の構成)
図1は、実施形態の車両1の概略構成を模式的に示すブロック図である。本実施形態の車両1は、主な構成として、レーダセンサ11、制御部12、走行制御部13、駆動部14を有している。車両1は、自律的に走行可能な車両であり、例えば、無人搬送車である。車両1は、自律走行車両の一例である。
図2は、レーダセンサ11の概略構成図である。レーダセンサ11は、シンセサイザ101、送信アンテナ102、受信アンテナ103、ミキサ104を有している。シンセサイザ101は、チャープ信号を生成する。チャープ信号は、時間と共に周波数が増加または減少する信号である。送信アンテナ102は、チャープ信号にしたがってレーダ波(電波)を送信する。レーダ波は、例えば、車両1の直進方向に指向するように、その照射方向が設定されていてもよい。受信アンテナ103は、送信アンテナ102から送信されたレーダ波が物体で反射した反射波を受信する。なお、受信アンテナ103は複数存在してもよい。本実施形態では、三次元的に物体の位置を検知するために、例えば、水平方向に複数の受信アンテナ103をずらして配置し、且つ、垂直方向に複数の受信アンテナ103をずらして配置してもよい。ミキサ104は、シンセサイザ101により生成されるチャープ信号と、受信アンテナ103により受信された反射波の信号とを組み合わせて、中間周波数信号を生成する。中間周波数信号は、制御部12に出力される。なお、レーダセンサ11から制御部12へは、例えば、物体までの距離、物体の方角、及び、物体からの反射波の反射パワーが算出可能となる情報が出力されればよい。また、レーダセンサ11は、ミキサ104の出力から不要な信号成分を除去するフィルタや、A/D変換器を有していてもよい。
次に、制御部12について説明する。制御部12は、物体の検知処理を行うコンピュータであり、例えば、プロセッサ及びメモリを含んで構成される。プロセッサは、例えば、CPU(Central Processing Unit)やDSP(Digital Signal Processor)等である。メモリは、例えば、RAM(Random Access Memory)、ROM(Read Only Memory)、EPROM(Erasable Programmable ROM)、ハードディスクドライブ(HDD、Hard Disk Drive)、リムーバブルメディア等である。メモリは、コンピュータで読み取り可能な記録媒体である。メモリには、各種プログラム等が格納される。メモリに格納されたプログラムをプロセッサが実行し、このプログラムの実行を通じて各構成部等が制御される。これにより、所定の目的に合致した機能を制御部12が実現する。制御部12は複数のコンピュータによって構成されていてもよい。
走行制御部13は、車両1の走行を制御するコンピュータであり、例えば、プロセッサ及びメモリを含んで構成される。なお、プロセッサ及びメモリは、制御部12と同じであるため説明を省略する。なお、制御部12と走行制御部13とは一つのコンピュータによって構成されていてもよい。
駆動部14は、走行制御部13が生成した制御指令に基づいて、車両1を走行させる。駆動部14は、例えば、車両1が備える車輪を駆動するためのモータやインバータ、ブレーキ、ステアリング機構等を含んで構成され、制御指令に従ってこれらの機器が駆動されることで、車両1の自律走行が実現される。
図6は、本実施形態に係る制御部12による制御フローを示したフローチャートである。本フローチャートは、制御部12によって所定時間毎に繰り返し実行される。なお、運行計画は予めメモリに記憶されているものとし、この運行計画にしたがって車両1が動作しているものとする。
以上述べた構成によれば、レーダセンサ11によって物体を検知することにより、水平方向のみならず垂直方向に存在する物体を検知することができる。したがって、例えば、三次元空間に存在する障害物に衝突することを避けることができる。また、物体が検知された場合に、物体からの反射波の反射パワーに基づいて走行不可エリアを設定するため、反射パワーの大きな物体の近くに存在する反射パワーの小さな他の物体であって、検知が困難な物体に車両1が衝突することを回避できる。また、既存のハード構成を用いることが可能であり、コストの削減が可能である。
図7は、変形例の車両1の概略構成を模式的に示すブロック図である。本変形例では、レーダ波の指向方向が異なるレーダセンサ11を複数備える。以下では、本変形例に特有の構成を説明し、上記の実施形態と共通する構成については説明を省略する。
上記実施形態は、本発明の構成例を例示的に説明するものに過ぎない。本発明は上記の具体的な形態には限定されることはなく、その技術的思想の範囲内で種々の変形が可能である。
(1)レーダ波を送信し、物体からの反射波を受信するレーダセンサ11を有する自律走行車両の衝突回避装置であって、
前記レーダセンサ11が受信した信号から、前記物体の位置に関する情報及び前記反射波の反射パワーに関する情報を取得する処理部202と、
前記反射パワーが所定値以上の場合に、前記物体の周りのエリアであって前記自律走行車両が走行できないエリアである走行不可エリアに関する情報を生成する生成部204と、
前記走行不可エリアに関する情報を出力する出力部205と、
を備える自律走行車両の衝突回避装置。
11 レーダセンサ
12 制御部
13 走行制御部
14 駆動部
102 送信アンテナ
103 受信アンテナ
201 送受信部
202 処理部
203 判定部
204 生成部
205 出力部
Claims (5)
- レーダ波を送信し、物体からの反射波を受信するレーダセンサを有する自律走行車両の衝突回避装置であって、
前記レーダセンサが受信した信号から、前記物体の位置に関する情報及び前記反射波の反射パワーに関する情報を取得する処理部と、
前記反射パワーが所定値以上の場合に、前記物体の周りのエリアであって前記自律走行車両が走行できないエリアである走行不可エリアに関する情報を生成する生成部と、
前記走行不可エリアに関する情報を出力する出力部と、
を備える自律走行車両の衝突回避装置。 - 前記生成部は、前記反射パワーが大きいほど、前記物体から前記走行不可エリアの外縁までの距離が長くなるように、前記走行不可エリアに関する情報を生成する、
請求項1に記載の自律走行車両の衝突回避装置。 - 指向方向が異なる複数のレーダセンサを有し、
前記生成部は、前記複数のレーダセンサが夫々受信した信号の中で、前記処理部によって取得される反射パワーが最も小さい信号に基づいて、前記走行不可エリアに関する情報を生成する、
請求項1または2に記載の自律走行車両の衝突回避装置。 - レーダ波を送信し、物体からの反射波を受信するレーダセンサを有する自律走行車両の衝突回避方法であって、
コンピュータが、
前記レーダセンサが受信した信号から、前記物体の位置に関する情報及び前記反射波の反射パワーに関する情報を取得することと、
前記反射パワーが所定値以上の場合に、前記物体の周りのエリアであって前記自律走行車両が走行できないエリアである走行不可エリアに関する情報を生成することと、
前記走行不可エリアに関する情報を出力することと、
を実行する自律走行車両の衝突回避方法。 - レーダ波を送信し、物体からの反射波を受信するレーダセンサを有する自律走行車両の衝突回避プログラムであって、
コンピュータに、
前記レーダセンサが受信した信号から、前記物体の位置に関する情報及び前記反射波の反射パワーに関する情報を取得することと、
前記反射パワーが所定値以上の場合に、前記物体の周りのエリアであって前記自律走行車両が走行できないエリアである走行不可エリアに関する情報を生成することと、
前記走行不可エリアに関する情報を出力することと、
を実行させる自律走行車両の衝突回避プログラム。
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CN202080052549.9A CN114175124B (zh) | 2019-08-20 | 2020-03-05 | 自主行驶车辆的避撞装置、避撞方法、记录介质 |
EP20854076.5A EP3992943A4 (en) | 2019-08-20 | 2020-03-05 | SELF-DRIVING VEHICLE COLLISION AVOIDANCE DEVICE, COLLISION AVOIDANCE METHOD AND COLLISION AVOIDANCE PROGRAM |
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US (1) | US20240045024A1 (ja) |
EP (1) | EP3992943A4 (ja) |
JP (1) | JP7476495B2 (ja) |
KR (1) | KR20220024869A (ja) |
CN (1) | CN114175124B (ja) |
WO (1) | WO2021033354A1 (ja) |
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- 2019-08-20 JP JP2019150403A patent/JP7476495B2/ja active Active
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- 2020-03-05 WO PCT/JP2020/009400 patent/WO2021033354A1/ja active Application Filing
- 2020-03-05 US US17/631,180 patent/US20240045024A1/en active Pending
- 2020-03-05 CN CN202080052549.9A patent/CN114175124B/zh active Active
- 2020-03-05 EP EP20854076.5A patent/EP3992943A4/en active Pending
- 2020-03-05 KR KR1020227002291A patent/KR20220024869A/ko not_active Application Discontinuation
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KR20220024869A (ko) | 2022-03-03 |
JP7476495B2 (ja) | 2024-05-01 |
US20240045024A1 (en) | 2024-02-08 |
EP3992943A4 (en) | 2023-07-12 |
EP3992943A1 (en) | 2022-05-04 |
CN114175124B (zh) | 2024-04-05 |
CN114175124A (zh) | 2022-03-11 |
JP2021033457A (ja) | 2021-03-01 |
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