WO2021245892A1 - Autonomous travel control device, autonomous travel control system, and warning information determination method - Google Patents

Abstract

The present invention provides a technology that enables prevention of collision between an autonomous travel vehicle and a moving obstacle.　This autonomous travel control device (11) is provided with a warning information determination unit (24) for determining, on the basis of travel plan information and moving obstacle information acquired by a moving obstacle information acquiring unit (21), warning information that gives a warning of collision between an autonomous travel vehicle (4) and a moving obstacle to the moving obstacle by being displayed on a display device (3).

Description

Automatic driving control device, automatic driving control system, and warning information determination method

This disclosure relates to an automatic driving control device.

Patent Document 1 describes an automatic vehicle allocation system that controls each automatic driving of a plurality of automatic traveling vehicles. The automatic vehicle allocation system includes a plurality of signs, each of which displays driving operation instruction information, and a plurality of automatic traveling vehicles, each of which automatically travels based on the driving operation instruction information displayed by the signs.

Japanese Unexamined Patent Publication No. 2000-194417

With the above technology, it is possible to prevent collisions between autonomous vehicles, but moving obstacles such as autonomous vehicles and humans or vehicles other than autonomous vehicles (hereinafter referred to as moving obstacles). ), There is a problem that it cannot be prevented.
The present disclosure has been made to solve the above-mentioned problems, and an object of the present disclosure is to provide a technique capable of preventing a collision between an autonomous vehicle and a moving obstacle.

The automatic driving control device according to the present disclosure obtains driving instruction information indicating automatic driving of an automatic driving vehicle on a traveling road by being displayed by a display device, based on driving planning information related to a traveling plan of the automatic traveling vehicle on the traveling road. It is an automatic driving control device that determines the automatic driving, and it is a moving obstacle information acquisition unit that acquires moving obstacle information about moving obstacles moving on the traveling road, and an automatic traveling vehicle and a moving obstacle by being displayed by a display device. It is provided with a warning information determination unit that determines warning information for warning a collision with a moving obstacle based on the traveling plan information and the moving obstacle information acquired by the moving obstacle information acquisition unit.

According to the present disclosure, it is possible to prevent a collision between an autonomous vehicle and a moving obstacle.

It is a block diagram which shows the structure of the automatic driving control system which concerns on Embodiment 1. FIG. It is a block diagram which shows the detailed structure of the server which concerns on Embodiment 1. FIG. It is a flowchart which shows the warning information determination method by the automatic driving control device which concerns on Embodiment 1. It is a figure which shows the structure of the specific example which operated the automatic driving control system which concerns on Embodiment 1. FIG. It is a figure which shows the specific example of the driving instruction information and warning information displayed by the display device of the automatic driving control system which concerns on Embodiment 1. FIG. FIG. 6A is a diagram showing a situation of the work area H at time t. FIG. 6B is a diagram showing a situation of the work area H at time t + 1. It is a flowchart which shows the specific example of step ST7 and step ST8 in the warning information determination method by the automatic driving control device which concerns on Embodiment 1. FIG. FIG. 8A is a block diagram showing a hardware configuration that realizes the functions of the automatic driving control device 11. FIG. 8B is a block diagram showing a hardware configuration for executing software that realizes the functions of the automatic driving control device 11. It is a flowchart which shows the driving instruction information determination method by the automatic driving control device which concerns on Embodiment 2.

Hereinafter, in order to explain the present disclosure in more detail, a mode for carrying out the present disclosure will be described with reference to the accompanying drawings.
Embodiment 1.
FIG. 1 is a block diagram showing a configuration of an automatic driving control system 100 according to the first embodiment. FIG. 2 is a block diagram showing a detailed configuration of the server 1 according to the first embodiment. As shown in FIG. 1, the automatic driving control system 100 includes a sensor 2, a server 1, a display device 3, and an automatic driving vehicle 4. The server 1 includes a storage device 10, an automatic driving control device 11, and a communication device 12. In the first embodiment, the configuration in which the automatic driving control device 11 is installed in the server 1 will be described, but the installation location of the automatic driving control device 11 is not particularly limited.

Further, in the first embodiment, the configuration in which the automatic driving control system 100 includes one sensor 2, the display device 3, and the automatic driving vehicle 4 will be described, but the automatic driving control system 100 may include a plurality of sensors 2. .. The automatic traveling control system 100 may include a plurality of display devices 3. The automatic traveling control system 100 may include a plurality of automatic traveling vehicles 4.

The sensor 2 detects the moving obstacle information regarding the moving obstacle moving on the traveling path of the automatic traveling vehicle 4. In the first embodiment, the moving obstacle information detected by the sensor 2 may include information about the autonomous vehicle 4. The sensor 2 outputs the detected moving obstacle information and the time when the moving obstacle information is detected to the server 1. More specifically, in the first embodiment, the sensor 2 includes a communication device (not shown), and the communication device transmits the moving obstacle information and the time to the server 1.

In the present specification, the moving obstacle means a movable object that does not follow the control of the automatic traveling control device 11. Examples of moving obstacles include humans moving on the road, vehicles driven by humans, and the like.

More specifically about the configuration of the sensor 2, in the first embodiment, the traveling path is composed of a plurality of sections, and the sensor 2 is a weight sensor that detects the weight of each section. The weight of each section detected by the sensor 2 is, for example, the weight of the autonomous vehicle 4 in a certain section at a certain time, the weight of a moving obstacle in a certain section at a certain time, or the automatic weight in a certain section at a certain time. The weight of the traveling vehicle 4 and the weight of the moving obstacle.

Although the configuration in which the sensor 2 is a weight sensor will be described in the first embodiment, the sensor 2 may be a sensor such as a camera, a radar, or a sonar. For example, when the sensor 2 is a camera, the sensor 2 acquires an image of a moving obstacle as moving obstacle information by photographing the moving obstacle. For example, when the sensor 2 is a radar, sonar, or the like, the sensor 2 detects the position of the moving obstacle as the moving obstacle information by scanning the moving obstacle.

The storage device 10 of the server 1 stores the travel plan information regarding the travel plan of the automatic traveling vehicle 4 on the travel road. The storage device 10 outputs the travel plan information to the automatic travel control device 11. More specifically, in the first embodiment, the travel plan information stored in the storage device 10 is assumed for each section based on the travel plan of the automatic traveling vehicle 4 on the traveling road and the traveling plan of the automatic traveling vehicle 4. Including weight. The estimated weight for each section is, for example, the weight of the section assumed by the presence of the autonomous vehicle 4 in a certain section at a certain time based on the travel plan, or the estimated time based on the travel plan. In addition, the weight (for example, zero) of the section assumed by the absence of the autonomous vehicle 4 in the section. More specifically, the travel plan information including the travel plan and the assumed weight for each section includes, for example, the travel route and the travel time from the travel start point to the destination of the autonomous vehicle 4, the weight of the autonomous vehicle 4, and the travel time. This is information associated with weight data such as the weight of luggage carried by the autonomous vehicle 4.

The communication device 12 of the server 1 receives the moving obstacle information detected by the sensor 2 and the time when the sensor 2 detects the moving obstacle information. Examples of the communication device 12 include Ethernet (registered trademark), USB (Universal Serial Bus) terminals, and the like.

The automatic driving control device 11 of the server 1 displays the traveling instruction information displayed by the display device 3 to instruct the automatic traveling of the automatic traveling vehicle 4 on the traveling road, and the traveling plan relating to the traveling plan of the automatic traveling vehicle 4 on the traveling road. Make an informed decision. In the first embodiment, the automatic travel control device 11 determines the travel instruction information based on the travel plan information stored in the storage device 10.

More specifically about the configuration of the automatic driving control device 11, as shown in FIG. 2, the automatic driving control device 11 includes a traveling plan information acquisition unit 20, a moving obstacle information acquisition unit 21, a moving obstacle identification unit 22, and a collision. It includes a probability calculation unit 23, a warning information determination unit 24, and a driving instruction information determination unit 25. The moving obstacle specifying unit 22 includes a moving obstacle position specifying unit 30, a moving obstacle moving direction specifying unit 31, and a moving obstacle moving speed specifying unit 32.

The travel plan information acquisition unit 20 acquires travel plan information related to the travel plan of the automatic traveling vehicle 4 on the travel road. The travel plan information acquisition unit 20 outputs the acquired travel plan information to the movement obstacle position specifying unit 30, the collision probability calculation unit 23, and the travel instruction information determination unit 25, respectively.

More specifically, in the first embodiment, the travel plan information acquisition unit 20 acquires the travel plan information stored in the storage device 10. As described above, in the first embodiment, the travel plan information includes the travel plan of the automatic traveling vehicle 4 on the traveling road and the assumed weight for each section based on the traveling plan of the automatic traveling vehicle 4. When the travel plan information does not include the assumed weight for each section, the travel plan information acquisition unit 20 is based on the travel plan of the automatic traveling vehicle 4 indicated by the acquired travel plan information and the total weight of the automatic traveling vehicle 4. The estimated weight for each section may be calculated.

In the first embodiment, the configuration in which the travel plan information acquisition unit 20 acquires the travel plan information from the storage device 10 will be described, but the acquisition destination from which the travel plan information acquisition unit 20 acquires the travel plan information is not particularly limited. ..

The moving obstacle information acquisition unit 21 acquires the moving obstacle information regarding the moving obstacle moving on the traveling path. The moving obstacle information acquisition unit 21 outputs the acquired moving obstacle information to the moving obstacle position specifying unit 30 or records it in the storage device 10.

More specifically, in the first embodiment, the moving obstacle information acquisition unit 21 acquires the moving obstacle information detected by the sensor 2. More specifically, in the first embodiment, the moving obstacle information acquisition unit 21 acquires the moving obstacle information received by the communication device 12. Further, in the first embodiment, the moving obstacle information acquisition unit 21 further acquires status information such as the position of the sensor 2 and the time when the sensor 2 detects the moving obstacle information. The moving obstacle information acquisition unit 21 outputs the acquired moving obstacle information and status information to the moving obstacle position specifying unit 30 or records them in the storage device 10. The storage device 10 outputs the stored moving obstacle information and status information to the moving obstacle position specifying unit 30, the moving obstacle moving direction specifying unit 31, and the moving obstacle moving speed specifying unit 32. The moving obstacle information acquisition unit 21 may record the moving obstacle information and the status information in an external device other than the server 1 via the communication device 12.

More specifically, regarding the moving obstacle information acquired by the moving obstacle information acquisition unit 21, in the first embodiment, the moving obstacle information acquisition unit 21 uses the weight of each section detected by the sensor 2 as the moving obstacle information. To get. In the first embodiment, the configuration in which the moving obstacle information acquisition unit 21 acquires the weight of each section as the moving obstacle information will be described. For example, when the sensor 2 is a camera, the moving obstacle information acquisition unit 21 will be described. 21 may acquire an image of a moving obstacle as moving obstacle information. Alternatively, for example, when the sensor 2 is a radar, sonar, or the like, the moving obstacle information acquisition unit 21 may acquire the position of the moving obstacle. In that case, the moving obstacle information acquisition unit 21 outputs the acquired position of the moving obstacle to the moving obstacle moving direction specifying unit 31, the moving obstacle moving speed specifying unit 32, and the collision probability calculation unit 23, respectively.

The moving obstacle identification unit 22 identifies information about the moving obstacle based on the moving obstacle information acquired by the moving obstacle information acquisition unit 21.
The moving obstacle position specifying unit 30 of the moving obstacle specifying unit 22 is called by the moving obstacle information acquisition unit 21. The moving obstacle position specifying unit 30 identifies the position of the moving obstacle based on the moving obstacle information acquired by the moving obstacle information acquisition unit 21. More specifically, the moving obstacle position specifying unit 30 identifies the position of the moving obstacle for each time based on the moving obstacle information for each time acquired by the moving obstacle information acquisition unit 21. The moving obstacle position specifying unit 30 outputs the position of the moving obstacle at the specified time to the moving obstacle moving direction specifying unit 31, the moving obstacle moving speed specifying unit 32, and the collision probability calculation unit 23, respectively. Or record in the storage device 10.

More specifically about the configuration of the moving obstacle position specifying unit 30, in the first embodiment, the moving obstacle position specifying unit 30 is the weight of each section indicated by the moving obstacle information acquired by the moving obstacle information acquisition unit 21. And, by comparing with the assumed weight for each section indicated by the travel plan information, the section in which the moving obstacle exists is specified, and the position of the moving obstacle is specified. In the first embodiment, at that time, the moving obstacle position specifying unit 30 uses the position of the sensor 2 indicated by the above-mentioned status information acquired by the moving obstacle information acquisition unit 21 as the position of the moving obstacle. In the first embodiment, the configuration in which the moving obstacle position specifying unit 30 identifies the position of the moving obstacle by comparing the weight of each section with the assumed weight of each section will be described. For example, the sensor 2 will be described. When is a camera, the moving obstacle position specifying unit 30 may specify the position of the moving obstacle based on the image acquired by the moving obstacle information acquisition unit 21.

The moving obstacle moving direction specifying unit 31 of the moving obstacle specifying unit 22 specifies the moving direction of the moving obstacle based on the position of the moving obstacle specified by the moving obstacle position specifying unit 30. More specifically, the moving obstacle moving direction specifying unit 31 identifies the moving direction of the moving obstacle based on the position of the moving obstacle stored in the storage device 10 for each time. In the first embodiment, at that time, the moving obstacle moving direction specifying unit 31 uses the above-mentioned time indicated by the status information acquired by the moving obstacle information acquisition unit 21. The moving obstacle moving direction specifying unit 31 outputs the moving direction of the specified moving obstacle to the collision probability calculation unit 23 or records it in the storage device 10.

The moving obstacle moving speed specifying unit 32 of the moving obstacle specifying unit 22 specifies the moving speed of the moving obstacle based on the position of the moving obstacle specified by the moving obstacle position specifying unit 30. More specifically, the moving obstacle moving speed specifying unit 32 identifies the moving speed of the moving obstacle based on the position of the moving obstacle stored in the storage device 10 for each time. In the first embodiment, at that time, the moving obstacle moving speed specifying unit 32 uses the above-mentioned time indicated by the status information acquired by the moving obstacle information acquisition unit 21. The moving obstacle moving speed specifying unit 32 outputs the moving speed of the specified moving obstacle to the collision probability calculation unit 23 or records it in the storage device 10.

In the first embodiment, the collision probability calculation unit 23 is called by the moving obstacle position specifying unit 30, the moving obstacle moving direction specifying unit 31, or the moving obstacle moving speed specifying unit 32. The collision probability calculation unit 23 calculates the collision probability between the autonomous vehicle 4 and the moving obstacle based on the traveling plan information and the moving obstacle information acquired by the moving obstacle information acquisition unit 21. The collision probability calculation unit 23 outputs the calculated collision probability to the warning information determination unit 24 or records it in the storage device 10.

More specifically, in the first embodiment, the collision probability calculation unit 23 moves the traveling plan of the automatic traveling vehicle 4 indicated by the traveling plan information, the position of the moving obstacle specified by the moving obstacle position specifying unit 30, and the movement. Based on the moving direction of the moving obstacle specified by the obstacle moving direction specifying unit 31 and the moving speed of the moving obstacle specified by the moving obstacle moving speed specifying unit 32, the automatic traveling vehicle 4 and the moving obstacle Calculate the collision probability of. In the first embodiment, the travel plan information here is travel plan information acquired from the storage device 10 by the travel plan information acquisition unit 20.

In the first embodiment, the warning information determination unit 24 is called by the collision probability calculation unit 23. The warning information determination unit 24 acquires warning information that warns the moving obstacle of the collision between the automatic traveling vehicle 4 and the moving obstacle by being displayed by the display device 3, the traveling plan information, and the moving obstacle information. The decision is made based on the moving obstacle information acquired by the unit 21. The warning information determination unit 24 outputs the determined warning information to the communication device 12.

More specifically about the configuration of the warning information determination unit 24, in the first embodiment, the warning information determination unit 24 has a travel plan of the automatic traveling vehicle 4 indicated by the travel plan information, and the moving obstacle position specifying unit 30 has a movement obstacle. The warning information is determined based on the position of the moving obstacle identified based on the object information. More specifically, in the first embodiment, the warning information determination unit 24 determines the warning information based on the movement direction of the moving obstacle specified by the moving obstacle moving direction specifying unit 31. More specifically, in the first embodiment, the warning information determination unit 24 determines the warning information based on the movement speed of the moving obstacle specified by the moving obstacle moving speed specifying unit 32.

More specifically, in the first embodiment, the warning information determination unit 24 has a collision probability calculation unit 23 calculated based on the travel plan of the automatic traveling vehicle 4 and the position, moving direction, and moving speed of the moving obstacle. Determine warning information based on probability. For example, the warning information determination unit 24 determines whether or not the collision probability is equal to or higher than a predetermined threshold value, and if the collision probability is equal to or higher than a predetermined threshold value, determines the warning information. For example, a plurality of warning information is prepared in advance, and the warning information determination unit 24 determines the warning information for display by selecting one warning information from the plurality of warning information based on the collision probability. do.

The travel instruction information determination unit 25 converts the travel instruction information indicating the automatic driving of the automatic traveling vehicle 4 on the traveling road into the traveling plan information regarding the traveling plan of the automatic traveling vehicle 4 on the traveling road by being displayed by the display device 3. Determine based on. The travel instruction information determination unit 25 outputs the determined travel instruction information to the communication device 12. For example, a plurality of travel instruction information is prepared in advance, and the travel instruction information determination unit 25 displays by selecting one travel plan information from the plurality of travel instruction information based on the travel plan information. Determine the driving instruction information of.

The communication device 12 transmits the warning information determined by the warning information determination unit 24 and the travel instruction information determined by the travel instruction information determination unit 25 to the display device 3, respectively.
The display device 3 displays the warning information determined by the warning information determination unit 24 and the travel instruction information determined by the travel instruction information determination unit 25, respectively. More specifically, in the first embodiment, the display device 3 displays the warning information and the travel instruction information transmitted by the communication device 12, respectively. For example, the display device 3 includes a communication device (not shown), and the communication device receives warning information and travel instruction information from the communication device 12. For example, the display device 3 is a video output device such as a liquid crystal monitor, and the video output device displays warning information and travel instruction information as images, respectively. The display device 3 may further include a voice output unit that outputs voice, and when displaying warning information, the voice output unit may output voice that warns a moving obstacle.

The automatic traveling vehicle 4 automatically travels on the traveling road based on the traveling instruction information displayed by the display device 3. An example of the automatic traveling vehicle 4 is an automatic guided vehicle that transports luggage. The autonomous vehicle 4 includes, for example, a sensor such as a camera, LiDAR (Light Detection and Ringing), radar, sonar, or a positioning device, a drive system such as a steering wheel, a brake, or an accelerator, a processor, a storage device, a communication interface, or the like. It is equipped with such hardware. For example, the automatic traveling vehicle 4 automatically travels on a traveling road by controlling a drive system based on traveling instruction information indicated by an image obtained by taking a picture of a display device 3 by a camera.

Hereinafter, the operation of the automatic driving control device 11 according to the first embodiment will be described with reference to the drawings. FIG. 3 is a flowchart showing a warning information determination method by the automatic driving control device 11 according to the first embodiment. It is assumed that the sensor 2 detects the weight of each section before the automatic traveling control device 11 executes each of the following steps.

As shown in FIG. 3, the travel plan information acquisition unit 20 acquires travel plan information regarding the travel plan of the automatic traveling vehicle 4 on the travel path from the storage device 10 (step ST1). As described above, in the first embodiment, the travel plan information includes the travel plan of the automatic traveling vehicle 4 on the traveling road and the assumed weight for each section based on the traveling plan of the automatic traveling vehicle 4. The travel plan information acquisition unit 20 records the acquired travel plan information in the storage device 10. The storage device 10 outputs the stored travel plan information to the movement obstacle position specifying unit 30, the collision probability calculation unit 23, and the travel instruction information determination unit 25, respectively.

Next, the moving obstacle information acquisition unit 21 acquires the weight and status information for each of the above-mentioned sections from the sensor 2 (step ST2). The moving obstacle information acquisition unit 21 records the acquired weight and status information for each section in the storage device 10. The storage device 10 outputs the weight and status information for each stored section to the moving obstacle position specifying unit 30, the moving obstacle moving direction specifying unit 31, and the moving obstacle moving speed specifying unit 32, respectively.

Next, the moving obstacle position specifying unit 30 compares the weight of each section indicated by the moving obstacle information stored in the storage device 10 with the assumed weight of each section indicated by the travel plan information stored in the storage device 10. By specifying the section where the moving obstacle exists, the position of the moving obstacle is specified (step ST3). At that time, the moving obstacle position specifying unit 30 further uses the status information stored in the storage device 10 to specify the position of the moving obstacle for each time. The moving obstacle position specifying unit 30 records the position of the moving obstacle at the specified time in the storage device 10. The storage device 10 outputs the position of the moving obstacle for each stored time to the moving obstacle moving direction specifying unit 31, the moving obstacle moving speed specifying unit 32, and the collision probability calculation unit 23, respectively.

Next, the moving obstacle moving direction specifying unit 31 specifies the moving direction of the moving obstacle based on the position of the moving obstacle stored in the storage device 10 for each time (step ST4). The moving obstacle moving direction specifying unit 31 records the moving direction of the specified moving obstacle in the storage device 10. The storage device 10 outputs the moving direction of the stored moving obstacle to the collision probability calculation unit 23.

Next, the moving obstacle moving speed specifying unit 32 specifies the moving speed of the moving obstacle based on the position of the moving obstacle for each time stored in the storage device 10 (step ST5). The moving obstacle moving speed specifying unit 32 records the moving speed of the specified moving obstacle in the storage device 10. The storage device 10 outputs the moving speed of the stored moving obstacle to the collision probability calculation unit 23.

Next, the collision probability calculation unit 23 describes the travel plan of the automatic traveling vehicle 4 indicated by the travel plan information stored in the storage device 10, the position of the moving obstacle stored in the storage device 10, the moving direction and movement of the moving obstacle. Based on the moving speed of the obstacle, the collision probability between the autonomous vehicle 4 and the moving obstacle is calculated (step ST6). The collision probability calculation unit 23 records the calculated collision probability in the storage device 10.

Next, the travel instruction information determination unit 25 receives the travel instruction information displayed by the display device 3 to instruct the automatic travel of the automatic traveling vehicle 4 on the travel path based on the travel plan information stored in the storage device 10. Determine (step ST7). The travel instruction information determination unit 25 outputs the determined travel plan information to the display device 3 via the communication device 12.

Next, the warning information determination unit 24 stores the warning information in which the storage device 10 stores the warning information that warns the moving obstacle of the collision between the autonomous vehicle 4 and the moving obstacle by being displayed by the display device 3. Determined based on probability (step ST8). The warning information determination unit 24 outputs the determined warning information to the display device 3 via the communication device 12.
The display device 3 displays the travel plan information determined by the travel instruction information determination unit 25 in step ST7 and the warning information determined by the warning information determination unit 24 in step ST8, respectively.

Hereinafter, a specific example of operating the automatic driving control system 100 according to the first embodiment will be described with reference to the drawings. FIG. 4 is a diagram showing a configuration of a specific example in which the automatic driving control system 100 according to the first embodiment is operated.
As shown in FIG. 4, the work area A, which is the travel path of the autonomous vehicle 4, is composed of four sections, a section A1, a section A2, a section A3, and a section A4. An example of work area A is the floor of a factory or warehouse. It is assumed that the compartments A1, the compartments A2, the compartments A3, and the compartments A4 are regions in which the work area A is divided into predetermined sizes, and the sensor 2 and the display device 3 are installed in each compartment (Fig.). In 4, only the section A1 is shown).

In the specific example, the sensor 2 is a weight sensor that detects at least one of the weight of a human being existing in the installed section or the total weight of the autonomous vehicle 4. In the specific example, the automatic traveling vehicle 4 is an automatic guided vehicle.

In the specific example, the display device 3 displays the above-mentioned warning information to the person B who freely moves in the work area A in the installed section, and the above-mentioned traveling instruction to the automatic traveling vehicle 4. Display information. In the specific example, the display device 3 displays warning information to the person B existing in the section A3.

The automatic traveling vehicle 4 travels from the current section toward any one of the other sections existing on the front, back, left, and right of the section according to the running instruction information displayed by the display device 3. In the specific example, the automatic traveling vehicle 4 travels from the current section A3 toward the section A1 or the section A4 according to the running instruction information displayed by the display device 3.

In the specific example, the example in which the work area A, which is the travel path of the automatic traveling vehicle 4, is composed of four sections has been described, but the traveling path of the automatic traveling vehicle 4 is divided by the number of divisions other than that. It may have been done. Further, in the specific example, an example is shown in which only one automatic traveling vehicle 4 exists in the work area A and only one human B exists, but the automatic traveling vehicle 4 is on the traveling path of the automatic traveling vehicle 4. And there may be more than one human being.

Hereinafter, specific examples of the travel instruction information and the warning information displayed by the display device 3 of the automatic travel control system 100 according to the first embodiment will be described with reference to the drawings. FIG. 5 is a diagram showing specific examples of travel instruction information and warning information displayed by the display device 3 of the automatic travel control system 100 according to the first embodiment.

In FIG. 5, the travel instruction information C is travel instruction information instructing the automatic traveling vehicle 4 to go straight. The travel instruction information D is travel instruction information for instructing the automatic traveling vehicle 4 to turn right. The travel instruction information E is travel instruction information for instructing the automatic traveling vehicle 4 to turn left. The travel instruction information F is travel instruction information for instructing the automatic traveling vehicle 4 to stop. The warning information G is warning information for warning a moving obstacle of a collision with the autonomous vehicle 4.

In the specific example, in the above-mentioned step ST7, the travel instruction information determination unit 25 displays the travel instruction information C, the travel instruction information D, the travel instruction information E, or the travel instruction information F based on the travel plan information. Determine the driving instruction information for.

Further, in the specific example, in the above-mentioned step ST8, the warning information determination unit 24 determines the warning information G as the warning information for display based on the collision probability.
The display device 3 displays the travel plan information determined by the travel instruction information determination unit 25 in step ST7 and the warning information determined by the warning information determination unit 24 in step ST8, respectively.

Hereinafter, a specific example of the warning information determination method by the automatic driving control device 11 according to the first embodiment will be described with reference to the drawings. FIG. 6 is a diagram for explaining a specific example of the warning information determination method by the automatic driving control device 11 according to the first embodiment. FIG. 6A shows the situation of the work area H at the time t, and FIG. 6B shows the situation of the work area H at the time t + 1.

As shown in FIG. 6, the work area H, which is the travel path of the autonomous vehicle 4, is composed of four sections, a section H11, a section H12, a section H21, and a section H22. Each of the compartments H11, the compartment H12, the compartment H21, and the compartment H22 is a region in which the work area H is divided into predetermined sizes, and although not shown, the sensor 2 and the display device 3 are installed in each compartment. And.

_{First, in step ST1 described above, the travel plan information acquisition unit 20 acquires S11, t} as the assumed weight of the section H11 at the time t from the storage device 10, and S as the assumed weight of the section H12 at the time t. _12, acquires the _t, as envisaged by weight compartments H21 at time _t, to get the _{S 21, t,} as envisaged by weight compartments H22 at time _t, to obtain the _{S 22, t. Further, the travel plan information acquisition unit 20 acquires S11, t + 1} as the assumed weight of the section H11 at the time t + 1 from the storage device 10, _{and acquires S12, t + 1} as the assumed weight of the section H12 at the time t + 1. as envisioned by weight compartments H21 at time t + _1, to get the _{S 21, t + 1,} as contemplated by weight compartments H22 at time t + _1, to obtain the _{S 22, t + 1.} In the example of FIG. 6, since the automatic traveling vehicle 4 exists in the section H11 at the time t and the time t + 1, S _{11, t} and S _{11, t + 1} are each larger than the other assumed weights.

_{Next, in step ST2 described above, the moving obstacle information acquisition unit 21 acquires W11, t} as the weight of the compartment H11 at the time t from the sensor 2 installed in the work area H, and the compartment at the time t. as the weight of _H12, acquires _{W 12, t,} as the weight of the compartment H21 at time _t, to get the _{W 21, t,} as compartments H22 at time _t, to obtain a _{W 22, t. Further, the moving obstacle information acquisition unit 21 acquires W11 and t + 1} as the weight of the compartment H11 at the time t + 1 from the sensor 2 installed in the work area H, _{and W 12} as the weight of the compartment H12 at the time t + 1. _{obtains t + 1,} as the weight of the compartment H21 at time t + _1, and acquires the _{W 21, t + 1,} as a partition H22 at time t + _1, to obtain a _{W 22, t + 1.} The mobile obstacle information acquiring unit 21, as position information of the partition H11 (status _{information),} to get the _{x 11,} as the position information of the partition _H12, acquires _{x 12,} as the position information of the partition _{H21, x 21 Is acquired, and x 22} is acquired as the position information of the section H22. It is assumed that x ₁₁ , x ₁₂ , x ₂₁ and x ₂₂ are three-dimensional vectors, respectively.

Next, in step ST3 described above, the moving obstacle position specifying unit 30 identifies the section in which the moving obstacle exists by comparing the weight of each section with the assumed weight of each section, thereby causing the moving obstacle. Identify the position of an object. More specifically, for example, moving obstacle position specifying unit 30 calculates the difference between _{W 11, t -S} 11, _t and assuming the weight of the weight and the section H11 compartments H11 at time t, the calculation result is given If it is less than the threshold value, it is determined that there is no moving obstacle in the compartment H11. _{Alternatively, for example, the moving obstacle position specifying unit 30 calculates the difference W11, t-} S11, t between the weight of the section H11 and the assumed weight of the section H11 at time t _{, and the calculation result is equal} to or higher than a predetermined threshold value. in some cases, it is determined that the moving obstacle is present in the compartment H11, the position of the moving obstacle at the time t is identified as the x _11.

In the example of FIG. 6, at time t, since the human B is a moving obstacle is present in the compartment H12, moving obstacle position specifying unit 30, the position of the moving obstacle at the time t is identified as x ₁₂ .. Further, since the human B who is a moving obstacle exists in the section H22 at the time t + 1, the moving obstacle position specifying unit 30 specifies that the position of the moving obstacle at the time t + 1 is x ₂₂ .

Next, in step ST4 described above, the moving obstacle moving direction specifying unit 31 specifies the moving direction of the moving obstacle based on the position of the moving obstacle at each time. In the example of FIG. 6, the moving obstacle moving direction specifying unit 31 is based on the moving obstacle position x ₂₂ at the time t + 1 specified by the moving obstacle position specifying unit 30 and the moving obstacle position x _{12 at the time t. Then, x 22-} x ₁₂ / | x _22- x ₁₂ | is calculated as the moving direction of the moving obstacle from the time t to the time t + 1. Note that | x ₂₂ − x ₁₂ | is the length of the vector x ₂₂ −x _12.

Next, in step ST5 described above, the moving obstacle moving speed specifying unit 32 specifies the moving speed of the moving obstacle based on the position of the moving obstacle at each time. In the example of FIG. 6, the moving obstacle moving speed specifying unit 32 is the moving obstacle moving speed specifying unit 32 at the moving obstacle position x ₂₂ and the time t at the time t + 1 specified by the moving obstacle position specifying unit 30. Based on the position x _{12 of the moving obstacle, | x 22-} x ₁₂ | / (t + 1-t) is calculated as the moving speed of the moving obstacle from the time t to the time t + 1.

Next, in step ST6 described above, the collision probability calculation unit 23 determines the travel plan of the automatic traveling vehicle 4 indicated by the travel plan information, the position of the moving obstacle, the moving direction of the moving obstacle, and the moving speed of the moving obstacle. , The collision probability between the autonomous vehicle 4 and the moving obstacle is calculated. For example, the collision probability calculation unit 23 may use the positions of the moving obstacles at the time t and the time t + 1 specified in the above steps ST3, ST4 and ST5, and the moving direction of the moving obstacles from the time t to the time t + 1. The position of the moving obstacle at a future time is estimated based on the moving speed, and if the position is close to the traveling position of the automatic traveling vehicle 4 at the future time indicated by the traveling plan written in the storage device 10. The closer it is, the higher the collision probability is calculated. For example, the collision probability calculation unit 23 determines whether or not the calculated collision probability is equal to or higher than a predetermined threshold value, and if the collision probability is determined to be equal to or higher than a predetermined threshold value, the storage device 10 has a high collision probability. In step ST8 described above, the warning information determination unit 24 determines the warning information to be displayed by the display device 3 based on the information.

Hereinafter, specific examples of steps ST7 and ST8 in the warning information determination method by the automatic driving control device 11 according to the first embodiment will be described with reference to the drawings. FIG. 7 is a flowchart showing specific examples of steps ST7 and ST8 in the warning information determination method by the automatic driving control device 11 according to the first embodiment. In the specific example, it is assumed that the display device 3 is installed in each of a plurality of sections. Further, it is assumed that the storage device 10 stores a plurality of travel instruction information and warning information in advance. Further, the collision probability calculation unit 23 determines whether or not the collision probability calculated in step ST6 described above is equal to or higher than a predetermined threshold value, and if the collision probability is equal to or higher than the predetermined threshold value, the storage device 10 has a collision probability. It is assumed that the information indicating that the value is high is recorded.

As shown in FIG. 7, the travel instruction information determination unit 25 reads the travel plan information recorded in the storage device 10 by the travel plan information acquisition unit 20 in step ST1, and the warning information determination unit 24 calculates the collision probability in step ST6. The unit 23 reads the information regarding the collision probability recorded in the storage device 10 (step ST10).

Next, the travel instruction information determination unit 25 selects the travel instruction information for display from the plurality of travel instruction information stored in the storage device 10 for each section based on the read travel plan information (the travel instruction information determination unit 25). Step ST11). The travel instruction information determination unit 25 outputs the determined travel plan information to the display device 3 via the communication device 12. In step ST11, the travel instruction information determination unit 25 does not select the travel instruction information for display with respect to the section in which the automatic traveling vehicle 4 does not travel, based on the travel plan information. That is, the display device 3 installed in the section does not display the travel instruction information.
Next, the warning information determination unit 24 determines whether or not the read information regarding the collision probability indicates that the collision probability is high (step ST12).

When the warning information determination unit 24 determines that the read information regarding the collision probability indicates that the collision probability is high (YES in step ST12), the warning information determination unit 24 is among the display information stored in the storage device 10. , Select warning information (step ST13). The warning information determination unit 24 outputs the selected warning information to the display device 3 via the communication device 12. In step ST13, the warning information determination unit 24 is specified by the moving obstacle moving direction specifying unit 31 in the above step ST5 from the position of the moving obstacle specified by the moving obstacle position specifying unit 30 in the above step ST4. Determines the warning information to be displayed in the section existing in the moving direction of the moving obstacle. That is, the display device 3 installed in the section displays the warning information. This makes it easier for the moving obstacle to recognize the warning information displayed by the display device 3.

When the warning information determination unit 24 determines that the read information on the collision probability does not indicate that the collision probability is high (NO in step ST12), the automatic driving control device 11 ends the process.

Functions of the travel plan information acquisition unit 20, the movement obstacle information acquisition unit 21, the movement obstacle identification unit 22, the collision probability calculation unit 23, the warning information determination unit 24, and the travel instruction information determination unit 25 in the automatic travel control device 11. Is realized by the processing circuit. That is, the automatic traveling control device 11 includes a processing circuit for executing the processing of each step shown in FIGS. 3 and 7. This processing circuit may be dedicated hardware, or may be a CPU (Central Processing Unit) that executes a program stored in the memory.

FIG. 8A is a block diagram showing a hardware configuration that realizes the function of the automatic driving control device 11. FIG. 8B is a block diagram showing a hardware configuration for executing software that realizes the functions of the automatic driving control device 11. The storage device 102 shown in FIGS. 8A and 8B has the same function as that of the storage device 10 described above. The communication device 103 shown in FIGS. 8A and 8B has the same function as the above-mentioned communication device 12.

When the processing circuit is the processing circuit 101 of the dedicated hardware shown in FIG. 8A, the processing circuit 101 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, or an ASIC (Application Specific Integrated Circuitd). Circuit), FPGA (Field-Programmable Gate Array) or a combination thereof is applicable.

Functions of the travel plan information acquisition unit 20, the movement obstacle information acquisition unit 21, the movement obstacle identification unit 22, the collision probability calculation unit 23, the warning information determination unit 24, and the travel instruction information determination unit 25 in the automatic travel control device 11. May be realized by separate processing circuits, or these functions may be collectively realized by one processing circuit.

When the processing circuit is the processor 104 shown in FIG. 8B, the travel plan information acquisition unit 20, the moving obstacle information acquisition unit 21, the moving obstacle identification unit 22, the collision probability calculation unit 23, and the warning in the automatic driving control device 11. Each function of the information determination unit 24 and the travel instruction information determination unit 25 is realized by software, firmware, or a combination of software and firmware.
The software or firmware is described as a program and stored in the memory 105.

By reading and executing the program stored in the memory 105, the processor 104 reads and executes the travel plan information acquisition unit 20, the movement obstacle information acquisition unit 21, the movement obstacle identification unit 22, and the collision probability in the automatic travel control device 11. Each function of the calculation unit 23, the warning information determination unit 24, and the travel instruction information determination unit 25 is realized. That is, the automatic driving control device 11 is a memory 105 for storing a program in which the processing of each step shown in FIGS. 3 and 7 is executed as a result when each of these functions is executed by the processor 104. To prepare for.

These programs include a travel plan information acquisition unit 20, a movement obstacle information acquisition unit 21, a movement obstacle identification unit 22, a collision probability calculation unit 23, a warning information determination unit 24, and a travel instruction information determination in the automatic travel control device 11. Have the computer perform each procedure or method of Part 25. The memory 105 uses the computer as a travel plan information acquisition unit 20, a movement obstacle information acquisition unit 21, a movement obstacle identification unit 22, a collision probability calculation unit 23, a warning information determination unit 24, and a travel instruction in the automatic travel control device 11. It may be a computer-readable storage medium in which a program for functioning as the information determination unit 25 is stored.

The processor 104 corresponds to, for example, a CPU (Central Processing Unit), a processing device, a computing device, a processor, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like.

The memory 105 may include, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically-EPROM), or an EEPROM (Electrically-EPROM). This includes hard disks, magnetic disks such as flexible disks, flexible disks, optical discs, compact disks, mini disks, CDs (Compact Disc), DVDs (Digital Versailles Disc), and the like.

Functions of the travel plan information acquisition unit 20, the movement obstacle information acquisition unit 21, the movement obstacle identification unit 22, the collision probability calculation unit 23, the warning information determination unit 24, and the travel instruction information determination unit 25 in the automatic travel control device 11. Some may be realized by dedicated hardware, and some may be realized by software or firmware.

For example, each function of the travel plan information acquisition unit 20, the movement obstacle information acquisition unit 21, and the movement obstacle identification unit 22 is realized by a processing circuit as dedicated hardware. The functions of the collision probability calculation unit 23, the warning information determination unit 24, and the travel instruction information determination unit 25 may be realized by the processor 104 reading and executing the program stored in the memory 105.
As described above, the processing circuit can realize each of the above functions by hardware, software, firmware, or a combination thereof.

As described above, the automatic driving control device 11 according to the first embodiment automatically travels on the traveling road by displaying the traveling instruction information indicating the automatic traveling of the automatic traveling vehicle 4 on the traveling road by being displayed by the display device 3. The automatic driving control device 11 that determines based on the driving plan information related to the driving plan of the vehicle 4, the moving obstacle information acquisition unit 21 that acquires the moving obstacle information about the moving obstacle moving on the traveling road, and the display device. The traveling plan information and the moving obstacle information acquired by the moving obstacle information acquisition unit 21 provide warning information for warning the moving obstacle of the collision between the autonomous vehicle 4 and the moving obstacle by being displayed by 3. The warning information determination unit 24, which determines based on the above, is provided.
According to the above configuration, by appropriately displaying the determined warning information, it is possible to give a warning to a moving obstacle and prevent a collision between the autonomous vehicle and the moving obstacle.

For example, in recent years, self-driving cars that automatically move in a specific environment without the need for human control have been actively put into practical use. For example, examples of an automatic traveling vehicle that has been put into practical use include an automatic guided vehicle, an automatic cleaning device for cleaning purposes, a security robot, and the like. For example, these self-driving cars are expected to be put into practical use in environments such as factories, warehouses or offices where there are moving obstacles such as humans or vehicles other than self-driving cars. Therefore, according to the above configuration, for example, it is possible to give a warning to a moving obstacle existing in these environments, and it is possible to prevent a collision between the autonomous vehicle and the moving obstacle.

In the automatic driving control device 11 according to the first embodiment, the traveling path is composed of a plurality of sections, and the moving obstacle information acquired by the moving obstacle information acquisition unit 21 is the weight of each section, and the traveling plan information. Includes the assumed weight for each section based on the travel plan of the autonomous vehicle 4, the weight for each section indicated by the moving obstacle information acquired by the moving obstacle information acquisition unit 21, and each section indicated by the traveling plan information. A moving obstacle position specifying unit 30 for specifying the position of the moving obstacle by specifying the section where the moving obstacle exists by comparing with the assumed weight is further provided, and the warning information determination unit 24 is the traveling plan information. The warning information is determined based on the travel plan of the automatic traveling vehicle 4 indicated by the above and the position of the moving obstacle specified by the moving obstacle position specifying unit 30 based on the moving obstacle information.
According to the above configuration, the position of the moving obstacle can be specified based on the weight of each section, and the warning information can be suitably determined based on the position of the moving obstacle, and the autonomous vehicle and the moving vehicle can be moved. It is possible to prevent a collision with an obstacle.

The automatic traveling control device 11 according to the first embodiment has a moving obstacle moving direction specifying unit 31 that specifies the moving direction of the moving obstacle based on the position of the moving obstacle specified by the moving obstacle position specifying unit 30. Further, the warning information determination unit 24 determines the warning information based on the movement direction of the moving obstacle specified by the moving obstacle moving direction specifying unit 31.

According to the above configuration, the moving direction of the moving obstacle can be specified based on the position of the specified moving obstacle, and the warning information can be suitably determined based on the moving direction of the moving obstacle. , It is possible to prevent a collision between an autonomous vehicle and a moving obstacle.

The automatic traveling control device 11 according to the first embodiment has a moving obstacle moving speed specifying unit 32 that specifies the moving speed of the moving obstacle based on the position of the moving obstacle specified by the moving obstacle position specifying unit 30. Further, the warning information determination unit 24 determines the warning information based on the movement speed of the moving obstacle specified by the moving obstacle moving speed specifying unit 32.

According to the above configuration, the moving speed of the moving obstacle can be specified based on the position of the specified moving obstacle, and the warning information can be suitably determined based on the moving speed of the moving obstacle. , It is possible to prevent a collision between an autonomous vehicle and a moving obstacle.

The automatic traveling control device 11 according to the first embodiment has a traveling plan of the automatic traveling vehicle 4 indicated by the traveling plan information, a position of a moving obstacle specified by a moving obstacle position specifying unit 30, and a moving obstacle moving direction identification. The collision probability between the autonomous vehicle 4 and the moving obstacle is calculated based on the moving direction of the moving obstacle specified by the unit 31 and the moving speed of the moving obstacle specified by the moving obstacle specifying unit 32. The collision probability calculation unit 23 is further provided, and the warning information determination unit 24 determines the warning information based on the collision probability calculated by the collision probability calculation unit 23.
According to the above configuration, the collision probability can be calculated based on the position, the moving direction, and the moving speed of the specified moving obstacle, and the warning information can be suitably determined based on the collision probability. Can prevent collisions with moving obstacles.

The automatic driving control system 100 according to the first embodiment has an automatic driving control device 11 according to the first embodiment, a display device 3, an automatic traveling vehicle 4, and a sensor 2 that detects moving obstacle information related to a moving obstacle. And, including.
According to the above configuration, in the automatic driving control system 100, the above-mentioned effect played by the automatic driving control device 11 according to the first embodiment can be obtained.

The warning information determination method according to the first embodiment relates to the traveling instruction information indicating the automatic traveling of the automatic traveling vehicle 4 on the traveling road by being displayed by the display device 3 with respect to the traveling plan of the automatic traveling vehicle 4 on the traveling road. It is an automatic driving control method that is determined based on the driving plan information, and is automatically displayed by the moving obstacle information acquisition step for acquiring the moving obstacle information regarding the moving obstacle moving on the traveling path and the display device 3. Warning information determination step to determine warning information to warn the moving obstacle of the collision between the traveling vehicle 4 and the moving obstacle based on the traveling plan information and the moving obstacle information acquired in the moving obstacle information acquisition step. And, including.
According to the above configuration, the same effect as that of the automatic driving control device 11 according to the first embodiment is obtained.

Embodiment 2.
Hereinafter, the second embodiment will be described with reference to the drawings. Also in the second embodiment, the automatic driving control system 100 according to the first embodiment is used. In the first embodiment, a configuration assuming a case where only one automatic traveling vehicle 4 exists in a certain section at a certain time has been described. In the second embodiment, a configuration assuming a case where a plurality of autonomous vehicles 4 exist at the same time in a certain section at a certain time will be described.

Each of the traveling instruction information determining units 25 according to the second embodiment displays a plurality of traveling instruction information indicating the automatic traveling of the corresponding automatic traveling vehicle 4 on the traveling road by displaying the display device 3 on the traveling road. It is determined based on the travel plan information about each travel plan of the plurality of automatic traveling vehicles 4 in the above.

The travel instruction information determination unit 25 further determines the display method of the display device 3 for each travel instruction information to be determined. In other words, the travel instruction information determination unit 25 further determines the display method of the display device 3 for each automatic traveling vehicle 4 instructed by the travel instruction information to be determined. That is, the display device 3 displays the travel instruction information determined by the travel instruction information determination unit 25 in the display method determined by the travel instruction information determination unit 25. Then, each of the plurality of automatic traveling vehicles 4 automatically travels on the traveling road based on the traveling instruction information displayed by the display device 3 in the corresponding display method. Therefore, each of the plurality of automatic traveling vehicles 4 automatically travels according to only the traveling instruction information displayed by the corresponding display method. As a result, even when a plurality of automatic traveling vehicles 4 exist at the same time in a certain section at a certain time, it is possible to give a traveling instruction to the target automatic traveling vehicle 4.

More specifically, for example, the travel plan information referred to by the travel instruction information determination unit 25 includes the travel route and travel time from the travel start point of the autonomous vehicle 4 to the destination, and the weight or automatic travel of the autonomous vehicle 4. This is information in which weight data including the weight of luggage carried by the vehicle 4 and the display method of the display device 3 allocated to the autonomous vehicle 4 without duplication are associated with each other. For example, the travel instruction information determination unit 25 determines the display method of the display device 3 together with the travel instruction information for each automatic traveling vehicle 4 based on the travel plan information. In the second embodiment, it is assumed that the travel plan information is recorded in the storage device 10 in advance.

More specifically, for example, the travel instruction information determination unit 25 determines the display color of the display device 3 as the display method for each travel instruction information to be determined. The display color is, for example, red, green or blue. More specifically, for example, the display device 3 displays the travel instruction information determined by the travel instruction information determination unit 25 in the red display color determined by the travel instruction information determination unit 25. Then, the automatic traveling vehicle 4 corresponding to the red display color automatically travels on the traveling road based on the traveling instruction information displayed in red by the display device 3. On the other hand, the display device 3 further displays the travel instruction information determined by the travel instruction information determination unit 25 in the green display color determined by the travel instruction information determination unit 25. Then, another automatic traveling vehicle 4 corresponding to the green display color automatically travels on the traveling road based on the traveling instruction information displayed in green by the display device 3.

Alternatively, for example, the travel instruction information determination unit 25 determines the blinking cycle of the display device 3 as a display method for each travel instruction information to be determined. More specifically, for example, the display device 3 displays the travel instruction information determined by the travel instruction information determination unit 25 at a blinking cycle of 3 times per second determined by the travel instruction information determination unit 25. Then, the automatic traveling vehicle 4 corresponding to the blinking cycle of 3 times per second automatically travels on the traveling road based on the traveling instruction information displayed by the display device 3 in the blinking cycle of 3 times per second. On the other hand, the display device 3 further displays the travel instruction information determined by the travel instruction information determination unit 25 at a blinking cycle of 4 times per second determined by the travel instruction information determination unit 25. Then, another automatic traveling vehicle 4 corresponding to the blinking cycle of 4 times per second automatically travels on the traveling road based on the traveling instruction information displayed by the display device 3 in the blinking cycle of 4 times per second. ..

Hereinafter, the operation of the automatic driving control device 11 according to the second embodiment will be described with reference to the drawings. FIG. 9 is a flowchart showing a driving instruction information determination method by the automatic driving control device 11 according to the second embodiment. From step ST20 to step ST23 of the driving instruction information determination method by the automatic driving control device 11 according to the second embodiment, from step ST10 in the specific example of the warning information determination method by the automatic driving control device 11 according to the first embodiment. This is the same as step ST13. Therefore, the description of steps ST20 to ST23 of the driving instruction information determination method by the automatic driving control device 11 according to the second embodiment will be omitted. It is assumed that the storage device 10 stores in advance a plurality of display methods of the display device 3 allocated to the automatic traveling vehicle 4 without duplication.

As shown in FIG. 9, as a step next to NO in step ST22 or step ST23, the travel instruction information determination unit 25 has a plurality of displays stored in the storage device 10 for each travel instruction information selected in step ST21. One display method is selected from the methods (step ST24).

The display device 3 displays the travel instruction information determined by the travel instruction information determination unit 25 in step ST21 in the display method selected by the travel instruction information determination unit 25 in step ST24. Then, each of the plurality of automatic traveling vehicles 4 automatically travels on the traveling road based on the traveling instruction information displayed by the display device 3 in the corresponding display method.

In the automatic driving control device 11 according to the second embodiment, the traveling plan information acquisition unit 20, the movement obstacle information acquisition unit 21, the movement obstacle identification unit 22, the collision probability calculation unit 23, the warning information determination unit 24, and the travel Each function of the instruction information determination unit 25 is realized by a processing circuit. That is, the automatic traveling control device 11 according to the second embodiment includes a processing circuit for executing the processing from step ST20 to step ST24 shown in FIG. This processing circuit may be dedicated hardware, or may be a CPU (Central Processing Unit) that executes a program stored in the memory. The hardware configuration that realizes the function of the automatic driving control device 11 according to the second embodiment is the same as the hardware configuration shown in FIG. 8A. Further, the hardware configuration for executing the software that realizes the function of the automatic driving control device 11 according to the second embodiment is the same as the hardware configuration shown in FIG. 8B.

As described above, each of the automatic driving control devices 11 according to the second embodiment is displayed by the display device 3 to indicate a plurality of driving instruction information for instructing the automatic driving of the corresponding automatic driving vehicle 4 on the traveling road. Further includes a travel instruction information determination unit 25 that determines based on the travel plan information regarding each travel plan of the plurality of automatic traveling vehicles 4 on the travel road, and the travel instruction information determination unit 25 determines each travel instruction information. The display method of the display device 3 is further determined.

According to the above configuration, the plurality of automatic traveling vehicles 4 appropriately travel on the traveling road based on the traveling instruction information displayed in the corresponding display method, respectively, thereby performing the desired automatic driving. It is possible to give a driving instruction to a traveling vehicle.

The travel instruction information determination unit 25 in the automatic travel control device 11 according to the second embodiment determines the display color of the display device 3 as a display method for each travel instruction information to be determined.
According to the above configuration, a plurality of automatic traveling vehicles 4 appropriately travel on a traveling road based on the traveling instruction information displayed in the corresponding display colors, respectively, thereby performing the desired automatic driving. It is possible to give a traveling instruction to the traveling vehicle 4.

The travel instruction information determination unit 25 in the automatic travel control device 11 according to the second embodiment determines the blinking cycle of the display device 3 as a display method for each travel instruction information to be determined.

According to the above configuration, the plurality of automatic traveling vehicles 4 appropriately travel on the traveling road based on the traveling instruction information displayed in the corresponding blinking cycle, respectively, thereby performing the desired automatic driving. It is possible to give a traveling instruction to the traveling vehicle 4.
It should be noted that any combination of the embodiments can be freely combined, any component of the embodiment can be modified, or any component can be omitted in each embodiment.

The automatic driving control device according to the present disclosure can be used for an automatic driving control system because it can prevent a collision between an automatic driving vehicle and a moving obstacle.

1 server, 2 sensor, 3 display device, 4 automatic driving vehicle, 10 storage device, 11 automatic driving control device, 12 communication device, 20 driving plan information acquisition unit, 21 mobile obstacle information acquisition unit, 22 mobile obstacle identification unit , 23 collision probability calculation unit, 24 warning information determination unit, 25 travel instruction information determination unit, 30 movement obstacle position identification unit, 31 movement obstacle movement direction identification unit, 32 movement obstacle movement speed identification unit, 100 automatic driving control System, 101 processing circuit, 102 storage device, 103 communication device, 104 processor, 105 memory.

Claims (10)

1. An automatic driving control device that determines driving instruction information that is displayed by a display device to indicate automatic driving of an automatic traveling vehicle on a traveling road based on driving planning information related to a traveling plan of the automatic traveling vehicle on the traveling road. There,
   A moving obstacle information acquisition unit that acquires moving obstacle information regarding a moving obstacle moving on the traveling path, and a moving obstacle information acquisition unit.
   The travel plan information and the moving obstacle information acquisition unit acquire warning information that warns the moving obstacle of a collision between the autonomous vehicle and the moving obstacle by being displayed by the display device. An automatic driving control device including a warning information determination unit that determines based on the movement obstacle information.
2. The runway is composed of a plurality of sections.
   The moving obstacle information acquired by the moving obstacle information acquisition unit is the weight of each section.
   The travel plan information includes an assumed weight for each section based on the travel plan of the automatic traveling vehicle.
   By comparing the weight of each section indicated by the moving obstacle information acquired by the moving obstacle information acquisition unit with the assumed weight of each section indicated by the travel plan information, the section in which the moving obstacle exists is specified. Thereby, a moving obstacle position specifying unit for specifying the position of the moving obstacle is further provided.
   The warning information determination unit is based on the travel plan of the autonomous vehicle indicated by the travel plan information and the position of the moving obstacle specified by the moving obstacle position specifying unit based on the moving obstacle information. The automatic driving control device according to claim 1, wherein the warning information is determined.
3. A moving obstacle moving direction specifying unit for specifying the moving direction of the moving obstacle based on the position of the moving obstacle specified by the moving obstacle position specifying unit is further provided.
   The automatic traveling control according to claim 2, wherein the warning information determining unit determines the warning information based on the moving direction of the moving obstacle specified by the moving obstacle moving direction specifying unit. Device.
4. A moving obstacle moving speed specifying unit for specifying the moving speed of the moving obstacle based on the position of the moving obstacle specified by the moving obstacle position specifying unit is further provided.
   The automatic traveling control according to claim 3, wherein the warning information determining unit determines the warning information based on the moving speed of the moving obstacle specified by the moving obstacle moving speed specifying unit. Device.
5. The driving plan of the automatic traveling vehicle indicated by the traveling plan information, the position of the moving obstacle specified by the moving obstacle position specifying part, and the moving direction of the moving obstacle specified by the moving obstacle moving direction specifying part. A collision probability calculation unit for calculating the collision probability between the autonomous vehicle and the moving obstacle based on the moving speed of the moving obstacle specified by the moving obstacle moving speed specifying unit is further provided.
   The automatic driving control device according to claim 4, wherein the warning information determination unit determines the warning information based on the collision probability calculated by the collision probability calculation unit.
6. Each of them displays a plurality of driving instruction information indicating the automatic driving of the corresponding automatic traveling vehicle on the traveling road by being displayed by the display device, and the traveling plan for each traveling plan of the plurality of automatic traveling vehicles on the traveling road. It also has a driving instruction information determination unit that determines based on information.
   The automatic driving control device according to claim 1, wherein the traveling instruction information determining unit further determines a display method of the display device for each traveling instruction information to be determined.
7. The automatic driving control device according to claim 6, wherein the traveling instruction information determining unit determines a display color of the display device as the display method for each traveling instruction information to be determined.
8. The automatic driving control device according to claim 6, wherein the traveling instruction information determining unit determines a blinking cycle of the display device as the display method for each traveling instruction information to be determined.
9. The automatic driving control device according to claim 1 and
   With the display device
   With the self-driving car
   An automatic driving control system comprising a sensor for detecting moving obstacle information regarding the moving obstacle.
10. It is an automatic driving control method that determines driving instruction information indicating automatic driving of an automatic driving vehicle on a traveling road by being displayed by a display device based on driving planning information related to the traveling plan of the automatic traveling vehicle on the traveling road. There,
    A moving obstacle information acquisition step for acquiring moving obstacle information regarding a moving obstacle moving on the traveling path, and a step for acquiring the moving obstacle information.
    Warning information that warns the moving obstacle of a collision between the autonomous vehicle and the moving obstacle by being displayed by the display device is acquired in the traveling plan information and the moving obstacle information acquisition step. A method for determining warning information, which comprises a warning information determination step for determining based on the moving obstacle information.

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