WO2022145036A1 - Route generation device, route generation method, and route generation program - Google Patents

Route generation device, route generation method, and route generation program Download PDF

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Publication number
WO2022145036A1
WO2022145036A1 PCT/JP2020/049288 JP2020049288W WO2022145036A1 WO 2022145036 A1 WO2022145036 A1 WO 2022145036A1 JP 2020049288 W JP2020049288 W JP 2020049288W WO 2022145036 A1 WO2022145036 A1 WO 2022145036A1
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Prior art keywords
route
road
image data
moving body
passability determination
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PCT/JP2020/049288
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French (fr)
Japanese (ja)
Inventor
明 平田
康 洲鎌
雄史 長谷川
道学 吉田
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2021525730A priority Critical patent/JP7158581B1/en
Priority to PCT/JP2020/049288 priority patent/WO2022145036A1/en
Priority to JP2021182828A priority patent/JP7270017B2/en
Publication of WO2022145036A1 publication Critical patent/WO2022145036A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present disclosure relates to a technique for generating a movement path of a moving body.
  • PMV Personal Mobility Vehicle
  • the movement route from the current location to the destination is set in advance, and the PMV moves according to the movement route.
  • a PMV moves in an urban area with a person or an object on it, it moves on the sidewalk in the same manner as an electric wheelchair.
  • Patent Document 1 describes a method for determining the movement route of PMV.
  • the site is divided by a mesh to define a section, the degree of congestion of people or obstacles included in the section is specified for each section, and a route through the uncrowded section is generated.
  • Patent Document 1 produces a route through a non-congested compartment, but does not consider whether the PMV is physically passable through the generated route. Therefore, there is a possibility that a route including a place where PMV cannot pass may be generated.
  • An object of the present disclosure is to enable a moving body to obtain a route avoiding a place where the moving body cannot pass due to an obstacle or the like that is not within the detection range of a sensor mounted on the moving body such as PMV.
  • the route generator is An image acquisition unit that acquires image data of the road that constitutes the route from the position where the moving object exists to the destination, Based on the image data acquired by the image acquisition unit, a passability determination unit for determining whether or not the moving body can pass on the road, and a passability determination unit. It is provided with a route notification unit for notifying the moving body of a route composed of roads determined to be passable by the passability determination unit.
  • the moving body determines whether or not the moving body can pass through the road based on the image data of the roads constituting the route, and the route composed of the roads determined to be able to pass is notified to the moving body. Therefore, the moving body can obtain a route avoiding a place where the moving body cannot pass due to an obstacle or the like that is not within the detection range of the sensor.
  • FIG. 1 The block diagram of the movement control system 100 which concerns on Embodiment 1.
  • FIG. 1 The block diagram of the route generation apparatus 10 which concerns on Embodiment 1.
  • FIG. 1 The block diagram of the PMV apparatus 30 which concerns on Embodiment 1.
  • FIG. The flowchart which shows the operation flow of the movement control system 100 which concerns on Embodiment 1.
  • An explanatory diagram of a specific example of the passability determination process according to the first embodiment The figure which shows the bird's-eye view image corresponding to FIG. 5 which concerns on Embodiment 1.
  • FIG. An explanatory diagram of a specific example of the passability determination process according to the first embodiment.
  • the movement control system 100 includes a route generation device 10 and a PMV device 30.
  • the route generation device 10 and the PMV device 30 are connected to each other via a transmission line 90.
  • the transmission line 90 is, as a specific example, the Internet.
  • the route generation device 10 is a computer that generates a route for the moving body PMV50 to move to a destination.
  • the PMV device 30 is a computer mounted on the PMV50 and allowing the PMV50 to run independently.
  • the route generation device 10 includes hardware including a processor 11, a memory 12, a storage 13, a communication interface 14, and a camera interface 15.
  • the processor 11 is connected to other hardware via a signal line and controls these other hardware.
  • the route generation device 10 is connected to one or more cameras 16 via the camera interface 15.
  • the route generation device 10 includes a request acquisition unit 21, a candidate generation unit 22, an image acquisition unit 23, a passability determination unit 24, and a route notification unit 25 as functional components.
  • the functions of each functional component of the route generator 10 are realized by software.
  • the storage 13 stores a program that realizes the functions of each functional component of the route generation device 10. This program is read into the memory 12 by the processor 11 and executed by the processor 11. As a result, the functions of each functional component of the route generation device 10 are realized.
  • the configuration of the PMV device 30 according to the first embodiment will be described with reference to FIG.
  • the PMV device 30 includes hardware such as a processor 31, a memory 32, a storage 33, and a communication interface 34.
  • the processor 31 is connected to other hardware via a signal line and controls these other hardware.
  • the PMV device 30 includes a destination setting unit 41, a route request unit 42, and a movement control unit 43 as functional components.
  • the functions of each functional component of the PMV device 30 are realized by software.
  • the storage 33 stores a program that realizes the functions of each functional component of the PMV device 30. This program is read into the memory 32 by the processor 31 and executed by the processor 31. As a result, the functions of each functional component of the PMV device 30 are realized.
  • Processors 11 and 31 are ICs (Integrated Circuits) that perform processing. Specific examples of the processors 11 and 31 are a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a GPU (Graphics Processing Unit).
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • GPU Graphics Processing Unit
  • the memories 12 and 32 are storage devices for temporarily storing data. Specific examples of the memories 12 and 32 are SRAM (Static Random Access Memory) and DRAM (Dynamic Random Access Memory).
  • the storages 13 and 33 are storage devices for storing data.
  • the storages 13 and 33 are, as a specific example, an HDD (Hard Disk Drive).
  • the storages 13 and 33 include SD (registered trademark, Secure Digital) memory card, CF (CompactFlash, registered trademark), NAND flash, flexible disk, optical disk, compact disk, Blu-ray (registered trademark) disk, and DVD (Digital Versaille Disk). ) May be a portable recording medium.
  • Communication interfaces 14 and 34 are interfaces for communicating with an external device. Specific examples of the communication interfaces 14 and 34 are Ethernet (registered trademark) and USB (Universal Serial Bus) ports.
  • the camera interface 15 is an interface for communicating with the camera 16.
  • the camera interface 15 is a port of Ethernet (registered trademark) or USB (Universal Serial Bus).
  • FIG. 2 only one processor 11 was shown. However, the number of processors 11 may be plural, and the plurality of processors 11 may execute programs that realize each function in cooperation with each other. Similarly, the number of processors 31 may be plural, and the plurality of processors 31 may execute programs that realize each function in cooperation with each other.
  • the operation of the movement control system 100 according to the first embodiment will be described with reference to FIGS. 4 to 8.
  • the operation procedure of the movement control system 100 according to the first embodiment corresponds to the movement control method according to the first embodiment.
  • the program that realizes the operation of the movement control system 100 according to the first embodiment corresponds to the movement control program according to the first embodiment.
  • the operation procedure of the route generation device 10 in the movement control system 100 according to the first embodiment corresponds to the route generation method according to the first embodiment.
  • the program that realizes the operation of the route generation device 10 in the movement control system 100 according to the first embodiment corresponds to the route generation program according to the first embodiment.
  • Step S11 Destination setting process
  • the destination setting unit 41 of the PMV device 30 sets the destination of the PMV 50. Specifically, the destination of the PMV 50 is set by accepting the input of the destination from the passengers of the PMV 50 or the like.
  • the destination setting unit 41 writes the destination information indicating the destination in the memory 32.
  • Step S12 Route request processing
  • the route requesting unit 42 of the PMV device 30 requests the route generation device 10 to generate a route to the destination set in step S11. Specifically, the route request unit 42 reads the destination information from the memory 32. The route request unit 42 transmits a route generation request including the position information indicating the current position of the PMV 50 and the destination information to the route generation device 10 via the communication interface 34.
  • Step S13 Request acquisition process
  • the request acquisition unit 21 of the route generation device 10 acquires the route generation request transmitted in step S12 via the communication interface 14.
  • the request acquisition unit 21 writes the position information and the destination information included in the route generation request to the memory 12.
  • Step S14 Candidate generation process
  • the candidate generation unit 22 of the route generation device 10 is 1 from the position where the PMV50 indicated by the position information included in the route generation request acquired in step S13 exists to the destination indicated by the destination information included in the route generation request. Identify one or more routes.
  • the candidate generation unit 22 reads the position information and the destination information from the memory 12.
  • the candidate generation unit 22 identifies one or more routes from the position where the PMV 50 indicated by the location information exists to the destination indicated by the destination information by the existing route search algorithm using the map information.
  • the candidate generation unit 22 writes the route candidate information indicating one or more specified routes to the memory 12.
  • Step S15 Image acquisition process
  • the image acquisition unit 23 of the route generation device 10 acquires image data of the road constituting the route specified in step S14. Specifically, the image acquisition unit 23 reads the route candidate information from the memory 12. The image acquisition unit 23 sets each of one or more routes indicated by the route candidate information as the target route. The image acquisition unit 23 acquires image data of the road constituting the target route acquired by the camera 16. The image acquisition unit 23 writes the acquired image data to the memory 12. As a specific example, the image acquisition unit 23 acquires image data obtained by a camera 16 which is a surveillance camera installed on a road constituting a target route.
  • the image acquisition unit 23 may acquire image data acquired by a camera 16 which is an in-vehicle camera mounted on a vehicle traveling near a road constituting the target route.
  • a camera 16 which is an in-vehicle camera mounted on a vehicle traveling near a road constituting the target route.
  • the in-vehicle camera for example, there is a camera for a drive recorder.
  • the image acquisition unit 23 may acquire image data obtained by photographing the vicinity of the road constituting the target route with a camera 16 mounted on a drone or the like. It is desirable that the image data be acquired at all points of the road constituting the target route.
  • Step S16 Passability determination process
  • the passability determination unit 24 of the route generation device 10 determines whether or not the moving body can pass on the road constituting the route specified in step S14. Specifically, the passability determination unit 24 reads the route candidate information and the image data from the memory 12. The passability determination unit 24 sets each of one or more routes indicated by the route candidate information as the target route, and sets each road constituting the target route as the target road. The passability determination unit 24 identifies an area through which the PMV 50 can pass from the image data of the target road. The passability determination unit 24 determines whether or not the PMV50 can pass on the road by comparing the size of the area where the PMV50 can pass on the road with the size of the PMV50.
  • FIGS. 5 and 6 A specific example of the passability determination process will be described with reference to FIGS. 5 and 6. As shown in FIG. 5, it is assumed that there is an obstacle on the road. In FIG. 5, there is a two-wheeled vehicle that has fallen as an obstacle. In this case, the passability determination unit 24 generates a bird's-eye view image of the road as shown in FIG. 6 from the image data acquired from the camera 16 which is a surveillance camera installed near the road. The passability determination unit 24 specifies the width W_spc of the area where the PMV50 can pass on the road based on the bird's-eye view image. At this time, the passability determination unit 24 specifies the width of the narrowest portion of the area where the PMV50 can pass on the road as the width W_spc.
  • the width of the portion where the obstacle exists is specified as the width W_spc.
  • the passability determination unit 24 determines whether or not the PMV50 can pass on the road by comparing the specified width W_spc with the width W_pmv of the PMV50. For example, the passability determination unit 24 determines that the PMV50 can pass on the road if the specified width W_spc is wider than the width W_pmv of the PMV50. Further, the passability determination unit 24 may determine that the PMV50 can pass on the road if the specified width W_spc is wider than the reference value W_pmv of the PMV50.
  • FIGS. 7 and 8 Another specific example of the passability determination process will be described with reference to FIGS. 7 and 8.
  • the passability determination unit 24 may determine whether or not the PMV50 can pass through the road based on the area of the three-dimensional space. As shown in FIG. 7, it is assumed that there is an obstacle on the road. In FIG. 7, there are posts and trees as obstacles. In this case, the passability determination unit 24 generates a three-dimensional schematic diagram of the road as shown in FIG. 8 from the image data acquired from the camera 16 which is a surveillance camera installed near the road.
  • the passability determination unit 24 specifies the width W_spc and the height H_spc of the area where the PMV50 can pass on the road based on the three-dimensional schematic diagram. At this time, the passability determination unit 24 specifies the width of the narrowest portion of the area where the PMV50 can pass on the road as the width W_spc and the height of the lowest portion as the height H_spc. Therefore, in FIG. 6, the width of the portion where the post is present is specified as the width W_spc, and the height of the portion where the tree is present is specified as the height H_spc.
  • the passability determination unit 24 compares the specified width W_spc with the width W_pmv of the PMV50, and compares the specified height H_spc with the height H_pmv of the PMV50 so that the PMV50 can drive the road. Determine if it can pass. For example, the passability determination unit 24 determines that the PMV50 can pass on the road if the specified width W_spc is wider than the width W_pmv of the PMV50 and the specified height H_spc is higher than the height H_pmv of the PMV50. do.
  • the specified width W_spc is wider than the width W_pmv of the PMV50 by the first reference value or more, and the specified height H_spc is higher than the height H_pmv of the PMV50 by the second reference value or more. For example, it may be determined that the PMV 50 can pass on the road.
  • Step S17 Route notification processing
  • the route notification unit 25 of the route generation device 10 notifies the PMV 50 of the route composed of the roads determined to be passable in step S16.
  • the route notification unit 25 identifies a route configured by a road determined to be passable in step S16 among one or more routes specified in step S14.
  • the route notification unit 25 connects the areas through which the PMV 50 can pass on the road constituting the specified route to generate a passage route.
  • the route notification unit 25 transmits the passage route information indicating the passage route to the PMV device 30 mounted on the PMV 50 via the communication interface 14.
  • the route notification unit 25 may notify only the passage route for the route having the highest priority, or may notify the passage route for all the routes. good.
  • the priority is set, for example, to be higher as the travel distance is shorter, or to be higher as the travel time is shorter. Further, when no route is specified, the route notification unit 25 notifies that there is no route.
  • Step S18 Movement control process
  • the movement control unit 43 of the PMV device 30 controls the PMV 50 so as to travel on the route notified in step S17. Specifically, the movement control unit 43 acquires the passage route information via the communication interface 34. The movement control unit 43 controls a device such as the steering of the PMV 50 so as to travel on the passage route indicated by the passage route information. When there are a plurality of traffic routes indicated by the traffic route information, the movement control unit 43 selects one of the traffic routes and controls the vehicle to travel on the selected traffic route. At this time, the movement control unit 43 detects an object existing in the vicinity of the PMV 50 by using a sensor mounted on the PMV 50, and controls the vehicle so as to travel while avoiding a collision with the object existing in the vicinity.
  • the route requesting unit 42 again requests the generation of the route to the destination.
  • the movement control system 100 determines whether or not the moving body can pass through the road based on the image data of the road constituting the route by the route generation device 10, and determines that the moving body can pass through the road.
  • the PMV device 30 is notified of the route composed of the roads. Therefore, the PMV 50 can obtain a route that avoids a place where a moving object cannot pass due to an obstacle or the like that is not within the detection range of the sensor.
  • the passability determination unit 24 determines whether or not the PMV50 can pass through the road based on the image data of the road.
  • the passability determination unit 24 may determine whether or not a moving object can pass on the road based on the drawing data of the road in addition to the image data.
  • the drawing data is data including information such as the width of the road, the slope, the presence or absence of a step, and the height of the step.
  • the passability determination unit 24 may not only compare the width of the road and the width of the PMV50, but may also determine whether or not the PMV50 is passable in consideration of the slope of the road. Further, it may be determined whether or not the PMV 50 is passable depending on whether or not the step on the road is at a height that exceeds the PMV 50.
  • the passability determination unit 24 may acquire road information indicating the road that has passed from the PMV device 30 and store it in the storage 13. Then, in step S16 of FIG. 4, the passability determination unit 24 refers to the road information stored in the storage 13 and determines whether or not another PMV50 has passed through the road within the past reference period, and the determination result is obtained. Based on the above, it may be determined whether or not the PMV50 can pass on the road. Specifically, if the passability determination unit 24 determines that the PMV50 can pass through the road without making a determination based on the image data when another PMV50 has passed through the road within the past reference period. good. As a result, when a large number of PMVs 50 are traveling, there is a high possibility that the determination process based on the image data having a high processing load can be omitted, and the processing load of the route generation device 10 can be reduced. Become.
  • each functional component is realized by software.
  • each functional component may be realized by hardware. The difference between the third modification and the first embodiment will be described.
  • the route generation device 10 When each functional component is realized by hardware, the route generation device 10 includes an electronic circuit instead of the processor 11, the memory 12, and the storage 13.
  • the electronic circuit is a dedicated circuit that realizes the functions of each functional component, the memory 12, and the storage 13.
  • the PMV device 30 When each functional component is realized by hardware, the PMV device 30 includes an electronic circuit instead of the processor 31, the memory 32, and the storage 33.
  • the electronic circuit is a dedicated circuit that realizes the functions of each functional component, the memory 32, and the storage 33.
  • each functional component may be realized by one electronic circuit, or each functional component may be distributed and realized by a plurality of electronic circuits.
  • Modification example 4 As a modification 4, some functional components may be realized by hardware, and other functional components may be realized by software.
  • Processors 11, 31, memories 12, 32, storages 13, 33, and electronic circuits are called processing circuits. That is, the function of each functional component is realized by the processing circuit.
  • 100 mobile control system 10 route generator, 11 processor, 12 memory, 13 storage, 14 communication interface, 15 camera interface, 16 camera, 21 request acquisition unit, 22 candidate generation unit, 23 image acquisition unit, 24 passability judgment unit. , 25 route notification unit, 30 PMV device, 31 processor, 32 memory, 33 storage, 34 communication interface, 41 destination setting unit, 42 route request unit, 43 mobile control unit, 50 PMV, 90 transmission path.

Abstract

When a request acquisition unit (21) acquires a request from a mobile body to generate a route, an image acquisition unit (23) acquires image data of roads that constitute a route from the position where the mobile body is located to a destination. A passability determination unit (24) determines whether a road is passable for the mobile body on the basis of the image data acquired by the image acquisition unit (23). A route notification unit (25) notifies the mobile body of a route that is constituted by roads that are determined by the passability determination unit (24) to be passable.

Description

経路生成装置、経路生成方法及び経路生成プログラムRoute generator, route generation method and route generation program
　本開示は、移動体の移動経路を生成する技術に関する。 The present disclosure relates to a technique for generating a movement path of a moving body.
　ＰＭＶ（Ｐｅｒｓｏｎａｌ　Ｍｏｂｉｌｉｔｙ　Ｖｅｈｉｃｌｅ）と呼ばれる、屋内又は屋外において人又は物を運搬する小型の自動走行車両の開発が進められている。ＰＭＶに対して、一般的な車両の自動運転技術を適用し、周辺の物体を検知して障害物を回避して自動で走行するシステムの適用が検討されている。 Development of a small self-driving vehicle called PMV (Personal Mobility Vehicle) that transports people or things indoors or outdoors is underway. The application of a system that applies general vehicle automatic driving technology to PMV, detects surrounding objects, avoids obstacles, and automatically travels is being studied.
　ＰＭＶは、目的地まで移動する場合には、現在地から目的地までの移動経路が予め設定され、移動経路に従って移動する。ＰＭＶは、市街地を人又は物を載せて移動する場合には、電動車いすと同様に歩道上を移動する。しかし、ＰＭＶが通行できない狭い歩道、又は、歩道をふさぐような障害物が有る場合がある。この場合には、手動操作等により、ＰＭＶが通行できる場所までＰＭＶを移動させて、経路を再設定する等の対応が必要になる。 When the PMV moves to the destination, the movement route from the current location to the destination is set in advance, and the PMV moves according to the movement route. When a PMV moves in an urban area with a person or an object on it, it moves on the sidewalk in the same manner as an electric wheelchair. However, there may be narrow sidewalks that PMVs cannot pass through, or obstacles that block the sidewalks. In this case, it is necessary to take measures such as moving the PMV to a place where the PMV can pass by manual operation or the like and resetting the route.
　特許文献１には、ＰＭＶの移動経路を決定する方法について記載されている。特許文献１では、敷地をメッシュで区切って区画を定義し、各区画についてその区画に含まれる人又は障害物の混雑度を特定し、混雑していない区画を通る経路を生成している。 Patent Document 1 describes a method for determining the movement route of PMV. In Patent Document 1, the site is divided by a mesh to define a section, the degree of congestion of people or obstacles included in the section is specified for each section, and a route through the uncrowded section is generated.
特開２０１９－１９１０２８号公報Japanese Unexamined Patent Publication No. 2019-191028
　特許文献１に記載された技術では、混雑していない区画を通る経路を生成するが、生成された経路をＰＭＶが物理的に通行可能であるか否かは考慮されていない。そのため、ＰＭＶが通行できない箇所を含む経路が生成される恐れがある。
　本開示は、ＰＭＶといった移動体に搭載されたセンサの検知範囲にない障害物等が要因で移動体が通過できない箇所を回避した経路を、移動体が得られるようにすることを目的とする。 The technique described in Patent Document 1 produces a route through a non-congested compartment, but does not consider whether the PMV is physically passable through the generated route. Therefore, there is a possibility that a route including a place where PMV cannot pass may be generated.
An object of the present disclosure is to enable a moving body to obtain a route avoiding a place where the moving body cannot pass due to an obstacle or the like that is not within the detection range of a sensor mounted on the moving body such as PMV.
　本開示に係る経路生成装置は、
　移動体が存在する位置から目的地までの経路を構成する道路の画像データを取得する画像取得部と、
　前記画像取得部によって取得された前記画像データに基づき、前記道路を前記移動体が通行できるか否かを判定する通行可否判定部と、
　前記通行可否判定部によって通行できると判定された道路によって構成された経路を前記移動体に通知する経路通知部と
を備える。 The route generator according to the present disclosure is
An image acquisition unit that acquires image data of the road that constitutes the route from the position where the moving object exists to the destination,
Based on the image data acquired by the image acquisition unit, a passability determination unit for determining whether or not the moving body can pass on the road, and a passability determination unit.
It is provided with a route notification unit for notifying the moving body of a route composed of roads determined to be passable by the passability determination unit.
　本開示では、経路を構成する道路の画像データに基づき移動体が道路を通行できるか否かを判定し、通行できると判定された道路によって構成された経路が移動体に通知される。そのため、移動体は、センサの検知範囲にない障害物等が要因で移動体が通過できない箇所を回避した経路を得ることが可能である。 In the present disclosure, it is determined whether or not the moving body can pass through the road based on the image data of the roads constituting the route, and the route composed of the roads determined to be able to pass is notified to the moving body. Therefore, the moving body can obtain a route avoiding a place where the moving body cannot pass due to an obstacle or the like that is not within the detection range of the sensor.
実施の形態１に係る移動制御システム１００の構成図。The block diagram of the movement control system 100 which concerns on Embodiment 1. FIG. 実施の形態１に係る経路生成装置１０の構成図。The block diagram of the route generation apparatus 10 which concerns on Embodiment 1. FIG. 実施の形態１に係るＰＭＶ装置３０の構成図。The block diagram of the PMV apparatus 30 which concerns on Embodiment 1. FIG. 実施の形態１に係る移動制御システム１００の動作の流れを示すフローチャート。The flowchart which shows the operation flow of the movement control system 100 which concerns on Embodiment 1. 実施の形態１に係る通行可否判定処理の具体例の説明図。An explanatory diagram of a specific example of the passability determination process according to the first embodiment. 実施の形態１に係る図５に対応する俯瞰画像を示す図。The figure which shows the bird's-eye view image corresponding to FIG. 5 which concerns on Embodiment 1. FIG. 実施の形態１に係る通行可否判定処理の具体例の説明図。An explanatory diagram of a specific example of the passability determination process according to the first embodiment. 実施の形態１に係る図７に対応する３次元模式図を示す図。The figure which shows the 3D schematic diagram corresponding to FIG. 7 which concerns on Embodiment 1. FIG.
　実施の形態１．
　＊＊＊構成の説明＊＊＊
　図１を参照して、実施の形態１に係る移動制御システム１００の構成を説明する。
　移動制御システム１００は、経路生成装置１０と、ＰＭＶ装置３０とを備える。経路生成装置１０とＰＭＶ装置３０とは、伝送路９０を介して接続されている。伝送路９０は、具体例としては、インターネットである。
　経路生成装置１０は、移動体であるＰＭＶ５０が目的地まで移動するための経路を生成するコンピュータである。ＰＭＶ装置３０は、ＰＭＶ５０に搭載され、ＰＭＶ５０を自立走行させるコンピュータである。 Embodiment 1.
*** Explanation of configuration ***
The configuration of the movement control system 100 according to the first embodiment will be described with reference to FIG.
The movement control system 100 includes a route generation device 10 and a PMV device 30. The route generation device 10 and the PMV device 30 are connected to each other via a transmission line 90. The transmission line 90 is, as a specific example, the Internet.
The route generation device 10 is a computer that generates a route for the moving body PMV50 to move to a destination. The PMV device 30 is a computer mounted on the PMV50 and allowing the PMV50 to run independently.
　図２を参照して、実施の形態１に係る経路生成装置１０の構成を説明する。
　経路生成装置１０は、プロセッサ１１と、メモリ１２と、ストレージ１３と、通信インタフェース１４と、カメラインタフェース１５とのハードウェアを備える。プロセッサ１１は、信号線を介して他のハードウェアと接続され、これら他のハードウェアを制御する。 The configuration of the route generation device 10 according to the first embodiment will be described with reference to FIG.
The route generation device 10 includes hardware including a processor 11, a memory 12, a storage 13, a communication interface 14, and a camera interface 15. The processor 11 is connected to other hardware via a signal line and controls these other hardware.
　経路生成装置１０は、カメラインタフェース１５を介して、１つ以上のカメラ１６と接続されている。 The route generation device 10 is connected to one or more cameras 16 via the camera interface 15.
　経路生成装置１０は、機能構成要素として、要求取得部２１と、候補生成部２２と、画像取得部２３と、通行可否判定部２４と、経路通知部２５とを備える。経路生成装置１０の各機能構成要素の機能はソフトウェアにより実現される。
　ストレージ１３には、経路生成装置１０の各機能構成要素の機能を実現するプログラムが格納されている。このプログラムは、プロセッサ１１によりメモリ１２に読み込まれ、プロセッサ１１によって実行される。これにより、経路生成装置１０の各機能構成要素の機能が実現される。 The route generation device 10 includes a request acquisition unit 21, a candidate generation unit 22, an image acquisition unit 23, a passability determination unit 24, and a route notification unit 25 as functional components. The functions of each functional component of the route generator 10 are realized by software.
The storage 13 stores a program that realizes the functions of each functional component of the route generation device 10. This program is read into the memory 12 by the processor 11 and executed by the processor 11. As a result, the functions of each functional component of the route generation device 10 are realized.
　図３を参照して、実施の形態１に係るＰＭＶ装置３０の構成を説明する。
　ＰＭＶ装置３０は、プロセッサ３１と、メモリ３２と、ストレージ３３と、通信インタフェース３４とのハードウェアを備える。プロセッサ３１は、信号線を介して他のハードウェアと接続され、これら他のハードウェアを制御する。 The configuration of the PMV device 30 according to the first embodiment will be described with reference to FIG.
The PMV device 30 includes hardware such as a processor 31, a memory 32, a storage 33, and a communication interface 34. The processor 31 is connected to other hardware via a signal line and controls these other hardware.
　ＰＭＶ装置３０は、機能構成要素として、目的地設定部４１と、経路要求部４２と、移動制御部４３とを備える。ＰＭＶ装置３０の各機能構成要素の機能はソフトウェアにより実現される。
　ストレージ３３には、ＰＭＶ装置３０の各機能構成要素の機能を実現するプログラムが格納されている。このプログラムは、プロセッサ３１によりメモリ３２に読み込まれ、プロセッサ３１によって実行される。これにより、ＰＭＶ装置３０の各機能構成要素の機能が実現される。 The PMV device 30 includes a destination setting unit 41, a route request unit 42, and a movement control unit 43 as functional components. The functions of each functional component of the PMV device 30 are realized by software.
The storage 33 stores a program that realizes the functions of each functional component of the PMV device 30. This program is read into the memory 32 by the processor 31 and executed by the processor 31. As a result, the functions of each functional component of the PMV device 30 are realized.
　プロセッサ１１，３１は、プロセッシングを行うＩＣ（Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）である。プロセッサ１１，３１は、具体例としては、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、ＤＳＰ（Ｄｉｇｉｔａｌ　Ｓｉｇｎａｌ　Ｐｒｏｃｅｓｓｏｒ）、ＧＰＵ（Ｇｒａｐｈｉｃｓ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）である。 Processors 11 and 31 are ICs (Integrated Circuits) that perform processing. Specific examples of the processors 11 and 31 are a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a GPU (Graphics Processing Unit).
　メモリ１２，３２は、データを一時的に記憶する記憶装置である。メモリ１２，３２は、具体例としては、ＳＲＡＭ（Ｓｔａｔｉｃ　Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）、ＤＲＡＭ（Ｄｙｎａｍｉｃ　Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）である。 The memories 12 and 32 are storage devices for temporarily storing data. Specific examples of the memories 12 and 32 are SRAM (Static Random Access Memory) and DRAM (Dynamic Random Access Memory).
　ストレージ１３，３３は、データを保管する記憶装置である。ストレージ１３，３３は、具体例としては、ＨＤＤ（Ｈａｒｄ　Ｄｉｓｋ　Ｄｒｉｖｅ）である。また、ストレージ１３，３３は、ＳＤ（登録商標，Ｓｅｃｕｒｅ　Ｄｉｇｉｔａｌ）メモリカード、ＣＦ（ＣｏｍｐａｃｔＦｌａｓｈ，登録商標）、ＮＡＮＤフラッシュ、フレキシブルディスク、光ディスク、コンパクトディスク、ブルーレイ（登録商標）ディスク、ＤＶＤ（Ｄｉｇｉｔａｌ　Ｖｅｒｓａｔｉｌｅ　Ｄｉｓｋ）といった可搬記録媒体であってもよい。 The storages 13 and 33 are storage devices for storing data. The storages 13 and 33 are, as a specific example, an HDD (Hard Disk Drive). The storages 13 and 33 include SD (registered trademark, Secure Digital) memory card, CF (CompactFlash, registered trademark), NAND flash, flexible disk, optical disk, compact disk, Blu-ray (registered trademark) disk, and DVD (Digital Versaille Disk). ) May be a portable recording medium.
　通信インタフェース１４，３４は、外部の装置と通信するためのインタフェースである。通信インタフェース１４，３４は、具体例としては、Ｅｔｈｅｒｎｅｔ（登録商標）、ＵＳＢ（Ｕｎｉｖｅｒｓａｌ　Ｓｅｒｉａｌ　Ｂｕｓ）のポートである。 Communication interfaces 14 and 34 are interfaces for communicating with an external device. Specific examples of the communication interfaces 14 and 34 are Ethernet (registered trademark) and USB (Universal Serial Bus) ports.
　カメラインタフェース１５は、カメラ１６と通信するためのインタフェースである。カメラインタフェース１５は、具体例としては、Ｅｔｈｅｒｎｅｔ（登録商標）、ＵＳＢ（Ｕｎｉｖｅｒｓａｌ　Ｓｅｒｉａｌ　Ｂｕｓ）のポートである。 The camera interface 15 is an interface for communicating with the camera 16. As a specific example, the camera interface 15 is a port of Ethernet (registered trademark) or USB (Universal Serial Bus).
　図２では、プロセッサ１１は、１つだけ示されていた。しかし、プロセッサ１１は、複数であってもよく、複数のプロセッサ１１が、各機能を実現するプログラムを連携して実行してもよい。同様に、プロセッサ３１は、複数であってもよく、複数のプロセッサ３１が、各機能を実現するプログラムを連携して実行してもよい。 In FIG. 2, only one processor 11 was shown. However, the number of processors 11 may be plural, and the plurality of processors 11 may execute programs that realize each function in cooperation with each other. Similarly, the number of processors 31 may be plural, and the plurality of processors 31 may execute programs that realize each function in cooperation with each other.
　＊＊＊動作の説明＊＊＊
　図４から図８を参照して、実施の形態１に係る移動制御システム１００の動作を説明する。
　実施の形態１に係る移動制御システム１００の動作手順は、実施の形態１に係る移動制御方法に相当する。また、実施の形態１に係る移動制御システム１００の動作を実現するプログラムは、実施の形態１に係る移動制御プログラムに相当する。
　実施の形態１に係る移動制御システム１００における経路生成装置１０の動作手順は、実施の形態１に係る経路生成方法に相当する。また、実施の形態１に係る移動制御システム１００における経路生成装置１０の動作を実現するプログラムは、実施の形態１に係る経路生成プログラムに相当する。 *** Explanation of operation ***
The operation of the movement control system 100 according to the first embodiment will be described with reference to FIGS. 4 to 8.
The operation procedure of the movement control system 100 according to the first embodiment corresponds to the movement control method according to the first embodiment. Further, the program that realizes the operation of the movement control system 100 according to the first embodiment corresponds to the movement control program according to the first embodiment.
The operation procedure of the route generation device 10 in the movement control system 100 according to the first embodiment corresponds to the route generation method according to the first embodiment. Further, the program that realizes the operation of the route generation device 10 in the movement control system 100 according to the first embodiment corresponds to the route generation program according to the first embodiment.
　図４を参照して、実施の形態１に係る移動制御システム１００の動作の流れを説明する。
　（ステップＳ１１：目的地設定処理）
　ＰＭＶ装置３０の目的地設定部４１は、ＰＭＶ５０の目的地を設定する。
　具体的には、ＰＭＶ５０の搭乗者等から目的地の入力を受け付けることにより、ＰＭＶ５０の目的地を設定する。目的地設定部４１は、目的地を示す目的地情報をメモリ３２に書き込む。 The operation flow of the movement control system 100 according to the first embodiment will be described with reference to FIG.
(Step S11: Destination setting process)
The destination setting unit 41 of the PMV device 30 sets the destination of the PMV 50.
Specifically, the destination of the PMV 50 is set by accepting the input of the destination from the passengers of the PMV 50 or the like. The destination setting unit 41 writes the destination information indicating the destination in the memory 32.
　（ステップＳ１２：経路要求処理）
　ＰＭＶ装置３０の経路要求部４２は、ステップＳ１１で設定された目的地までの経路の生成を経路生成装置１０に要求する。
　具体的には、経路要求部４２は、メモリ３２から目的地情報を読み出す。経路要求部４２は、ＰＭＶ５０の現在の位置を示す位置情報と、目的地情報とを含む経路生成要求を、通信インタフェース３４を介して経路生成装置１０に送信する。 (Step S12: Route request processing)
The route requesting unit 42 of the PMV device 30 requests the route generation device 10 to generate a route to the destination set in step S11.
Specifically, the route request unit 42 reads the destination information from the memory 32. The route request unit 42 transmits a route generation request including the position information indicating the current position of the PMV 50 and the destination information to the route generation device 10 via the communication interface 34.
　（ステップＳ１３：要求取得処理）
　経路生成装置１０の要求取得部２１は、通信インタフェース１４を介して、ステップＳ１２で送信された経路生成要求を取得する。要求取得部２１は、経路生成要求に含まれる位置情報及び目的地情報をメモリ１２に書き込む。 (Step S13: Request acquisition process)
The request acquisition unit 21 of the route generation device 10 acquires the route generation request transmitted in step S12 via the communication interface 14. The request acquisition unit 21 writes the position information and the destination information included in the route generation request to the memory 12.
　（ステップＳ１４：候補生成処理）
　経路生成装置１０の候補生成部２２は、ステップＳ１３で取得された経路生成要求に含まれる位置情報が示すＰＭＶ５０が存在する位置から、経路生成要求に含まれる目的地情報が示す目的地までの１つ以上の経路を特定する。
　具体的には、候補生成部２２は、位置情報及び目的地情報をメモリ１２から読み出す。候補生成部２２は、地図情報を用いて、既存の経路探索アルゴリズムによって、位置情報が示すＰＭＶ５０が存在する位置から、目的地情報が示す目的地までの１つ以上の経路を特定する。候補生成部２２は、特定された１つ以上の経路を示す経路候補情報をメモリ１２に書き込む。 (Step S14: Candidate generation process)
The candidate generation unit 22 of the route generation device 10 is 1 from the position where the PMV50 indicated by the position information included in the route generation request acquired in step S13 exists to the destination indicated by the destination information included in the route generation request. Identify one or more routes.
Specifically, the candidate generation unit 22 reads the position information and the destination information from the memory 12. The candidate generation unit 22 identifies one or more routes from the position where the PMV 50 indicated by the location information exists to the destination indicated by the destination information by the existing route search algorithm using the map information. The candidate generation unit 22 writes the route candidate information indicating one or more specified routes to the memory 12.
　（ステップＳ１５：画像取得処理）
　経路生成装置１０の画像取得部２３は、ステップＳ１４で特定された経路を構成する道路の画像データを取得する。
　具体的には、画像取得部２３は、経路候補情報をメモリ１２から読み出す。画像取得部２３は、経路候補情報が示す１つ以上の経路それぞれを対象の経路に設定する。画像取得部２３は、カメラ１６によって取得された、対象の経路を構成する道路の画像データを取得する。画像取得部２３は、取得された画像データをメモリ１２に書き込む。
　具体例としては、画像取得部２３は、対象の経路を構成する道路に設置された監視カメラであるカメラ１６によって得られた画像データを取得する。画像取得部２３は、対象の経路を構成する道路付近を走行する車両に搭載された車載カメラであるカメラ１６によって得られた画像データを取得してもよい。車載カメラとしては、例えば、ドライブレコーダ用のカメラがある。画像取得部２３は、ドローン等に搭載されたカメラ１６によって、対象の経路を構成する道路付近を撮像して得られた画像データを取得してもよい。画像データは、対象の経路を構成する道路の全ての地点について取得されることが望ましい。 (Step S15: Image acquisition process)
The image acquisition unit 23 of the route generation device 10 acquires image data of the road constituting the route specified in step S14.
Specifically, the image acquisition unit 23 reads the route candidate information from the memory 12. The image acquisition unit 23 sets each of one or more routes indicated by the route candidate information as the target route. The image acquisition unit 23 acquires image data of the road constituting the target route acquired by the camera 16. The image acquisition unit 23 writes the acquired image data to the memory 12.
As a specific example, the image acquisition unit 23 acquires image data obtained by a camera 16 which is a surveillance camera installed on a road constituting a target route. The image acquisition unit 23 may acquire image data acquired by a camera 16 which is an in-vehicle camera mounted on a vehicle traveling near a road constituting the target route. As the in-vehicle camera, for example, there is a camera for a drive recorder. The image acquisition unit 23 may acquire image data obtained by photographing the vicinity of the road constituting the target route with a camera 16 mounted on a drone or the like. It is desirable that the image data be acquired at all points of the road constituting the target route.
　（ステップＳ１６：通行可否判定処理）
　経路生成装置１０の通行可否判定部２４は、ステップＳ１５で取得された画像データに基づき、ステップＳ１４で特定された経路を構成する道路を移動体が通行できるか否かを判定する。
　具体的には、通行可否判定部２４は、経路候補情報及び画像データをメモリ１２から読み出す。通行可否判定部２４は、経路候補情報が示す１つ以上の経路それぞれを対象の経路に設定し、対象の経路を構成する各道路を対象の道路に設定する。通行可否判定部２４は、対象の道路についての画像データからＰＭＶ５０が通行可能な領域を特定する。通行可否判定部２４は、道路においてＰＭＶ５０が通行可能な領域の大きさと、ＰＭＶ５０の大きさとを比較することにより、道路をＰＭＶ５０が通行できるか否かを判定する。 (Step S16: Passability determination process)
Based on the image data acquired in step S15, the passability determination unit 24 of the route generation device 10 determines whether or not the moving body can pass on the road constituting the route specified in step S14.
Specifically, the passability determination unit 24 reads the route candidate information and the image data from the memory 12. The passability determination unit 24 sets each of one or more routes indicated by the route candidate information as the target route, and sets each road constituting the target route as the target road. The passability determination unit 24 identifies an area through which the PMV 50 can pass from the image data of the target road. The passability determination unit 24 determines whether or not the PMV50 can pass on the road by comparing the size of the area where the PMV50 can pass on the road with the size of the PMV50.
　図５及び図６を参照して通行可否判定処理の具体例を説明する。
　図５に示すように、道路に障害物が存在するとする。図５では、障害物として倒れた２輪車が存在する。この場合には、通行可否判定部２４は、道路付近に設置された監視カメラであるカメラ１６から取得された画像データから、図６に示すように道路の俯瞰画像を生成する。通行可否判定部２４は、俯瞰画像に基づき、道路においてＰＭＶ５０が通行可能な領域の幅Ｗ＿ｓｐｃを特定する。この際、通行可否判定部２４は、道路においてＰＭＶ５０が通行可能な領域うち、最も狭い部分の幅を幅Ｗ＿ｓｐｃとして特定する。そのため、図６では、障害物が存在する部分の幅が幅Ｗ＿ｓｐｃとして特定されている。そして、通行可否判定部２４は、特定された幅Ｗ＿ｓｐｃと、ＰＭＶ５０の幅Ｗ＿ｐｍｖとを比較することにより、道路をＰＭＶ５０が通行できるか否かを判定する。
　例えば、通行可否判定部２４は、特定された幅Ｗ＿ｓｐｃがＰＭＶ５０の幅Ｗ＿ｐｍｖよりも広ければ、道路をＰＭＶ５０が通行できると判定する。また、通行可否判定部２４は、特定された幅Ｗ＿ｓｐｃがＰＭＶ５０の幅Ｗ＿ｐｍｖよりも基準値以上広ければ、道路をＰＭＶ５０が通行できると判定してもよい。 A specific example of the passability determination process will be described with reference to FIGS. 5 and 6.
As shown in FIG. 5, it is assumed that there is an obstacle on the road. In FIG. 5, there is a two-wheeled vehicle that has fallen as an obstacle. In this case, the passability determination unit 24 generates a bird's-eye view image of the road as shown in FIG. 6 from the image data acquired from the camera 16 which is a surveillance camera installed near the road. The passability determination unit 24 specifies the width W_spc of the area where the PMV50 can pass on the road based on the bird's-eye view image. At this time, the passability determination unit 24 specifies the width of the narrowest portion of the area where the PMV50 can pass on the road as the width W_spc. Therefore, in FIG. 6, the width of the portion where the obstacle exists is specified as the width W_spc. Then, the passability determination unit 24 determines whether or not the PMV50 can pass on the road by comparing the specified width W_spc with the width W_pmv of the PMV50.
For example, the passability determination unit 24 determines that the PMV50 can pass on the road if the specified width W_spc is wider than the width W_pmv of the PMV50. Further, the passability determination unit 24 may determine that the PMV50 can pass on the road if the specified width W_spc is wider than the reference value W_pmv of the PMV50.
　図７及び図８を参照して通行可否判定処理の他の具体例を説明する。
　図５及び図６の具体例では、２次元の俯瞰画像に基づき、道路をＰＭＶ５０が通行できるか否かが判定された。しかし、通行可否判定部２４は、３次元空間の領域に基づき、道路をＰＭＶ５０が通行できるか否かを判定してもよい。
　図７に示すように、道路に障害物が存在するとする。図７では、障害物としてポスト及び樹木が存在する。この場合には、通行可否判定部２４は、道路付近に設置された監視カメラであるカメラ１６から取得された画像データから、図８に示すように、道路の３次元模式図を生成する。通行可否判定部２４は、３次元模式図に基づき、道路においてＰＭＶ５０が通行可能な領域の幅Ｗ＿ｓｐｃ及び高さＨ＿ｓｐｃを特定する。この際、通行可否判定部２４は、道路においてＰＭＶ５０が通行可能な領域うち、最も狭い部分の幅を幅Ｗ＿ｓｐｃとし、最も低い部分の高さを高さＨ＿ｓｐｃとして特定する。そのため、図６では、ポストが存在する部分の幅が幅Ｗ＿ｓｐｃとして特定され、樹木が存在する部分の高さが高さＨ＿ｓｐｃとして特定されている。そして、通行可否判定部２４は、特定された幅Ｗ＿ｓｐｃと、ＰＭＶ５０の幅Ｗ＿ｐｍｖとを比較するとともに、特定された高さＨ＿ｓｐｃと、ＰＭＶ５０の高さＨ＿ｐｍｖとを比較することにより、道路をＰＭＶ５０が通行できるか否かを判定する。
　例えば、通行可否判定部２４は、特定された幅Ｗ＿ｓｐｃがＰＭＶ５０の幅Ｗ＿ｐｍｖよりも広く、かつ、特定された高さＨ＿ｓｐｃがＰＭＶ５０の高さＨ＿ｐｍｖよりも高ければ、道路をＰＭＶ５０が通行できると判定する。また、通行可否判定部２４は、特定された幅Ｗ＿ｓｐｃがＰＭＶ５０の幅Ｗ＿ｐｍｖよりも第１基準値以上広く、かつ、特定された高さＨ＿ｓｐｃがＰＭＶ５０の高さＨ＿ｐｍｖよりも第２基準値以上高ければ、道路をＰＭＶ５０が通行できると判定してもよい。 Another specific example of the passability determination process will be described with reference to FIGS. 7 and 8.
In the specific examples of FIGS. 5 and 6, it was determined whether or not the PMV50 can pass on the road based on the two-dimensional bird's-eye view image. However, the passability determination unit 24 may determine whether or not the PMV50 can pass through the road based on the area of the three-dimensional space.
As shown in FIG. 7, it is assumed that there is an obstacle on the road. In FIG. 7, there are posts and trees as obstacles. In this case, the passability determination unit 24 generates a three-dimensional schematic diagram of the road as shown in FIG. 8 from the image data acquired from the camera 16 which is a surveillance camera installed near the road. The passability determination unit 24 specifies the width W_spc and the height H_spc of the area where the PMV50 can pass on the road based on the three-dimensional schematic diagram. At this time, the passability determination unit 24 specifies the width of the narrowest portion of the area where the PMV50 can pass on the road as the width W_spc and the height of the lowest portion as the height H_spc. Therefore, in FIG. 6, the width of the portion where the post is present is specified as the width W_spc, and the height of the portion where the tree is present is specified as the height H_spc. Then, the passability determination unit 24 compares the specified width W_spc with the width W_pmv of the PMV50, and compares the specified height H_spc with the height H_pmv of the PMV50 so that the PMV50 can drive the road. Determine if it can pass.
For example, the passability determination unit 24 determines that the PMV50 can pass on the road if the specified width W_spc is wider than the width W_pmv of the PMV50 and the specified height H_spc is higher than the height H_pmv of the PMV50. do. Further, in the passability determination unit 24, the specified width W_spc is wider than the width W_pmv of the PMV50 by the first reference value or more, and the specified height H_spc is higher than the height H_pmv of the PMV50 by the second reference value or more. For example, it may be determined that the PMV 50 can pass on the road.
　（ステップＳ１７：経路通知処理）
　経路生成装置１０の経路通知部２５は、ステップＳ１６で通行できると判定された道路によって構成された経路をＰＭＶ５０に通知する。
　具体的には、経路通知部２５は、ステップＳ１４で特定された１つ以上の経路のうち、ステップＳ１６で通行できると判定された道路によって構成された経路を特定する。経路通知部２５は、特定された経路を構成する道路において、ＰＭＶ５０が通行可能な領域を接続して、通行経路を生成する。そして、経路通知部２５は、通信インタフェース１４を介して、通行経路を示す通行経路情報をＰＭＶ５０に搭載されたＰＭＶ装置３０に送信する。
　なお、経路通知部２５は、複数の経路が特定された場合には、優先度の最も高い経路についての通行経路だけを通知してもよいし、全ての経路についての通行経路を通知してもよい。優先度は、例えば、移動距離が短いほど高くなるように設定される、あるいは、移動時間が短いほど高くなるように設定される。また、経路通知部２５は、１つの経路も特定されなかった場合には、経路がないことを通知する。 (Step S17: Route notification processing)
The route notification unit 25 of the route generation device 10 notifies the PMV 50 of the route composed of the roads determined to be passable in step S16.
Specifically, the route notification unit 25 identifies a route configured by a road determined to be passable in step S16 among one or more routes specified in step S14. The route notification unit 25 connects the areas through which the PMV 50 can pass on the road constituting the specified route to generate a passage route. Then, the route notification unit 25 transmits the passage route information indicating the passage route to the PMV device 30 mounted on the PMV 50 via the communication interface 14.
When a plurality of routes are specified, the route notification unit 25 may notify only the passage route for the route having the highest priority, or may notify the passage route for all the routes. good. The priority is set, for example, to be higher as the travel distance is shorter, or to be higher as the travel time is shorter. Further, when no route is specified, the route notification unit 25 notifies that there is no route.
　（ステップＳ１８：移動制御処理）
　ＰＭＶ装置３０の移動制御部４３は、ステップＳ１７で通知された経路を走行するようにＰＭＶ５０を制御する。
　具体的には、移動制御部４３は、通信インタフェース３４を介して通行経路情報を取得する。移動制御部４３は、通行経路情報が示す通行経路を走行するように、ＰＭＶ５０のステアリングといった機器を制御する。なお、通行経路情報が示す通行経路が複数存在する場合には、移動制御部４３はいずれか１つの通行経路を選択して、選択した通行経路を走行するように制御する。この際、移動制御部４３は、ＰＭＶ５０に搭載されたセンサを用いて、ＰＭＶ５０の周辺に存在する物体を検知し、周辺に存在する物体との衝突を避けながら走行するように制御する。 (Step S18: Movement control process)
The movement control unit 43 of the PMV device 30 controls the PMV 50 so as to travel on the route notified in step S17.
Specifically, the movement control unit 43 acquires the passage route information via the communication interface 34. The movement control unit 43 controls a device such as the steering of the PMV 50 so as to travel on the passage route indicated by the passage route information. When there are a plurality of traffic routes indicated by the traffic route information, the movement control unit 43 selects one of the traffic routes and controls the vehicle to travel on the selected traffic route. At this time, the movement control unit 43 detects an object existing in the vicinity of the PMV 50 by using a sensor mounted on the PMV 50, and controls the vehicle so as to travel while avoiding a collision with the object existing in the vicinity.
　ＰＭＶ５０が一定時間又は一定距離走行すると、処理がステップＳ１２に戻される。そして、再び経路要求部４２によって目的地までの経路の生成が要求される。 When the PMV50 travels for a certain period of time or a certain distance, the process is returned to step S12. Then, the route requesting unit 42 again requests the generation of the route to the destination.
　＊＊＊実施の形態１の効果＊＊＊
　以上のように、実施の形態１に係る移動制御システム１００は、経路生成装置１０によって経路を構成する道路の画像データに基づき移動体が道路を通行できるか否かを判定し、通行できると判定された道路によって構成された経路がＰＭＶ装置３０に通知される。そのため、ＰＭＶ５０は、センサの検知範囲にない障害物等が要因で移動体が通過できない箇所を回避した経路を得ることが可能である。 *** Effect of Embodiment 1 ***
As described above, the movement control system 100 according to the first embodiment determines whether or not the moving body can pass through the road based on the image data of the road constituting the route by the route generation device 10, and determines that the moving body can pass through the road. The PMV device 30 is notified of the route composed of the roads. Therefore, the PMV 50 can obtain a route that avoids a place where a moving object cannot pass due to an obstacle or the like that is not within the detection range of the sensor.
　＊＊＊他の構成＊＊＊
　＜変形例１＞
　実施の形態１では、図４のステップＳ１６で通行可否判定部２４は、道路の画像データに基づき、道路をＰＭＶ５０が通行可能か否かを判定した。通行可否判定部２４は、画像データに加えて、道路の図面データに基づき、道路を移動体が通行できるか否かを判定してもよい。図面データは、道路の幅、傾斜、段差の有無、段差の高さといった情報を含むデータである。
　この場合には、通行可否判定部２４は、道路の幅とＰＭＶ５０の幅とを比較するだけでなく、道路の傾斜を考慮してＰＭＶ５０が通行可能か否かを判定してもよい。また、道路の段差がＰＭＶ５０が超えられる高さであるか否かにより、ＰＭＶ５０が通行可能か否かを判定してもよい。 *** Other configurations ***
<Modification 1>
In the first embodiment, in step S16 of FIG. 4, the passability determination unit 24 determines whether or not the PMV50 can pass through the road based on the image data of the road. The passability determination unit 24 may determine whether or not a moving object can pass on the road based on the drawing data of the road in addition to the image data. The drawing data is data including information such as the width of the road, the slope, the presence or absence of a step, and the height of the step.
In this case, the passability determination unit 24 may not only compare the width of the road and the width of the PMV50, but may also determine whether or not the PMV50 is passable in consideration of the slope of the road. Further, it may be determined whether or not the PMV 50 is passable depending on whether or not the step on the road is at a height that exceeds the PMV 50.
　＜変形例２＞
　通行可否判定部２４は、ＰＭＶ装置３０から通行した道路を示す道路情報を取得し、ストレージ１３に蓄積しておいてもよい。そして、図４のステップＳ１６で通行可否判定部２４は、ストレージ１３に蓄積された道路情報を参照して、過去基準期間内に道路を他のＰＭＶ５０が通行したか否かを判定し、判定結果に基づき、道路をＰＭＶ５０が通行できるか否かを判定してもよい。
　具体的には、通行可否判定部２４は、過去基準期間内に道路を他のＰＭＶ５０が通行した場合には、画像データに基づく判定を行うことなく、道路をＰＭＶ５０が通行できると判定してもよい。これにより、多数のＰＭＶ５０が走行しているような場合には、処理負荷の高い画像データに基づく判定処理を省略できる可能性が高くなり、経路生成装置１０の処理負荷を低くすることが可能になる。 <Modification 2>
The passability determination unit 24 may acquire road information indicating the road that has passed from the PMV device 30 and store it in the storage 13. Then, in step S16 of FIG. 4, the passability determination unit 24 refers to the road information stored in the storage 13 and determines whether or not another PMV50 has passed through the road within the past reference period, and the determination result is obtained. Based on the above, it may be determined whether or not the PMV50 can pass on the road.
Specifically, if the passability determination unit 24 determines that the PMV50 can pass through the road without making a determination based on the image data when another PMV50 has passed through the road within the past reference period. good. As a result, when a large number of PMVs 50 are traveling, there is a high possibility that the determination process based on the image data having a high processing load can be omitted, and the processing load of the route generation device 10 can be reduced. Become.
　＜変形例３＞
　実施の形態１では、各機能構成要素がソフトウェアで実現された。しかし、変形例３として、各機能構成要素はハードウェアで実現されてもよい。この変形例３について、実施の形態１と異なる点を説明する。 <Modification 3>
In the first embodiment, each functional component is realized by software. However, as a modification 3, each functional component may be realized by hardware. The difference between the third modification and the first embodiment will be described.
　各機能構成要素がハードウェアで実現される場合には、経路生成装置１０は、プロセッサ１１とメモリ１２とストレージ１３とに代えて、電子回路を備える。電子回路は、各機能構成要素と、メモリ１２と、ストレージ１３との機能とを実現する専用の回路である。 When each functional component is realized by hardware, the route generation device 10 includes an electronic circuit instead of the processor 11, the memory 12, and the storage 13. The electronic circuit is a dedicated circuit that realizes the functions of each functional component, the memory 12, and the storage 13.
　各機能構成要素がハードウェアで実現される場合には、ＰＭＶ装置３０は、プロセッサ３１とメモリ３２とストレージ３３とに代えて、電子回路を備える。電子回路は、各機能構成要素と、メモリ３２と、ストレージ３３との機能とを実現する専用の回路である。 When each functional component is realized by hardware, the PMV device 30 includes an electronic circuit instead of the processor 31, the memory 32, and the storage 33. The electronic circuit is a dedicated circuit that realizes the functions of each functional component, the memory 32, and the storage 33.
　電子回路としては、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ロジックＩＣ、ＧＡ（Ｇａｔｅ　Ａｒｒａｙ）、ＡＳＩＣ（Ａｐｐｌｉｃａｔｉｏｎ　Ｓｐｅｃｉｆｉｃ　Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）、ＦＰＧＡ（Ｆｉｅｌｄ－Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）が想定される。
　各機能構成要素を１つの電子回路で実現してもよいし、各機能構成要素を複数の電子回路に分散させて実現してもよい。 As the electronic circuit, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA (Gate Array), an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable Gate Array) are assumed. Will be done.
Each functional component may be realized by one electronic circuit, or each functional component may be distributed and realized by a plurality of electronic circuits.
　＜変形例４＞
　変形例４として、一部の各機能構成要素がハードウェアで実現され、他の各機能構成要素がソフトウェアで実現されてもよい。 <Modification example 4>
As a modification 4, some functional components may be realized by hardware, and other functional components may be realized by software.
　プロセッサ１１，３１とメモリ１２，３２とストレージ１３，３３と電子回路とを処理回路という。つまり、各機能構成要素の機能は、処理回路により実現される。 Processors 11, 31, memories 12, 32, storages 13, 33, and electronic circuits are called processing circuits. That is, the function of each functional component is realized by the processing circuit.
　また、以上の説明における「部」を、「回路」、「工程」、「手順」、「処理」又は「処理回路」に読み替えてもよい。 Further, the "part" in the above description may be read as "circuit", "process", "procedure", "processing" or "processing circuit".
　以上、本開示の実施の形態及び変形例について説明した。これらの実施の形態及び変形例のうち、いくつかを組み合わせて実施してもよい。また、いずれか１つ又はいくつかを部分的に実施してもよい。なお、本開示は、以上の実施の形態及び変形例に限定されるものではなく、必要に応じて種々の変更が可能である。 The embodiments and modifications of the present disclosure have been described above. Some of these embodiments and modifications may be combined and carried out. In addition, any one or several may be partially carried out. The present disclosure is not limited to the above embodiments and modifications, and various modifications can be made as necessary.
　１００　移動制御システム、１０　経路生成装置、１１　プロセッサ、１２　メモリ、１３　ストレージ、１４　通信インタフェース、１５　カメラインタフェース、１６　カメラ、２１　要求取得部、２２　候補生成部、２３　画像取得部、２４　通行可否判定部、２５　経路通知部、３０　ＰＭＶ装置、３１　プロセッサ、３２　メモリ、３３　ストレージ、３４　通信インタフェース、４１　目的地設定部、４２　経路要求部、４３　移動制御部、５０　ＰＭＶ、９０　伝送路。 100 mobile control system, 10 route generator, 11 processor, 12 memory, 13 storage, 14 communication interface, 15 camera interface, 16 camera, 21 request acquisition unit, 22 candidate generation unit, 23 image acquisition unit, 24 passability judgment unit. , 25 route notification unit, 30 PMV device, 31 processor, 32 memory, 33 storage, 34 communication interface, 41 destination setting unit, 42 route request unit, 43 mobile control unit, 50 PMV, 90 transmission path.

Claims (8)

  1. 　移動体が存在する位置から目的地までの経路を構成する道路の画像データを取得する画像取得部と、
    　前記画像取得部によって取得された前記画像データに基づき、前記道路を前記移動体が通行できるか否かを判定する通行可否判定部と、
    　前記通行可否判定部によって通行できると判定された道路によって構成された経路を前記移動体に通知する経路通知部と
    を備える経路生成装置。     An image acquisition unit that acquires image data of the road that constitutes the route from the position where the moving object exists to the destination,
    Based on the image data acquired by the image acquisition unit, a passability determination unit for determining whether or not the moving body can pass on the road, and a passability determination unit.
    A route generation device including a route notification unit for notifying the moving body of a route configured by a road determined to be passable by the passability determination unit.
  2. 　前記通行可否判定部は、前記画像データから特定される前記道路において通行可能な領域の大きさと、前記移動体の大きさとを比較することにより、前記道路を前記移動体が通行できるか否かを判定する
    請求項１に記載の経路生成装置。     The passability determination unit determines whether or not the moving body can pass on the road by comparing the size of the passable area on the road specified from the image data with the size of the moving body. The route generation device according to claim 1.
  3. 　前記通行可否判定部は、前記画像データから前記道路の俯瞰画像を生成し、前記俯瞰画像に基づき前記道路において通行可能な領域の幅を特定し、特定された前記幅と、前記移動体の幅とを比較することにより、前記道路を前記移動体が通行できるか否かを判定する
    請求項２に記載の経路生成装置。     The passability determination unit generates a bird's-eye view image of the road from the image data, specifies the width of a passable area on the road based on the bird's-eye view image, and the specified width and the width of the moving body. The route generation device according to claim 2, wherein it is determined whether or not the moving body can pass through the road by comparing with and.
  4. 　前記通行可否判定部は、前記画像データに加えて、前記道路の図面データに基づき、前記道路を前記移動体が通行できるか否かを判定する
    請求項１から３までのいずれか１項に記載の経路生成装置。     The passage passability determination unit is described in any one of claims 1 to 3 for determining whether or not the moving body can pass through the road based on the drawing data of the road in addition to the image data. Route generator.
  5. 　前記通行可否判定部は、過去基準期間内に前記道路を他の移動体が通行したか否かに基づき、前記道路を前記移動体が通行できるか否かを判定する
    請求項１から４までのいずれか１項に記載の経路生成装置。     The passability determination unit according to claims 1 to 4 determines whether or not the moving object can pass on the road based on whether or not another moving object has passed on the road within the past reference period. The route generator according to any one of the following items.
  6. 　前記経路生成装置は、さらに、
    　前記位置から前記目的地までの１つ以上の経路を特定する経路特定部
    を備え、
    　前記画像取得部は、前記経路特定部によって特定された各経路を対象の経路として、前記対象の経路を構成する道路の画像データを取得する
    請求項１から４までのいずれか１項に記載の経路生成装置。     The route generator further
    A route identification unit for specifying one or more routes from the position to the destination is provided.
    The item according to any one of claims 1 to 4, wherein the image acquisition unit acquires image data of a road constituting the target route by using each route specified by the route identification unit as a target route. Route generator.
  7. 　画像取得部が、移動体が存在する位置から目的地までの経路を構成する道路の画像データを取得し、
    　通行可否判定部が、前記画像データに基づき、前記道路を前記移動体が通行できるか否かを判定し、
    　経路通知部が、通行できると判定された道路によって構成された経路を前記移動体に通知する経路生成方法。     The image acquisition unit acquires image data of the road that constitutes the route from the position where the moving object exists to the destination.
    The passability determination unit determines whether or not the moving body can pass on the road based on the image data.
    A route generation method in which a route notification unit notifies the moving body of a route composed of roads determined to be passable.
  8. 　移動体が存在する位置から目的地までの経路を構成する道路の画像データを取得する画像取得処理と、
    　前記画像取得処理によって取得された前記画像データに基づき、前記道路を前記移動体が通行できるか否かを判定する通行可否判定処理と、
    　前記通行可否判定処理によって通行できると判定された道路によって構成された経路を前記移動体に通知する経路通知処理と
    を行う経路生成装置としてコンピュータを機能させる経路生成プログラム。     Image acquisition processing to acquire image data of roads that make up the route from the position where the moving object exists to the destination, and
    Based on the image data acquired by the image acquisition process, a passability determination process for determining whether or not the moving body can pass on the road, and a passability determination process.
    A route generation program that causes a computer to function as a route generation device that performs a route notification process for notifying the moving body of a route configured by a road determined to be passable by the passability determination process.
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