WO2022145036A1 - Dispositif de génération d'itinéraire, procédé de génération d'itinéraire et programme de génération d'itinéraire - Google Patents

Dispositif de génération d'itinéraire, procédé de génération d'itinéraire et programme de génération d'itinéraire 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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WO
WIPO (PCT)
Prior art keywords
route
road
image data
moving body
passability determination
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Application number
PCT/JP2020/049288
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English (en)
Japanese (ja)
Inventor
明 平田
康 洲鎌
雄史 長谷川
道学 吉田
Original Assignee
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 PCT/JP2020/049288 priority Critical patent/WO2022145036A1/fr
Priority to JP2021525730A priority patent/JP7158581B1/ja
Priority to JP2021182828A priority patent/JP7270017B2/ja
Publication of WO2022145036A1 publication Critical patent/WO2022145036A1/fr

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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.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

Selon l'invention, lorsqu'une unité d'acquisition de requête (21) acquiert une requête à partir d'un corps mobile pour générer un itinéraire, une unité d'acquisition d'image (23) acquiert des données d'image de routes qui constituent un itinéraire depuis la position où le corps mobile est situé jusqu'à une destination. Une unité de détermination de praticabilité (24) détermine si une route est ou non praticable pour le corps mobile sur la base des données d'image acquises par l'unité d'acquisition d'image (23). Une unité de notification d'itinéraire (25) notifie au corps mobile un itinéraire qui est constitué par des routes qui sont déterminées, par l'unité de détermination de praticabilité (24), comme étant praticables.
PCT/JP2020/049288 2020-12-29 2020-12-29 Dispositif de génération d'itinéraire, procédé de génération d'itinéraire et programme de génération d'itinéraire WO2022145036A1 (fr)

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PCT/JP2020/049288 WO2022145036A1 (fr) 2020-12-29 2020-12-29 Dispositif de génération d'itinéraire, procédé de génération d'itinéraire et programme de génération d'itinéraire
JP2021525730A JP7158581B1 (ja) 2020-12-29 2020-12-29 経路生成装置、経路生成方法及び経路生成プログラム
JP2021182828A JP7270017B2 (ja) 2020-12-29 2021-11-09 経路生成装置及び移動体制御システム

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