WO2023068130A1 - 自律走行制御システム、自律走行制御装置、自律走行装置、自律走行制御方法、自律走行制御プログラム - Google Patents

自律走行制御システム、自律走行制御装置、自律走行装置、自律走行制御方法、自律走行制御プログラム Download PDF

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Publication number
WO2023068130A1
WO2023068130A1 PCT/JP2022/038019 JP2022038019W WO2023068130A1 WO 2023068130 A1 WO2023068130 A1 WO 2023068130A1 JP 2022038019 W JP2022038019 W JP 2022038019W WO 2023068130 A1 WO2023068130 A1 WO 2023068130A1
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Prior art keywords
autonomous
mode
mobile device
traveling
user
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Ceased
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PCT/JP2022/038019
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English (en)
French (fr)
Japanese (ja)
Inventor
聡之 小濱
啓吾 藤本
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Denso Corp
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Denso Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions

Definitions

  • the present disclosure relates to technology for controlling an autonomous mobile device capable of autonomous travel.
  • Patent Document 1 discloses a traveling carriage that can be self-propelled by a motor. This traveling truck performs a self-propelled operation in which the drive wheels are driven to rotate by a motor, and a manual operation in which the drive wheels are brought into a brake-released state so that they can be operated by an external force.
  • Patent Literature 1 only permits the user's operation by simply releasing the brakes on the driving wheels. Therefore, Patent Document 1 has room for improvement in terms of facilitating the operation by the user.
  • An object of the present disclosure is to provide an autonomous driving control system that can be easily operated by the user. Another object of the present disclosure is to provide an autonomous cruise control device that can be easily operated by a user. Yet another object of the present disclosure is to provide an autonomous mobile device that can be easily operated by a user. Yet another object of the present disclosure is to provide an autonomous travel control method that enables easy user operation. Still another object of the present disclosure is to provide an autonomous travel control program that can be easily operated by a user.
  • a first aspect of the present disclosure is an autonomous traveling control system that has a processor and controls an autonomous traveling device capable of executing autonomous traveling,
  • the processor switching modes between an autonomous traveling mode in which autonomous traveling is performed and a user operation mode in which a user's operation to move the autonomous mobile device is accepted; limiting the travel speed that can be output by the autonomous mobile device in the user operation mode to a level lower than that in the autonomous travel mode; configured to run
  • a second aspect of the present disclosure is an autonomous traveling control device that has a processor and controls an autonomous traveling device capable of executing autonomous traveling,
  • the processor switching modes between an autonomous traveling mode in which autonomous traveling is performed and a user operation mode in which a user's operation to move the autonomous mobile device is accepted; limiting the travel speed that can be output by the autonomous mobile device in the user operation mode to a level lower than that in the autonomous travel mode; configured to run
  • a third aspect of the present disclosure is an autonomous mobile device having a processor and capable of autonomous travel, The processor switching the mode between an autonomous driving mode for executing autonomous driving and a user operation mode for receiving a movement operation by the user; Limiting the travel speed that can be output in the user operation mode more than in the autonomous travel mode; configured to run
  • a fourth aspect of the present disclosure is an autonomous travel control method executed by a processor to control an autonomous travel device capable of autonomous travel, comprising: switching modes between an autonomous traveling mode in which autonomous traveling is performed and a user operation mode in which a user's operation to move the autonomous mobile device is accepted; limiting the travel speed that can be output by the autonomous mobile device in the user operation mode to a level lower than that in the autonomous travel mode; including.
  • a fifth aspect of the present disclosure is an autonomous running control program stored in a storage medium for controlling an autonomous running device capable of executing autonomous running and containing instructions to be executed by a processor, the instruction is switching between an autonomous traveling mode in which autonomous traveling is executed and a user operation mode in which a user's operation to move the autonomous mobile device is accepted; In the user operation mode, the accessible distance to surrounding objects allowed for the autonomous mobile device is relaxed more than in the autonomous mobile mode; including.
  • the travel speed that can be output by the autonomous mobile device in the user operation mode is more restricted than in the autonomous travel mode. Therefore, the travel speed output by the user's operation is relatively small. Therefore, the traveling speed of the autonomous mobile device is prevented from becoming excessively high during operation, and in this respect, the operation of the autonomous mobile device becomes easier for the user. Therefore, it may be possible to facilitate the operation by the user.
  • a sixth aspect of the present disclosure is an autonomous traveling control system that has a processor and controls an autonomous traveling device capable of executing autonomous traveling, The processor switching between an autonomous traveling mode in which autonomous traveling is performed and a user operation mode in which a user's operation to move the autonomous mobile device is received; In the user operation mode, the accessible distance to surrounding objects allowed for the autonomous mobile device is relaxed more than in the autonomous mobile mode; configured to run
  • a seventh aspect of the present disclosure is an autonomous traveling control device that has a processor and controls an autonomous traveling device capable of executing autonomous traveling, The processor switching between an autonomous traveling mode in which autonomous traveling is performed and a user operation mode in which a user's operation to move the autonomous mobile device is received; In the user operation mode, the accessible distance to surrounding objects allowed for the autonomous mobile device is relaxed more than in the autonomous mobile mode; configured to run
  • An eighth aspect of the present disclosure is an autonomous mobile device having a processor and capable of autonomous travel, The processor switching between an autonomous driving mode for executing autonomous driving and a user operation mode for receiving a user's movement operation; Relaxing the allowable approachable distance to surrounding objects in the user operation mode than in the autonomous driving mode; configured to run
  • a ninth aspect of the present disclosure is an autonomous travel control method executed by a processor to control an autonomous travel device capable of autonomous travel, comprising: switching between an autonomous traveling mode in which autonomous traveling is performed and a user operation mode in which a user's operation to move the autonomous mobile device is received; In the user operation mode, the accessible distance to surrounding objects allowed for the autonomous mobile device is relaxed more than in the autonomous mobile mode; including.
  • a tenth aspect of the present disclosure is an autonomous traveling control program stored in a storage medium for controlling an autonomous traveling device capable of executing autonomous traveling, and including instructions to be executed by a processor, the instruction is switching between an autonomous traveling mode in which autonomous traveling is executed and a user operation mode in which a user's operation to move the autonomous mobile device is accepted; In the user operation mode, the accessible distance to surrounding objects allowed for the autonomous mobile device is relaxed more than in the autonomous mobile mode; including.
  • the accessible distance to surrounding objects that is allowed for the autonomous mobile device in the user operation mode is relaxed more than in the autonomous mobile mode. This makes it easier for the user to bring the autonomous mobile device closer to the surrounding object by his/her own operation. Therefore, the user can easily move the autonomous mobile device to a desired position, and in this respect, the user can easily operate the autonomous mobile device. Therefore, it may be possible to facilitate the operation by the user.
  • FIG. 1 is a schematic diagram showing an autonomous mobile device to which a first embodiment is applied;
  • FIG. 1 is a block diagram showing a functional configuration of an autonomous driving control system according to a first embodiment;
  • FIG. 7 is a graph for explaining the difference in speed limit between an autonomous driving mode and a user operation mode in the first embodiment; 7 is a graph illustrating an output example of resistance force in the first embodiment;
  • FIG. 4 is a schematic diagram showing an example of a peripheral notification in the first embodiment;
  • FIG. 4 is a flowchart showing an autonomous travel control method according to the first embodiment;
  • FIG. 8 is a flowchart showing detailed processing of FIG. 7;
  • FIG. It is a block diagram which shows the functional structure of the autonomous driving control system by 2nd Embodiment.
  • the autonomous traveling control system 100 of the first embodiment shown in FIG. 1 controls traveling of the autonomous traveling device 1 shown in FIG.
  • the autonomous mobile device 1 is, for example, a delivery robot that travels on roads and delivers packages.
  • the autonomous mobile device 1 may be a physical distribution robot that transports packages in a warehouse that stores the packages.
  • the autonomous mobile device 1 includes a vehicle body 2 having a space for storing luggage therein, and a plurality of driving wheels 3 provided on the vehicle body 2 .
  • the body 2 is provided with a grip portion 4 .
  • the grip part 4 is installed, for example, at the rear part of the vehicle body 2 .
  • the grip part 4 is a grip gripped by a user who operates the autonomous mobile device 1 to move it.
  • the autonomous mobile device 1 is a mobile body that travels using a battery 5 built into a vehicle body 2 as a drive source.
  • the autonomous mobile device 1 includes a sensor system 10, a communication system 20, a map database (hereinafter referred to as "DB") 30, an information presentation system 40, a motor control unit 50, a stopping device 60, and an operation request switch 70 shown in FIG. is installed.
  • the sensor system 10 acquires sensor information that can be used by the autonomous traveling control system 100 by detecting the external and internal worlds of the autonomous traveling device 1 .
  • the sensor system 10 includes an external sensor 11 and an internal sensor 12 .
  • the external sensor 11 acquires external world information that can be used by the autonomous driving control system 100 from the external environment that is the surrounding environment of the autonomous driving device 1 .
  • the external world sensor 11 may acquire external world information by detecting a target existing in the external world of the autonomous mobile device 1 .
  • the target detection type external sensor 11 includes an optical sensor 11a such as a camera and LiDAR (Light Detection and Ranging/Laser Imaging Detection and Ranging), and a sonar 11b.
  • the target detection type external sensor 11 may include a radar. Further, the external sensor 11 may include a contact sensor 11c that detects contact with surrounding objects.
  • the external sensor 11 may include a positioning type sensor that acquires external world information by receiving positioning signals from satellites of the GNSS (Global Navigation Satellite System) that exist outside the autonomous mobile device 1.
  • the positioning type external sensor 11 is, for example, a GNSS receiver 11d.
  • the inner world sensor 12 acquires inner world information that can be used by the autonomous mobile control system 100 from the inner world that is the internal environment of the autonomous mobile device 1 .
  • the inner world sensor 12 may acquire inner world information by detecting a specific motion physical quantity in the inner world of the autonomous mobile device 1 .
  • the physical quantity sensing type internal sensor 12 is at least one of, for example, a running speed sensor, an acceleration sensor, a gyro sensor, and the like.
  • the communication system 20 acquires communication information that can be used by the autonomous driving control system 100 by wireless communication.
  • the communication system 20 may transmit and receive communication signals with a V2X system existing outside the autonomous mobile device 1 .
  • the V2X type communication system 20 is, for example, at least one of a DSRC (Dedicated Short Range Communications) communication device, a cellular V2X (C-V2X) communication device, and the like.
  • the communication system 20 may transmit and receive communication signals to and from terminals existing in the inner world of the autonomous mobile device 1 .
  • the terminal communication type communication system 20 is, for example, at least one of Bluetooth (registered trademark) equipment, Wi-Fi (registered trademark) equipment, infrared communication equipment, and the like.
  • the map DB 30 stores map information that can be used by the autonomous driving control system 100.
  • the map DB 30 includes at least one type of non-transitory tangible storage medium, such as semiconductor memory, magnetic medium, and optical medium.
  • the map DB 30 may be a database of a locator that estimates the self-state quantity including the self-position of the autonomous mobile device 1 .
  • the map DB 30 may be a database of a navigation unit that navigates the travel route of the autonomous mobile device 1 .
  • the map DB 30 may be configured by combining a plurality of types of these databases.
  • the map DB 30 acquires and stores the latest map information through communication with an external center via the V2X type communication system 20, for example.
  • the map information is two-dimensional or three-dimensional data as information representing the traveling environment of the autonomous mobile device 1 .
  • the three-dimensional map data digital data of a high-precision map should be adopted.
  • the map information may include road information representing at least one of the position, shape, road surface condition, and the like of the road itself.
  • the map information may include sign information representing at least one of the position and shape of signs attached to roads and lane markings, for example.
  • the map information may include structure information representing at least one of the positions and shapes of buildings facing roads and traffic lights, for example.
  • the information presentation system 40 presents notification information to people around the autonomous mobile device 1 .
  • the information presentation system 40 may be a visual presentation unit 41 that presents notification information by stimulating the vision of surrounding people.
  • the visual presentation unit 41 may include, for example, a monitor device 41a that stimulates vision by displaying video or images, and a light emitting unit 41b that stimulates vision by emitting light from a lamp.
  • the monitor device 41 a is provided, for example, at the rear portion of the vehicle body 2 and presents notification information to surrounding persons positioned behind the autonomous mobile device 1 .
  • the information presentation system 40 may be an auditory presentation unit 42 that presents notification information by stimulating the auditory sense of the occupant.
  • the auditory presentation unit 42 is, for example, at least one type of speaker, buzzer, vibration unit, and the like.
  • the information presentation system 40 may include a tactile presentation unit that presents notification information by stimulating the occupant's skin sensation.
  • the skin sensation stimulated by the tactile sense presentation unit includes at least one of tactile sense, temperature sense, wind sense, and the like.
  • the tactile sense presentation unit is, for example, a vibration unit or the like built in the grip portion 4 .
  • the motor control unit 50 is a control unit that controls the motor that drives the drive wheels 3 to rotate.
  • the motor control units 50 are provided for the left and right driving wheels 3 respectively, and control energization of the motors based on control commands from the autonomous driving control system 100 .
  • the stopping device 60 is configured to stop the autonomous mobile device 1 .
  • the stopping device 60 realizes stopping of the autonomous mobile device 1 by a so-called mechanical lock mechanism that mechanically restricts the rotation of the drive wheels 3 .
  • stopping device 60 is provided by an electromagnetic brake.
  • the operation request switch 70 is a switch for switching the autonomous mobile device 1, which is in a stopped state due to a stop mode described later, to a user operation mode described later.
  • the operation request switch 70 is provided on the grip portion 4 .
  • the operation request switch 70 outputs a switching trigger to the user operation mode to the autonomous cruise control system 100 by being operated by a nearby person.
  • Autonomous driving control system 100 includes sensor system 10, communication system 20, map DB 30, information presentation system via at least one of LAN (Local Area Network) line, wire harness, internal bus, wireless communication line, etc. 40 , motor control unit 50 , stop device 60 and operation request switch 70 .
  • the autonomous cruise control system 100 includes at least one dedicated computer.
  • the dedicated computer that configures the autonomous driving control system 100 may be an operation control ECU (Electronic Control Unit) that controls the operation of the autonomous driving device 1 .
  • a dedicated computer that configures the autonomous travel control system 100 may be a navigation ECU that navigates the travel route of the autonomous travel device 1 .
  • a dedicated computer that configures the autonomous traveling control system 100 may be a locator ECU that estimates the self-state quantity of the autonomous traveling device 1 .
  • the dedicated computer configuring the autonomous travel control system 100 may be an actuator ECU that controls the travel actuators of the autonomous travel device 1 .
  • the dedicated computer that configures the autonomous traveling control system 100 may be an HCU (HMI (Human Machine Interface) Control Unit) that controls information presentation in the autonomous traveling device 1 .
  • a dedicated computer that configures the autonomous driving control system 100 may be a computer other than the autonomous mobile device 1 that configures an external center or a mobile terminal that can communicate via the V2X type communication system 20, for example.
  • a dedicated computer that constitutes the autonomous driving control system 100 has at least one memory 101 and at least one processor 102 .
  • the memory 101 stores computer-readable programs, data, etc., non-temporarily, and includes at least one type of non-transitory storage medium such as a semiconductor memory, a magnetic medium, and an optical medium. tangible storage medium).
  • Processor 102 is, for example, CPU (Central Processing Unit), GPU (Graphics Processing Unit), RISC (Reduced Instruction Set Computer)-CPU, DFP (Data Flow Processor), GSP (Graph Streaming Processor), etc. At least one type as a core.
  • the processor 102 executes a plurality of instructions contained in the autonomous running control program stored in the memory 101 to control the behavior of the autonomous running device 1.
  • the autonomous traveling control system 100 constructs a plurality of functional blocks for controlling the behavior of the autonomous traveling device 1 .
  • the plurality of functional blocks constructed in the autonomous driving control system 100 include a recognition block 110, a self-localization block 120, a map distribution block 130, a mode management block 140, a mode control block 150, and a notification block. 160 are included.
  • the recognition block 110 acquires detection information from multiple external sensors 11 .
  • a recognition block 110 integrates a plurality of pieces of detection information and recognizes information about surrounding objects (peripheral object information).
  • the peripheral object information includes, for example, the position and size of the peripheral object.
  • the self-position estimation block 120 estimates the self-position of the autonomous mobile device 1 .
  • the self-location estimation block 120 may estimate the self-location based on the positioning information of the GNSS receiver 11d.
  • the self-position estimation block 120 may estimate the self-position by dead reckoning (dead reckoning/autonomous navigation) based on the detection information of the internal sensor 12 .
  • the self-position estimation block 120 may estimate the self-position by matching the detection information of the external sensor 11 and the map information.
  • the self-location estimation block 120 may combine the multiple self-location estimation techniques described above to estimate the self-location.
  • the self-position estimation block 120 outputs the estimated self-position together with the traveling direction of the autonomous mobile device 1 and the traveling speed of the autonomous mobile device 1 .
  • the map distribution block 130 extracts map information about the surroundings of the autonomous mobile device 1 from the map DB based on the estimated self-location.
  • the mode management block 140 manages the control mode of the autonomous mobile device 1. Specifically, the mode management block 140 switches the control mode between autonomous running mode, stop mode, motor free mode, and user operation mode.
  • Autonomous driving mode is a mode that executes autonomous driving to the destination.
  • the stop mode is a mode for stopping the autonomous mobile device 1 .
  • movement of the autonomous mobile device 1 due to external force is restricted.
  • the stop mode the movement operation of the autonomous mobile device 1 by the user is restricted.
  • the user operation mode is a mode in which movement of the autonomous mobile device 1 by an external force, that is, movement operation by the user is accepted.
  • the locked state of the driving wheels 3 by the stopping device 60 is released, and the driving wheels 3 are allowed to rotate freely.
  • the locked state of the drive wheels 3 may simply be released.
  • the motor control unit 50 may output an assist driving force that assists the movement operation by the user.
  • the mode management block 140 appropriately selects the mode to be executed by the autonomous mobile device 1 from among the above modes. For example, the mode management block 140 selects the autonomous driving mode when the set destination has not been reached. The mode management block 140 selects the stop mode when the destination is reached. Also, the mode management block 140 selects the stop mode when an internal abnormality of the autonomous mobile device 1 is detected. An internal abnormality is, for example, a failure of a mounting configuration in the autonomous mobile device 1 . Also, the mode management block 140 selects the stop mode when an external abnormality is detected. An external abnormality is, for example, an emergency such as a disaster or an accident in the vicinity of the autonomous mobile device 1 .
  • the mode management block 140 selects either the motor-free mode or the user operation mode when the permissive condition for permitting the user's operation is satisfied.
  • the permissible condition may be, for example, that the operation request switch 70 is pressed.
  • the permission condition may be that a permission command to permit the user's operation is obtained from the center.
  • the mode control block 150 includes a stop block 151, an autonomous driving block 152, and a user operation block 153 as sub-blocks.
  • Stop block 151 implements the stop mode.
  • the stop block 151 generates a stop command for the motor control unit 50 and a stop request command for the stop device 60 in the stop mode.
  • the autonomous mobile device 1 stops in a state where movement due to external force is restricted.
  • the stop block 151 generates a mechanical lock release command to the stop device 60 when a transition from the stop mode to another mode is selected.
  • the autonomous driving block 152 executes the autonomous driving mode.
  • the autonomous travel block 152 generates a travel route to the destination based on the surrounding object information, self information, and map information in the autonomous travel mode.
  • the autonomous travel block 152 generates a drive command to the motor control unit 50 so as to execute autonomous travel along the travel route.
  • the autonomous driving block 152 generates a current command value for each of the left and right motor control units 50 that drive the left and right drive wheels 3 .
  • the autonomous travel block 152 executes travel control based on the speed limit vl_a and the accessible distance Da_a to surrounding objects. That is, the autonomous traveling block 152 controls the traveling speed of the autonomous traveling device 1 up to the preset speed limit vl_a. Then, the autonomous travel block 152 generates a travel route and performs behavior control during travel so as to secure a preset approachable distance Da_a from surrounding objects.
  • the user operation block 153 executes the manual operation mode.
  • the user operation block 153 stops controlling the left and right motor control units 50 in manual operation mode.
  • the motor control unit 50 is de-energized, and the drive wheels 3 are allowed to rotate freely.
  • the autonomous mobile device 1 can be moved according to the user's operation.
  • the user operation block 153 may generate a drive command to output a driving force in the direction of the external force applied by the user's operation.
  • the user operation block 153 limits the speed limit vl_m more than the speed limit vl_a in the autonomous driving mode. Specifically, the user operation block 153 causes the autonomous mobile device 1 to output the smaller traveling speed of the operation speed according to the user's operation and the defined speed limit vl_m.
  • the operation speed is the assist speed based on the assist control by the assist driving force.
  • the user operation block 153 relaxes the approachable distance Da_m to the surrounding object in the user operation mode more than the approachable distance Da_a in the autonomous driving mode. As a result, the user operation block 153 allows approaching surrounding objects more than in the autonomous driving mode, as shown in FIG.
  • the user operation block 153 causes the motor control unit 50 to output a resistance force that prevents approaching the point (see FIG. 5). .
  • the resistance force can also be said to be a repulsive force acting in the direction opposite to the approaching direction to the surrounding object.
  • the user operation block 153 outputs the resistance force, for example, when the autonomous mobile device 1 is positioned within the first distance range from the surrounding objects.
  • the first distance range is a distance range that is less than or equal to or less than a predetermined first threshold distance.
  • the user operation block 153 outputs a resistance force that gradually increases as the point is approached.
  • the user operation block 153 restricts the autonomous mobile device 1 from approaching a surrounding object further from the point by making the resistance force at the point substantially equal to the external force input.
  • the notification block 160 executes various notifications while the autonomous mobile device 1 is running. For example, the notification block 160 performs notification by an alarm (approaching alarm notification) in response to approach to a surrounding object. Upon proximity alert notification, the notification block 160 causes the auditory presentation unit 42 to output an alert sound. In the proximity warning notification, the notification block 160 increases the emphasis of the warning as the surrounding object is closer. Specifically, the notification block 160 increases the degree of emphasis by increasing the volume of the warning. For example, the approach warning notification includes two levels of warning, a low level warning and a high level warning with a greater degree of emphasis than the low level.
  • the notification block 160 may start the approach warning notification at substantially the same timing as the resistance output start timing. That is, the notification block 160 initiates the proximity alert notification when the object is located within the first distance range from the surrounding object. Further, the notification block 160 notifies a low-level alarm when the autonomous mobile device 1 is located outside the second distance range from the surrounding objects, and when located within the second distance range, A high-level warning should be notified.
  • the second distance range is a distance range that is smaller than the first distance range, and is a distance range that is less than or equal to or less than a predetermined second threshold distance that is smaller than the first threshold distance.
  • the notification block 160 executes notification regarding surrounding conditions (peripheral notification) to the user in the user operation mode.
  • the notification block 160 displays detection information of surrounding objects by the external sensor 11 mounted on the autonomous mobile device 1 .
  • the notification block 160 causes the image of the surrounding surveillance camera to be displayed.
  • the notification block 160 displays an image from a viewpoint looking down on the autonomous mobile device 1 from above (so-called around view).
  • the notification block 160 displays auxiliary information that assists the user's operation in the peripheral notification.
  • the auxiliary information includes, for example, the direction in which the autonomous mobile device 1 can travel, the relative position of the user with respect to the autonomous mobile device 1, and an approach warning to surrounding objects.
  • the notification block 160 displays a direction icon ICd, a user icon ICu, and an approach warning icon ICc on the display D of the monitor device 41a.
  • the direction icon ICd is a display object that indicates the direction in which the autonomous mobile device 1 can travel.
  • the directional icon ICd is, for example, an arrow-shaped object that indicates a possible travel direction.
  • the user icon ICu is an icon that fixedly displays the relative position of the user with respect to the autonomous mobile device 1 .
  • the approach warning icon ICc is a display object that notifies of approaching a surrounding object.
  • the approach warning icon ICc is, for example, a ripple-shaped object that spreads from the autonomous mobile device 1 toward surrounding objects. Thereby, the approach warning icon ICc can present the presence and direction of an approaching peripheral object.
  • the autonomous driving control flow which is the flow of the autonomous driving control method in which the autonomous driving control system 100 controls the autonomous driving device 1 in cooperation with the plurality of blocks 110, 120, 130, 140, 150, and 160 described so far, is shown in FIG. 7 and 8 below.
  • This processing flow is repeatedly executed while the autonomous mobile device 1 is activated.
  • Each "S" in this processing flow means a plurality of steps executed by a plurality of instructions included in the autonomous driving control program.
  • the mode management block 140 selects a control mode. If the mode management block 140 selects the manual operation mode, the process proceeds to S20. In S20, the user operation block 153 makes the speed limit vl_m lower than the speed limit vl_a in the autonomous driving mode. In subsequent S30, the user operation block 153 makes the accessible distance Da_m less than the accessible distance Da_a in the autonomous driving mode. Then, in S40, the notification block 160 starts the peripheral notification. Incidentally, the processes of S20 to S30 may be executed in parallel. In the following S50, approach handling processing is executed.
  • the process proceeds to S60.
  • the autonomous driving block 152 sets the speed limit vl_a to the autonomous driving mode reference speed.
  • the autonomous driving block 152 sets the approachable distance Da_a to the autonomous driving mode reference distance.
  • the user operation block 153 determines whether or not the autonomous mobile device 1 is positioned within the first distance range from surrounding objects. If it is determined that the object is positioned within the first distance range, in S52 the user operation block 153 calculates and outputs a resistance force according to the distance to the surrounding object.
  • the user operation block 153 determines whether or not the autonomous mobile device 1 is positioned within the second distance range from the surrounding objects. If it is determined to be outside the second distance range, notification block 160 outputs a low level warning at S54. On the other hand, if it is determined in S53 that the vehicle is within the second distance range, then in S55 the notification block 160 outputs a high-level warning. After the processing of S54 or S55, the flow returns to S51.
  • the process proceeds to S56.
  • the user operation block 153 does not output the resistance and alarm. That is, if the resistance and warning output processing has been performed until immediately before, the processing is stopped, and if the output processing has not been performed, the state without the processing is maintained.
  • the traveling speed that can be output by the autonomous mobile device 1 is more limited in the user operation mode than in the autonomous traveling mode. Therefore, the travel speed output by the user's operation is relatively small. Therefore, the traveling speed of the autonomous mobile device 1 is prevented from becoming excessively high during operation, and in this respect, the operation of the autonomous mobile device 1 becomes easier for the user. Therefore, it may be possible to facilitate the operation by the user.
  • the accessible distance Da_m to a peripheral object allowed for the autonomous mobile device 1 in the user operation mode is relaxed more than in the autonomous mobile mode. This makes it easier for the user to bring the autonomous mobile device 1 closer to the surrounding object by his/her own operation. Therefore, the user can easily move the autonomous mobile device 1 to a desired position, and in this respect, the user can easily operate the autonomous mobile device 1 . Therefore, it may be possible to facilitate the operation by the user.
  • the second embodiment is a modification of the first embodiment.
  • the user operation block 153 in the autonomous traveling control system 100 of the second embodiment executes traveling control of the autonomous traveling device 1 based on the user's operation of the remote control device 80 in the user operation mode.
  • the remote control device 80 is a controller capable of inputting the travel speed, traveling direction, and the like of the autonomous mobile device 1 .
  • the notification block 160 may perform various notifications via the remote control device 80.
  • the notification block 160 may issue an approach alarm notification on the remote control device 80 provided with a speaker.
  • the notification block 160 may display peripheral notifications on the remote control device 80 provided with a display.
  • the user operation block 153 may execute either one of lowering the speed limit vl_m and relaxing the accessible distance Da_m in the user operation mode.
  • the notification block 160 may change the emphasis level of the approach warning notification according to the pattern of the warning sound.
  • the notification block 160 may cause the visual presentation unit 41 to display the approach warning notification as visual information.
  • the dedicated computer that configures the autonomous cruise control system 100 may have at least one of digital circuits and analog circuits as a processor.
  • Digital circuits here include, for example, ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device). , at least one Such digital circuits may also have memory in which programs are stored.
  • the autonomous cruise control system 100 may be implemented as an autonomous cruise control device that is a processing device (eg, a processing ECU, etc.) mounted on the autonomous mobile device 1. good.
  • a processing device e.g, a processing ECU, etc.
  • the above-described embodiments and variations may be implemented as a semiconductor device (for example, a semiconductor chip or the like) having at least one processor 102 and at least one memory 101 of the autonomous cruise control system 100 .

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2022/038019 2021-10-19 2022-10-12 自律走行制御システム、自律走行制御装置、自律走行装置、自律走行制御方法、自律走行制御プログラム Ceased WO2023068130A1 (ja)

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US12509121B2 (en) 2021-10-19 2025-12-30 Denso Corporation Autonomous travel control system, autonomous travel control device, autonomous travel device, autonomous travel control method, and non-transitory computer readable medium

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JP2013031389A (ja) * 2011-08-01 2013-02-14 Original Soft:Kk 自動芝刈り機及びその制御方法
JP2014220890A (ja) * 2013-05-07 2014-11-20 村田機械株式会社 自律移動体の移動制御装置、自律移動体、及び自律移動体の制御方法
JP2018100064A (ja) * 2016-12-22 2018-06-28 本田技研工業株式会社 走行制御装置及び走行制御方法

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JP5821337B2 (ja) 2011-07-04 2015-11-24 日産自動車株式会社 走行支援装置及び走行支援方法
JP6946728B2 (ja) 2017-05-11 2021-10-06 いすゞ自動車株式会社 車両の運転制御システム及び車両の運転制御方法
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JP2013031389A (ja) * 2011-08-01 2013-02-14 Original Soft:Kk 自動芝刈り機及びその制御方法
JP2014220890A (ja) * 2013-05-07 2014-11-20 村田機械株式会社 自律移動体の移動制御装置、自律移動体、及び自律移動体の制御方法
JP2018100064A (ja) * 2016-12-22 2018-06-28 本田技研工業株式会社 走行制御装置及び走行制御方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12509121B2 (en) 2021-10-19 2025-12-30 Denso Corporation Autonomous travel control system, autonomous travel control device, autonomous travel device, autonomous travel control method, and non-transitory computer readable medium

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