JP7046359B2 - Operation control device and automatic driving device - Google Patents

Description

The present invention relates to an operation control device and an automatic traveling device.

In devices such as navigation devices that search for a route from a departure point to a destination, it is possible to search for the optimum route that corresponds to desired conditions such as the shortest time and the shortest distance according to the type of moving object and road conditions. Desired.

Patent Document 1 discloses a route search method for automatic driving support that can reduce the burden on the user's driving. In this method, one or more routes within a predetermined range in which the distance or required time from the departure point to the destination is less than or equal to the threshold value and the distance or required time of the manual operation section is the shortest or the shortest. Is being extracted.

Patent Document 2 discloses a device that provides a three-dimensional map for navigation and automatic driving. In this device, part or most of the target 3D space is replaced with multiple geometric simple figures, and it has simplified and reconstructed simplified 3D space data, and those simplified 3D. When the spatial data is read by a computer, the geometric simple figure outputs the related data such as coordinates, attitudes, and / or attributes corresponding to the three-dimensional space together.

Patent Document 3 discloses an automatic driving support system that prevents accidents associated with a vehicle capable of automatic driving. This system is a distribution device that generates 3D road alignment data based on point group data measured on the managed road, and when at least one of the events of congestion and accident occurs on the managed road. It is provided with an automatic driving information collecting device for transmitting 3D road linear data indicating a section in which automatic driving is prohibited among the 3D road linear data generated by the distribution device.

Japanese Unexamined Patent Publication No. 2018-044334 Japanese Unexamined Patent Publication No. 2009-199572 Japanese Unexamined Patent Publication No. 2018-032433

In recent years, techniques for acquiring highly accurate 3D map information have been developed. However, even if such high-precision three-dimensional map information can be acquired, it cannot be said that the route search using the information is sufficiently utilized for the search of the route suitable for the user's purpose. For example, searching for the optimum route based on three-dimensional information such as the characteristics of a moving body, traffic conditions, height, and steps is not sufficient. Further, even in the case of automatically driving the moving body using such high-precision three-dimensional map information, the structure is not such that the trajectory and driving force of the moving body are obtained from the three-dimensional map information.

The present invention provides a route search device capable of searching for a route that meets the conditions required by a user based on highly accurate three-dimensional map information, and an operation control device and an automatic traveling device using the search results. The purpose is to do.

One aspect of the present invention is a pathfinding device for finding a route from a starting point to a destination of a moving body. This route search device is based on a map storage unit that stores 3D map information having point cloud data, a traffic condition storage unit that stores traffic conditions related to a road on which a moving object passes, and 3D map information and traffic conditions. It includes a route creation unit that creates a route, and a route search unit that searches for the optimum route from a plurality of routes created by the route creation unit.

In this route search device, the point cloud data includes the latitude, longitude and ellipsoidal height acquired by MMS (Mobile Mapping System) and RTK (Real Time Kinematic). The traffic condition includes traffic direction information indicating whether the moving body is traveling on the right side or the left side of the road. The route creation unit creates a plurality of route candidates corresponding to the passage direction information from the point cloud data. The route search unit searches for at least the shortest route from a plurality of route candidates created by the route creation unit.

According to such a configuration, since the point cloud data included in the 3D map information includes the latitude, longitude and elliptical body height acquired by MMS and RTK, the moving object can be obtained from this point cloud data. It is possible to create a plurality of route candidates corresponding to the traffic direction information of whether the traffic is on the left side or on the right side.

In the above-mentioned route search device, the passage condition includes the passage division information indicating whether the moving body passes through either the roadway or the sidewalk of the road, and the route creation unit uses the point cloud data to indicate the passage direction information and the passage division information. It is also possible to create a plurality of route candidates corresponding to both of the above conditions. As a result, it is possible to create a plurality of route candidates corresponding to both the left and right traffic directions and the traffic division conditions of the moving body from the point cloud data.

In the above route search device, the route creation unit determines that the object represented by the point cloud data and the moving object may interfere with each other when it is assumed that the moving object passes along the created basic route. If so, the basic path may be corrected so as not to interfere. As a result, when creating a route, it is possible to create a route (virtual orbit) that can prevent interference between the object and the moving body indicated by the three-dimensional map information.

In the above route search device, the route creation unit determines that it is difficult for the moving object to pass from the road environment represented by the point cloud data, assuming that the moving object passes along the created basic route. In that case, the basic route may not be included in the candidates for a plurality of routes. As a result, when creating a route, it is possible to exclude from the candidates the route that is considered to be difficult for the moving body to pass based on the three-dimensional map information.

In the above route search device, the route creation unit may create a virtual trajectory including a curve of curvature according to the traveling characteristics of the moving body from the point cloud data. This makes it possible to obtain a virtual trajectory of the moving body that matches the characteristics of the moving body and the traffic conditions.

Further, the route creation unit may create a continuous route from the point cloud data to the departure point via the destination according to the traffic direction information. This creates a circular route that includes the starting point and the destination, and depending on the direction of the route (clockwise, counterclockwise), it is possible to support both left-handed and right-handed route creation from one route. can.

Another aspect of the present invention is an operation control device that controls traveling of a moving body along a virtual trajectory based on a route obtained by the above-mentioned path search device.
This operation control device is based on a characteristic storage unit that stores the power characteristics of the moving body, a position acquisition unit that acquires information on the current location of the moving body, and information on the current location of the moving body acquired by the position acquisition unit. A drive control unit that controls at least a drive source of a moving body so as to travel along a virtual track.

In this operation control device, the drive control unit obtains a vector from the latitude and longitude of the first point on the virtual orbit and the latitude and longitude of the second point on the virtual orbit, and directs the vector from the first point to the second point. The driving force required for traveling the moving body is calculated from the vector based on the power characteristics, and the driving source is controlled so as to obtain the calculated driving force.

According to such a configuration, since the point cloud data included in the 3D map information includes the latitude, longitude and elliptical body height acquired by MMS and RTK, the moving object can be obtained from this point cloud data. The vector from the first point to the second point on the virtual orbit can be obtained with high accuracy, and the moving body travels along the accurate virtual orbit corresponding to the traffic direction information of whether the traffic is on the left side or the right side. Can be made to.

In the above-mentioned operation control device, the drive control unit obtains a gradient from the altitude based on the ellipsoidal height at the first point and the altitude based on the ellipsoidal height at the second point, and moves from the first point to the second point. The driving force required from the gradient when traveling may be calculated based on the power characteristics, and the driving source may be controlled so as to obtain the calculated driving force. Thereby, the gradient when the moving body moves from the first point to the second point on the virtual orbit can be accurately obtained from the point cloud data, and the driving force can be controlled based on this gradient.

The above-mentioned operation control device further includes a mode setting unit for setting one of a plurality of traveling modes of the moving body, and the characteristic storage unit stores and drives a plurality of power characteristics corresponding to each of the plurality of traveling modes. The control unit may calculate the driving force based on the power characteristics corresponding to the traveling mode set by the mode setting unit. This makes it possible to control the driving force corresponding to each traveling mode.

Another aspect of the present invention is an automatic traveling device including the above-mentioned route search device, the above-mentioned operation control device, and a drive mechanism for traveling a moving body by a drive source controlled by the operation control device. .. This makes it possible to perform automatic driving based on highly accurate three-dimensional map information.

According to the present invention, a route search device capable of searching for a route that meets the conditions required by a user based on highly accurate three-dimensional map information, and an operation control device and an automatic traveling device using the search results. Will be able to be provided.

It is a schematic diagram which illustrates the structure of the automatic traveling device. It is a block diagram which illustrates the structure of the path search apparatus. (A) and (b) are schematic diagrams showing an example of point cloud data. It is a schematic diagram explaining the route search. It is a block diagram which illustrates the structure of the operation control device. It is a figure which illustrates the power characteristic. It is a flowchart which illustrates the route search method. It is a flowchart which illustrates the operation control method.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same members are designated by the same reference numerals, and the description of the members once described will be omitted as appropriate.

(Automatic driving device)
FIG. 1 is a schematic diagram illustrating the configuration of an automatic traveling device.
As shown in FIG. 1, the automatic traveling device 100 includes a driving mechanism 120 for traveling a moving body 110 by a driving source 121 such as a motor or an engine. Power is transmitted from the drive mechanism 120 to, for example, the tires of the moving body 110, and the moving body 110 travels in a predetermined direction.

The automatic traveling device 100 includes a route search device 1 and an operation control device 2. The automatic traveling device 100 includes a GPS (Global Positioning System) and an antenna 150 for communicating with the outside, and receives signals from the electronic reference point 200 and the artificial satellite 300 to determine the current location of the mobile body 110. get. The automatic traveling device 100 may be provided with an image acquisition unit 160 including a camera and a laser detection unit 170.

The automatic traveling device 100 automatically travels along the route from the starting point to the destination searched by the route searching device 1. In traveling along the route, the drive source 121 is controlled by the operation control device 2.

The current location of the mobile body 110 is accurately grasped by GNSS (Global Navigation Satellite System) such as GPS using signals from artificial satellites 300 such as GPS satellites and quasi-zenith satellites, and RTK using electronic reference point 200. To. For example, in RTK, the current location of the moving body 110 can be detected within an error range of about several centimeters.

While the mobile body 110 is traveling, the operation control device 2 controls the drive mechanism 120 so as to correct the deviation between the current location acquired by RTK or the like and the preset route (virtual track). Further, by capturing an image of the surroundings while traveling by the image acquisition unit 160 and by capturing the distance between the obstacle and the moving body 110 by the laser detection unit 170, collision with a person or an object or abnormal approach is avoided. While moving, the moving body 110 advances.

In the automatic traveling device 100 according to the present embodiment, the route search device 1 described later searches for the optimum route that matches the traffic conditions of the moving body 110 from the highly accurate three-dimensional map information. Further, the operation control device 2 described later controls the drive mechanism 120 such as the drive source 121 so that the mobile body 110 travels along the route (virtual track) searched by the route search device 1, and the mobile body 110 The speed and direction of travel are determined.

Specifically, the route search device 1 creates a plurality of route candidates corresponding to the traffic direction information of whether the mobile body 110 is on the left side or on the right side as a traffic condition regarding the road on which the mobile body 110 passes. do. Detailed 3D map information is used when creating route candidates. For example, when the traffic direction information is left-hand traffic, a route for traffic on the left side of the road is created from the three-dimensional map information. Further, even if the road is the same, if the traffic direction information is the right side traffic, a route to pass on the right side of the road is created from the three-dimensional map information.

Further, when the traffic condition includes the traffic classification information indicating whether the moving body 110 travels on the roadway or the sidewalk, the route search device 1 includes the traffic direction information and the traffic classification information. Create a route corresponding to both of the conditions. For example, when the traffic direction information is right-hand traffic and the traffic classification information is a sidewalk, a route traveling on the sidewalk provided on the right side of the road is created from the three-dimensional map information.

As described above, in the automatic traveling device 100 according to the present embodiment, the moving body 110 is automatically traveled along a route (virtual track) that meets the conditions required by the user based on the traffic conditions of the moving body 110. Can be done.

In the automatic traveling device 100, at least one of the route search device 1 and the operation control device 2 may be provided inside the moving body 110 or may be provided outside. If it is provided outside, the mobile body 110 may be provided with a communication means, and the mobile body 110 may be driven by receiving information transmitted from the outside by the communication means.

(Pathfinding device)
FIG. 2 is a block diagram illustrating the configuration of the route search device.
The route search device 1 includes a map storage unit 11, a passage condition storage unit 12, a route creation unit 13, and a route search unit 14. The path search device 1 may include an input unit 15, an output unit 16, a position acquisition unit 17, a communication unit 18, and an antenna 171. The input unit 15 is a touch panel, a microphone (voice input means), or the like. The output unit 16 is a display, a speaker (audio output means), or the like. The position acquisition unit 17 is a GPS or the like that acquires the current location. The communication unit 18 is a unit that communicates with an external device. The antenna 171 may also be used as the antenna 150 of the automatic traveling device 100 shown in FIG.

The map storage unit 11 stores 3D map information having point cloud data. Here, the point cloud data includes the latitude, longitude and ellipsoidal height acquired by MMS and RTK.

3A and 3B are schematic views showing an example of point cloud data.
FIG. 3A shows an example of the image G based on the point cloud data, and FIG. 3B shows an example of the elements of the point cloud data.
The point cloud data is data in which the latitude, longitude, altitude, and ellipsoidal height shown in FIG. 3B are associated with each point in the image shown in FIG. 3A. The point cloud data is associated with position information at a plurality of points in the captured image, such as roads (roadways, sidewalks), curbs, buildings, trees, street lights, center lines, and white lines. World coordinates may be associated with the point cloud data. The map storage unit 11 stores highly accurate point cloud data obtained by MMS and RTK.

The passage condition storage unit 12 stores the passage conditions related to the road on which the moving body 110 passes. In the present embodiment, the traffic conditions are traffic direction information indicating whether the moving body is passing on the right side or the left side of the road, and traffic indicating whether the moving body 110 is passing on the roadway or the sidewalk of the road. Includes classification information. In addition to the above-mentioned traffic direction information and traffic classification information, the traffic conditions may include other traffic conditions such as the size, weight, speed limit, and maximum load weight of the moving body 110.

The route creation unit 13 creates a route from the departure point to the destination based on the three-dimensional map information stored in the map storage unit 11 and the passage conditions stored in the passage condition storage unit 12. The route creation unit 13 creates a plurality of route candidates corresponding to the passage direction information from the point cloud data included in the three-dimensional map information.

The route search unit 14 searches for the optimum route from the plurality of routes created by the route creation unit 13. The route search unit 14 searches for at least the shortest route from the plurality of route candidates created by the route creation unit 13. The route search unit 14 may search for a route that matches preset conditions other than the shortest route. For example, the route with the earliest arrival time, the route with the lowest road toll, the route with the lowest travel cost of the mobile body 110, and the like may be searched.

As described above, the point cloud data (see FIG. 3) included in the 3D map information includes the latitude, longitude and ellipsoidal height acquired by MMS and RTK. Therefore, the route creation unit 13 can extract a route candidate corresponding to the passage condition of the moving body 110 from this point cloud data. For example, a plurality of route candidates corresponding to the traffic direction information such as whether the moving body 110 is traveling on the left side or the right side, and a plurality of routes corresponding to the traffic classification information such as whether the moving body 110 is traveling on a roadway or on a sidewalk. Can create route candidates.

In the route search device 1, the route creation unit 13 has a function of correcting the created basic route. That is, when the route creation unit 13 creates a basic route (basic route) based on the three-dimensional map information and the passage condition, and then assumes that the moving body 110 passes along the basic route, the moving body In order to avoid the possibility of interfering with an object while the 110 is traveling, the basic route is corrected.

In the 3D map information, not only roads and sidewalks but also objects such as buildings, utility poles, and trees are represented by point cloud data. If the route creation unit 13 assumes that the moving body 110 travels along the basic route and determines that the object represented by the point cloud data and the moving body 110 may interfere with each other, the route creating unit 13 does not interfere with the moving body 110. Correct the basic path (to avoid objects). As a result, when creating the route, it is possible to create a route (virtual orbit) that can prevent interference between the object indicated by the three-dimensional map information and the moving body 110.

Further, in the route search device 1, the route creation unit 13 has a function of excluding the created basic route from the candidates. That is, if the route creation unit 13 creates a basic route based on the three-dimensional map information and the passage conditions, and then assumes that the moving body 110 passes along the basic route, it is difficult for the moving body 110 to pass. If there is a place, the route is excluded from the candidates.

The road environment is represented by point cloud data in the 3D map information. Road environments include, for example, road shapes (road surface conditions, road widths, steps, slopes, ruts, ditches, gutters, gratings, manholes, etc.) and objects (building walls, guardrails, utility poles, signs and signal poles, railroad crossings, etc.). Etc.). When the route creation unit 13 determines that it is difficult for the mobile body 110 to pass due to this road environment, the route creation unit 13 does not include the basic route as a candidate for a plurality of routes. As a result, when creating the route, it is possible to exclude the route that is considered to be difficult for the mobile body 110 to pass based on the three-dimensional map information from the candidates.

The route creation unit 13 determines whether or not the moving body 110 is difficult to pass due to the road environment, and switches the judgment criteria according to the type of the moving body 110 and the traveling performance. For example, when there is a step in the road environment, the size of the step that is determined to be difficult to drive is switched between the case of the electric cart traveling on the sidewalk as the moving body 110 and the case of the vehicle traveling on the roadway. Further, the traveling limit height and the climbing ability of the step corresponding to the moving body 110 may be registered (set) in advance and used as a criterion for determining whether or not the passage is difficult. Further, it may be determined that the route crossing the railroad crossing is difficult to travel with the electric cart.

Further, the route creation unit 13 creates a route (virtual trajectory) including a curve of curvature according to the traveling characteristics of the moving body 110 from the point cloud data. The traveling characteristics of the moving body 110 are running performances according to the type of the moving body 110, and are, for example, maximum speed, acceleration characteristics, turning radius, size (vehicle width, total length, wheelbase, etc.), weight, and the like. .. Even if the route is the same, the traveling track differs depending on the traveling characteristics of the moving body 110.

The route creation unit 13 creates a continuous route from the starting point to the destination corresponding to the traffic direction information from the point cloud data. This makes it possible to obtain a route for the mobile body 110 that matches the characteristics and traffic conditions of the mobile body 110.

Further, the route creation unit 13 may create a continuous route (round-trip route) from the departure place to the departure place via the destination. The round-trip route is a circular route (so-called one-stroke route). By creating such a circular route, it is only necessary to create one route depending on the direction of the route (clockwise, counterclockwise), and by distinguishing the direction of rotation, both left-hand traffic and right-hand traffic. It can correspond to route creation.

FIG. 4 is a schematic diagram illustrating a route search.
In FIG. 4, candidate routes from the starting point to the target value are shown by lines. The arrow attached to the line indicates the direction of travel. In the present embodiment, both left-hand traffic and right-hand traffic routes can be listed as candidates according to the traffic direction information. In the example of the thick line route shown in FIG. 4, a route based on right-hand traffic such as an electric cart is shown. The route creation unit 13 creates a route candidate that matches the traffic conditions of the moving body 110, and creates a route that matches the traveling characteristics of the moving body 110.

The route creation unit 13 obtains a virtual trajectory indicating a node on the route, a distance between curves, and a traveling direction according to the traveling characteristics of the moving body 110 based on the point cloud data included in the three-dimensional map information. The virtual orbit refers to the orbit information used for the movement control of the moving body 110 in the route. The moving body 110 will travel along this virtual orbit.

Although FIG. 4 shows an example of a two-dimensional route search, the route is actually searched including information in the height direction based on the height of the ellipse. As a result, it is difficult to avoid interference with the object when the moving body 110 travels and to allow the moving body 110 to pass in consideration of the traveling space (three-dimensional space) of the moving body 110 based on the three-dimensional map information. It is possible to exclude various places, and the optimum route according to the characteristics of the moving body 110 is searched.

According to the route search device 1 described above, the point cloud data included in the three-dimensional map information includes the latitude, longitude and elliptical body height acquired by MMS and RTK. Therefore, from this point cloud data, It is possible to create a plurality of route candidates that match the passage conditions of the moving body 110 and search for the optimum route from among them.

The route search device 1 can be applied to a navigation system. That is, the navigation system guides the moving body 110 to travel along the route searched by the route search device 1. In this case, the input unit 15 specifies the starting point and the destination. When the current location is set as the departure location, it is not necessary to specify the departure location in the input unit 15, and the current location acquired by the position acquisition unit 17 is set as the departure location. Further, the passage condition may be input from the input unit 15.

Then, as described above, the route creation unit 13 creates a route candidate, and the route search unit 14 searches for the optimum route. When the navigation is started, the position acquisition unit 17 acquires the current location of the moving body 110, and the output unit 16 guides the moving body 110 so that the moving body 110 travels along the route.

(Operation control device)
FIG. 5 is a block diagram illustrating the configuration of the operation control device.
As shown in FIG. 5, the operation control device 2 includes a characteristic storage unit 21, a position acquisition unit 22, and a drive control unit 23. The operation control device 2 may include a mode setting unit 24, a sensor unit 25, a communication unit 26, an image acquisition unit 27, a laser detection unit 28, and an antenna 221. The antenna 221 may also be used as the antenna 150 of the automatic traveling device 100 shown in FIG. 1 or the antenna 171 shown in FIG. Further, the position acquisition unit 22 and the communication unit 26 may also be used as the position acquisition unit 17 and the communication unit 18 shown in FIG. Further, the image acquisition unit 27 and the laser detection unit 28 may also be used as the image acquisition unit 160 and the laser detection unit 170 shown in FIG.

The characteristic storage unit 21 stores the power characteristics of the moving body 110.
FIG. 6 is a diagram illustrating the power characteristics.
The power characteristics are the output line P when the drive source 121 is used as a motor, the traveling curve DMa of the moving body 110 on a flat ground, and the traveling curve DMb when there is an uphill gradient θ. The horizontal axis of the graph represents the number of revolutions of the motor or tire, and the vertical axis of the graph represents the output. The power characteristic is specified, for example, as a regression curve of a quadratic function. The characteristic storage unit 21 may store a plurality of power characteristics according to the type of the moving body 110.

The position acquisition unit 22 acquires information on the current location of the moving body 110. The position acquisition unit 22 acquires information on the current location of the mobile body 110 by GNSS such as GPS or RTK. Current location information includes latitude, longitude, altitude, and speed of travel. Altitude includes ellipsoidal height.

Based on the information on the current location of the moving body 110 acquired by the position acquisition unit 22, the drive control unit 23 makes the moving body 110 travel along a virtual trajectory based on the route obtained by the route search device 1. Controls at least the drive source 121 of. When the drive source 121 is a motor, the drive control unit 23 includes a motor controller. When the drive source 121 is an engine, the drive control unit 23 includes a fuel injection controller.

In the operation control device 2 according to the present embodiment, the drive control unit 23 obtains a vector from the latitude and longitude of the first point on the virtual path and the latitude and longitude of the second point on the virtual orbit. Then, when the moving body 110 is driven from the first point to the second point, the driving force required from the obtained vector is calculated based on the power characteristics, and the driving source 121 is set so as to obtain the calculated driving force. Control.

According to such an operation control device 2, when the moving body 110 is traveled along the virtual trajectory based on the route searched by the route search device 1 described above, it is necessary to travel from the highly accurate three-dimensional map information. Vector can be calculated.

The point cloud data included in this 3D map information includes the latitude, longitude and ellipsoidal height acquired by MMS and RTK. Therefore, from this point cloud data, it is possible to accurately obtain the vector from the first point to the second point on the virtual orbit of the moving body 110. Then, the moving body 110 can be made to travel along an accurate virtual orbit corresponding to the traffic direction information of whether the moving body 110 is traveling on the left side or on the right side.

Further, in the operation control device 2, the drive control unit 23 obtains a gradient from the altitude based on the ellipsoidal height at the first point and the altitude based on the ellipsoidal height at the second point. Then, when the moving body 110 is driven from the first point to the second point, the driving force required from the previously obtained gradient is calculated based on the power characteristics, and the driving source is obtained so as to obtain the calculated driving force. 121 is controlled.

That is, since the point cloud data includes the latitude, longitude, and ellipsoidal height at the points on the virtual orbit, it is possible to grasp an accurate gradient based on the ellipsoidal height from the first point to the second point. By obtaining this gradient in advance, the drive control unit 23 can obtain in advance the change in the power characteristics of the moving body 110 when traveling on this gradient. For example, when there is an uphill slope from the first point to the second point, the torque required to climb this slope is obtained in advance. Then, when the moving body 110 has passed the first point, the drive source 121 is controlled so as to generate a required torque obtained in advance.

As an example, a case of traveling from a flat ground to an uphill slope (gradient θ from a first point to a second point) will be described. Based on the power characteristics shown in FIG. 6, the output required when traveling on a flat ground is the output a. Next, the fact that there is an uphill gradient θ from the first point to the second point is obtained in advance from the three-dimensional map information. Therefore, it is obtained in advance that the output required to climb this gradient θ is the output b. The drive control unit 23 gives an instruction to the drive source 121 in order to generate an output a when traveling on a flat ground. Then, when the current location reaches the first point, an instruction is given to the drive source 121 in order to generate the output b obtained in advance.

For example, when the motor as the drive source 121 is PWM (Pulse Width Modulation) controlled, a PWM control signal is given to the motor so that the rotation speed at which the output a is obtained when traveling on a flat ground. Next, when the first point is reached, a PWM control signal is given to the motor so that the rotation speed at which the output b is obtained is reached. The duty ratio of the PWM control of the gradient θ with respect to the flat ground is b / a.

As described above, in the present embodiment, the gradient when the moving body 110 moves from the first point to the second point on the virtual orbit can be accurately obtained from the point cloud data, and the driving force is calculated based on this gradient. Can be controlled. Conventionally, the driving force is controlled so as to compensate for the decrease in speed when the speed decreases after starting to climb the gradient. However, in this case, once the speed changes, the speed change is likely to occur due to the operation for keeping the speed. In the present embodiment, the gradient can be accurately grasped in advance, and the highly accurate position detection enables the vehicle to start climbing the gradient and at the same time generate the necessary torque, so that the vehicle can travel with less change in speed.

The mode setting unit 24 sets any of a plurality of traveling modes of the moving body 110. Here, the traveling mode includes a normal traveling mode, a climbing traveling mode, a high-speed traveling mode, a low-speed traveling mode, and the like. When a plurality of traveling modes are set in the mode setting unit 24, the characteristic storage unit 21 stores a plurality of power characteristics corresponding to each of the plurality of traveling modes. Then, the drive control unit 23 calculates the drive force based on the power characteristics corresponding to the travel mode set by the mode setting unit 24. This makes it possible to control the driving force corresponding to each traveling mode.

When the operation control device 2 controls the traveling of the moving body 110, the correction may be performed based on the information acquired by at least one of the sensor unit 25, the image acquisition unit 27, and the laser detection unit 28. As a result, it is possible to perform control for avoiding abnormal approach and collision with an object, a person, or another traveling body that does not appear in the three-dimensional map information.

(Route search method)
FIG. 7 is a flowchart illustrating a route search method.
This route search method is performed by the route search device 1 described above.
First, the destination is acquired (step S101). For example, the destination information (address, facility name, etc.) input by the user is acquired using the input unit 15.

Next, the passage condition is acquired (step S102). The traffic direction information and the traffic division information, which are the traffic conditions, may be acquired from those stored in the traffic condition storage unit 12 in advance, or may be acquired from the input unit 15 by the user.

Next, a route candidate is created (step S103). Route candidates are selected by the route creation unit 13. The route creation unit 13 creates a route candidate from the departure point to the destination based on the three-dimensional map information stored in the map storage unit 11 and the traffic conditions acquired in the previous step S102.

At this time, the route creation unit 13 determines that there is a place where the moving body 110 is difficult to pass, assuming that the moving body 110 passes along the extracted route based on the three-dimensional map information and the passing conditions. If so, the process of excluding the route from the candidates is performed.

Next, the optimum route is searched (step S104). The route search is performed by the route search unit 14. The route search unit 14 searches for a route that matches a predetermined condition from a plurality of route candidates created by the route creation unit 13. For example, the shortest route is searched from a plurality of route candidates. To search for the shortest route, for example, Dijkstra's algorithm is used.

Next, a virtual orbit is created (step S105). The creation of the virtual orbit is performed by the route creation unit 13. The route creation unit 13 creates a virtual trajectory for traveling the moving body 110 along the optimum route searched from the candidates of the plurality of routes. In the virtual trajectory, information indicating the nodes on the route, the distance between curves, and the traveling direction (counterclockwise, clockwise) is created based on the point cloud data included in the 3D map information. A virtual orbit composed of straight lines and curves connecting nodes on the route is a regression equation (for example, the straight line is the least squares method) based on the coordinates of multiple nodes on the route (3D position information included in the 3D map information). ).

Next, the virtual orbit is corrected (step S106). The correction of the virtual orbit is performed by the route creation unit 13. The route creation unit 13 corrects the previously created virtual trajectory based on the three-dimensional map information and the passage conditions. That is, assuming that the moving body 110 passes along the created virtual orbit , it is determined that the object obtained from the three-dimensional map information and the moving body 110 traveling along the virtual orbit may interfere with each other. , If there is a possibility of interference, correct the virtual orbit to avoid this.

(Operation control method)
FIG. 8 is a flowchart illustrating an operation control method.
This operation control method is performed by the operation control device 2 described above.
First, the power characteristics are acquired (step S201). The power characteristic is a characteristic showing the relationship between the speed (rotational speed) and the output in the moving body 110. The power characteristic is specified by, for example, a regression curve of a quadratic function. The power characteristic may be acquired from what is stored in advance in the characteristic storage unit 21, or may be acquired from the outside (via a network, etc.) via the communication unit 18. Further, when the traveling mode is set, the power characteristics corresponding to the traveling mode are acquired.

Next, the virtual orbit is acquired (step S202). The virtual orbit acquired here is a virtual orbit based on the route searched by the path search device 1 and the route search method described above. The information of the searched route (virtual orbit) is output from the route search device 1 and taken into the operation control device 2 via the communication unit 18.

Next, it is determined whether or not to start traveling (automatic operation) of the moving body 110 (step S203). The start of automatic operation is instructed by the user. In the system in which the operation of the mobile body 110 is controlled by the command center, the start of automatic operation is instructed by the command center.

When the running is started, the current location is acquired (step S204). The acquisition of the current location is performed by the position acquisition unit 22. The position acquisition unit 22 acquires information on the current location of the mobile body 110 by GNSS such as GPS or RTK. Current location information includes latitude, longitude, altitude, and speed of travel. Altitude includes ellipsoidal height.

Next, a vector operation is performed (step S205). The vector operation is performed by the drive control unit 23. The drive control unit 23 obtains a vector from the latitude and longitude of the first point (here, the current location of the moving body 110) on the virtual orbit of the moving body 110 and the latitude and longitude of the second point on the virtual orbit. .. The second point is a position on the virtual orbit assumed after a predetermined time (for example, 1 second) from the current speed of the moving body 110.

Next, the gradient is calculated (step S206). The gradient calculation is performed by the drive control unit 23. The drive control unit 23 obtains a gradient from the altitude based on the elliptical height of the first point (here, the current location of the moving body 110) and the altitude based on the elliptical height of the second point.

Next, the driving force calculation is performed (step S207). The driving force calculation is performed by the driving control unit 23. The drive control unit 23 calculates the driving force required to move the moving body 110 according to the vector and the gradient from the previously acquired vector and the gradient. The driving force includes not only the torque of the driving source 121 but also the steering force for determining the direction of the moving body 110.

In steering driving force control, for example, when the drive source 121 is a motor, the left and right wheels are rotated by independent motors, and the steering is performed using the difference in rotation between the left and right wheels, it is obtained from the vector. The rotation speeds of the left and right motors obtained according to the direction and the gradient are obtained, and the PWM control signal (duty ratio) is obtained according to the rotation speeds. Further, for example, when steering is performed by steering, a PWM control signal (duty ratio) given to the steering motor is obtained.

Next, the deviation between the virtual orbit and the current location is corrected (step S208). The drive control unit 23 corrects the deviation between the virtual orbit and the current location. The driving force of the moving body 110 is controlled so as to travel along the virtual orbit. However, there is a gap between the actual position during running and the virtual track. In order to correct this deviation, the drive control unit 23 corrects the driving force.

The drive control unit 23 signals whether or not the current location (latitude, longitude, altitude) of the moving body 110 matches the set control point on the virtual orbit, and the traveling direction of the moving body 110 on the virtual orbit (the traveling direction (latitude, longitude, altitude). Signals (clockwise, counterclockwise), information indicating whether the current location of the moving object 110 is before or ahead of the control point on the virtual orbit, the current location (latitude, longitude, altitude) of the moving object 110, and the set virtual Acquires information on the distance in three-dimensional coordinates with the control point on the orbit. Then, using various information, corrections are made to shorten this distance.

In addition, the correction of the deviation may include the correction for avoiding danger and the like. For example, based on the information acquired by at least one of the sensor unit 25, the image acquisition unit 27, and the laser detection unit 28, abnormal approach or collision with an object, a person, a traveling body, or the like that does not appear in the three-dimensional map information is avoided. Therefore, an operation for correcting the traveling direction and speed of the moving body 110 is performed.

Next, the driving force is instructed (step S209). The driving force instruction is given by the driving control unit 23. The drive control unit 23 applies the driving force obtained by previously calculating and correcting the deviation to the driving mechanism 120 such as the driving source 121. The drive mechanism 120 drives at least the drive source 121 based on the drive force instructed by the drive control unit 23.

After that, it is determined whether or not there is the next point (step S210). If there is a next point (control point) on the virtual orbit, the process returns to step S204 and the subsequent processing is repeated. As a result, the moving body 110 automatically travels to the destination while correcting the deviation between the virtual trajectory and the current location.

The route search method and the operation control method described above may be realized by a program executed by a computer. The route search method is realized as a route search program, and the operation control method is realized as an operation control program. That is, the route search program causes the computer to execute each step shown in FIG. 7. Further, the operation control program causes the computer to execute each step shown in FIG. These programs may be stored on a computer-readable recording medium or may be distributed over a network.

As described above, according to the embodiment, a route search device 1 capable of searching for a route that meets the conditions required by the user based on highly accurate three-dimensional map information, and the search result are used. It becomes possible to provide the operation control device 2 and the automatic traveling device 100.

Although the present embodiment and its modifications have been described above, the present invention is not limited to these examples. For example, although the ellipsoidal height is used as altitude information, the geoid height may be used. In addition, those skilled in the art appropriately adding, deleting, or changing the design of each of the above-described embodiments or application examples thereof, and those in which the features of each embodiment are appropriately combined are also included in the present invention. As long as it has a gist, it is included in the scope of the present invention.

1 ... Route search device 2 ... Operation control device 11 ... Map storage unit 12 ... Traffic condition storage unit 13 ... Route creation unit 14 ... Route search unit 15 ... Input unit 16 ... Output unit 17 ... Position acquisition unit 18 ... Communication unit 21 ... Characteristic storage unit 22 ... Position acquisition unit 23 ... Drive control unit 24 ... Mode setting unit 25 ... Sensor unit 26 ... Communication unit 27 ... Image acquisition unit 28 ... Laser detection unit 100 ... Automatic traveling device 110 ... Moving body 120 ... Drive mechanism 121 ... Drive source 150 ... Antenna 160 ... Image acquisition unit 170 ... Laser detection unit 171 ... Antenna 200 ... Electronic reference point 221 ... Antenna 300 ... Artificial satellite G ... Image

Claims (9)

It is an operation control device that controls the movement of the moving body along a virtual trajectory based on the route obtained by the route search device that obtains the route from the starting point to the destination of the moving body.
A characteristic storage unit that stores the power characteristics of the moving body,
A position acquisition unit that acquires information on the current location of the moving object,
A drive control unit that controls at least a drive source of the moving body so that the moving body travels along the virtual trajectory based on the information on the current location of the moving body acquired by the position acquisition unit.
Equipped with
The path search device is
A map storage unit that stores 3D map information with point cloud data,
A traffic condition storage unit that stores traffic conditions related to the road on which the moving body passes, and a traffic condition storage unit.
A route creation unit that creates the route based on the three-dimensional map information and the traffic conditions,
A route search unit that searches for the optimum route from a plurality of the above created by the route creation unit, and a route search unit.
Equipped with
The point cloud data includes latitude, longitude and ellipsoidal height acquired by mobile mapping system and real-time kinematics.
The traffic condition includes traffic direction information indicating whether the moving body travels on the right side or the left side of the road.
The route creation unit creates a plurality of route candidates corresponding to the passage direction information from the point cloud data, and creates a plurality of route candidates.
The route search unit searches for at least the shortest route from the plurality of route candidates created by the route creation unit.
The drive control unit obtains a vector from the latitude and longitude of the first point on the virtual orbit and the latitude and longitude of the second point on the virtual orbit, and heads from the first point to the second point. An operation control device that calculates a driving force required from the vector when traveling the moving body based on the power characteristics, and controls the driving source so as to obtain the calculated driving force. The traffic condition includes traffic classification information indicating whether the moving body travels on either the roadway or the sidewalk of the road.
The operation control device according to claim 1, wherein the route creation unit creates candidates for the plurality of routes corresponding to both the conditions of the passage direction information and the passage division information from the point cloud data. When the route creation unit determines that the object represented by the point cloud data and the moving body may interfere with each other when it is assumed that the moving body passes along the created basic route. The operation control device according to claim 1 or 2, wherein the basic route is corrected so as not to interfere with each other. When the route creating unit determines that the moving body is difficult to pass from the road environment represented by the point cloud data when it is assumed that the moving body passes along the created basic route, the said The operation control device according to claim 1 or 2, wherein the basic route is not included in the candidates for the plurality of routes. The operation control device according to claim 1 or 2, wherein the route creating unit creates a virtual trajectory including a curve of curvature according to the traveling characteristics of the moving body from the point cloud data. The first or second aspect of the present invention, wherein the route creating unit creates a continuous route from the starting point to the starting point via the destination in response to the passage direction information from the point cloud data. Operation control device. The drive control unit obtains a gradient from the altitude based on the ellipsoidal height at the first point and the altitude based on the ellipsoidal height at the second point, and moves the moving body from the first point toward the second point. The driving force required from the gradient at the time of traveling is calculated based on the power characteristic, and the driving source is controlled so as to obtain the calculated driving force, according to any one of claims 1 to 6. The described operation control device. Further, a mode setting unit for setting any of a plurality of traveling modes of the moving body is provided.
The characteristic storage unit stores a plurality of the power characteristics corresponding to each of the plurality of traveling modes.
The operation control device according to any one of claims 1 to 7, wherein the drive control unit calculates the drive force based on the power characteristics corresponding to the travel mode set by the mode setting unit. .. The operation control device according to any one of claims 1 to 8.
A drive mechanism for traveling a moving body by a drive source controlled by the operation control device, and
Automatic traveling device equipped with.

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