JP2018097528A - Unmanned mobile body and control method of unmanned mobile body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned moving body and a control method of an unmanned moving body capable of autonomously traveling on a paved road at high speed not only in fine weather but also in rain and snow while suppressing an increase in equipment cost. SOLUTION: The vehicle includes a laser laser range finder 31, a self-position measuring unit, a vehicle control computer 10 for processing traveling direction information and self-position information, and the vehicle control computer 10 has a travelable area G and a non-travelable area. A local map LM including NG and unmeasured area No. is created, the travelable area G is extracted based on the local map LM, and the current global map GM is created. The reference global map RGM is updated by applying the map LM, and in the paved road mode, the past reference global map RGM corresponding to the current global map GM is read out at the update stage of the current global map GM based on the current local map LM. The part T corresponding to the current local map is cut out and combined with the current global map GM. [Selection diagram] Fig. 3

Description

  The present invention relates to an unmanned moving body that can move autonomously, and more particularly to an unmanned moving body that can move autonomously at high speed not only on paved roads but also on unpaved roads and a method for controlling the unmanned moving body.

  Conventionally, as an unmanned moving body capable of autonomous movement as described above, for example, there is a mobile robot described in Patent Document 1.

  This mobile robot has a laser range finder (laser sensor) that scans a laser beam to acquire profile information on the front side, a self-position measuring unit such as a GPS that obtains the self-position, and a front side obtained by the laser range finder. A processing unit is provided in which the profile information is input and the self-position information obtained by the self-position measuring unit is input.

  The processing unit includes an information analysis unit that analyzes the profile information of the front side acquired by the laser range finder, and a local map that includes a travelable region, a non-travelable region, and an unmeasured region based on the analysis result of the information analysis unit. Based on the local map creating means for creating the local map and the local map created by the local map creating means, a continuous travelable area is extracted from the self-position obtained by the self-position measuring unit, and a travelable area map is created. A travelable area map creation means is provided.

  Further, the processing unit generates a travel route based on the travelable area map created by the travelable area map creation means, and travel speed based on the travel route generated by the travel route generation means. Is provided with a traveling speed setting means.

  The mobile robot operates a steering actuator and a brake / accelerator actuator via a motor driver, which is a travel mechanism, according to the travel route and travel speed in the travelable area map.

JP2012-159954

  However, in the above-described autonomously movable mobile robot, when traveling on a pavement where rainwater and other liquids are accumulated over a wide area on the road surface, a laser emitted from the laser range finder toward the front side to obtain profile information There is a possibility that the light is regularly reflected on the road surface in a mirror state with the accumulated liquid, and the profile information on the front side cannot be acquired.

  Therefore, the unmeasured area on the front side increases, and when setting the traveling speed with the traveling speed setting means of the processing unit, it is set to a traveling speed as low as an unpaved road or rough terrain even though it is a paved road. For example, when it rains or snows, there is a problem that it is not possible to travel on a paved road at high speed.

  At this time, in order to compensate for this disadvantage, when using a stereo camera or using a laser range finder having a different laser beam scanning direction, there is a problem that the equipment cost increases, which is not preferable. Solving the problem has been a conventional problem.

  The present invention has been made by paying attention to the above-described conventional problems, and it is possible to autonomously travel on paved roads and unpaved roads at high speeds in fine weather, as well as when it is raining or snowing. However, it is an object of the present invention to provide an unmanned moving body and a method for controlling the unmanned moving body that can autonomously travel on a paved road without using a stereo camera or a laser range finder in which the scanning direction of laser light is different. Yes.

  A first aspect of the present invention is an unmanned moving body that autonomously travels, a travel mechanism for traveling autonomously, a laser sensor that scans a laser beam to acquire information on a traveling direction, and a self A self-position measuring unit that acquires position information; and a processing unit to which the information on the traveling direction and the self-position information are input. The processing unit includes a travelable area and a travel impossible based on the travel direction information. A local map creating means for sequentially creating a local map including a region and an unmeasured region, and a current travelable region map by extracting a continuous travelable region from the self-location of the self-location information based on the local map Corresponds to the local map created by the current global map creating means for creating or updating a global map, and the local map creating means in a road map on which roads are posted (a map obtained by digitizing a commercially available road map) A reference global map creating means for creating or updating a reference global map including a travelable area other than a road by applying the local map to a region to be generated, and a current global map created or updated by the current global map creating means A travel route generating means for generating a travel route based on the travel route setting means for setting a travel speed based on the travel route generated by the travel route generating means and transmitting the travel speed to the travel mechanism. The current global map creation means of the section is configured to create or update the current global map based on the current local map, and the travelable area created or updated by the reference global map creation means is accumulated A reference global map corresponding to the current global map among the past reference global maps is read, and this Cut out portion corresponding to the local map at the current time from the reference global map for that issued viewed is configured to create or update a global map now be synthesized to the current global map.

  In addition, the unmanned mobile body according to the second aspect of the present invention, in the stage of creating or updating the current global map by the current global map creating means, when the paved road mode running on the paved road is selected, The reference global map corresponding to the current global map among the past reference global maps in which the travelable area created or updated by the reference global map creating means is stored is read, and the read reference global When a current global map is created or updated by cutting out a part corresponding to the current local map from the map and synthesizing it to the current global map, and when an unpaved road mode running on an unpaved road is selected The past reference global map in which the travelable area created or updated by the reference global map creating means is accumulated Currently not issued only has a configuration to create or update the global map.

  Furthermore, in the unmanned mobile body according to the third aspect of the present invention, the number of easy travel determinations and the number of easy travel determinations are detected each time an easily travelable area and an obstacle are detected in the local map created by the local map creating means. The number of obstacle detections is counted in the reference global map, and the reference global map creating means applies the local map to a portion corresponding to the local map created by the local map creating means in the road map. In the step of updating the reference global map including the travelable area other than the above, if the number of easy travel determinations counted in the reference global map is larger than the number of obstacle detection times, the obstacle is a moving obstacle. If the local map is determined to be a travelable road and the number of easy travel determinations is smaller than the number of obstacle detections, It is configured to determine the obstacle chromatic within.

  On the other hand, a fourth aspect of the present invention is a method for controlling an unmanned moving body that autonomously travels, and acquires information on the traveling direction of the unmanned moving body by scanning a laser beam, Obtaining location information, sequentially creating a local map including roads and travelable areas other than roads based on the traveling direction information and self-location information, and then sequentially creating the unmanned moving body while traveling Based on the local map, a continuous travelable area is extracted from the self-location of the unmanned mobile body to create a current global map that is a travelable area map, and based on the current global map, continuous from the self-position. Corresponds to the local map in a road map (a map obtained by digitizing a commercially available road map) in a method for controlling an unmanned mobile object that generates a travel route and sets a travel speed. Applying the local map to a part to create a reference global map including a travelable area other than a road, and subsequently applying the local map created sequentially to the corresponding part of the reference global map In the step of sequentially updating the reference global map in which the travelable areas other than the roads are accumulated and creating or updating the current global map based on the current local map, A reference global map corresponding to the current global map of the accumulated past reference global maps is read out, and a part corresponding to the local map at the present time is cut out from the read reference global map. It is configured to create or update the current global map by combining it with the global map.

  The unmanned mobile control method according to the fifth aspect of the present invention may be created or updated when a paved road mode for traveling on a paved road is selected in the step of creating or updating the current global map. The reference global map corresponding to the current global map is read out of the past reference global maps in which the travelable areas thus stored are accumulated, and the current local map is equivalent to the current local map from the read reference global map. The current global map is created or updated by cutting out the part and combining it with the current global map, and when the unpaved road mode for running on an unpaved road is selected, the created or updated travelable area is accumulated. The current global map is created or updated without reading the past reference global map.

  Furthermore, the control method of the unmanned mobile body according to the sixth aspect of the present invention is easy to travel every time an easily travelable area and an obstacle are detected in the local map created by the local map creating means. The number of determinations and the number of obstacle detections are counted on the reference global map, and the reference global map including the travelable area other than the road is updated by applying the local map to a portion corresponding to the local map in the road map. In the step, if the number of easy travel determinations counted in the reference global map is greater than the number of obstacle detections, it is determined that the obstacle is a moving obstacle and the local map is a travelable road. When the number of easy travel determinations is smaller than the number of obstacle detections, the local map is determined to have an obstacle.

  The unmanned moving body and the method for controlling the unmanned moving body according to the present invention are used in an environment where there is a road, but any road among paved roads, unpaved roads, and roads where road shoulders are not sufficiently provided. It can be applied even in a certain environment.

  In the unmanned moving body and the control method of the unmanned moving body according to the present invention, the laser sensor that acquires information on the unevenness of the topography in the traveling direction of the unmanned moving body may be, for example, a horizontal line scan type single-axis laser range finder. That's enough.

  And as a self-position measuring part for obtaining self-position information (including a posture angle and direction in addition to the self-position) necessary for creating a travel route, for example, GPS or IMU (Inertial Measurement Device) Or dead reckoning can be used.

  When GPS is used as the self-position measuring unit, the GPS value varies depending on radio wave conditions. Therefore, in the step of creating or updating the current global map based on the current local map by the current global map creating means, when extracting the portion corresponding to the current local map of the read reference global map, It is desirable to cut out based on the current position information obtained by the position measurement unit.

  In the unmanned mobile object according to the first aspect of the present invention and the unmanned mobile object control method according to the fourth aspect, for example, when a paved road mode for traveling on a paved road is selected by the processing unit, In the step of creating or updating the current global map based on the map, first, a past reference global map in which the travelable area corresponding to the current global map is accumulated is read.

  Then, a part corresponding to the current local map is cut out from the read reference global map and synthesized with the current global map to create or update the current global map.

Therefore, based on the updated current global map from which the travelable area is extracted, it is possible to generate a continuous travel route from its own position and set the travel speed, so that the laser light is regularly reflected on the paved road surface and the traveling direction Even when it is raining or snowing when it is not possible to obtain this information, it is possible to achieve a very excellent effect of being able to autonomously travel on a paved road at high speed.
At this time, it is not necessary to use a stereo camera or to use a laser sensor having a different scanning direction of the laser beam, so that an increase in equipment cost can be suppressed.

  In the unmanned moving body according to the second aspect of the present invention and the unmanned moving body control method according to the fifth aspect, for example, when a paved road mode for traveling on a paved road is selected, When the same effect as the control method of the unmanned mobile body according to the first aspect and the unmanned mobile body according to the fourth aspect is obtained, for example, when the unpaved road mode for traveling on the unpaved road is selected by the processing unit. Because, based on the current global map created or updated without reading the past reference global map in which the travelable area is accumulated, it is possible to generate a continuous travel route from its own position and set the travel speed The processing time required for generating the travel route and setting the travel speed can be reduced.

  Furthermore, in the control method for the unmanned mobile body according to the third aspect of the present invention and the unmanned mobile body according to the sixth aspect, when the reference global map including the travelable area other than the road is updated, the unevenness of the road surface is increased. The presence / absence of a fixed obstacle in the local map is determined based on the magnitude of the ease-of-run judgment and the number of obstacle detections based on the size. It has a very good effect that it can be removed from the global map.

BRIEF DESCRIPTION OF THE DRAWINGS It is schematic structure explanatory drawing of the autonomous vehicle as an unmanned mobile body by one Example of this invention. It is a connection block diagram of the control apparatus of the unmanned mobile body in FIG. It is an operation | movement flowchart in the unpaved road mode which drive | works the place other than a paved road of the control method of the unmanned mobile body in FIG. It is an operation | movement flowchart in the paved road mode of the control method of the unmanned mobile body in FIG. It is an operation | movement flowchart at the time of creating and updating the reference global map of the control method of the unmanned mobile body in FIG. FIG. 6 is a local map (a) created in the local map creation step and a reference global map (b) created in the reference global map creation step in the operation flowchart of FIG. 5. The reference global map (a) read in the step of reading the past reference global map in which the travelable area is accumulated in the operation flowchart of FIG. 4 and the rainy weather created in the local map creation step in the operation flowchart of FIG. It is a local map (b). It is the elements on larger scale of the present global map which the part cut out from the read-out global map for reference of FIG.

Embodiments of the present invention will be described below with reference to the drawings.
1 to 8 show an unmanned moving body and a method for controlling the unmanned moving body according to an embodiment of the present invention.

  In this embodiment, the unmanned moving body is an autonomous traveling vehicle A that can travel autonomously. As shown in FIGS. 1 and 2, the vehicle control computer (processing unit) 10 and the vehicle control computer 10 It is controlled by an autonomous traveling computer (processing unit) 30 connected via the LAN 11.

  A wireless LAN 13 connected to the antenna 12 is connected to the input side of the vehicle control computer 10 via an input / output circuit 15, a GPS 16 as a self-position measuring unit, a vertical gyro 17 for attitude control, A vehicle speed pulse 18 for measuring the moving speed is connected via a serial line.

  Further, a steering actuator 22 and a brake / accelerator actuator 23 are connected to the output side of the vehicle control computer 10 via a motor driver 21, and the vehicle is driven by the motor driver 21, actuators 22, 23 and wheels 24. The mechanism 20 is configured.

  The vehicle control computer 10 has a function of transmitting various information acquired by the GPS 16 and the vertical gyro 17 to a command station (not shown) via the LAN 11, the wireless LAN 13, and the antenna 12, and from this command station in an emergency or the like. The steering actuator 22 and the brake / accelerator actuator 23 are activated and stopped via the motor driver 21 based on a command transmitted to the vehicle.

  On the other hand, a laser range finder (laser sensor) 31 suitable for acquisition of short-range information on topographic unevenness in the traveling direction is connected to the input side of the autonomous running computer 30. The distance measurement information acquired by the laser range finder 31 is transmitted to the vehicle control computer 10 via the.

  In this case, the vehicle control computer 10 mounted on the autonomous vehicle A determines the travelable area, the non-travelable area, and the unmeasured area based on the distance measurement information in the traveling direction acquired by the laser range finder 31. An information analysis unit 10A that performs a local map creation unit 10B that creates a local map including a travelable region, a travel impossible region, and an unmeasured region based on the determination result of the information analysis unit 10A, and the local map creation unit Based on the local map created in 10B, the current global map is created or updated by extracting a continuous travelable area from the self-position acquired by the self-position measuring unit such as the GPS 16 and the current global map that is the travelable area map A map creation means 10C is provided.

Here, the vehicle control computer 10 includes a reference global map creation means 10D.
As shown in FIG. 6 (a), the reference global map creation means 10D acquires distance measurement information in the traveling direction, and the local map creation means 10B uses the travelable area G, the travel impossible area NG, and the unmeasured area No Each time a local map LM including is included, as shown in FIG. 6 (b), the current local map LM is applied to the corresponding part of the road map RM to include a travelable area G other than the road such as a sidewalk or a vacant land. The reference global map RGM1 is created, and the reference global map RGM1 including the travelable area G is sequentially updated.

  At this time, each time the local map LM is created by the local map creating means 10B, determination of ease of travel (detection of a travelable area) based on the size of the unevenness of the road surface, detection of an obstacle exceeding a predetermined size, Each time a travelable area is detected in the local map LM, the number of easy travel determinations is counted in each grid (display area) of the reference global map RGM1, and the local map LM has an obstacle exceeding a predetermined size. Is detected in each grid of the reference global map RGM1.

  Then, the reference global map creating means 10D compares the number of easy travel determinations and the number of obstacle detections in each grid at the stage of updating the reference global map RGM1 including the travelable area G other than the road, and makes the easy travel determination. When the number of times is larger than the number of obstacle detection times, it is determined that the obstacle is a moving obstacle and the local map LM is a travelable road, and when the number of easy travel judgment times is smaller than the number of obstacle detection times, It is determined that there is an obstacle in the local map LM.

  Here, when a paved road mode for traveling on a paved road is selected based on the determination result of the information analysis unit 10A of the vehicle control computer 10, the current global map creating means 10C displays the current local map LM. In the step of creating or updating the current global map based on the current global map of the past reference global map RGM1 created by the reference global map creating means 10D, the travelable area shown in FIG. The reference global map RGM in which G (region divided by a two-dot chain line) is accumulated is read. Then, the current global map GM partially shown in FIG. 8 is created or updated by cutting out the portion T corresponding to the current local map LM from the read reference global map RGM and synthesizing it with the current global map. .

Further, when an unpaved road mode for traveling on an unpaved road is selected based on the determination result of the information analysis unit 10A of the vehicle control computer 10, the current local map LM at the current time is generated by the global map creating means 10C. The current global map GM is created without reading the past reference global map RGM1 created or updated by the reference global map creation means 10D in order to ensure safety in the stage of creating or updating the current global map based on Or update. The reason why the past reference global map RGM1 is not read out in this unpaved road mode is that there is no maintenance of the unpaved road unlike the paved road, so there is a risk in using the past reference global map RGM1. Because it accompanies.
The paved road mode and the unpaved road mode may be selected based on the determination result of the information analysis unit 10A of the vehicle control computer 10 as described above or registered in advance in the road map RM. It may be performed based on information on paved roads such as national roads and prefectural roads (written) and information on other unpaved roads, or may be mode selection by a remote pilot at a command center.

  The vehicle control computer 10 generates a travel route generation unit 10G that generates a travel route based on the current global map GM created or updated by the current global map creation unit 10C, and is generated by the travel route generation unit 10G. On the basis of the travel route, the travel speed setting means 10H for setting the travel speed is provided, and the vehicle is steered via the motor driver 21 which is a travel mechanism according to the travel route and the travel speed in the created travelable area map. Actuator 22 and brake / accelerator actuator 23 are actuated.

  Therefore, the control procedure by the vehicle control computer 10 will be specifically described. First, in the case of an unpaved road mode that travels on a place other than a paved road such as an unpaved road, as shown in FIG. 3, the unpaved road is determined based on the determination result of the information analysis unit 10A of the vehicle control computer 10 in step S1. The road mode is selected, and in step S2, information on the traveling direction of the autonomous vehicle A (terrain information) is acquired by the laser sensor 31, and in step S3, self-position information is acquired by a self-position measuring unit such as the GPS 16.

  Next, in step S4, the local map creation means 10B creates a local map LM including a road, a travelable area other than the road, a travel impossible area, and an unmeasured area based on the traveling direction information and the self-position information (attitude angle). .

  Subsequently, on the basis of the local map that is sequentially generated during traveling, a continuous travelable area is extracted from the self-position obtained by the self-position measuring unit such as GPS 16 in step S5, and the current global map creating means 10C travels. The current global map GM, which is a possible area map, is created or updated, and the process proceeds to step S6 where the autonomous vehicle A stops traveling and steps S2 to S5 are repeated until the update of the current global map GM is completed.

  Thus, in the case of the unpaved road mode, the reference global map creation means 10D is used to ensure safety at the stage of creating or updating the current global map GM, which is the travelable area map, by the current global map creation means 10C. The current global map GM is created or updated without reading the past reference global map RGM1 created or updated in (1).

  The vehicle control computer 10 creates a travel route that is continuous from its own position by the travel route generation means 10G based on the current global map GM obtained as described above, and travels based on the travel route. The traveling speed is set by the speed setting means 10H, and the steering actuator 22 and the brake / accelerator actuator 23 are operated through the motor driver 21 as a traveling mechanism in accordance with the traveling route and traveling speed.

  On the other hand, in the case of the paved road mode traveling on the paved road, as shown in FIG. 4, the paved road mode is selected based on the determination result of the information analysis unit 10A of the vehicle control computer 10 in step S11, and in step S12. Information on the traveling direction of the autonomous vehicle A (terrain information) is acquired by the laser sensor 31, and self-position information is acquired by a self-position measuring unit such as the GPS 16 in step S13.

  Next, in step S14, the local map creation means 10B creates a local map LM including a road, a travelable area other than the road, a travel impossible area, and an unmeasured area based on the traveling direction information and the self-position information (attitude angle). .

  Subsequently, based on the local map LM that is sequentially generated during traveling, a current global map GM that is a travelable area map is created by the current global map creating means 10C in the same manner as in the unpaved road mode in step S15. To do.

  In the meantime, as shown in FIG. 5, following the sequential acquisition of the distance measurement information and the self-position information in the traveling direction in steps S22 and S23, in step S24, as shown in FIG. Each time the creation unit 10B creates the local map LM including the runnable region G, the non-runnable region NG, and the unmeasured region No, in step S25, as shown in FIG. 6B, the reference global map creation unit 10D By applying the current local map LM to the part corresponding to the local map in the road map RM on which the road is posted, the reference global map RGM1 including the travelable area G other than the road is created, and the locally created local map By applying the map LM to the corresponding part of the reference global map RGM1, the reference global where the driving range G other than the road and the road is accumulated. In order to carry out the updating of the map RGM1.

  When the reference global map RGM1 including the travelable area G other than the road is updated, the reference global map creation unit 10D compares the number of easy travel determinations and the number of obstacle detections in each grid of the reference global map RGM1. If the number of easy travel determinations is greater than the number of obstacle detections, it is determined that the obstacle is a moving obstacle and the local map LM is a travelable road, and the number of easy travel determinations is greater than the number of obstacle detections. If it is smaller, it is determined that there is an obstacle in the local map LM. Thereby, a moving obstacle such as an automobile traveling on the paved road can be removed from the reference global map RGM1.

  Next, as shown in FIG. 4, in the step of creating or updating the current global map based on the current local map LM in step S15, in step S16, as shown in FIG. In the map RGM1, the reference global map RGM in which the travelable area G corresponding to the current global map is accumulated is read, and in step S17, the current local map from the read reference global map RGM, for example, FIG. As shown in FIG. 8 in part, by cutting out a portion T corresponding to the local map LM with poor visibility where the road indicated by the phantom line cannot be recognized in 7 (b) and overwriting the current global map in step S18. The current global map GM is created or updated, and the process proceeds to step S19 where the autonomous vehicle A stops traveling. To repeat the step S12~S18 until the update of the global map GM now finished.

  Then, the vehicle control computer 10 creates a travel route continuous from its own position by the travel route generation means 10G based on the current global map GM in the paved road mode obtained as described above. Based on the route, the traveling speed is set by the traveling speed setting means 10H, and the steering actuator 22 and the brake / accelerator actuator 23 are operated via the motor driver 21 as a traveling mechanism according to the traveling route and the traveling speed.

  Thus, in the above-described embodiment, the reference global map RGM created using the road map RM in the paved road mode in which the vehicle travels on the paved road, that is, the past reference global in which the travelable area G is accumulated. The current global map GM is created or updated based on the map RGM.

  That is, based on the updated current global map GM from which the travelable area G has been extracted, the travel route indicated by the white arrow in FIG. 8 continuous from the autonomous vehicle A can be created and the travel speed can be set. Even when it is raining or snowing when the laser light from the laser range finder 31 is regularly reflected on the road surface and information on the traveling direction cannot be obtained, a stereo camera or a laser range finder with a different scanning direction of the laser light. It is possible to autonomously travel on a paved road without using the.

  Further, in the above-described embodiment, when the unpaved road mode is selected, the reference global map creating means is used in the stage of creating or updating the current global map GM that is the travelable area map by the current global map creating means 10C. Without reading the past reference global map RGM1 created or updated in 10D, based on the current global map GM created or updated by the current global map creation means 10C, a continuous travel route is generated from its own position. Since the travel speed can be set, the processing time required for generating the travel route and setting the travel speed can be reduced.

  Furthermore, in the above-described embodiment, when updating the reference global map RGM including the travelable area G other than the road, the number of easy travel determinations and obstacles as map information counted in each grid of the reference global map RGM1 Since the presence or absence of a fixed obstacle in the local map LM is determined based on the magnitude of the number of detected objects, a moving obstacle such as an automobile can be removed from the reference global map.

  In the above-described embodiments, the case where the unmanned moving body is the autonomous traveling vehicle A has been described. However, the present invention is not limited thereto, and the unmanned moving body may be a robot that autonomously walks.

  The configuration of the unmanned mobile body and the control method of the unmanned mobile body according to the present invention is not limited to the above-described embodiments. As another configuration, for example, a plurality of unmanned mobile bodies share a database, and each unmanned mobile body The reference global map created by the reference global map creating means in the control unit of the moving body may be stored and accumulated in a database and used as big data.

10 Vehicle control computer (processor)
10A Information analysis unit (computer for vehicle control)
10B Local map creation means (vehicle control computer)
10C Global map creation means (vehicle control computer)
10D reference global map creation means (vehicle control computer)
10G travel route generation means (vehicle control computer)
10H Traveling speed setting means (vehicle control computer)
16 GPS (Self-position measurement unit)
17 Vertical Gyro (Self-position measurement unit)
18 Vehicle speed pulse (self-position measuring part)
21 Motor driver (traveling mechanism)
22 Steering actuator (traveling mechanism)
23 Brake / Accelerator actuator (traveling mechanism)
24 wheels (traveling mechanism)
31 Laser range finder (laser sensor)
A Autonomous vehicle (unmanned vehicle)
G Travelable area GM Current global map LM Local map NG Unreachable area No Unmeasured area RGM, RGM1 Reference global map RM Road map T Current local map equivalent part

Claims (6)

An unmanned mobile that travels autonomously,
A traveling mechanism for autonomously traveling;
A laser sensor that scans a laser beam to acquire information on a traveling direction;
A self-position measuring unit that obtains self-position information;
A processing unit for inputting the traveling direction information and the self-location information;
In the processing unit, a local map creating means for sequentially creating a local map including a travelable area, a travel impossible area and an unmeasured area based on the information of the traveling direction;
Based on the local map, a current global map creating means for creating or updating a current global map that is a travelable area map by extracting a continuous travelable area from the self position of the self position information;
A reference global for creating or updating a reference global map including a travelable area other than a road by applying the local map to a portion corresponding to the local map created by the local map creating means in a road map on which a road is posted Map creation means;
A travel route generating means for generating a travel route based on the current global map created or updated by the current global map creating means;
Travel speed setting means for setting a travel speed based on the travel route generated by the travel route generating means and transmitting the travel speed to the travel mechanism;
The current global map creating means of the processing unit accumulates the travelable area created or updated by the reference global map creating means at the stage of creating or updating the current global map based on the current local map A reference global map corresponding to the current global map is read out of the past reference global maps, and a part corresponding to the local map at the present time is cut out from the read reference global map. An unmanned vehicle that creates or updates a current global map by combining it with a map. In the step of creating or updating the current global map by the current global map creating means,
When the paved road mode for traveling on the paved road is selected, the current global map of the past reference global maps in which the travelable area created or updated by the reference global map creating means is accumulated is stored. A corresponding global map for reference is read out, and a current global map is created or updated by cutting out a portion corresponding to the current local map from the read reference global map and combining it with the current global map,
When the unpaved road mode is selected to run on an unpaved road, the current global map is read without reading the past reference global map in which the travelable area created or updated by the reference global map creating means is accumulated. The unmanned mobile body according to claim 1, which creates or updates a map. Each time the easy-to-run area and obstacles are detected in the local map created by the local map creating means, the number of easy driving determinations and the number of obstacle detections are counted in the reference global map,
The reference global map creating means updates the reference global map including a travelable area other than a road by applying the local map to a portion of the road map corresponding to the local map created by the local map creating means. In the stage
When the number of easy travel times counted in the reference global map is greater than the number of obstacle detection times, it is determined that the obstacle is a moving obstacle and the local map is a travelable road, The unmanned mobile body according to claim 1, wherein when the number of easy travel determinations is smaller than the number of obstacle detections, it is determined that there is an obstacle in the local map. A method for controlling an unmanned mobile object that autonomously travels,
Scanning the laser beam to obtain information on the traveling direction of the unmanned moving body, obtaining self-position information of the unmanned moving body, and based on the traveling direction information and self-position information, Create a local map sequentially including the driving range,
Next, based on the local map sequentially generated during the travel of the unmanned mobile body, a continuous travelable area is extracted from the self-position of the unmanned mobile body to create a current global map that is a travelable area map. ,
In the control method of the unmanned moving body that generates a continuous travel route from the self-position and sets the travel speed based on the current global map,
Next, the local map is sequentially generated by applying the local map to a portion corresponding to the local map in the road map on which the road is posted and creating a reference global map including a travelable area other than the road. Update the reference global map in which the roads and non-roadable areas are accumulated by applying to the corresponding parts of the reference global map,
In the step of creating or updating the current global map based on the current local map, the reference map corresponding to the current global map among the past reference global maps in which the created or updated travelable area is accumulated A method for controlling an unmanned moving object that reads out a global map and creates or updates a current global map by cutting out a portion corresponding to the current local map from the read-out global map for reference and synthesizing it into the current global map . In creating or updating the current global map,
When the paved road mode for traveling on the paved road is selected, the reference global map corresponding to the current global map is read out of the past reference global maps in which the created or updated travelable area is accumulated. In addition, the current global map is created or updated by cutting out a portion corresponding to the current local map from the read reference global map and synthesizing the current global map,
When the unpaved road mode for traveling on an unpaved road is selected, the current global map is created or updated without reading the past reference global map in which the created or updated travelable area is accumulated. 5. A method for controlling an unmanned mobile object according to 4. Counting the number of easy travel determinations and the number of obstacle detections in the global map for reference each time an easily travelable area and obstacles are detected in the local map created by the local map creating means,
In the step of updating the reference global map including the travelable area other than the road by applying the local map to a portion corresponding to the local map in the road map,
If the number of easy travel determinations counted in the reference global map is greater than the number of obstacle detections, it is determined that the obstacle is a moving obstacle and the local map is a travelable road, and the travel The method for controlling an unmanned mobile body according to claim 4 or 5, wherein when the number of easy determinations is smaller than the number of obstacle detections, the local map determines that there is an obstacle.