JP5568385B2 - Driving route planning method for unmanned vehicles - Google Patents

Description

  The present invention relates to a travel route planning method for an unmanned mobile vehicle that is used to plan the travel route of an unmanned mobile vehicle that travels by determining a travelable region from forward environmental data acquired by environment recognition means. It is.

  Conventionally, as a travel route planning method for an unmanned mobile vehicle, for example, as described in Patent Document 1, a forward travelable region is extracted by an imaging device mounted on the unmanned mobile vehicle, and the region is set in a traveling direction. In some cases, the vehicle is divided, and the center of gravity of each divided region is connected by an approximate curve, which is used as a travel route. The unmanned mobile vehicle is controlled for steering and speed so as to travel along the travel route.

JP 2002-132343 A

  However, in the conventional route planning method for an unmanned mobile vehicle as described above, if the road width has locally changed due to a parked vehicle or the like, the width of the travelable region also changes accordingly, The travel route will be greatly bent. As a result, there is a problem that the traveling speed cannot be increased because the unmanned mobile vehicle meanders, and it has been a problem to solve such a problem.

  The present invention has been made paying attention to the above-mentioned conventional problems, and in an unmanned mobile vehicle that travels by determining the travelable area from the environmental data in front obtained by the environment recognition means, the width of the travelable area It is an object of the present invention to provide a travel route planning method for an unmanned mobile vehicle that can continue high-speed travel without causing the unmanned mobile vehicle to meander even when the vehicle locally changes.

The travel route planning method for an unmanned mobile vehicle of the present invention can be recognized by the environment recognition means when planning the travel route in an unmanned mobile vehicle that travels by judging the travelable area from the environmental data in front obtained by the environment recognition means. A fitting area having a short forward distance and a constant left-right width along the traveling direction of the forward distance determined based on the forward distance and the current upper limit traveling speed , set maximum as forward along the curvature radius distance and maximum lateral width and chromatic and and the inscribed in the travelable area, and a configuration in which the travel path center line of the fitting area, with the above configuration It is a means for solving the conventional problems.

In the above configuration, the fitting area is inscribed in the travelable area so as to take the forward distance along the maximum curvature radius and the maximum left-right width, and when the travelable area exists linearly The forward distance along the maximum radius of curvature is almost a linear distance.

  The driving route planning method for an unmanned mobile vehicle according to the present invention is a mode when the left and right width of the fitting area is reduced as a more preferable embodiment, and secures a safe distance by setting a safety distance on the left and right in the fitting area. If it is possible to travel, the center line of the fitting area is shifted to a position corresponding to the current travel route, and the shift line is used as the travel route. It is characterized by using a line as a travel route.

  According to the travel route planning method for an unmanned mobile vehicle of the present invention, the width of the travelable region changes locally in an unmanned mobile vehicle that travels by determining the travelable region from the environmental data in front obtained by the environment recognition means. Even if this happens, high-speed traveling can be continued without causing the unmanned mobile vehicle to meander.

It is the top view (b) explaining the flowchart (a) explaining one Embodiment of the driving | running route planning method of the unmanned mobile vehicle of this invention, and the setting of a fitting area. It is a perspective view explaining an example of an unmanned mobile vehicle. FIG. 9 is plan views (a) to (e) for sequentially explaining the traveling state of the unmanned mobile vehicle when the width of the travelable area is locally increased. FIG. 6 is a plan view (a) to (c) for sequentially explaining the traveling state of the unmanned mobile vehicle when the width of the travelable area is locally reduced. It is each top view (a) (b) explaining the driving | running | working state of an unmanned mobile vehicle in case the driving | running | working possible area | region curves.

   Hereinafter, an embodiment of a traveling route planning method for an unmanned mobile vehicle according to the present invention will be described with reference to the drawings. An unmanned mobile vehicle V shown in FIG. 2 includes a vehicle body B that includes four wheels C on the front, rear, left, and right, as well as a drive source such as an engine or a motor, a speed change mechanism, a steering mechanism, and an acceleration / deceleration mechanism.

  The unmanned vehicle V includes an environment recognition unit S for recognizing the environment ahead, and a control unit that processes various data and gives commands to each mechanism, and travels from the environment data acquired by the environment recognition unit S. A possible route is determined, a travel route is planned, and the vehicle travels along the travel route. Various cameras, laser range finders, and the like can be used as the environment recognition means.

  Furthermore, the unmanned mobile vehicle V includes means for transmitting and receiving various data. For example, the unmanned mobile vehicle V can be remotely operated based on an image acquired by the environment recognition means S, and is semi-autonomous combining remote operation and autonomous driving. Driving is also possible.

The traveling route planning method for the unmanned mobile vehicle V is based on the shorter forward distance and the traveling direction of the forward distance that can be recognized by the environment recognition means and the forward distance determined based on the current upper limit traveling speed. A fitting area having a certain left and right width is set so as to take the maximum curvature radius and the maximum left and right width within the runnable area, and more correctly, the fitting area with respect to the runnable area, It is set so as to have a forward distance along the maximum radius of curvature and a maximum lateral width and to be inscribed in the travelable area, and a center line of the fitting area is used as a travel route.

  More specifically, as shown in the flowchart of FIG. 1A, when the process is started, a forward distance Lv determined by the current upper limit traveling speed is calculated in step S1. The current upper limit traveling speed is, for example, a speed determined by the remote operator by looking at the road surface condition, and is transmitted to the unmanned mobile vehicle V as a command signal. The forward distance Lv is a distance that can be braked at the upper limit traveling speed.

  Next, in step S2, the front distance recognizable by the environment recognizing means S, that is, the longest front distance Ls recognizable by the environment recognizing means S is calculated. In step S3, the forward distance Lv based on the upper limit traveling speed is compared with the forward distance Ls based on environment recognition.

  Here, when the forward distance Ls based on the environment recognition is larger than the forward distance Lv based on the upper limit travel speed (Yes), the front distance Lv based on the upper limit travel speed is set to the front distance L (L = Lv) in step S4. When the forward distance Ls based on environment recognition is smaller than the forward distance Lv based on the upper limit traveling speed (No), the forward distance Ls based on environment recognition is set to the forward distance L (L = Ls) in step S5. That is, the shorter one of the front distance Lv based on the upper limit traveling speed and the front distance Ls based on environment recognition is defined as the front distance L.

Thereafter, in step S6, as shown in FIG. 1 (b), the fitting having a constant left-right width W at a forward distance L from the front edge of the unmanned mobile vehicle V within the travelable region Q that has been recognized so far. Area FA is set. At this time, in step S6, the fitting area FA is inscribed in the travelable area Q so as to take a forward distance L and a maximum lateral width W along the maximum curvature radius with respect to the travelable area Q. . As is apparent from FIG. 1B, the left-right width W of the fitting area FA is constant (same) along the traveling direction which is the upward direction in the drawing.

  When traveling linearly, the forward distance L along the maximum radius of curvature is substantially a linear distance as shown in FIG. Further, in FIG. 1B, a travelable area Q is, for example, an unpaved road, and a fan-shaped area As in front of the unmanned mobile vehicle V indicates a recognition range of the environment recognition means S.

  Further, in step S7, the center line CL of the fitting area FA is defined as a travel route R. In step S8, a route plan is performed so that the vehicle travels along the travel route R, and the process ends. Thereby, the unmanned vehicle V travels along the travel route R.

  Thus, according to the travel route planning method for the unmanned mobile vehicle V described above, the unmanned mobile vehicle V that travels by judging the travelable area Q from the environmental data in the front acquired by the environment recognition means S can travel. Even if the width of the region Q changes locally, high-speed traveling can be continued without causing the unmanned mobile vehicle V to meander.

  That is, as shown in FIG. 3, when there is an enlarged area Qa that partially extends outward in the middle of the travelable area (unpaved road) Q, the travelable area is divided in the traveling direction as in the past. In the method in which the center of gravity of each divided area is connected by an approximate curve and this is used as a travel route curve, since the divided regions including the enlarged area Qa are set, the travel route curve is once bent outward at the enlarged area Qa. It becomes. For this reason, since the unmanned vehicle V meanders at the bent portion of the travel path curve, it is difficult to travel at high speed, and the travel speed must be reduced.

On the other hand, in the travel route planning method of the present invention, as described above, the fitting area FA having the front distance L along the maximum curvature radius and the maximum left-right width W and inscribed in the travelable area Q is provided. Therefore, even if the enlarged area Qa exists in the middle of the travelable area Q, the fitting area FA is set without including the enlarged area Qa. Thereby, since the travel route R does not bend in the enlarged area Qa, the unmanned mobile vehicle V can travel at high speed without meandering.

  Further, the travel route planning method for the unmanned mobile vehicle V according to the present invention can travel by the above processing even when the width of the travelable area is decreased due to, for example, a parked vehicle. As a form, it can be provided with a mode for dealing with when the right and left width of the fitting area decreases.

  In the travel route planning method in the above mode, when a safe distance is set on the left and right in the fitting area FA and the safe distance is secured, the center line of the fitting area corresponds to the current travel route. If the safety line cannot be secured, the center line of the fitting area is used as the travel route.

  More specifically, as shown in FIG. 4 (a), there is an obstacle area Qb partially protruding inward in the middle of the travelable area (unpaved road) Q, and thereby the width of the travelable area Q Is locally reduced, the safety distance La is set to the left and right in the fitting area FA.

Since the fitting area FA has a forward distance L and a maximum left-right width W along the maximum radius of curvature as described above, and is inscribed in the travelable area Q, in the obstacle area Qb, FIG. As shown in (b), the left-right width W of the fitting area FA is also reduced.

  At this time, in the travel route planning method, when the vehicle can travel with the safety distance La secured between the obstacle area Qb, that is, in the safety belt having the width of the safety distance La (shaded portion SA in FIG. 4). If the vehicle can travel without entering, the center line CL of the fitting area FA is shifted to a position corresponding to the current travel route R as shown in FIG. To do. The position corresponding to the current travel route R is the position of the travel route R (the travel route R shown in FIG. 4A) before the fitting area FA reaches the failure area Qb. Thereby, in the travel route planning method, the travel route R hardly bends in the part of the obstacle area Qb, so that the unmanned mobile vehicle V can travel at high speed without meandering.

  Also, as shown in FIG. 4C, when the unmanned mobile vehicle V is passing through the obstacle area Qb, there is no significant change in the left and right width W of the fitting area FA inscribed in the travelable area Q. The center line CL of the fitting area FA is shifted to a position corresponding to the current travel route R (the travel route R shown in FIG. 4B), and the shift line is defined as the travel route R. Thereby, the unmanned vehicle V can continue high-speed driving without meandering.

  Furthermore, in the runway planning method, when the unmanned mobile vehicle V passes through the obstacle area Qb and the left and right width W of the fitting area FA increases to the extent shown in FIG. Since the positions of the travel route R and the new travel route R that have been shifted before that hardly change, in this case as well, the unmanned mobile vehicle V can travel at high speed without meandering.

  In the runway planning method, when the safety distance La cannot be secured between the obstacle area Qb, that is, when entering the safety zone (the hatched portion SA in FIG. 4) having the width of the safety distance La. As in the process shown in FIG. 1, the center line CL of the fitting area FA is set as the travel route R.

In each of the above embodiments, the case where the fitting area FA is linearly set in the traveling direction is illustrated. Since the fitting area FA is set so as to take the forward distance L and the maximum left-right width along the maximum curvature radius in the travelable area Q, as shown in FIGS. 5 (a) and 5 (b), When the travelable area Q is curved, the travelable area Q is curved along the maximum radius of curvature, and the travel route R is also curved.

  In the traveling route planning method for an unmanned mobile vehicle of the present invention, as described above, the shorter one of the forward distance Ls that can be recognized by the environment recognition means S and the forward distance Lv that is determined based on the current upper limit traveling speed. By adopting the forward distance, it is possible to determine the fitting area FA that is more adapted to the current driving situation. As a travel route planning method, it is also possible to select one of the forward distance Ls by the environment recognition means S and the forward distance Lv by the upper limit travel speed and determine the fitting area FA. In this case, it is possible to simplify the processing.

  The travel route planning method for an unmanned mobile vehicle of the present invention is not limited to the above-described embodiments, and the details of the configuration can be appropriately changed without departing from the gist of the present invention. is there.

  FA: fitting area, L: forward distance, La: safety distance, Q: travelable area, R: travel route, S: environment recognition means, V: unmanned mobile vehicle, W: left-right width.

Claims (2)

When planning a travel route in an unmanned mobile vehicle that travels by judging the travelable area from the environmental data in front obtained by the environment recognition means, it is determined based on the forward distance that can be recognized by the environment recognition means and the current upper limit traveling speed. fitting area having a predetermined lateral width along the forward distance to the running direction of the shorter of the front distance that is, the travel possible for the region, the forward distance and maximum left and right along the maximum radius of curvature set to be inscribed and width chromatic and and the travelable area, travel route planning method of the unmanned mobile vehicles, characterized in that the travel path center line of the fitting area.   This mode is when the left and right width of the fitting area has decreased, and if the safety distance is set to the left and right within the fitting area and it is possible to drive with a safe distance, the center line of the fitting area is 2. The unmanned movement according to claim 1, wherein the shift line is used as a travel route by shifting to a position corresponding to the route, and the center line of the fitting area is used as the travel route when a safe distance cannot be secured. Driving route planning method for cars.

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