Utility Vehicles

Abstract

The invention comprises: a driving device including front wheels and rear wheels, a steering device provided on the front wheels, and a driving source for driving the front wheels and / or the rear wheels; a control device for controlling the driving device so as to drive the vehicle automatically without human operation in a specified driving area; a path setting device for setting a driving path for automatic driving; a vehicle position detection unit for detecting the position of the vehicle; and an object detection unit for detecting a monitoring object in the driving area; when the control device detects a monitoring object during automatic driving, the control device stores a history of the position of the monitoring object; and the path setting device sets the position where the monitoring object was detected in the past as a reference point, and sets the driving path based on the reference point.

Description

Technical Field

[0001] The present disclosure relates to utility vehicles. Background Art

[0002] A utility vehicle that can travel on rough terrain is used, for example, for transporting crops, etc., monitoring work in a field, etc. It is assumed that such work is performed repeatedly and regularly while traveling on a predetermined travel route.

[0003] In recent years, various technologies for autonomous driving in automobiles have been proposed. For example, the following patent document 1 discloses a system for an autonomous vehicle to travel on a predetermined driving route. According to this, human operation is not required during driving on the predetermined driving route.

[0004] Prior art literature:

[0005] Patent Literature:

[0006] Patent document 1: Japanese Patent Application Publication No. 2020-13379. Summary of the invention

[0007] Problems to be solved by the invention:

[0008] However, when considering the use of such existing autonomous driving vehicles as security vehicles that patrol and guard a predetermined driving area, there is still room for improvement. For example, in the autonomous driving vehicle of the above-mentioned Patent Document 1, the driving path is predetermined as described above. In this way, when driving along the predetermined driving path, the driving area can be monitored without omission, but when the key points of security are scattered in the driving area, the efficiency is deteriorated.

[0009] Therefore, an object of the present disclosure is to provide a utility vehicle that can efficiently monitor a prescribed driving area.

[0010] Means of solving the problem:

[0011] According to one form of the multi-purpose vehicle disclosed in the present invention, there is provided: a driving device including front wheels and rear wheels, a steering device provided on the front wheels and a driving source for driving the front wheels and / or the rear wheels; a control device that controls the driving device in the form of automatic driving without human operation in a specified driving area; a path setting device that sets a driving path for the automatic driving; a vehicle position detection unit that detects the position of the vehicle; and an object detection unit provided on the vehicle for detecting a monitoring object of the driving area; the control device stores a history of the position of the monitoring object when the monitoring object is detected during the automatic driving; the path setting device sets the position where the monitoring object was detected in the past as a reference point, and sets the driving path based on the reference point.

[0012] Effect of the invention:

[0013] According to the present disclosure, the driving path of the multi-purpose vehicle is set based on the history of the position of the monitored object detected during the automatic driving of the multi-purpose vehicle. Therefore, during the automatic driving, the setting of the driving path such that the position of the monitored object was detected in the past can be realized. Therefore, the specified driving area can be efficiently monitored. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic left side view showing a utility vehicle according to one embodiment;

[0015] Figure 2 It is shown Figure 1 A schematic block diagram of a control system of a utility vehicle is shown;

[0016] Figure 3 is a plan view showing an example of path setting within a travel area of ​​a multi-purpose vehicle according to the present embodiment;

[0017] Figure 4 is a plan view showing another example of path setting within the travel area of ​​the multi-purpose vehicle according to the present embodiment;

[0018] Figure 5 is a schematic left side view of a multi-purpose vehicle showing a modified example of the present embodiment;

[0019] Figure 6 1 is a plan view showing an example of path setting within a travel area of ​​the utility vehicle according to this modification. DETAILED DESCRIPTION

[0020] In the following, the embodiments are described with reference to the accompanying drawings. In all the drawings, the same or corresponding elements are denoted by the same reference numerals and repeated descriptions are omitted.

[0021] (Structure of the vehicle)

[0022] Figure 1 It is a schematic left side view showing a utility vehicle according to an embodiment. Figure 1 The utility vehicle 1 (hereinafter referred to as a vehicle) shown includes a pair of left and right front wheels 2 and a pair of left and right rear wheels 3. The front wheels 2 and the rear wheels 3 support a vehicle body frame 4. The vehicle body frame 4 is a pipe frame formed by connecting a plurality of pipes to each other.

[0023] The vehicle body frame 4 supports the front seat 5A and the rear seat 5B. The front seat 5A includes a driver's seat. In addition, the seats are not limited to two rows, and one row is also possible. The front seat 5A is provided with a front seat safety belt 27A, and the rear seat 5B is provided with a rear seat safety belt 27B. The vehicle body frame 4 is configured to surround the passenger space C including the front seat 5A and the rear seat 5B. That is, the passenger space C is divided by the vehicle body frame 4. The engine hood 6 is arranged in front of the passenger space C (front seat 5A). The engine hood 6 is supported on the front part of the vehicle body frame 4, and can be opened and closed from above to cover the space between the left and right front wheels 2.

[0024] A front side door 7A is provided on the side of the front seat 5A, and a rear side door 7B is provided on the side of the rear seat 5B. These side doors 7A and 7B are supported by the vehicle body frame 4. Each side door 7A and 7B rotates around a rotation axis provided at the front end relative to the vehicle body frame 4 to open and close. In this way, passengers can get on and off the vehicle 1. In addition, Figure 1 The center side doors 7A and 7B are shown in a form in which the inner side (passenger space C side) thereof is seen through.

[0025] A loading platform 8 is arranged behind the passenger space C (rear seat 5B). The loading platform 8 is supported by the rear portion of the vehicle body frame 4. A driving source 9 supported by the vehicle body frame 4 is arranged below the loading platform 8. The driving source 9 is, for example, an engine. Alternatively, the driving source 9 may be an electric motor or a combination of an engine and an electric motor. The driving source 9 drives the driving wheels (the front wheels 2 and / or the rear wheels 3).

[0026] A first operating member 10 including an accelerator pedal and a brake pedal is provided in front of and below the driver's seat (in the driver's foot area). The accelerator pedal is operated to change the driving force of the driving source 9. A brake device (not shown) is provided on the front wheels 2 and the rear wheels 3, and the brake pedal is operated to decelerate the vehicle 1. In this way, the first operating member 10 is configured as an operating member for accelerating and decelerating the vehicle 1.

[0027] A steering device 11 is provided on the front wheel 2. In addition, a handle 12 is provided in front of the driver's seat in the front seat 5A as a second operating member. The handle 12 is connected to the steering device 11, and the steering device 11 is operated according to the operation of the handle 12, so that the front wheel 2 is turned. In this way, the second operating member is configured as an operating member for changing the direction of the vehicle 1.

[0028] The vehicle 1 also includes a transmission (not shown) connecting the drive source 9 and the drive wheels. The transmission changes the speed ratio or the travel direction (forward or reverse) based on the operation of a third operating element such as a shift lever (not shown).

[0029] As described above, the travel device 14 for driving the vehicle 1 includes the front wheels 2, the rear wheels 3, the steering device 11, the drive source 9, the brake device, the transmission device, etc. The operating member for operating the travel device 14 includes the first operating member, the second operating member, and the third operating member.

[0030] In addition, the vehicle 1 includes a control device 13 for controlling the travel device 14. The control device 13 is connected to various sensors described later. The control device 13 obtains detection values ​​of various sensors. The control device 13 includes a processor, a volatile memory, a nonvolatile memory (memory), an I / O interface, etc., and is configured as an electronic circuit that realizes various controls by using a volatile memory to perform calculations based on a program stored in the nonvolatile memory.

[0031] (Structure of control system)

[0032] Figure 2 It is shown Figure 1 A schematic block diagram of a control system of a utility vehicle is shown. Figure 2 As shown, the control device 13 is connected to various sensors. The sensors detect the vehicle state of the travel system including the operating elements and the travel device 14.

[0033] The sensors include, for example, an accelerator opening sensor 15, a brake amount sensor 16, a steering angle sensor 17, a drive source rotation speed sensor 18, and a vehicle speed sensor 19. The vehicle 1 may include all of these sensors, some of these sensors, or sensors other than these sensors.

[0034] The accelerator opening sensor 15 detects the operation amount of the accelerator pedal. The brake amount sensor 16 detects the operation amount of the brake pedal. The steering angle sensor 17 detects the operation direction and operation amount of the handle 12. The drive source rotation speed sensor 18 detects the rotation speed of the output shaft of the drive source 9. The vehicle speed sensor 19 detects the speed of the vehicle 1.

[0035] The control device 13 controls the driving device 14 so that the vehicle can automatically drive without human operation in a predetermined driving area. The control device 13 is connected to the mode switching unit 50. The mode switching unit 50 switches between a human operation mode in which the vehicle drives in accordance with the operation of the operating element and an automatic driving mode in which the control device 13 automatically drives the vehicle according to a predetermined driving path without the operation of the operating element.

[0036] The mode switching unit 50 transmits a mode switching signal based on the switching of the switch or various authentication operations to the control device 13. The control device 13 switches the control mode between the human operation mode and the automatic driving mode according to the received mode switching signal.

[0037] In the manual operation mode, the control device 13 controls the travel device 14 according to the input of the various operating members operated by the driver. For example, the control device 13 adjusts the output of the driving source 9 according to the accelerator opening, which is detected by the sensor 15 in response to the driver's operation of the accelerator pedal (the control of the throttle opening in the case of the engine, etc.). In addition, for example, the control device 13 adjusts the steering angle of the steering device 11 according to the steering angle and steering direction, which are detected by the steering angle sensor 17 in response to the driver's operation of the handle 12.

[0038] On the other hand, in the automatic driving mode, the control device 13 performs automatic driving according to a predetermined driving route without operating the operating element. For example, the vehicle 1 includes a front space detection unit 29 for detecting the state of the driving space in front of the vehicle 1 and a vehicle position detection unit 30 for detecting the vehicle position.

[0039] The front space detection unit 29 includes, for example, at least one of a camera, various radars, and laser sensors. The control device 13 analyzes the front space based on the image data of the front space captured by the camera and / or the distance data measured by various radars or laser sensors. The control device 13 controls the driving device 14 based on the analysis result of the front space. For example, when there is an obstacle in front, the control device 13 controls the driving source 9 and / or the braking device (not shown) in the form of slowing down or stopping the vehicle 1, or controls the steering device 11 to change the direction of travel of the vehicle 1.

[0040] The vehicle position detection unit 30 includes, for example, a GPS cable. The memory of the control device 13 stores data of a preset driving route. The control device 13 reads the data of the driving route in the automatic driving mode, and controls the driving device 14 to drive along the driving route based on the information of the vehicle position from the vehicle position detection unit 30. In addition, the control device 13 fine-adjusts the driving route based on the above-mentioned analysis result of the front space. For example, when there is an obstacle in front, the control device 13 performs a reroute setting of the driving route.

[0041] The vehicle 1 is provided with a route setting device 41 for setting a driving route for automatic driving. The route setting device 41 may be configured as a control block of the control device 13, or may be configured by another computer. When the route setting device 41 is configured by another computer different from the control device 13, the route setting device 41 may be provided in the vehicle 1, or may be configured by a computer such as a mobile terminal (tablet terminal) that can communicate via a communication network.

[0042] The route setting device 41 is configured to be able to communicate with the outside through a communication network, and is connected to a data receiving unit 42 that receives predetermined data from the outside. The data of the driving route, for example, a user pre-sets and inputs the driving route in a mobile terminal (tablet terminal, etc.) that can communicate with the vehicle 1 through a communication network, and the set input information is sent to the control device 13 of the vehicle 1 through a predetermined server device. Alternatively, an operation terminal connected to the control device 13 for the user to set and input the driving route may be mounted on the vehicle 1.

[0043] According to the above structure, the mode switching unit 50 switches between the manual operation mode for driving in accordance with the operation of the operating member and the automatic driving mode for driving automatically without the operation of the operating member according to the prescribed driving path. Therefore, the automatic driving mode is executed when performing regular work, so that manual operation is not required, which can reduce the workload. In addition, when performing temporary work, the manual operation mode is executed as needed, so that it can be used as a manually operated multi-purpose vehicle 1. Therefore, according to the above structure, in the multi-purpose vehicle 1 that can automatically drive according to the prescribed driving path, it can be flexibly used.

[0044] In addition, in the present embodiment, the vehicle 1 can also be driven in the automatic driving mode so that passengers can enter the passenger space C. That is, the vehicle 1 can be driven in the automatic driving mode with or without passengers.

[0045] (Details of automatic driving mode)

[0046] The automatic driving mode is described in detail below. For example, the user performs a predetermined start operation, and the vehicle 1 starts. The user performs a mode switching operation to the automatic driving mode, and the mode switching unit 50 sends a mode switching signal for switching to the automatic driving mode to the control device 13. Then, the control device 13 causes the path setting device 41 to execute a setting process of the driving path (driving path setting program).

[0047] The setting of the driving route can be performed by reading the driving route if the driving route is pre-stored in the memory. When the driving route is not stored in the memory, or when driving on a different driving route from the previous time, the driving route can be re-set. At this time, for example, the route setting can also be performed by a mobile terminal that can be connected to the vehicle 1 by wireless or wired communication.

[0048] For example, a map is displayed on the mobile terminal, and an input route or destination is set on the map. The route setting device 41 executes a driving route setting program to set a driving route based on the input route and destination information, the vehicle position information, and the terrain information pre-stored corresponding to the map. In addition, as described later, when the vehicle 1 is used for patrolling in a prescribed area, the patrol area can be set on the map, and the route setting device 41 can set a driving route for traveling in the entire patrol area. After the driving route is set, the control device 13 starts automatic driving.

[0049] (Example 1 of route setting for patrol security)

[0050] Hereinafter, an example is given of a mode in which the vehicle 1 is automatically driven in the automatic driving mode in order to patrol within a predetermined area. Figure 3 It is a plan view showing an example of the route setting of the travel area of ​​the utility vehicle according to the present embodiment. Figure 3 In the example of FIG. 1 , the vehicle 1 is in a patrol area WA (for example, a site of all lands) and performs monitoring work (patrol driving) of the patrol area WA. Figure 3 In the example of , the patrol area WA is set in advance as the travel area SA of the vehicle 1 .

[0051] Figure 3 In the example, the path of the patrol driving that takes the predetermined position Po of the patrol area WA as the starting point and patrols the patrol area WA along the predetermined driving path and performs the monitoring operation is set as the predetermined driving path during automatic driving (initial driving path Ri). The initial driving path Ri includes, for example, a meandering section M that reciprocates in the first direction X of the patrol area WA and moves in the second direction Y when the direction is changed.

[0052] When the vehicle 1 detects a predetermined monitoring object in the driving area SA during the automatic driving mode, the vehicle 1 performs a predetermined alert operation on the monitoring object. Therefore, the front space detection unit 29 functions as an object detection unit that detects the monitoring object in the driving area SA.

[0053] In this example, the monitoring object is, for example, an intruder such as a person, a vehicle, or an animal into the patrol area WA. The front space detection unit 29 determines whether a predetermined monitoring object exists by analyzing an image of the space in front of the vehicle 1. When the front space detection unit 29 detects the existence of the monitoring object, it sends a detection signal to the control device 13. When the control device 13 receives the detection signal from the front space detection unit 29, it controls the vehicle 1 in the form of performing a predetermined alert action. The alert action includes an alarm action, a data collection action, a threatening action, and the like.

[0054] The alarm action notifies a computer device outside the vehicle 1 that can communicate with the vehicle 1 through a communication network that a monitored object has been detected. The computer device outside the vehicle 1 may be a mobile terminal held by a user, or a management device operated by a manager of the vehicle 1. The data collection action collects various data when a monitored object is detected. The data may include, for example, data such as the detection location (the location of the vehicle at the time of detection), the detection date and time, the characteristics of the monitored object (type, size, moving speed, etc.), the environment at the time of detection (temperature, weather, etc.), and a photographic image of the monitored object. The control device 13 may also send the collected various data to a computer device outside the vehicle 1.

[0055] The intimidation action is to emit light or sound from the vehicle 1 to intimidate the surveillance object. When the vehicle 1 is equipped with a headlamp, the control device 13 can light or flash the headlamp as an intimidation action to intimidate. In addition, when the vehicle 1 is equipped with a horn (siren), the control device 13 can sound the horn as an intimidation action to intimidate. The vehicle 1 may also be equipped with a light source or a speaker for intimidation.

[0056] Furthermore, the control device 13 stores the position (discovery position) of the monitoring object when the predetermined monitoring object is detected in the travel area SA during the automatic travel in the automatic travel mode. The position Px of the monitoring object is stored as a history in a memory in the vehicle 1 or in a storage device (a server device or a mobile terminal, etc.) outside the vehicle 1 that can communicate via a communication network each time the monitoring object is discovered.

[0057] When setting the travel route, the route setting device 41 sets positions where the monitoring object was detected in the past as reference points Px (Px1, Px2, . . . ), and sets the travel route Rs based on these reference points Px. Figure 3 In the example, the route setting device 41 changes the initial driving route Ri so as to perform a predetermined caution driving in a partial area Ax (Ax1, Ax2, . . . ) set based on the reference point Px in the previously set initial driving route Ri, thereby setting the driving route Rs.

[0058] More specifically, the path setting device 41 sets the warning travel area Ax using the reference point Px as a reference. For example, the warning travel area Ax is set to a predetermined shape ( Figure 3 Alternatively, the warning driving area Ax may be set as an area of ​​a predetermined shape formed in front of the reference point Px in the driving direction of the vehicle 1 with the reference point Px as the starting point (center position of a side, corner, etc.).

[0059] The route setting device 41 sets a warning driving route Rm (Rm1, Rm2, ...) that is more focused on driving than the initial driving route Ri as a driving route in the warning driving area Ax. The warning driving route Rm is set so that the driving distance or driving time in the warning driving area Ax is longer than that of the initial driving route Ri. In addition to or instead of this, the warning driving route Rm may be set so that the driving area (warning range) occupied in the warning driving area Ax is wider than that of the initial driving route Ri.

[0060] For example, the warning driving path Rm1 is set as a driving path that travels in a spiral (or vortex) shape (turns) with the reference point Px1 as the starting point in the warning driving area Ax1. For another example, the warning driving path Rm2 is set as a driving path that meanders left and right relative to the initial driving path Ri in the warning driving area Ax2. In addition, the warning driving path Rm2 is set to pass through the reference point Px2.

[0061] In addition, the warning driving path Rm may be set as a driving path that does not pass through the reference point Px. Figure 3 In the example, the setting forms of the driving paths are different between the alert driving paths Rm1 and the alert driving paths Rm2, but the setting forms of the driving paths may be the same for all the alert driving paths Rm. Furthermore, the alert driving paths Rm may be set in different forms of the driving path setting forms based on predetermined factors such as the type of the monitored object, the time of discovery, and the history of the location.

[0062] For example, when there are multiple reference points Px, the path setting device 41 may set the importance for setting the driving path higher as the newer the reference point Px is (i.e., the newer the discovery history of the monitoring object of the reference point Px is). In this case, the path setting device 41 may also set the driving path (warning driving path Rm) near the reference point Px differently according to the set importance. That is, as the location where the monitoring object was most recently discovered, as the driving path in the warning driving area Ax corresponding to the location (reference point Px), a warning driving path Rm (Rm1, Rm2, ...) that is more focused (long distance, long time or wide range, etc.) compared to the initial driving path Ri may be set.

[0063] In addition to this, or in lieu thereof, when there are multiple reference points Px, the path setting device 41 may also set the importance for setting the travel path to be high in a part of the area (warning travel area Ax) where the multiple reference points Px are relatively large. In this case, the path setting device 41 may also set the travel path (warning travel path Rm) near the reference point Px differently according to the set importance. That is, as a location where the monitoring object was found with high frequency in the past, as a travel path in the warning travel area Ax corresponding to the location (reference point Px), a warning travel path Rm (Rm1, Rm2, ...) that is more focused on travel (long distance, long time or wide range, etc.) compared to the initial travel path Ri may be set.

[0064] The path setting device 41 connects the portion of the initial driving path Ri in the area outside the warning driving area Ax with the warning driving path Rm set in the warning driving area Ax to set the current driving path Rs. The set driving path Rs is stored in a memory in the vehicle 1 or a storage device (a server device or a mobile terminal, etc.) outside the vehicle 1 that can communicate through a communication network. The data of the driving path Rs set this time can be stored over the data of the past driving path Rs, or can be stored independently of the data of the past driving path Rs. That is, the history of the data of the past driving path Rs can also be retained in the memory, etc.

[0065] According to the above configuration, the travel path Rs of the utility vehicle 1 is set based on the history of the position of the monitored object detected during the automatic travel of the utility vehicle 1. Therefore, during the automatic travel, the travel path Rs can be set so as to focus on the position where the monitored object was detected in the past. Therefore, the specified travel area SA can be efficiently monitored.

[0066] In addition, according to the above configuration, the initial driving route Ri is set in advance, and the driving route is changed in the form of driving more intensively in a part of the area based on the position where the monitoring object is detected. Therefore, while the global alert driving in the driving area SA, the driving route Rs for performing more intensive alert driving near the position where the monitoring object was detected in the past can be easily set. As a result, when the vehicle 1 is driving for patrol security (monitoring) in the driving area SA where there are no or few target objects such as large farmland or forests, for example, it is possible to set the driving route Rs with high detection efficiency.

[0067] Furthermore, when multiple monitoring targets are detected, the importance can be set as described above, and the driving route Rs can be set to a warning driving pattern corresponding to the importance. In this way, the severity of the warning driving can be changed according to the detection content of the monitoring target, so that a more efficient driving route Rs can be set.

[0068] The setting form of the warning driving path Rm of the warning driving area Ax is not limited to the following Figure 3 Such a circular driving or meandering driving can be set in various forms. For example, the path setting device 41 can also set the warning driving path Rm in a form of increasing the number of times of crossing the reference point Px. That is, the warning driving path Rm can also be set in a form in which repeated positions (intersection positions) appear. For another example, the path setting device 41 can also set the warning driving path Rm in a form of patrolling around the reference point Px. In addition, the path setting device 41 can also set the warning driving path Rm in a form including these multiple elements.

[0069] When a plurality of cautionary driving areas Ax based on a plurality of reference points Px overlap each other in at least a portion of the area, the overlapping plurality of cautionary driving areas Ax may be set as one cautionary driving area (overlapping area) based on the plurality of reference points Px.

[0070] The overlapping area set at this time may also be set to include at least the entire area of ​​each original warning driving area. For example, when two warning driving areas Axa and Axb based on two reference points Pxa and Pxb overlap each other in at least a part of the area, the overlapping area may also be set to include at least the warning driving area Axa and the warning driving area Axb.

[0071] Alternatively, the overlapping area may be newly set based on a plurality of reference points Px. For example, when two warning driving areas Axa and Axb based on two reference points Pxa and Pxb overlap each other in at least a portion of the area, the overlapping area may be set as a predetermined area with the midpoint of the line segment connecting the two reference points Pxa and Pxb as a new reference point.

[0072] The setting of the warning driving area Ax and the setting of the warning driving path Rm can utilize machine learning. For example, the path setting device 41 takes the distance between two adjacent reference points Px as input, and uses a learning model that outputs the area of ​​the warning driving area Ax or the driving time of the warning driving area Ax to obtain the area or the driving time. The learning model is generated using a well-known machine learning algorithm such as a neural network.

[0073] The training data input into the machine learning algorithm can be generated by associating the distance between the reference point Px and the re-detected position and the area of ​​the alert driving area Ax to be assumed at this time or the travel time to be assumed from the data of the position where the monitored object is detected again during alert driving based on the reference point Px. For example, the alert driving area Ax can be set so that the shorter the distance between two adjacent reference points Px, the smaller the area of ​​the alert driving area Ax. In addition, the alert driving path Rm can be set so that the shorter the distance between two adjacent reference points Px, the longer the travel time per unit area.

[0074] In addition, the control device 13 controls the travel device 14 differently from the case of the travel path outside the warning travel area Ax during the automatic travel along the warning travel path Rm of the warning travel area Ax. For example, the control device 13 can also control the travel device 14 in a form that the upper limit of the speed of the vehicle 1 in the warning travel path Rm is lower than that in the area outside the warning travel area Ax. In addition, the control device 13 can also control the travel device 14 in a form that temporarily stops every time a predetermined distance is traveled on the warning travel path Rm. Through these travel controls, the travel time in the warning travel area Ax can be extended.

[0075] (Example 2 of route setting for patrol security)

[0076] The route setting device 41 may set the travel route Rs without the initial travel route Ri. Figure 4 It is a plan view showing another example of the path setting of the travel area of ​​the utility vehicle according to the present embodiment. Figure 4 In the example, Figure 3 Similarly to the example of FIG. 1 , the vehicle 1 performs monitoring work (circuit driving) of the circuit area WA (for example, a site of all lands, etc.) in the circuit area WA. Figure 4 In the example of FIG. 1 , the traveling area WA is set in advance to the traveling area SA of the vehicle 1. Figure 3 The same structures are marked with the same symbols and the description is omitted.

[0077] The route setting device 41 sets the travel route Rs in a form that passes through the reference point Px and travels in a predetermined logical manner within the travel area SA. Figure 4 In the example of , the route setting device 41 sets the travel route Rs according to a predetermined rule.

[0078] An example of a rule for setting the driving route Rs is shown below. First, the route setting device 41 sets a driving route portion Rs1 that travels straight from the starting point Po toward the nearest reference point Px1. The route setting device 41 sets a warning driving area Ax1 based on the reference point Px1, and sets a warning driving route Rm1 in the warning driving area Ax1. The setting form of the warning driving route Rm1 is similar to Figure 3 The same example.

[0079] When there are multiple reference points Px, the route setting device 41 sets a driving route portion Rs2 that runs straight from the first reference point Px1 toward the closest reference point Px2. The route setting device 41 sets a warning driving area Ax2 based on the reference point Px2, and sets a warning driving route Rm2 for the warning driving area Ax2. When there are third and subsequent reference points Px, the driving route is set in the same manner as the second reference point Px2.

[0080] When setting the warning driving route Rm for all reference points Px, the route setting device 41 sets a driving route portion RsA that goes around the entire driving area SA and finally returns to the starting point Po. In this case, the driving route portion RsA may be set to pass through all reference points Px again. The surrounding form may be as follows: Figure 4 The example is generally a spiral (vortex), and may be a predetermined regular circling form such as a serpentine or zigzag, or may be a random circling form using a predetermined random number (or pseudo-random number). In addition, the driving path portion RsA for circling driving is set not to reach the boundary portion (outer edge portion) of the driving area SA or the entry-prohibited area preset in the driving area SA.

[0081] The route setting device 41 sequentially connects the driving route portions Rs1, Rm1, Rs2, Rm2, and RsA to set the driving route Rs of the driving area SA. When there is no reference point Px (when the driving route Rs is set for the first time in the driving area SA), the route setting device 41 sets the driving route Rs in the same manner as the driving route portion RsA. Alternatively, the initial driving route Ri ( Figure 3 ) is set as the driving path Rs until the reference point Px is set.

[0082] The rules for setting the driving route Rs are not limited to the above examples, and various rules can be set. For example, a driving route portion may be set such that a plurality of reference points Px are traveled in order of proximity to the position Po of the starting point. Alternatively, a driving route portion may be set such that a plurality of reference points Px are traveled in a new order of detected date and time. Furthermore, the driving route portion RsA for performing a roundabout driving may be set in a form in which the prescribed elements constituting the driving route portion RsA (e.g., the number of bends, the distance of the straight line portion between the curved portions, etc.) are different according to the number of reference points Px (or the number of warning driving areas Ax).

[0083] For example, when the number of reference points Px exceeds a first reference value, the number of bends in the travel path portion RsA may be reduced compared to when the number of reference points Px is less than the first reference value, and / or the distance of the straight portion of the travel path portion RsA may be increased compared to when the number of reference points Px is less than the first reference value. In addition to or instead of this, when the number of reference points Px exceeds a second reference value greater than the first reference value, the travel path portion RsA may be set to return to the position Po of the starting point in a straight line (which is equal to the starting point Po). Figure 6 The same applies to the driving route portion RsB described later).

[0084] Furthermore, the driving area SA may be divided into a plurality of area portions, and the driving path portions of the plurality of area portions may be driven in the order of the number of reference points Px included in each area portion. Furthermore, there may be no warning driving path Rm. Furthermore, the driving path portion between adjacent (front and rear) reference points Px on the driving path may not be a straight line, but a predetermined regular path such as a zigzag path or a random path.

[0085] Furthermore, when setting the driving route Rs, the driving route Rs set in the past may be referred to. For example, the new driving route Rs may be set in a form close to the driving route where the number of monitored objects is found in the driving route Rs set in the past. Alternatively, the new driving route Rs may be set in a form overlapping with the driving route Rs set in the previous time.

[0086] Furthermore, the path setting device 41 may also randomly set the driving path Rs while passing through the reference point Px. That is, the setting of the driving path Rs based on the above-mentioned predetermined logic includes randomly setting the driving path Rs. For example, the path setting device 41 obtains a random number per unit distance and determines the driving form (straight ahead, right turn, left turn, etc.) corresponding to the random number.

[0087] In this way, by setting the driving route Rs without the initial driving route Ri, the setting of the initial driving route Ri can be eliminated, and the user's labor can be saved.

[0088] The route setting device 41 may also refer to terrain data or map data when setting the driving route Rs. The terrain data or map data is pre-stored in a memory in the vehicle 1 or in a storage device (server device or mobile terminal, etc.) outside the vehicle 1 that can communicate via a communication network.

[0089] For example, an area determined from the terrain data or map data that the vehicle 1 cannot travel (a rocky area, a building, a wall, etc. that the vehicle 1 cannot enter) can be set as an area outside the preset travel route Rs (outside the travel area SA). Also, for example, the route setting device 41 can set the travel route Rs in a manner that allows the vehicle 1 to travel preferentially in an area that is a shadow of a rocky area or a building, etc. (an area with poor visibility) according to the terrain data or map data.

[0090] Furthermore, for example, the route setting device 41 may set the driving route Rs in a form that prioritizes driving at a location that the user wishes to focus on, such as an entrance to a building, based on terrain data or map data. The location that the user wishes to focus on may also be input by the user. For example, a map based on map data may be displayed on a mobile terminal of a user that can communicate with the vehicle 1, and a location that the user touches and inputs may be set as a location that the user wishes to focus on on the displayed map.

[0091] Furthermore, the route setting device 41 may also set the driving route based on the road surface condition data indicating the road surface condition of the driving area SA when setting the driving route Rs. The road surface condition data divides the driving area SA into a plurality of predetermined road surface condition levels. The road surface condition data is stored in a memory in the vehicle 1 or in a storage device (a server device or a mobile terminal, etc.) outside the vehicle 1 that can communicate via a communication network.

[0092] For example, when the route setting device 41 sets the driving route Rs, when the vehicle 1 is moved to the reference point Px, if the driving route Rs is set with a distance priority, the route setting device 41 allows the use of a route with a road surface condition level higher than a certain level. Also, for example, when the vehicle 1 is moved to the reference point Px, if the driving route Rs is set with a time priority, the route setting device 41 considers the speed limit corresponding to the road surface condition level and uses a driving route with a shorter arrival time.

[0093] For example, when the vehicle 1 is moved to the reference point Px, when the driving path Rs is set with priority given to reducing the posture change of the vehicle 1, the path setting device 41 adopts a driving path with a shorter distance on the driving path where the road surface condition level is above a predetermined level for driving. In this case, the path setting device 41 may further set a driving path Rs with fewer road surface conditions where the left and right wheels 2 and 3 are respectively in contact with the ground, and the road surface condition levels are different.

[0094] Furthermore, the control device 13 may also control the travel device 14 according to the road surface condition ahead of the vehicle's position in the traveling direction during the automatic travel in the automatic travel mode.

[0095] The path setting device 41 can refer to the prescribed data related to the external environment when setting the driving path Rs. The data related to the external environment of the vehicle 1 can include, for example, weather, temperature, air pressure, season, date and time, region (climate zone), type of ground (muddy land, wetland, beach, desert, etc.), etc. One of these data can be used, or a combination of multiple data can be used. The data related to the external environment (such as weather, season, date and time, region, etc.) is stored in a server device connected to the data receiving unit 42 of the vehicle 1 through a communication network, and is sent from the server device to the data receiving unit 42. Alternatively, the data related to the external environment (such as temperature, air pressure, road surface conditions, etc.) can be, for example, values ​​detected by sensors provided on the vehicle 1.

[0096] For example, the route setting device 41 may set the warning travel route Rm of the warning travel area Ax as a simplified route or a complicated route according to the weather or the air pressure.

[0097] Furthermore, the path setting device 41 may also change (reroute) the current driving path Rs when the external environment changes during the automatic driving of the vehicle 1. For example, the path setting device 41 may also change the warning driving path Rm of the warning driving area Ax to a simplified path or a complicated path when it is determined that the weather has changed (or the air pressure is within a prescribed range). Furthermore, for example, the path setting device 41 may also change the driving path Rs in the form of returning from the current position to the starting position Po when it is determined that the weather has changed (or the air pressure is within a prescribed range).

[0098] The route setting device 41 may also set the driving route Rs based on the result of driving simulation of a virtual vehicle simulating the vehicle 1. The driving simulation may be performed by the route setting device 41, or by a computer outside the vehicle 1 that can communicate with the vehicle 1 via a communication network, or by an independent computer that does not communicate with the vehicle 1, and the driving route group data obtained as a result is transferred to the memory of the vehicle 1 via a storage medium or the like.

[0099] During the driving simulation, terrain data of the driving area SA is prepared. The terrain data is generated from satellite images, for example. The computer performing the driving simulation generates a virtual driving space based on the road surface shape data of the driving area SA. The computer also generates a virtual vehicle simulating the vehicle 1 and arranges it in the virtual driving space.

[0100] The computer performs a driving simulation of a virtual vehicle in the generated virtual driving space and extracts a path group. In such a driving simulation, machine learning can be used. The path setting device 41 can also select the best path from the extracted path group, or combine multiple paths included in the path group and set it as the driving path Rs.

[0101] (Patrol security using unmanned aerial vehicles)

[0102] The setting of the travel route Rs of the vehicle 1 for the patrol patrol described above may also utilize the patrol flight results of an unmanned aerial vehicle (UAV).

[0103] Figure 5 1 is a schematic left side view of a multi-purpose vehicle showing a modified example of the present embodiment. Figure 6 1 is a plan view showing an example of path setting in the travel area of ​​the utility vehicle according to the present modification. Figure 5 The utility vehicle 1B shown (hereinafter referred to as the vehicle 1B) is a vehicle for Figure 1 The same components of the vehicle 1 are denoted by the same reference numerals, and description thereof will be omitted.

[0104] Figure 5 The vehicle 1B shown is Figure 1 The vehicle 1 shown is different in that the vehicle 1B is provided with an aircraft landing unit 70 on which an unmanned aerial vehicle 60 can take off and land. Figure 5 In the example of FIG. 8 , the aircraft landing unit 70 is connected to the vehicle body frame 4 at the rear of the passenger space C (above the loading platform 8 ).

[0105] The unmanned aerial vehicle 60 is provided with a space detection unit 61 for detecting the state of a space in a predetermined direction (diagonally downward) from the unmanned aerial vehicle 60. The space detection unit 61 is provided with at least one of a camera, various radars, and a laser sensor, for example. The unmanned aerial vehicle 60 analyzes the space in a predetermined direction of the unmanned aerial vehicle 60 based on image data of the space captured by the camera and / or distance data measured by various radars or laser sensors.

[0106] In addition, the unmanned aerial vehicle 60 is equipped with a position detection unit 62 for detecting the current position of the unmanned aerial vehicle 60, and can fly autonomously. The position detection unit 62 is equipped with, for example, a GPS cable, similar to the vehicle position detection unit 30. The unmanned aerial vehicle 60 performs flight control based on the space data obtained from the space detection unit 61 and the current position of the unmanned aerial vehicle 60 obtained from the position detection unit 62.

[0107] The unmanned aerial vehicle 60 patrols the driving area SA of the vehicle 1 through autonomous flight, and monitors the space through the space detection unit 61. When the unmanned aerial vehicle 60 detects a monitored object during autonomous flight, it sends detection data to the vehicle 1. The data receiving unit 42 of the vehicle 1 receives the detection data from the unmanned aerial vehicle 60. The detection data includes data such as the location of the monitored object, the detection time, and the type of the detected object.

[0108] The route setting device 41 sets a travel route Rs in which the position of the monitoring object detected by the unmanned aerial vehicle 60 is added to the reference point Px, and the unmanned aerial vehicle 60 travels preferentially along the position of the monitoring object detected by the unmanned aerial vehicle 60 (reference points Px1 a and Px2 a ).

[0109] A specific example is given below. At the start of patrol, the vehicle 1 stops at the starting point Po. At this time, the unmanned aerial vehicle 60 is parked at the aircraft landing unit 70. The aircraft landing unit 70 can charge the unmanned aerial vehicle 60 while the unmanned aerial vehicle 60 is parked at the aircraft landing unit 70.

[0110] After the patrol guard starts, first, the unmanned aerial vehicle 60 is made to fly autonomously in the driving area SA of the vehicle 1 according to a predetermined flight path Ra to monitor the driving area SA. For example, the flight path Ra is set to a path that spirals in the driving area SA and returns to the starting position Po. In addition, the flight path Ra can also be set based on the reference point Px in the same way as the setting of the driving path Rs of the vehicle 1. As mentioned above, when the unmanned aerial vehicle 60 detects a monitored object during autonomous flight, it sends detection data to the vehicle 1. In addition, the detection accuracy of the monitored object by the space detection unit 61 of the unmanned aerial vehicle 60 may be lower than the detection accuracy of the front space detection unit 29 of the vehicle 1.

[0111] The path setting device 41 obtains the detection data from the unmanned aerial vehicle 60 through the data receiving unit 42, and registers the position of the monitoring object detected by the unmanned aerial vehicle 60 as the reference point Px. In addition, the timing when the data receiving unit 42 of the vehicle 1 receives the detection data from the unmanned aerial vehicle 60 may be during the flight of the unmanned aerial vehicle 60, or after the unmanned aerial vehicle 60 ends its autonomous flight and arrives at the aircraft take-off and landing unit 70 of the vehicle 1 at the starting position Po. When sending the detection data during the flight, the detection data may be sent every time the unmanned aerial vehicle 60 detects the monitoring object, or the detection data of the period may be summarized and sent every predetermined period after the unmanned aerial vehicle 60 starts its autonomous flight.

[0112] After the return of the unmanned aerial vehicle 60, the path setting device 41 sets the driving path Rs of the vehicle 1 based on the detection data. For example, the path setting device 41 sets all reference points Px ( Figure 5 In the example of FIG. 1 , a driving path portion Rs1a and Rs2a having two reference points Px1a and Px2a is set, and a driving path portion RsB such as returning to the position Po of the starting point after passing through all the reference points Px is set.

[0113] In addition, the path setting device 41 sets the warning driving areas Ax1a and Ax2a based on the reference points Px1a and Px2a, and sets the warning driving paths Rm1a and Rm2a of the warning driving areas Ax1a and Ax2a. The setting form of the warning driving paths Rm1a and Rm2a is Figure 3 or Figure 4 The warning driving paths Rm1 and Rm2 in the example are the same. The path setting device 41 sequentially connects the driving path portions Rs1a, Rm1a, Rs2a, Rm2a, and RsB to set the driving path Rs of the driving area SA.

[0114] Figure 5 In the example, no setting is made Figure 4The driving path portion RsA for the circular driving in the example of FIG. Figure 5 In the example of Figure 4 The distance (Rs1+Rs2+RsA) in the example can be shorter than that.

[0115] By making the unmanned aerial vehicle 60 fly in advance in the travel area SA, the vehicle 1 can be driven preferentially in the area of ​​the travel area SA where the possibility of detection of the monitoring object is high. Therefore, the monitoring object can be found efficiently in a short travel time.

[0116] In addition, when the unmanned aerial vehicle 60 does not detect the monitored object during flight, the path setting device 41 can Figure 3 Example or Figure 4 In the example of , the travel path Rs of the vehicle 1 is set.

[0117] Furthermore, the path setting device 41 may also be set in combination with Figure 5 Examples and Figure 3 and / or Figure 4 For example, the driving path Rs may be: Figure 5 For example, the first round of driving path Rs is set based on the detection data detected by the unmanned aerial vehicle 60, and then, as shown in FIG. Figure 3 or Figure 4 For example, the driving route Rs after the second round is set based on the past detection history.

[0118] At this time, the position Po where the vehicle 1 passes through the starting point may be set between the driving path of the first wheel and the driving path of the second wheel, and the return path portion ( Figure 5 The driving path portion RsB of the first wheel and the driving path portion of the second wheel ( Figure 4 The travel path portion Rs1, etc.) is common without passing through the starting point position Po. For example, the terminal end of the warning travel path Rm based on the last reference point Px of the first round and the starting end of the warning travel path Rm based on the first reference point Px of the second round are connected in a straight line.

[0119] Furthermore, the reference point Px (Px1a, Px2a) set by the unmanned aerial vehicle 60 upon detecting the monitoring object can be treated as the same reference point as the reference point Px set by the vehicle 1 upon detecting the monitoring object in setting the travel route Rs next time and thereafter.

[0120] In the above example, the unmanned aerial vehicle 60 is shown to be autonomously flying, but instead, the unmanned aerial vehicle 60 may be manually operated to fly. In addition, the detection of the monitoring object may be performed by the space detection unit 61 as in the above example, or the position of the unmanned aerial vehicle 60 at the time of the operation input may be obtained as the position (detection data) of the detected monitoring object by the user each time the user performs a predetermined operation input based on the image captured by the space detection unit 61.

[0121] Furthermore, in the above example, a state in which the vehicle 1 does not start automatic driving until the unmanned aerial vehicle 60 returns is illustrated, but the present invention is not limited thereto. For example, when the unmanned aerial vehicle 60 finds the monitored object, the vehicle 1 may also go to meet the unmanned aerial vehicle 60. At this time, the unmanned aerial vehicle 60 may turn around at the position where the monitored object is detected, or may move following the monitored object, or may move toward the vehicle 1. The path setting device 41 may also set the driving path Rs with the returned location as the base point after the unmanned aerial vehicle 60 returns to the vehicle 1. Furthermore, the path setting device 41 may also predict or determine in advance the position where the unmanned aerial vehicle 60 returns (the position where the vehicle 1 and the unmanned aerial vehicle 60 meet), and set the driving path Rs with this position as the starting point.

[0122] The unmanned aerial vehicle 60 may also have functions other than flight for monitoring. For example, the unmanned aerial vehicle 60 may also have an operation unit for performing sowing operations, pesticide spreading operations, etc. The unmanned aerial vehicle 60 may also be able to detect the monitoring object during the operation flight using the operation unit. When the unmanned aerial vehicle 60 has the operation unit, the vehicle 1 may also have a supply unit for supplying seeds or pesticides to the unmanned aerial vehicle 60. In addition, the unmanned aerial vehicle 60 may also perform a prescribed alert action (alarm action, data collection action, intimidation action, etc.) in the same manner as the vehicle 1.

[0123] (Other Implementations)

[0124] As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, Various improvements, changes, and corrections can be made within the range which does not deviate from the summary.

[0125] For example, in the above embodiment, the common control device 13 performs either the control of the manual operation mode or the control of the automatic driving mode, but the present invention is not limited thereto. For example, the vehicle 1 may include a first control device (first ECU) that performs the control of the vehicle 1 in the manual operation mode and a second control device (second ECU) that performs the control of the vehicle 1 in the automatic driving mode.

[0126] Furthermore, in the above embodiment, a vehicle 1 that can be operated manually is exemplified, but the control of the automatic driving mode of the above embodiment can also be applied to a vehicle 1 that is dedicated to automatic driving. For example, monitoring and rescue operations in places that cannot be entered by humans (dangerous areas, disaster-occurring places, etc.) can also be applied to a vehicle 1 that automatically drives according to the driving path Rs set as in the above embodiment.

[0127] The data of the reference point Px or the set travel route Rs in the above embodiment may be commonly used by a plurality of vehicles 1. However, when the travel capabilities differ depending on the vehicle type, the data of the travel route Rs may include level data according to the vehicle type.

[0128] Furthermore, when an object that is desired to be excluded from the monitoring object, such as an operator or livestock, exists within the driving area SA, the excluded object is provided with a predetermined identifier. The identifier includes, for example, an armband, a short-range wireless communication tag, an identification code, etc. Even if the front space detection unit 29 determines from the captured image, etc. that an object that should be detected as a monitoring object exists, it may not determine that the monitoring object is detected if an identifier is detected separately. In this way, it is possible to suppress erroneous determination of the monitoring object.

[0129] In the above embodiment, an intruder (a moving object such as a person or an animal) is exemplified as a monitoring object, but the monitoring object is not limited thereto. For example, the monitoring object may also be a specified plant, seed, mushroom, insect, small animal, obstacle (rock, fallen stone, fallen tree). When the vehicle 1 detects these monitoring objects, in addition to or instead of the alarm action, data collection action, etc., as a specified alert action, a collection action, a removal action, etc. may also be performed.

[0130] For example, when a collecting unit (collecting arm, etc.) is provided on the vehicle 1 to collect plants, seeds, mushrooms, insects, etc., the control device 13 may collect the monitored object when the monitored object is detected. For example, when an expelling unit (agent spraying unit, etc.) is provided on the vehicle 1 to expel pests, etc., the control device 13 may expel the monitored object when the monitored object is detected. For example, when a removal unit (leaf removal, etc.) is provided to remove obstacles such as rocks and fallen trees, the control device 13 may remove the monitored object when the monitored object is detected.

[0131] Furthermore, the initial driving route Ri and the driving route Rs illustrated in the above embodiment are set in a form of traveling from the starting point position Po within the driving area SA (travel area WA) and returning to the starting point position Po, but are not limited to this. That is, the arrival position is set at a position different from the starting point position Po, and the initial driving route Ri and the driving route Rs may be set so that the alert driving is performed between moving from the base point position Po to the arrival position.

[0132] Explanation of symbols:

[0133] 1 Multipurpose vehicle (vehicle)

[0134] 2 Front wheels

[0135] 3 Rear wheels

[0136] 9. Drive source

[0137] 11 Steering device

[0138] 13 Control Devices

[0139] 14 Traveling device

[0140] 29 Front space detection unit (object detection unit)

[0141] 30 Vehicle position detection unit

[0142] 41 Path setting device

[0143] 42 Data receiving unit

[0144] 60 Unmanned Aerial Vehicles

[0145] 70 Aircraft take-off and landing gear.

Claims

1. A multi-purpose vehicle having: A travel device including front wheels and rear wheels, a steering device provided on the front wheels, and a driving source for driving the front wheels and / or the rear wheels; A control device for controlling the travel device so as to automatically travel in a prescribed travel area without requiring human operation; A path setting device for setting a driving path for the automatic driving; a vehicle position detection unit for detecting a vehicle position; and an object detection unit for detecting a monitoring object in the driving area; The control device stores a history of the position of the monitored object when the monitored object is detected during the automatic driving; The path setting device sets a position where the monitored object was detected in the past as a reference point, and changes the driving path of the warning driving area to a warning driving path different from the initial driving path in the form of performing prescribed warning driving in a warning driving area which is a partial area set based on the reference point in a predetermined initial driving path. When the prescribed driving area includes a plurality of the warning driving areas, the plurality of warning driving paths set in the plurality of warning driving areas are connected through portions of the initial driving path outside the warning driving areas, thereby setting the driving path.

2. The utility vehicle according to claim 1, characterized in that: The route setting device changes the travel route in the warning travel area so that the travel distance is longer than the initial travel route, thereby setting the travel route in a form that passes through the reference point and travels in the travel area according to a predetermined logic.

3. The multi-purpose vehicle according to claim 1 or 2, characterized in that: When there are a plurality of reference points, the route setting device sets a higher importance for setting the driving route for newer reference points, and sets different settings of the driving route near the reference points according to the importance.

4. The multi-purpose vehicle according to claim 1 or 2, characterized in that: When there are a plurality of reference points, the route setting device sets a higher importance for setting the driving route in a partial area where a large number of the plurality of reference points are present, and sets a different setting form of the driving route near the reference points according to the importance.

5. The multi-purpose vehicle according to claim 1 or 2, characterized in that: A data receiving unit for receiving detection data from an unmanned aerial vehicle that detects a monitoring object within the driving area; The route setting device sets the travel route such that the position of the monitoring object detected by the unmanned aerial vehicle is added to the reference point, and the unmanned aerial vehicle travels with priority given to the position of the monitoring object detected by the unmanned aerial vehicle.

6. The utility vehicle according to claim 5, characterized in that: An aircraft take-off and landing unit is provided on which the unmanned aerial vehicle can take off and land.

Images