Evacuation information generation system, evacuation information generation device, autonomous traveling apparatus, evacuation information generation method, and evacuation information generation program

Abstract

To provide an evacuation information generation system, etc., capable of generating effective evacuation information.SOLUTION: An evacuation information generation system has a processor, and generates evacuation information in a traveling area of an autonomous traveling apparatus. The processor is configured to execute acquisition of observation information observed by searching the traveling area, in which occurrence of hazard is estimated, with the autonomous traveling apparatus. The processor is configured to execute output of a hazard map representing a hazard level for each location in the traveling area in accordance with the observation information.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present disclosure relates to a technology for generating evacuation information in a travel area of ​​an autonomous driving device. [Background technology]

[0002] Patent Document 1 discloses a system that guides a person to the outside of a building when an event occurs. When an event occurs, this system sets an evacuation route from the current position of the person to the exit of the building. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-47482 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology of Patent Document 1, an evacuation route is set based on the current location of the person being guided and the location of the building exit, and whether or not the route is actually passable is not taken into consideration. Therefore, there is a risk that an effective evacuation route cannot be set, such as when the evacuation route becomes impassable due to a hazard such as a disaster.

[0005] An object of the present disclosure is to provide an evacuation information generation system capable of generating effective evacuation information. Another object of the present disclosure is to provide an evacuation information generation device capable of generating effective evacuation information. Yet another object of the present disclosure is to provide an autonomous driving device capable of generating effective evacuation information. Yet another object of the present disclosure is to provide an evacuation information generation method capable of generating effective evacuation information. Yet another object of the present disclosure is to provide an evacuation information generation program capable of generating effective evacuation information. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the corresponding relationship with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is an evacuation information generation system having a processor (202; 102) and generating evacuation information for a travel area (A) of an autonomous mobile device (1), The processor Obtaining observation information observed by searching a travel area where a hazard is estimated to occur using an autonomous driving device; outputting evacuation information in the form of a hazard map (M) showing the hazard level for each location within the driving area according to the observation information; The apparatus is configured to execute the following steps:

[0008] A second aspect of the present disclosure is an evacuation information generating device having a processor (202; 102), configured to be installable in an autonomous mobile device (1) or a remote center (2), and generating evacuation information for a travel area (A) of the autonomous mobile device (1), The processor Obtaining observation information observed by searching a travel area where a hazard is estimated to occur using an autonomous driving device; outputting evacuation information in the form of a hazard map (M) showing the hazard level for each location within the driving area according to the observation information; The apparatus is configured to execute the following steps:

[0009] A third aspect of the present disclosure is an autonomous driving device having a processor (102) and autonomously driving in a driving area (A), The processor Obtaining observation information observed by searching a travel area where a hazard is estimated to occur using an autonomous driving device; outputting evacuation information in the form of a hazard map (M) showing the hazard level for each location within the driving area according to the observation information; The apparatus is configured to execute the following steps:

[0010] A fourth aspect of the present disclosure is an evacuation information generation method executed by a processor (202; 102) to generate evacuation information for a travel area (A) of an autonomous mobile device (1), comprising: Obtaining observation information observed by searching a travel area where a hazard is estimated to occur using an autonomous driving device; outputting evacuation information in the form of a hazard map (M) showing the hazard level for each location within the driving area according to the observation information; Includes.

[0011] A fifth aspect of the present disclosure is an evacuation information generation program stored in a storage medium (201; 101) for generating evacuation information for a travel area (A) of an autonomous mobile device (1), the program including instructions to be executed by a processor (202; 102), The command is, Acquiring observation information observed by searching a travel area where a hazard is estimated to occur using an autonomous traveling device; outputting evacuation information in the form of a hazard map (M) showing the hazard level for each location within the driving area according to the observation information; Includes.

[0012] According to the first to fifth aspects, a hazard map is output according to observation information by an autonomous driving device for a travel area where a hazard is estimated to occur. Therefore, the hazard map for each location can reflect actual observation information for the location. Therefore, effective evacuation information can be generated.

[0013] A sixth aspect of the present disclosure is an evacuation information generation system having a processor (202; 102) and generating evacuation information for a travel area (A) of an autonomous mobile device (1), The processor Obtaining observation information observed by searching a travel area where a hazard is estimated to occur using an autonomous driving device; outputting evacuation information as evacuation route data within the travel area according to the observation information; The apparatus is configured to execute the following steps:

[0014] A seventh aspect of the present disclosure is an evacuation information generating device having a processor (202; 102), configured to be installable in an autonomous mobile device (1) or a remote center (2), and generating evacuation information for a travel area (A) of the autonomous mobile device (1), The processor Obtaining observation information observed by searching a travel area where a hazard is estimated to occur using an autonomous driving device; outputting evacuation information as evacuation route data within the travel area according to the observation information; The apparatus is configured to execute the following steps:

[0015] An eighth aspect of the present disclosure is an autonomous driving device (1) having a processor (102) and autonomously driving a driving area (A), The processor Obtaining observation information observed by searching a travel area where a hazard is estimated to occur using an autonomous driving device; outputting evacuation information as evacuation route data within the travel area according to the observation information; The apparatus is configured to execute the following steps:

[0016] A ninth aspect of the present disclosure is an evacuation information generation method executed by a processor (202; 102) to generate evacuation information for a travel area (A) of an autonomous mobile device (1), Obtaining observation information observed by searching a travel area where a hazard is estimated to occur using an autonomous driving device; outputting evacuation information as evacuation route data within the travel area according to the observation information; Includes.

[0017] A tenth aspect of the present disclosure is an evacuation information generation program stored in a storage medium (201; 101) for generating evacuation information for a travel area (A) of an autonomous traveling device (1), the program including instructions to be executed by a processor (202; 102), The command is, Acquiring observation information observed by searching a travel area where a hazard is estimated to occur using an autonomous traveling device; outputting evacuation information as evacuation route data within a travel area according to the observation information; Includes.

[0018] According to the sixth to tenth aspects, route evacuation data corresponding to observation information by the autonomous mobile device is output for a travel area where a hazard is estimated to occur. Therefore, actual observation information can be reflected in the evacuation route data within the travel area. Therefore, effective evacuation information can be generated. [Brief description of the drawings]

[0019] [Figure 1] 1 is a block diagram showing an overall configuration of an embodiment; [Diagram 2] FIG. 2 is a schematic diagram showing a driving environment of a host vehicle to which an embodiment is applied. [Diagram 3] 1 is a block diagram showing a functional configuration of an autonomous driving device according to an embodiment. [Figure 4] 1 is a block diagram showing a functional configuration of an evacuation information generating system according to an embodiment. [Diagram 5] 1 is a flowchart showing a flow executed by an information processing device in an embodiment. [Figure 6] 10 is a flowchart showing a flow in an area search mode executed by an information processing device according to an embodiment. [Figure 7] 11 is a flowchart illustrating a flow in a disrupted device search mode executed by an information processing device according to an embodiment. [Figure 8]10 is a flowchart illustrating a flow executed by a server device according to an embodiment. [Figure 9] FIG. 11 is a diagram showing an example of a hazard level according to observation information acquired in the area search mode. [Figure 10] FIG. 13 is a diagram showing an example of a hazard level according to observation information acquired by a disruption device search mode. [Figure 11] FIG. 13 is a diagram showing an example of a hazard map. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Hereinafter, one embodiment of the present disclosure will be described with reference to the drawings.

[0021] First embodiment An evacuation information generation system 3 of a first embodiment shown in Fig. 1 generates evacuation information related to a travel area A of an autonomous mobile device 1 shown in Fig. 2. The evacuation information generation system 3 includes, for example, a plurality of autonomous mobile devices 1 and a server device 2b provided in a remote center 2 that manages the operation of the autonomous mobile devices 1.

[0022] The autonomous mobile device 1 is an autonomous mobile robot capable of autonomously traveling in any direction, including forward, backward, left, and right. The autonomous mobile device 1 may be a logistics robot that autonomously travels in a facility such as a hospital or warehouse as a traveling area A under normal circumstances to transport luggage. Alternatively, the autonomous mobile device 1 may be a delivery robot that autonomously travels on a road as a traveling area A under normal circumstances to transport luggage to a delivery destination. Alternatively, the autonomous mobile device 1 may be an information gathering robot that normally travels around a traveling area A such as a facility or road to collect specific information.

[0023] The autonomous driving device 1 normally provides the above-mentioned services within the driving area A, and when a hazard occurs, collects, in the driving area A, observation information required for evacuation information generation processing in the evacuation information generation system 3. Here, a hazard is an event that may cause damage to the driving area A. A hazard can also be said to be an event that requires users of the driving area A to evacuate from the area. For example, hazards include disaster events such as earthquakes and fires. The driving area A in which a hazard occurs can also be called a hazard area.

[0024] The autonomous mobile device 1 is equipped with a sensor system 10, a communication system 20, a map database 30, a driving system 40, and an information processing device 100, all of which are shown in Fig. 3. The sensor system 10 acquires sensor information about the external and internal worlds of the autonomous mobile device 1 that can be used by the information processing device 100. To this end, the sensor system 10 includes an external sensor 11 and an internal sensor 12.

[0025] The external sensor 11 acquires external information as sensor information from the external world that is the surrounding environment of the autonomous mobile device 1. The external sensor 11 may be of a target detection type that detects targets that exist in the external world of the autonomous mobile device 1. The target detection type external sensor 11 is at least one of a camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, sonar, etc. The external information acquired by the external sensor 11 is linked to the position information of the acquired location and sequentially stored in a storage medium such as the memory 101 of the autonomous mobile device 1 or the memory 201 of the server device 2b.

[0026] The internal sensor 12 acquires internal information as sensor information from the internal world, which is the internal environment of the autonomous mobile device 1. The internal sensor 12 may be a physical quantity detection type that detects a specific physical quantity of motion in the internal world of the autonomous mobile device 1. The physical quantity detection type internal sensor 12 is at least one type of sensor, such as a traveling speed sensor, an acceleration sensor, or a gyro sensor.

[0027] The communication system 20 acquires communication information that can be used by the information processing device 100 through wireless communication. The communication system 20 includes a positioning type that receives a positioning signal from an artificial satellite of a Global Navigation Satellite System (GNSS) that exists in the external world of the autonomous mobile device 1. The positioning type communication system 20 is, for example, a GNSS receiver. The communication system 20 includes a wide-area communication type that transmits and receives a communication signal to and from a wide-area communication system that exists in the external world of the autonomous mobile device 1. The wide-area communication type communication system 20 is, for example, at least one of a Dedicated Short Range Communications (DSRC) communication device and a Cellular V2X (C-V2X) communication device. Through the wide-area communication type communication system 20, the autonomous mobile device 1 periodically provides its own position information to the remote center 2. The communication system 20 includes a short-distance communication type that transmits and receives signals by local communication between autonomous mobile devices 1 that exist in a relatively short distance. The short-distance communication type communication system 20 is at least one of, for example, a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, and an infrared communication device.

[0028] The map database 30 stores map information that can be used by the information processing device 100. The map database 30 includes at least one type of non-transitory tangible storage medium, for example, a semiconductor memory, a magnetic medium, an optical medium, and the like. The map database 30 may be a database of a locator that estimates the self-state quantity including the self-position of the autonomous mobile device 1. The map database 30 may be a database of a planning unit that plans the traveling of the autonomous mobile device 1. The map database 30 may be configured by combining a plurality of types of these databases and the like.

[0029] The map database 30 acquires and stores the latest map information, for example, by communicating with the remote center 2 via the communication system 20. Here, the map information is converted into two-dimensional or three-dimensional data as information representing the driving environment of the autonomous driving device 1. In particular, it is preferable to adopt digital data of a high-precision map as the three-dimensional map data.

[0030] The map information may include facility information representing at least one of the positions, shapes, and floor surface conditions of walls and floors of a facility along which the vehicle travels. The map information may include installation information representing at least one of the positions, shapes, and types of installations attached to the facility. The map information may include road information representing at least one of the positions, shapes, and road surface conditions of a road along which the vehicle travels. The map information may include marking information representing at least one of the positions and shapes of signs and dividing lines attached to the road. The map information may include structure information representing at least one of the positions and shapes of buildings and traffic lights facing the road.

[0031] The driving system 40 controls the driving of the autonomous mobile device 1 in cooperation with the information processing device 100 and the like. The driving system 40 includes, for example, a plurality of drive wheels and an electric actuator that controls the drive wheels. The drive wheels are wheels that can turn due to the rotation speed difference between the drive wheels, such as Mecanum wheels and omni wheels. The electric actuator can rotate each drive wheel independently. The electric actuator can switch the drive mode of the autonomous mobile device 1 between straight drive and turning drive by adjusting the rotation speed difference between the drive wheels. The electric actuator may include a brake unit that applies braking to each drive wheel while rotating. The electric actuator may include a lock unit that locks each drive wheel while stopped.

[0032] The information processing device 100 is connected to a sensor system 10, a communication system 20, and a map database 30 via at least one of, for example, a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line. The information processing device 100 is configured to include at least one dedicated computer.

[0033] The dedicated computer constituting the information processing device 100 may be a planning ECU (Electronic Control Unit) that plans a target trajectory along which the autonomous driving device 1 travels. The dedicated computer constituting the information processing device 100 may be a trajectory control ECU that makes an actual trajectory follow a target trajectory of the autonomous driving device 1. The dedicated computer constituting the information processing device 100 may be an actuator ECU that controls each electric actuator of the autonomous driving device.

[0034] The dedicated computer constituting the information processing device 100 may be a sensing ECU that controls the sensor system 10 of the autonomous driving device 1. The dedicated computer constituting the information processing device 100 may be a locator ECU that estimates the self-state quantity of the autonomous driving device 1. The dedicated computer constituting the information processing device 100 may be a computer other than the autonomous driving device 1 that constitutes, for example, an external center or a mobile terminal capable of communicating with the autonomous driving device 1 via the communication system 20.

[0035] The dedicated computer constituting the information processing device 100 has at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. Here, storage may be accumulation in which data is retained even when the autonomous mobile device 1 is turned off, or temporary storage in which data is erased when the autonomous mobile device 1 is turned off. The processor 102 includes at least one type of core, such as a central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a data flow processor (DFP), and a graph streaming processor (GSP).

[0036] In the information processing device 100, the processor 102 executes a plurality of instructions included in a search program stored in the memory 101 in order to execute search control for making the autonomous mobile device 1 search for a travel area A where a hazard has occurred. In this way, the information processing device 100 constructs a plurality of functional blocks for search control. The plurality of functional blocks constructed in the information processing device 100 include a search block 110 and a transmission block 120 as shown in FIG. 3.

[0037] A search control method in which the information processing device 100 executes search control by cooperation of these blocks 110 and 120 is executed according to the search control flow shown in Figures 5 to 7. This search control flow is executed repeatedly while the autonomous mobile device 1 is running. Note that each "S" in this search control flow means multiple steps executed by multiple commands included in the search control program.

[0038] First, in S100, the search block 110 acquires hazard information. The hazard information is information indicating the occurrence of a hazard. Therefore, the driving area A to which the hazard information applies is an area in which the occurrence of a hazard is estimated. The search block 110 acquires the hazard information, for example, from the remote center 2 via the communication system 20. Alternatively, the search block 110 may acquire the hazard information by determining the occurrence of a hazard based on information acquired by its own external sensor 11 and internal sensor 12.

[0039] In the next step S110, the search block 110 determines whether communication with the remote center 2 is possible. The search block 110 determines whether communication with the remote center 2 is possible by performing a fault diagnosis of the wide-area communication type communication system 20 and attempting communication with the remote center 2. If it is determined that communication is not possible, this flow ends. In this case, the autonomous mobile device 1 waits for a search from an autonomous mobile device 1 in an active state that can communicate with the remote center 2 described below as an autonomous mobile device 1 in a disconnected state. In the following, the autonomous mobile device 1 in a disconnected state may be referred to as a disconnected device. Also, the autonomous mobile device 1 in an active state may be referred to as an active device. In addition, if the disconnected device can use the short-range communication type communication system 20, it may transmit a signal to the surroundings by short-range communication to assist the search by the active device.

[0040] On the other hand, if it is determined in S110 that communication with the remote center 2 is possible, the flow proceeds to S120. In S120, the search block 110 determines whether the autonomous mobile device 1 is capable of traveling. The search block 110 may determine whether or not traveling is possible by, for example, performing a fault diagnosis of the sensor system 10 or the traveling system 40. If it is determined that traveling is impossible, the flow proceeds to S130. In S130, the transmission block 120 transmits a fault notification to the remote center 2 via the communication system 20 to notify that traveling is impossible, and then ends the flow. Note that even if it is determined that traveling is impossible, the autonomous mobile device 1 may transmit observation information (described later) around the current stopping position to the remote center 2 as long as the external sensor 11 is available.

[0041] On the other hand, if it is determined in S120 that the autonomous mobile device 1 is capable of traveling, the flow proceeds to S140. In S140, the search block 110 determines the search mode of the autonomous mobile device 1. For example, the search block 110 determines the search mode by acquiring a mode designation command from the remote center 2. The search mode includes, for example, an area search mode and a disrupted device search mode. When the mode is determined to be the area search mode, the flow proceeds to S150. When the mode is determined to be the disrupted device search mode, the flow proceeds to S160.

[0042] In executing the area search mode at S150, the autonomous mobile device 1 searches for facilities that make up the travel area A, and transmits the search results to the remote center 2. The detailed processing at S150 will be described below with reference to the flowchart in FIG.

[0043] In S151, the search block 110 acquires external environment information of the travel area A after the hazard. In detail, the search block 110 causes the autonomous mobile device 1 to travel near a location in the travel area A where observation information, which will be described later, has not been acquired, and acquires external environment information of the location from the external environment sensor 11. At this time, the search block 110 may, for example, cause the autonomous mobile device 1 to travel so as to trace the location where the external environment information was acquired before the hazard occurred. Alternatively, the search block 110 may cause the autonomous mobile device 1 to travel so as to continue proceeding along the planned travel route before the hazard occurred. Alternatively, the search block 110 may cause the autonomous mobile device 1 to travel so as to proceed along the planned travel route distributed from the remote center 2 after the hazard occurred. The search block 110 acquires the external environment information by linking it to the position information of the location.

[0044] In the next step S152, the search block 110 acquires pre-hazard external world information related to the location where the external world information was acquired in S151. The search block 110 acquires pre-hazard external world information by reading pre-hazard external world information whose position information substantially matches the external world information acquired in S151 from the storage medium. Note that the pre-hazard external world information may have been acquired by another autonomous mobile device 1.

[0045] Furthermore, in S153, the transmission block 120 outputs observation information corresponding to the external world information before and after the hazard to the remote center 2. In detail, the transmission block 120 outputs difference information between the external world information acquired in the area search and the external world information before the hazard as observation information. The observation information may include an analysis result of the difference. The output observation information is transmitted to the remote center 2 via the communication system 20. After the processing of S153, this flow proceeds to S170 in FIG. 5.

[0046] On the other hand, in executing the disrupted device search mode in S160, the autonomous mobile device 1 searches for a disrupted device and transmits the search results to the remote center 2. The detailed processing in S160 will be described with reference to the flowchart in FIG.

[0047] In S161, the search block 110 starts the search for the disconnected device. In the search for the disconnected device, the search block 110 acquires the location information of the disconnected device immediately before the disconnection from the remote center 2 or the like, and controls the traveling system 40 to head toward the disconnection location where the disconnected device is estimated to be present. The disconnection location is, for example, an area of ​​a specified range including the location coordinates immediately before the disconnection.

[0048] In the next step S162, the search block 110 determines whether the autonomous mobile device 1 has arrived at the disruption location. The search block 110 continues the disruption device search until it determines that the autonomous mobile device 1 has arrived at the disruption location. If it is determined that the autonomous mobile device 1 has arrived at the disruption location, the flow proceeds to S163.

[0049] In S163, the search block 110 executes a diagnostic process regarding the state of the disrupted device at the disruption location. In the diagnostic process, the search block 110 determines whether local communication between the active device (own device) and the disrupted device is possible, for example, by a short-range communication type communication system 20. In addition, in the diagnostic process, the search block 110 determines whether the external sensor 11 of the own device can recognize the disrupted device. Furthermore, in the diagnostic process, if the search block 110 can recognize the disrupted device, it determines the degree of damage to the appearance of the disrupted device.

[0050] Then, in S164, the transmission block 120 outputs the diagnostic information of the interrupted device acquired in S163 as observation information. The output observation information is transmitted to the remote center 2 via the communication system 20. After the process of S164, the flow proceeds to S170 in FIG. 5.

[0051] In S170, the search block 110 determines whether or not there is an instruction to end the search. The end instruction is transmitted to the autonomous mobile device 1 in response to the operation of a manager such as an operator in the remote center 2, for example. If there is no end instruction, the search block 110 executes the area search mode in S150. That is, the autonomous mobile device 1 performing the area search mode expands the area search area in the facility until an end instruction is issued. Then, the autonomous mobile device 1 performing the disconnected device search mode transitions to the area search mode if there is no end instruction even after searching for the disconnected device. As a result, the ratio of devices performing the area search mode among the autonomous mobile devices 1 in the active state increases over time. When an end instruction is acquired, this flow ends and the search process is completed. After the search ends, the autonomous mobile device 1 may wait at the search end point, or may leave the travel area A in response to evacuation information from the remote center 2.

[0052] Next, a detailed description will be given of the server device 2b in the remote center 2, which generates evacuation information in response to the search process of the autonomous mobile device 1. The server device 2b is connected to the communicator 2a, which communicates with the autonomous mobile device 1, via at least one of a LAN line, a wire harness, an internal bus, and a wireless communication line, for example. The server device 2b is configured to include at least one dedicated computer.

[0053] The dedicated computer constituting the server device 2b has at least one memory 201 and one processor 202. The memory 201 is at least one type of non-transient substantial storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. Here, storage may be accumulation in which data is retained even when the dedicated computer is turned off, or temporary storage in which data is erased when the dedicated computer is turned off. The processor 202 includes at least one type of core, such as a CPU, a GPU, a RISC-CPU, a DFP, or a GSP.

[0054] In the server device 2b, the processor 202 executes a plurality of instructions included in an evacuation information generation program stored in the memory 201 in order to generate evacuation information for the travel area A of the autonomous mobile device 1. In this way, the server device 2b constructs a plurality of function blocks for generating evacuation information for the travel area A. The plurality of function blocks constructed in the evacuation information generation system 3 includes a collection block 210 and an output block 220 as shown in FIG.

[0055] The evacuation information generation method in which the server device 2b generates evacuation information for the travel area A of the autonomous mobile device 1 by cooperation of these blocks 210 and 220 is executed according to the evacuation information generation flow shown in Fig. 8. This evacuation information generation flow is executed repeatedly while the dedicated computer is running. Note that each "S" in this evacuation information generation flow represents multiple steps executed by multiple commands included in the evacuation information generation program.

[0056] First, in S200, the collection block 210 determines whether a hazard has occurred. The collection block 210 may determine the occurrence of a hazard by acquiring hazard occurrence information from at least one of distribution from a public communication network such as the Internet, a report from a facility, and information provided by a fire department or the like. The collection block 210 waits for the flow to proceed until it determines that an event has occurred. If it determines that a hazard has occurred, the flow proceeds to S210. In S210, the output block 220 outputs the hazard information to the autonomous mobile device 1. The hazard information is transmitted to each autonomous mobile device 1 in the travel area A via the communication device 2a.

[0057] Next, in S220, the collection block 210 executes allocation of search modes to the autonomous mobile devices 1 in the travel area A. Specifically, the collection block 210 identifies active devices without failure notifications, that is, autonomous mobile devices 1 that can travel, by communicating with the autonomous mobile devices 1. Then, the collection block 210 allocates the identified autonomous mobile devices 1 to devices that execute the area search mode and devices that execute the disrupted device search mode. For example, the collection block 210 may allocate the disrupted device search mode to the autonomous mobile device 1 closest to each disruption location, and allocate the other autonomous mobile devices 1 to the area search mode. The collection block 210 may assign multiple autonomous mobile devices 1 to one disruption location. The collection block 210 outputs the allocation result to each autonomous mobile device 1, thereby causing each autonomous mobile device 1 to execute the search mode corresponding to the autonomous mobile device 1.

[0058] In the next step S230, the collection block 210 acquires observation information by area search from each active autonomous mobile device 1. Then, in step S240, the collection block 210 acquires observation information by searching for a disrupted device from each active autonomous mobile device 1. The processing of steps S230 and S240 may be performed in parallel. The collection block 210 continues the acquisition process until sufficient location observation information is collected to generate a hazard map, and then proceeds to step S250.

[0059] In S250, the output block 220 generates a hazard map according to each piece of observation information. Here, the hazard map is evacuation information in a map format that indicates a hazard level for each location in the travel area A. The hazard level is a degree of danger to the user of the travel area A. The user is, for example, a person. Alternatively, the user may be the autonomous mobile device 1. The output block 220 may estimate a hazard level for each type of user.

[0060] The output block 220 estimates a hazard level of a corresponding location from each piece of observation information. For example, as shown in Fig. 11, the output block 220 estimates a hazard level according to the observation information of the corresponding position for each location as a small section into which the driving area A is divided.

[0061] The output block 220 sets multiple hazard levels according to information from the observation information, as shown in Figures 9 and 10. In the example shown in Figures 9 and 10, the output block 220 sets five hazard levels, from lowest to highest, which are zero, low, medium, high, and the highest level of danger. In the following examples, the magnitude of the hazard levels is the same for both people and the autonomous mobile device 1, unless otherwise specified.

[0062] For example, as shown in FIG. 9, the output block 220 determines whether there is damage to nearby walls, whether there are collapses in the floor, and whether there are obstacles on the floor for each location based on the observation information obtained by area search, and determines the hazard level based on the condition of the location estimated from the determination results.

[0063] Specifically, when the output block 220 determines that there is no wall damage, no floor collapse, and no obstacle, it presumes that there is no abnormality in the location. In this case, the output block 220 determines the hazard level to be zero. Also, when the output block 220 determines that there is an obstacle without any wall damage or floor collapse, it determines the hazard level for the location to be between low and high. The smaller the passable area is due to an obstacle, the higher the hazard level the output block 220 determines for the area and the obstacle position. The output block 220 may determine the hazard levels for the obstacle position and the passable area separately.

[0064] Furthermore, when the output block 220 determines that there is no damage to the wall, that there is a collapsed floor, and that there are no obstacles, it estimates that the floor is missing at that location. In this case, the output block 220 determines the hazard level to be between medium and high. The smaller the passable area is due to a collapsed floor, the higher the hazard level the output block 220 determines for that area and the collapsed part. The output block 220 may determine the hazard levels for the collapsed part and the passable area separately.

[0065] Furthermore, when the output block 220 determines that there is no wall damage, that there is a floor collapse, and that there is an obstacle, it presumes that the floor at the location has been damaged by a heavy object falling, and that the heavy object or its fragments are scattered on the floor. In this case, the output block 220 determines the hazard level to be high. Furthermore, when the output block 220 determines that there is wall damage, that there is no floor collapse, and that there is no obstacle, it determines the hazard level at the location to be low.

[0066] Then, when the output block 220 determines that there is damage to the wall, no collapse of the floor, and the presence of an obstacle, it presumes that an object installed on the wall at that location has fallen onto the floor. In this case, the output block 220 determines the hazard level to be low to medium. The smaller the passable area is due to the falling object, the higher the hazard level the output block 220 determines for that area and the position of the falling object. The output block 220 may determine the hazard levels for the position of the falling object and the passable area separately.

[0067] Furthermore, if the output block 220 determines that there is wall damage, that there is a floor collapse, and that there is no obstacle, it presumes that the structure of the wall or floor has changed due to the hazard. In this case, the output block 220 determines the hazard level to be high. Also, if the output block 220 determines that there is wall damage, that there is a floor collapse, and that there is an obstacle, it presumes that the shape of the wall or floor has not been maintained due to the hazard, or that the floor has been significantly deformed and environmental recognition is not being performed normally. In this case, the output block 220 determines the hazard level to be the highest.

[0068] 10, the output block 220 determines the status of the disrupted device from the observation information obtained by the disrupted device search. For example, the output block 220 determines whether local communication is possible with the disrupted device, whether the disrupted device has been found, and whether the external appearance of the disrupted device is damaged. The output block 220 determines the hazard level at the disrupted location from the status of the disrupted device estimated from the determination result.

[0069] Specifically, when the output block 220 determines that local communication is possible, that the device has been found, and that there is no damage to the exterior, it determines that only the communication function of the disruption device with the center is damaged. In this case, the output block 220 determines the hazard level for people to be zero. In addition, in this case, the output block 220 sets the hazard level for the autonomous mobile device 1 to low. In addition, when the output block 220 determines that local communication is possible, that the device has been found, and that there is damage to the exterior, it presumes that the communication function of the disruption device with the center and the housing have been damaged by an external impact. In this case, the output block 220 determines the hazard level to be medium.

[0070] Furthermore, if the output block 220 determines that local communication is possible, but that it is not possible to determine whether the device is damaged or not due to lack of discovery, it presumes that the disrupted device is left behind in an area where other autonomous mobile devices 1 cannot enter. In this case, the output block 220 determines the hazard level to be high.

[0071] Furthermore, if the output block 220 determines that local communication is not possible, that a detection has been made, and that there is no external damage, it presumes that the communication function is not available due to an abnormality in the network card, generation of jamming radio waves, etc. In this case, the output block 220 determines the hazard level for people to be low. Also, in this case, the output block 220 determines the hazard level for the autonomous mobile device 1 to be medium.

[0072] Furthermore, when the output block 220 determines that local communication is not possible, that the device has been found, and that there is external damage, it presumes that serious damage has occurred to the hardware of the disruption device due to an external impact. In this case, the output block 220 determines the hazard level to be high. Then, when the output block 220 determines that it is not possible to determine whether there is external damage because local communication is not possible and the device has not been found, it presumes that the state of the disruption device cannot be confirmed because it has been involved in the collapse of a facility, etc. In this case, the output block 220 determines the hazard level to be the highest.

[0073] By setting the hazard level for each location as described above, the output block 220 generates a hazard map M in which a hazard level is defined for each subdivision, as shown in Fig. 11. In Fig. 11, the darker the hatching of the dots, the higher the hazard level. Subdivisions without hatching are locations for which the hazard level is set to zero.

[0074] In the following S260, the output block 220 generates evacuation route data within the travel area A. The evacuation route data is evacuation information in a map format that represents the evacuation route Re within the travel area A. The output block 220 generates the evacuation route data based on the hazard map M generated in S250.

[0075] Specifically, the output block 220 searches for a route with the smallest hazard cost from a specified starting point to an exit of the travel area A, and sets the route as the evacuation route Re. The starting point of the evacuation route Re is, for example, the current location of an evacuee detected in the travel area A. Alternatively, the evacuation route Re may start at any position. For example, the starting point of the hazard cost is a cost according to the hazard level in the hazard map M. The hazard cost is a parameter related to the sum of the hazard levels of each location passed through, which is quantified so that the higher the level, the larger the value. Note that, in the example shown in FIG. 11, the evacuation route Re with the lowest hazard level (zero) is shown, but it may pass through locations with a hazard level greater than zero as long as the hazard cost is minimized. Note that the output block 220 may generate evacuation route data under a constraint that locations with a specified hazard level or higher are not passed through regardless of the hazard cost.

[0076] Then, in S270, the output block 220 outputs the hazard map M and the evacuation route data. The output block 220 may output this evacuation information to a rescue organization such as a fire department. Alternatively, the output block 220 may output this evacuation information to the autonomous mobile device 1 in the travel area A. Alternatively, the output block 220 may output this evacuation information to personnel such as an operator at the remote center 2.

[0077] At this time, the output block 220 outputs the evacuation route data in association with the hazard map M. That is, the output block 220 associates the evacuation route data so that the position of the evacuation route Re is presented on the hazard map M, as shown in FIG.

[0078] According to the first embodiment described above, a hazard map M is output according to observation information by an autonomous driving device for a travel area A where a hazard is estimated to occur. Therefore, the hazard map M for each location can reflect actual observation information for that location. Therefore, effective evacuation information can be generated.

[0079] Moreover, according to the first embodiment, route evacuation data corresponding to observation information by the autonomous mobile device is output for the travel area A where the occurrence of a hazard is estimated. Therefore, actual observation information can be reflected in the evacuation route data within the travel area A. Therefore, effective evacuation information can be generated.

[0080] Furthermore, according to the first embodiment, evacuation route data is output in association with the hazard map M. Therefore, highly convenient evacuation information that allows the user to grasp both the hazard level and the evacuation route data can be provided.

[0081] In addition, according to the first embodiment, acquiring the observation information includes acquiring the observation information obtained by searching the travel area A by an active device capable of communicating with the outside among the multiple autonomous mobile devices 1. Therefore, evacuation information can be generated using the active device capable of communicating with the outside.

[0082] According to the first embodiment, acquiring the observation information includes acquiring the observation information by searching the facilities constituting the travel area A by the active device. This allows evacuation information to be generated according to damage to the travel area A caused by a hazard.

[0083] Furthermore, according to the first embodiment, acquiring the observation information includes acquiring the observation information of a disconnected device that has lost communication with the outside world within the travel area A among the multiple autonomous driving devices 1, by using an active device. Then, outputting the evacuation information includes outputting a hazard map M that indicates the hazard level of the location where the disconnected device is estimated to exist as a hazard level according to the state of the searched disconnected device. Therefore, by utilizing the active device, evacuation information according to the state of the disconnected device can be generated.

[0084] In addition, according to the first embodiment, outputting evacuation information includes outputting a hazard map M that indicates a hazard level according to the intercommunication state between the active device and the interrupted device. Therefore, evacuation information that utilizes the intercommunication state between the active device and the interrupted device can be generated.

[0085] According to the first embodiment, outputting the evacuation information includes outputting a hazard map M showing a hazard level according to the observation state of the interruption device by the active device. This allows evacuation information according to the observation state of the interruption device to be generated by utilizing the active device.

[0086] (Other embodiments) Although one embodiment has been described above, the present disclosure should not be construed as being limited to the embodiment described above, and can be applied to various embodiments within the scope not departing from the gist of the present disclosure.

[0087] In a modified example, some of the functions executed by the server device 2b may be executed by another control device, such as the information processing device 100 of the autonomous mobile device 1. In addition, in a modified example, some of the functions executed by the information processing device 100 may be executed outside the autonomous mobile device 1, such as by the remote center 2.

[0088] In a modified example, the evacuation information generating system 3 may output only one of the hazard map M and the evacuation route data.

[0089] In a modified example, the dedicated computer constituting the evacuation information generating system 3 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), CPLD (Complex Programmable Logic Device), etc. Furthermore, such a digital circuit may have a memory that stores a program.

[0090] In addition to the above-described embodiments and modifications, the above-described embodiments and modifications may be implemented as an evacuation information generation device that is configured to be mountable on the autonomous driving device 1 or the remote center 2 and has at least one processor and one memory. In this case, the evacuation information generation device may be implemented in the form of a processing circuit (e.g., a processing ECU, etc.) or a semiconductor device (e.g., a semiconductor chip, etc.).

[0091] (Additional Note) This specification discloses the following technical ideas and combinations thereof.

[0092] (Technical thought 1) An evacuation information generation system having a processor (202; 102) and generating evacuation information for a travel area (A) of an autonomous mobile device (1), The processor, acquiring observation information observed by searching the travel area where a hazard is estimated to occur using the autonomous traveling device; outputting a hazard map (M) representing a hazard level for each location within the travel area according to the observation information; An evacuation information generating system configured to execute the above.

[0093] (Technical thought 2) Outputting the evacuation information includes: The evacuation information generating system according to technical idea 1 includes outputting evacuation route data within the driving area based on the hazard map.

[0094] (Technical Thought 3) Outputting the evacuation information includes: The evacuation information generating system according to technical idea 2 includes outputting the evacuation route data in correspondence with the hazard map.

[0095] (Technical Thought 4) An evacuation information generation system having a processor (202; 102) and generating evacuation information for a travel area (A) of an autonomous mobile device (1), The processor, acquiring observation information observed by searching the travel area where a hazard is estimated to occur using the autonomous traveling device; outputting evacuation route data within the travel area in response to the observation information; An evacuation information generating system configured to execute the above.

[0096] (Technical Thought 5) The acquiring of the observation information includes: An evacuation information generation system described in any one of technical ideas 1 to 4, which includes acquiring the observation information by searching the driving area using an active device capable of communicating with the outside among the multiple autonomous driving devices.

[0097] (Technical Thought 6) The acquiring of the observation information includes: The evacuation information generating system described in technical idea 5 includes obtaining the observation information by searching for facilities that make up the travel area using the active device.

[0098] (Technical Thought 7) The acquiring of the observation information includes: The method includes acquiring the observation information obtained by searching for a disconnected device that has lost communication with the outside within the travel area among the plurality of autonomous driving devices by the active device; Outputting the evacuation information includes: An evacuation information generating system as described in Technical Idea 5 or Technical Idea 6, which includes outputting a hazard map (M) representing the hazard level of a location where the existence of the disruption device is estimated as a hazard level according to the state of the detected disruption device.

[0099] (Technical Thought 8) The active device is the autonomous driving device capable of communicating with a remote center (2), and the disrupted device is the autonomous driving device that has lost communication with the remote center, Outputting the evacuation information includes: The evacuation information generating system described in technical idea 7 includes outputting the hazard map showing the hazard level according to the intercommunication state between the active device and the disconnected device.

[0100] (Technical Thought 9) Outputting the evacuation information includes: The evacuation information generating system described in Technical Idea 7 or Technical Idea 8 includes outputting a hazard map showing the hazard level according to the observation state of the disruption device by the active device. [Explanation of symbols]

[0101] 1: Autonomous driving device, 2: Remote center, 3: Evacuation information generation system, 101, 201: Memory (storage medium), 102, 202: Processor, A: Driving area

Claims

1. An evacuation information generation system having a processor (202; 102) and generating evacuation information for a travel area (A) of an autonomous mobile device (1), The processor, acquiring observation information observed by searching the travel area where a hazard is estimated to occur using the autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing a hazard level for each location within the travel area according to the observation information; An evacuation information generating system configured to execute the above.

2. Outputting the evacuation information includes: The evacuation information generating system according to claim 1 , further comprising: outputting evacuation route data within the driving area based on the hazard map.

3. Outputting the evacuation information includes: The evacuation information generating system according to claim 2 , further comprising outputting the evacuation route data in association with the hazard map.

4. The acquiring of the observation information includes: The evacuation information generating system according to claim 1 , further comprising: acquiring the observation information obtained by searching the travel area using an active device among the plurality of autonomous driving devices that is capable of communicating with the outside.

5. The acquiring of the observation information includes: The evacuation information generating system according to claim 4 , further comprising acquiring the observation information by searching for facilities that constitute the travel area by the active device.

6. The acquiring of the observation information includes: The method includes acquiring the observation information obtained by searching for a disconnected device that has lost communication with the outside within the travel area among the plurality of autonomous driving devices by the active device; Outputting the evacuation information includes: The evacuation information generating system of claim 4, further comprising outputting a hazard map (M) representing the hazard level of a location where the existence of the disruption device is estimated as a hazard level according to the state of the detected disruption device.

7. The active device is the autonomous driving device capable of communicating with a remote center (2), and the disrupted device is the autonomous driving device that has lost communication with the remote center, Outputting the evacuation information includes: The evacuation information generating system according to claim 6 , further comprising: outputting the hazard map indicating the hazard level according to a state of mutual communication between the active device and the disconnected device.

8. Outputting the evacuation information includes: The evacuation information generating system according to claim 6 , further comprising: outputting the hazard map indicating the hazard level according to the observation state of the disconnection device by the active device.

9. An evacuation information generation system having a processor (202; 102) and generating evacuation information for a travel area (A) of an autonomous mobile device (1), The processor, acquiring observation information observed by searching the travel area where a hazard is estimated to occur using the autonomous traveling device; outputting evacuation information as evacuation route data within the travel area in response to the observation information; configured to run The acquiring of the observation information includes: Acquiring the observation information obtained by searching the travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring the observation information obtained by searching for a disconnected device that has lost communication with the outside within the travel area among the plurality of autonomous driving devices by the active device; Including, Outputting the evacuation information includes: An evacuation information generating system that includes outputting a hazard map (M) that represents the hazard level of a location where the existence of the disruption device is estimated, as a hazard level corresponding to the state of the detected disruption device.

10. Acquiring the observation information comprises: The evacuation information generating system according to claim 9 , further comprising acquiring the observation information by searching for facilities that constitute the travel area by the active device.

11. The active device is the autonomous driving device capable of communicating with a remote center (2), and the disrupted device is the autonomous driving device that has lost communication with the remote center, Outputting the evacuation information includes: The evacuation information generating system according to claim 9 , further comprising: outputting the hazard map indicating the hazard level according to a state of mutual communication between the active device and the disconnected device.

12. Outputting the evacuation information comprises: The evacuation information generating system according to claim 9 , further comprising: outputting the hazard map indicating the hazard level according to the observation state of the disruption device by the active device.

13. An evacuation information generating device having a processor (202; 102), configured to be installable in an autonomous mobile device (1) or a remote center (2), generating evacuation information for a travel area (A) of the autonomous mobile device (1), The processor, acquiring observation information observed by searching the travel area where a hazard is estimated to occur using the autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing a hazard level for each location within the travel area according to the observation information; An evacuation information generating device configured to execute the above.

14. An evacuation information generating device having a processor (202; 102), configured to be installable in an autonomous mobile device (1) or a remote center (2), generating evacuation information for a travel area (A) of the autonomous mobile device (1), The processor, acquiring observation information observed by searching the travel area where a hazard is estimated to occur using the autonomous traveling device; outputting evacuation information as evacuation route data within the travel area in response to the observation information; configured to run The acquiring of the observation information includes: Acquiring the observation information obtained by searching the travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring the observation information obtained by searching for a disconnected device that has lost communication with the outside within the travel area among the plurality of autonomous driving devices by the active device; Including, Outputting the evacuation information includes: An evacuation information generating device that includes outputting a hazard map (M) that represents the hazard level of a location where the existence of the disruption device is estimated, as a hazard level corresponding to the state of the detected disruption device.

15. An autonomous driving device having a processor (102) and autonomously driving in a driving area (A), The processor, acquiring observation information observed by searching the travel area where a hazard is estimated to occur using the autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing a hazard level for each location within the travel area according to the observation information; An autonomous driving device configured to execute the above.

16. An autonomous driving device (1) having a processor (102) and autonomously driving in a driving area (A), The processor, acquiring observation information observed by searching the travel area where a hazard is estimated to occur using the autonomous traveling device; outputting evacuation information as evacuation route data within the travel area in response to the observation information; configured to run The acquiring of the observation information includes: Acquiring the observation information obtained by searching the travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring the observation information obtained by searching for a disconnected device that has lost communication with the outside within the travel area among the plurality of autonomous driving devices by the active device; Including, Outputting the evacuation information includes: An autonomous driving device that includes outputting a hazard map (M) that represents the hazard level of a location where the existence of the disruption device is estimated, as a hazard level corresponding to the state of the detected disruption device.

17. An evacuation information generation method executed by a processor (202; 102) to generate evacuation information for a travel area (A) of an autonomous mobile device (1), comprising: acquiring observation information observed by searching the travel area where a hazard is estimated to occur using the autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing a hazard level for each location within the travel area according to the observation information; The evacuation information generating method includes:

18. An evacuation information generation method executed by a processor (202; 102) to generate evacuation information for a travel area (A) of an autonomous mobile device (1), comprising: acquiring observation information observed by searching the travel area where a hazard is estimated to occur using the autonomous traveling device; outputting evacuation information as evacuation route data within the travel area in response to the observation information; Including, The acquiring of the observation information includes: Acquiring the observation information obtained by searching the travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring the observation information obtained by searching for a disconnected device that has lost communication with the outside within the travel area among the plurality of autonomous driving devices by the active device; Including, Outputting the evacuation information includes: An evacuation information generating method including outputting a hazard map (M) representing the hazard level of a location where the existence of the disruption device is estimated as a hazard level according to the state of the detected disruption device.

19. An evacuation information generation program stored in a storage medium (201; 101) for generating evacuation information in a travel area (A) of an autonomous mobile device (1), the program including instructions to be executed by a processor (202; 102), The instruction: acquiring observation information observed by searching the travel area where a hazard is estimated to occur using the autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing a hazard level for each location within the travel area according to the observation information; An evacuation information generating program including:

20. An evacuation information generation program stored in a storage medium (201; 101) for generating evacuation information in a travel area (A) of an autonomous mobile device (1), the program including instructions to be executed by a processor (202; 102), The instruction: acquiring observation information observed by searching the travel area where a hazard is estimated to occur using the autonomous traveling device; outputting evacuation information as evacuation route data within the travel area in response to the observation information; Including, The acquiring of the observation information includes: Among the plurality of autonomous driving devices, an active device capable of communicating with the outside has searched the travel area, and the observation information is acquired; Acquire the observation information obtained by searching for a disconnected device that has lost communication with the outside within the travel area among the plurality of autonomous traveling devices by the active device; Including, The output of the evacuation information includes: An evacuation information generating program that includes outputting a hazard map (M) that represents the hazard level of a location where the existence of the disruption device is estimated, as a hazard level according to the state of the detected disruption device.

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