Control system, movable body, control method, and computer program

Abstract

To provide a control system that can control a movable body even when space information of a three-dimensional space is omitted.SOLUTION: A control system has: holding means that holds unique identifiers provided to split three-dimensional spaces and space information including information on the presence of objects in the three-dimensional spaces and representing the state of the three-dimensional spaces, in association with each other; acquisition means that acquires the space information from the holding means; and control means that generates information on a moving path of a movable body on the basis of omission information related to omission of at least part of the space information.SELECTED DRAWING: Figure 16

Description

[Technical field]

[0001] The present invention relates to a control system for a moving body, a moving body, a control method, a computer program, and the like. [Background technology]

[0002] In recent years, with technological innovations such as autonomous mobility and spatial recognition systems, the development of digital architecture design centers that include spatial information is progressing around the world. By utilizing digital architecture design centers, autonomous mobility and spatial recognition systems will be able to obtain more information and will be able to solve bigger problems by linking with external devices and systems other than themselves.

[0003] To achieve this, in Patent Document 1, a technology for linking real-world space with digital information is disclosed in which a single processor divides a space-time domain in time and space according to space-time management data provided by a user to generate multiple space-time divided domains. In addition, taking into account the proximity of the space-time divided domains in time and space, an identifier expressed as a one-dimensional integer value is assigned to each of the multiple space-time divided domains in order to uniquely identify them.

[0004] The spatio-temporal data management system determines the arrangement of time-series data such that data of spatio-temporal divided regions having similar identifiers are arranged close to each other on a storage device. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2014-002519 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the technology of Patent Document 1, the generated area-related data can be understood by the identifier only within the processor that generated it, and the data cannot be shared and used among different organizations or members of society (hereinafter, system users). Also, when performing autonomous driving using spatiotemporal data, if the spatiotemporal data is lost on the way to the destination, driving may become impossible.

[0007] Therefore, an object of the present invention is to provide a control system that is capable of controlling a moving object even when there is a lack of spatial information in three-dimensional space. [Means for solving the problem]

[0008] A control system according to one aspect of the present invention comprises: an acquisition means for acquiring spatial information from a storage means for storing a unique identifier assigned to each of the divided three-dimensional spaces and spatial information including information on the presence of an object in the three-dimensional space, the spatial information representing a state of the three-dimensional space, in association with each other; A control means for generating information on a moving path of the moving object based on missing information regarding a missing portion of at least the spatial information; The present invention is characterized by having the following. Effect of the Invention

[0009] According to the present invention, it is possible to provide a control system capable of controlling a moving object even when there is a lack of spatial information in three-dimensional space. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing an example of the overall configuration of an autonomous mobile control system according to a first embodiment of the present invention; [Diagram 2] FIG. 1A is a diagram showing an example of an input screen when a user inputs location information, and FIG. 1B is a diagram showing an example of a selection screen for selecting an autonomous moving body to be used. [Diagram 3]FIG. 1A is a diagram showing an example of a screen for checking the current position of an autonomous moving body, and FIG. 1B is a diagram showing an example of a map display screen for checking the current position of an autonomous moving body. [Figure 4] FIG. 2 is a functional block diagram showing an example of the internal configuration of 10 to 15 in FIG. [Diagram 5] 1A is a diagram showing the spatial relationship between an autonomous mobile body 12 in the real world and a pillar 99 that exists as feature information around it, and FIG. 1B is a diagram showing the state in which the autonomous mobile body 12 and the pillar 99 are mapped into an arbitrary XYZ coordinate system space with P0 as the origin. [Figure 6] 1 is a perspective view showing an example of the mechanical configuration of an autonomous moving body 12 according to a first embodiment. [Figure 7] 2 is a block diagram showing an example of a specific hardware configuration of control unit 10-2, control unit 11-2, control unit 12-2, control unit 13-2, control unit 14-3, and control unit 15-2. FIG. [Figure 8] FIG. 2 is a sequence diagram for explaining a process executed by the autonomous mobile control system according to the first embodiment. [Figure 9] This is a continuation of the sequence diagram of FIG. [Figure 10] This is a continuation of the sequence diagram of FIG. [Figure 11] 1A is a diagram showing latitude / longitude information of the earth, and FIG. 1B is a perspective view showing a predetermined space 100 of FIG. [Figure 12] 1 is a diagram showing a schematic diagram of spatial information within a space 100. FIG. [Figure 13] (A) is a diagram showing route information displayed as map information, (B) is a diagram showing route information using position point cloud data displayed as map information, and (C) is a diagram showing route information using a unique identifier displayed as map information. [Figure 14] FIG. 11 is a schematic diagram of a vehicle control device for performing autonomous driving according to a second embodiment of the present invention. [Figure 15] FIG. 11 is a conceptual diagram of route selection according to a second embodiment of the present invention. [Figure 16] 10 is a flowchart showing an example of a travel route determination method according to the second embodiment. [Figure 17]FIG. 11 is a conceptual diagram of route selection according to the third embodiment. [Figure 18] 11 is a flowchart showing an example of a travel route determination method according to the third embodiment. [Figure 19] 13 is a flowchart showing an example of a travel route determination method according to the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiment. In each drawing, the same members or elements are given the same reference numerals, and duplicated descriptions are omitted or simplified.

[0012] In the embodiment, an example of application to the control of an autonomous moving body will be described, but the moving body may be one in which the user can operate at least a part of the movement of the moving body. That is, for example, the moving body may be one having a driving assistance function that displays various information such as a moving route to the user and the user performs part of the driving operation of the moving body by referring to the display.

[0013] <Embodiment 1> Fig. 1 is a diagram showing an example of the overall configuration of an autonomous mobile object control system according to a first embodiment of the present invention. As shown in Fig. 1, the autonomous mobile object control system (sometimes abbreviated as a control system) of this embodiment includes a system control device 10, a user interface 11, an autonomous mobile object 12, a route determination device 13, a conversion information storage device 14, a sensor node 15, and the like. Here, the user interface 11 refers to a user terminal device.

[0014] 1 are connected to each other through the Internet 16 by respective network connection units (to be described later). However, other network systems such as a LAN (Local Area Network) may also be used.

[0015] Furthermore, the system control device 10, user interface 11, route determination device 13, conversion information storage device 14, etc. do not necessarily need to be separate devices, and the roles of any two or more devices may be realized by a single device.

[0016] The system control device 10, the user interface 11, the autonomous mobile object 12, the route determination device 13, the conversion information storage device 14, and the sensor node 15 each include an information processing device that is made up of a CPU as a computer and a ROM, RAM, HDD, etc. as storage media. The details of the function and internal configuration of each device will be described later.

[0017] Next, the service application software (hereinafter, abbreviated as "app") provided by the autonomous mobile control system will be described. In the description, first, an example of a screen displayed on the user interface 11 when the user inputs location information will be described with reference to Figures 2(A) and (B).

[0018] 3(A) and 3(B) are used to explain examples of screens displayed on the user interface 11 when the user browses the current position of the autonomous mobile body 12. These explanations will be used to explain, using examples, how an app is operated in the autonomous mobile body control system.

[0019] In this description, for convenience, the map display is described as a two-dimensional plane, but in this embodiment, the user can specify a three-dimensional position including "height" and can also input "height" information. That is, according to this embodiment, a three-dimensional map can be used.

[0020] Fig. 2(A) is a diagram showing an example of an input screen when a user inputs location information, and Fig. 2(B) is a diagram showing an example of a selection screen for selecting an autonomous mobile body to be used. When a user operates the display screen of the user interface 11 to access the Internet 16 and selects, for example, a route setting application of the autonomous mobile body control system, a web page of the system control device 10 is displayed.

[0021] What is displayed first on the WEB page is an input screen 40 for inputting a departure point, a stopover point, and a destination point for setting the departure point, a stopover point, and a destination point when moving the autonomous moving body 12. The input screen 40 has a list display button 48 for displaying a list of the autonomous moving bodies (mobilities) to be used, and when the user presses the list display button 48, a mobility list display screen 47 is displayed as shown in FIG. 2(B).

[0022] First, the user selects an autonomous moving body (mobility) to be used on the list display screen 47. On the list display screen 47, for example, mobilities M1 to M3 are displayed as selectable, but the number is not limited to this.

[0023] When the user selects one of the mobilities M1 to M3 by clicking or the like, the screen automatically returns to the input screen 40 in FIG. 2(A). The selected mobility name is displayed in the list display button 48. After that, the user inputs the location to be set as the departure point in the "Departure point" input field 41.

[0024] The user also inputs the location to be set as a waypoint in the "waypoint 1" input field 42. It is possible to add waypoints, and by pressing the add waypoint button 44 once, an input field 46 for "waypoint 2" is additionally displayed, allowing the user to input the waypoint to be added.

[0025] Each time the Add Waypoint button 44 is pressed, an input field 46 is additionally displayed, such as "Waypoint 3", "Waypoint 4", etc., allowing multiple waypoints to be added to be input. The user also inputs the location to be set as the destination into the "Destination" input field 43. Although not shown in the figure, clicking on the input fields 41 to 43, 46, etc. temporarily displays a keyboard or the like for inputting characters, allowing the user to input desired characters.

[0026] Then, the user can set the travel route of the autonomous moving body 12 by pressing the decision button 45. In the example of Fig. 2, "AAA" is set as the departure point, "BBB" as the waypoint 1, and "CCC" as the arrival point. The text to be input in the input field may be, for example, an address, or location information indicating a specific location, such as latitude / longitude information, a store name, or a telephone number, may be input.

[0027] Fig. 3(A) is a diagram showing an example of a screen for confirming the current position of the autonomous moving body, and Fig. 3(B) is a diagram showing an example of a map display screen when confirming the current position of the autonomous moving body. 50 in Fig. 3(A) is a confirmation screen, which is displayed by operating an operation button (not shown) after setting the movement route of the autonomous moving body 12 on a screen such as Fig. 2(A).

[0028] On the confirmation screen 50, the current location of the autonomous moving body 12 is displayed on the web page of the user interface 11, for example as a current location 56. Therefore, the user can easily grasp the current location.

[0029] Furthermore, the user can update the screen display information to display the latest state by pressing an update button 57. Furthermore, the user can change the departure point, intermediate point, or arrival point by pressing a stopover / destination change button 54. That is, the user can change the points by inputting the desired locations to be reset in the "departure point" input field 51, the "intermediate point 1" input field 52, and the "destination" input field 53, respectively.

[0030] Fig. 3(B) shows an example of a map display screen 60 that is switched from the confirmation screen 50 when the map display button 55 in Fig. 3(A) is pressed. The map display screen 60 displays the position of a current location 62 on a map, making it easier to confirm the current location of the autonomous moving body 12. In addition, when the user presses a back button 61, the display screen can be returned to the confirmation screen 50 in Fig. 3(A).

[0031] As described above, the user can easily set a travel route for moving the autonomous moving body 12 from one predetermined location to another by operating the user interface 11. Note that such a route setting application can also be applied to, for example, a taxi dispatch service or a drone delivery service.

[0032] Next, a detailed description will be given of configuration and function examples of 10 to 15 in Fig. 1 with reference to Fig. 4. Fig. 4 is a functional block diagram showing an internal configuration example of 10 to 15 in Fig. 1. Note that some of the functional blocks shown in Fig. 4 are realized by causing a computer (not shown) included in each device to execute a computer program stored in a memory serving as a storage medium (not shown).

[0033] However, a part or all of these may be realized by hardware, which may be a dedicated circuit (ASIC) or a processor (a reconfigurable processor, DSP), etc.

[0034] In addition, the functional blocks shown in Fig. 4 do not have to be built in the same housing, and may be configured by separate devices connected to each other via signal paths. The above explanation regarding Fig. 4 also applies to Fig. 14.

[0035] In FIG. 4, the user interface 11 includes an operation unit 11-1, a control unit 11-2, a display unit 11-3, an information storage unit (memory / HD) 11-4, and a network connection unit 11-5.

[0036] The operation unit 11-1 is configured with a touch panel, key buttons, etc., and is used for inputting data. The display unit 11-3 is, for example, a liquid crystal screen, etc., and is used for displaying route information and other data.

[0037] The display screen of the user interface 11 shown in Figures 2 and 3 is displayed on the display unit 11-3. The user can select a route, input information, confirm information, etc. by using the menu displayed on the display unit 11-3.

[0038] In other words, the operation unit 11-1 and the display unit 11-3 provide an interface for the user to actually perform operations. Instead of providing the operation unit 11-1 and the display unit 11-3 separately, a touch panel may be used as both the operation unit and the display unit.

[0039] The control unit 11-2 has a built-in CPU as a computer, manages various applications in the user interface 11, and manages modes such as information input and information confirmation, and controls communication processing. It also controls processing in each unit in the system control device.

[0040] The information storage unit (memory / HD) 11-4 is a database for storing necessary information such as computer programs executed by the CPU. The network connection unit 11-5 controls communication via the Internet, LAN, wireless LAN, etc. The user interface 11 may be a device such as a smartphone, or may be in the form of a tablet terminal.

[0041] In this way, the user interface 11 of this embodiment displays an input screen 40 for the departure point, intermediate point, and arrival point on the browser screen of the system control device 10, and enables the user to input location information such as the departure point, intermediate point, and arrival point. Furthermore, by displaying a confirmation screen 50 and a map display screen 60 on the browser screen, the current location of the autonomous moving body 12 can be displayed.

[0042] 4, the route determination device 13 includes a map information management unit 13-1, a control unit 13-2, a position / route information management unit 13-3, an information storage unit (memory / HD) 13-4, and a network connection unit 13-5. The map information management unit 13-1 holds wide-area map information, and searches for route information showing a route on a map based on specified position information, and transmits the route information of the search result to the position / route information management unit 13-3.

[0043] The map information is three-dimensional and includes information such as topography and latitude / longitude / altitude, as well as regulatory information related to the Road Traffic Act, such as roadways, sidewalks, direction of travel, and traffic regulations.

[0044] Of course, coordinate systems other than latitude / longitude / altitude (East, North, Latitude, etc.) can be used. Three-dimensional map information includes three-dimensional point cloud information measured by LiDAR or stereo cameras, topographical information, etc.

[0045] The control unit 13-2 also includes time-varying traffic regulation information, such as a one-way road depending on the time of day, a pedestrian-only road depending on the time of day, etc., together with the time information. The control unit 13-2 has a built-in CPU as a computer and controls the processing in each unit of the route determination device 13.

[0046] The position / route information management unit 13-3 manages the position information of the autonomous moving body acquired via the network connection unit 13-5, transmits the position information to the map information management unit 13-1, and manages the route information acquired as a search result from the map information management unit 13-1. In accordance with a request from an external system, the control unit 13-2 converts the route information managed by the position / route information management unit 13-3 into a predetermined data format and transmits it to the external system.

[0047] As described above, in this embodiment, the route determination device 13 is configured to search for a route that complies with the Road Traffic Act and the like based on specified position information, and to output the route information in a predetermined data format.

[0048] 4, the conversion information holding device 14 includes a position / route information management unit 14-1, a unique identifier management unit 14-2, a control unit 14-3, a format database 14-4, an information storage unit (memory / HD) 14-5, and a network connection unit 14-6.

[0049] The conversion information storage device 14 also assigns a unique identifier to each of the divided three-dimensional spaces defined by coordinates such as latitude / longitude / height, and functions as a formatting means for formatting and storing spatial information related to the state and time of objects existing in the space in association with the unique identifier.

[0050] The location / route information management unit 14-1 manages predetermined location information acquired through the network connection unit 14-6, and transmits the location information to the control unit 14-3 in response to a request from the control unit 14-3. The control unit 14-3 has a built-in CPU as a computer and controls the processing in each unit in the conversion information storage device 14.

[0051] The control unit 14-3 converts the location information acquired from the location / route information management unit 14-1 into a unique identifier defined by the format, based on the location information and the format information managed by the format database 14-4.

[0052] That is, the location information specified via the user interface is converted into coordinates such as latitude / longitude / altitude, and converted into a unique identifier corresponding to the coordinates, which is then transmitted to the unique identifier management unit 14-2.

[0053] The format will be explained in detail later, but an identifier (hereinafter, a unique identifier) ​​is assigned to each divided space starting from a specific position, and the space is managed by the unique identifier. In this embodiment, the corresponding unique identifier and information within the space can be obtained based on the specific position information.

[0054] The unique identifier management unit 14-2 manages the unique identifier converted by the control unit 14-3 and transmits it via the network connection unit 14-6. The format database 14-4 manages format information and transmits the format information to the control unit 14-3 in response to a request from the control unit 14-3.

[0055] The conversion information storage device 14 also uses a format to manage information about the space acquired through the network connection unit 14-6. The conversion information storage device 14 manages information about the space acquired by external devices, equipment, and networks by linking it to a unique identifier. The conversion information storage device 14 also provides the unique identifier and information about the space linked to it to external devices, equipment, and networks.

[0056] As described above, the conversion information storage device 14 acquires a unique identifier and information within a space based on predetermined location information, and manages and provides the information in a state in which it can be shared by external devices, equipment, and networks connected to the conversion information storage device 14. The conversion information storage device 14 also converts location information specified by the system control device 10 into a unique identifier and provides it to the system control device 10.

[0057] 4, the system control device 10 includes a unique identifier management unit 10-1, a control unit 10-2, a position / route information management unit 10-3, an information storage unit (memory / HD) 10-4, and a network connection unit 10-5. The position / route information management unit 10-3 holds simple map information in which topographical information and latitude / longitude information are associated with each other, and manages predetermined position information and route information acquired through the network connection unit 10-5.

[0058] The location / route information management unit 10-3 can also divide the route information at a predetermined interval and generate location information such as the latitude / longitude of the divided locations. The unique identifier management unit 10-1 manages information obtained by converting the location information and route information into unique identifiers.

[0059] The control unit 10-2 has a built-in CPU as a computer, and controls the communication functions of the system control device 10 regarding the position information, route information, and unique identifier, and controls the processing in each unit within the system control device 10.

[0060] The control unit 10-2 also provides a WEB page to the user interface 11, and transmits predetermined position information acquired from the WEB page to the route determination device 13. The control unit 10-2 also acquires predetermined route information from the route determination device 13, and transmits each piece of position information of the route information to the conversion information storage device 14. Then, the control unit 10-2 transmits the route information converted into the unique identifier acquired from the conversion information storage device 14 to the autonomous moving body 12.

[0061] As described above, the system control device 10 is configured to obtain specific location information specified by the user, send and receive location information and route information, generate location information, and send and receive route information using a unique identifier, so as to be able to issue control instructions to an autonomous mobile object.

[0062] Furthermore, the system control device 10 collects route information necessary for the autonomous moving body 12 to move autonomously based on the position information input to the user interface 11, and provides the route information using a unique identifier to the autonomous moving body 12. In this embodiment, the system control device 10, the route determination device 13, and the conversion information storage device 14 function as, for example, a server.

[0063] 4, the autonomous moving body 12 includes a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit (memory / HD) 12-4, a network connection unit 12-5, and a driving unit 12-6. The detection unit 12-1 has, for example, a plurality of image sensors and has a function of measuring distance based on parallax obtained from a stereo camera. The detection unit 12-1 may also measure distance based on a phase difference of a signal obtained from a ToF (Time of Flight) sensor.

[0064] The autonomous mobile object 12 also has a self-position estimation function that acquires detection information (hereinafter, detection information) such as the surrounding terrain and obstacles such as building walls, and estimates its own position based on the detection information and map information.

[0065] Moreover, the detection unit 12-1 has a self-position detection function such as a global positioning system (GPS) and a direction detection function such as a geomagnetic sensor. Furthermore, the control unit 12-2 can generate a three-dimensional map of the cyberspace based on the acquired detection information, self-position estimation information, and direction detection information.

[0066] Self-location estimation and 3D map generation can also be performed using SLAM (Simultaneous Localization And Mapping) technology.

[0067] Here, the 3D map of cyberspace is capable of expressing spatial information equivalent to the positions of features in the real world as digital data. In this 3D map of cyberspace, the autonomous mobile body 12 existing in the real world and information on features around it are held as spatially equivalent digital data. Therefore, efficient movement is possible by using this digital data.

[0068] The 3D map of cyberspace used in this embodiment will be described below with reference to Fig. 5. Fig. 5(A) is a diagram showing the spatial positional relationship between the autonomous mobile body 12 in the real world and a pillar 99 that exists as feature information around it, and Fig. 5(B) is a diagram showing the state in which the autonomous mobile body 12 and the pillar 99 are mapped in an arbitrary XYZ coordinate system space with the position P0 as the origin.

[0069] 5(A) and (B), the position of the autonomous moving body 12 is specified as a position α0 within the autonomous moving body 12 from position information of latitude and longitude acquired by a GPS or the like (not shown) mounted on the autonomous moving body 12. In addition, the orientation of the autonomous moving body 12 is specified by the difference between an orientation αY acquired by an electronic compass or the like (not shown) and the moving direction 12Y of the autonomous moving body 12.

[0070] The position of the pillar 99 is specified as the position of the vertex 99-1 from position information measured in advance. The distance from α0 of the autonomous mobile body 12 to the vertex 99-1 can be obtained by the distance measurement function of the autonomous mobile body 12. In Fig. 5(A), the coordinates of the vertex 99-1 are shown as (Wx, Wy, Wz) when the movement direction 12Y is the axis of the XYZ coordinate system and α0 is the origin.

[0071] In the 3D map of cyberspace, the information acquired in this way is managed as digital data, and can be reconstructed as spatial information as shown in Fig. 5(B) by the system control device 10, the route determination device 13, etc. Fig. 5(B) shows a state in which the autonomous mobile body 12 and the pillar 99 are mapped into an arbitrary XYZ coordinate space with P0 as the origin.

[0072] By setting P0 to a specific latitude and longitude in the real world and taking the azimuth north of the real world as the Y-axis direction, the autonomous mobile body 12 can be expressed in this arbitrary XYZ coordinate space, and P1 and the pillar 99 can be expressed as P2. Specifically, the position P1 of α0 in this space can be calculated from the latitude and longitude of α0 and the latitude and longitude of P0. Similarly, the pillar 99 can be calculated as P2. In this example, the autonomous mobile body 12 and the pillar 99 are expressed on a three-dimensional map in cyberspace, but of course a larger number of objects can be handled in the same way.

[0073] As described above, a 3D map is a mapping of the user's position and objects in the real world into a 3D space.

[0074] 4, the autonomous moving body 12 stores learning result data of object detection performed by machine learning in, for example, an information storage unit (memory / HD) 12-4, and can detect objects from captured images using machine learning. Note that detection information can also be obtained from an external system via a network connection unit 12-5 and reflected in a 3D map.

[0075] The control unit 12-2 incorporates a CPU as a computer, and controls the movement, direction changes, and autonomous driving functions of the autonomous moving body 12, and controls the processing in each unit within the autonomous moving body 12.

[0076] The direction control unit 12-3 changes the driving direction of the moving body by the driving unit 12-6, thereby changing the moving direction of the autonomous moving body 12. The driving unit 12-6 is composed of a driving device such as a motor, and generates a propulsive force for the autonomous moving body 12. The autonomous moving body 12 reflects its own position, detection information, and object detection information in a three-dimensional map, generates a route that maintains a certain distance from the surrounding terrain, buildings, obstacles, and objects, and can perform autonomous traveling.

[0077] The route determination device 13 generates a route taking into consideration regulatory information related to the Road Traffic Act. On the other hand, the autonomous moving body 12 detects the positions of surrounding obstacles more accurately on the route determined by the route determination device 13, and generates a route for moving without coming into contact with them based on its own size.

[0078] The information storage unit (memory / HD) 12-4 of the autonomous moving body 12 can also store the mobility type of the autonomous moving body itself. This mobility type is, for example, a legally identified type of moving body, such as a car, bicycle, drone, etc. Based on this mobility type, route information can be generated using a format described later.

[0079] Here, an example of the main body configuration of the autonomous mobile body 12 in this embodiment will be described with reference to Fig. 6. Fig. 6 is a perspective view showing an example of the mechanical configuration of the autonomous mobile body 12 according to embodiment 1. In this embodiment, the autonomous mobile body 12 is exemplified by an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot) having wheels, but is not limited thereto.

[0080] Furthermore, the moving body in the present embodiment may be, for example, a movable object such as an automobile, an aircraft, a construction machine, a ship, a drone, etc. Furthermore, the moving body does not have to be an autonomous moving body, and may be a moving body having a driving assistance function.

[0081] 6, the autonomous moving body 12 is equipped with a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit (memory / HD) 12-4, a network connection unit 12-5, and a driving unit 12-6, and each unit is electrically connected to each other. At least two or more driving units 12-6 and direction control units 12-3 are provided in the autonomous moving body 12.

[0082] The direction control unit 12-3 changes the direction of the drive unit 12-6 by rotating the shaft, thereby changing the moving direction of the autonomous moving body 12, and the drive unit 12-6 moves the autonomous moving body 12 forward and backward by rotating the shaft. Note that the configuration described using Fig. 6 is one example and is not limited to this, and for example, the moving direction may be changed using an omni wheel or the like.

[0083] The autonomous mobile body 12 is a mobile body using, for example, SLAM technology, and is configured to be able to autonomously move along a specified route based on detection information detected by the detection unit 12-1, etc., and detection information of an external system acquired via the Internet 16.

[0084] The autonomous mobile body 12 can perform trace movement such as tracing precisely specified points, and can also generate route information and move by itself in the space between roughly set points while passing through them. As described above, the autonomous mobile body 12 of this embodiment can perform autonomous movement based on route information using a unique identifier provided by the system control device 10.

[0085] 4, the sensor node 15 is an external system such as a video monitoring system, for example, a roadside camera unit, and includes a detection unit 15-1, a control unit 15-2, an information storage unit (memory / HD) 15-3, and a network connection unit 15-4. The detection unit 15-1 is, for example, a camera, and acquires detection information of an area in which it can detect itself, and has an object detection function and a distance measurement function.

[0086] The control unit 15-2 has a built-in CPU as a computer, and controls the detection, data storage, and data transmission functions of the sensor node 15, and controls the processing in each unit within the sensor node 15. Also, the detection information acquired by the detection unit 15-1 is stored in the information storage unit (memory / HD) 15-3, and is transmitted to the conversion information holding device 14 via the network connection unit 15-4.

[0087] As described above, the sensor node 15 is configured to store and communicate detection information such as image information detected by the detection unit 15-1, feature point information of the detected object, and position information in the information storage unit 15-3. In addition, the sensor node 15 provides the detection information of the area that the sensor node 15 can detect to the conversion information holding device 14.

[0088] Next, a specific hardware configuration of each control unit in Fig. 4 will be described. Fig. 7 is a block diagram showing a specific hardware configuration example of control units 10-2, 11-2, 12-2, 13-2, 14-3, and 15-2. Note that the hardware configuration is not limited to that shown in Fig. 7. Also, it is not necessary to have all of the blocks shown in Fig. 7.

[0089] 7, reference numeral 21 denotes a CPU as a computer that controls the calculation and control of the information processing device. Reference numeral 22 denotes a RAM, which functions as the main memory of the CPU 21, as an area for an execution program, as an execution area for the program, and as a data area. Reference numeral 23 denotes a ROM that stores the operation processing procedures of the CPU 21.

[0090] The ROM 23 includes a program ROM in which an operating system (OS), which is a system program for controlling the device of the information processing device, is recorded, and a data ROM in which information necessary for operating the system is recorded. Note that the ROM 23 may be replaced by a HDD 29, which will be described later.

[0091] Reference numeral 24 denotes a network interface (NETIF), which controls data transfer between information processing devices via the Internet 16 and diagnoses the connection status. Reference numeral 25 denotes a video RAM (VRAM), which develops images to be displayed on the screen of the LCD 26 and controls the display. Reference numeral 26 denotes a display device such as a display (hereinafter referred to as LCD).

[0092] Reference numeral 27 denotes a controller (hereinafter referred to as KBC) for controlling an input signal from an external input device 28. Reference numeral 28 denotes an external input device (hereinafter referred to as KB) for accepting operations performed by a user, and for example, a keyboard or a pointing device such as a mouse is used.

[0093] A hard disk drive (hereinafter, referred to as HDD) 29 is used for storing application programs and various data. The application programs in this embodiment are software programs that execute various processing functions in this embodiment.

[0094] An external input / output device (hereinafter, referred to as CDD) 30 is used to input and output data to and from removable media 31, which is a removable data recording medium, such as a CD-ROM drive, a DVD drive, or a Blu-Ray (registered trademark) disk drive.

[0095] The CDD 30 is used when reading the above-mentioned application program from a removable medium, etc. 31 is a removable medium that is read by the CDD 30, such as a CD-ROM disk, a DVD, or a Blu-Ray disk.

[0096] The removable medium may be a magneto-optical recording medium (e.g., MO), a semiconductor recording medium (e.g., a memory card), etc. Application programs and data stored in the HDD 29 may also be stored in the removable medium 31 for use.

[0097] Reference numeral 20 denotes transmission buses (address bus, data bus, input / output bus, and control bus) for connecting the above-mentioned units.

[0098] Next, details of the control operation in the autonomous mobile control system for realizing the route setting application and the like as described in Fig. 2 and Fig. 3 will be described with reference to Fig. 8 to Fig. 10. Fig. 8 is a sequence diagram for explaining the processing executed by the autonomous mobile control system according to the first embodiment, Fig. 9 is a continuation of Fig. 8, and Fig. 10 is a continuation of Fig. 9.

[0099] 8 to 10 show the processes executed by each device from when the user inputs location information to the user interface 11 until the current location information of the autonomous moving body 12 is received. Although the processing steps of each device are shown in detail, they may be omitted or may have been executed in advance as preparation for generating information on the moving path of the moving body.

[0100] The operations of the steps of the sequences of FIGS. 8 to 10 are performed by a computer in the control unit of each device executing a computer program stored in a memory.

[0101] First, in step S201, the user uses the user interface 11 to access a WEB page provided by the system control device 10. In step S202, the system control device 10 displays a location input screen as described in Fig. 2 on the display screen of the WEB page. In step S203, as described in Fig. 2, the user selects an autonomous moving body (mobility) and inputs location information (hereinafter, location information) indicating the departure / passage / arrival points.

[0102] The location information may be a word (hereinafter, location word) that specifies a specific location, such as a building name, station name, or address, or a method of specifying a specific location on a map displayed on a web page as a point (hereinafter, point).

[0103] In step S204, the system control device 10 stores the type information of the selected autonomous moving body 12 and the input information such as the input location information. At this time, if the location information is a location word, the location word is stored, and if the location information is a point, the latitude / longitude corresponding to the point is searched for based on the simple map information stored in the location / route information management unit 10-3, and the latitude / longitude is stored.

[0104] Next, in step S205, the system control device 10 specifies the type of route that can be traveled (hereinafter, route type) from the mobility type (type) of the autonomous moving body 12 specified by the user. Then, in step S206, it transmits it to the route determination device 13 together with the position information.

[0105] As described above, the mobility type refers to the type of moving object that is legally distinguished, such as an automobile, a bicycle, a drone, etc. In addition, the type of route refers to, for example, a general road, an expressway, a road exclusively for automobiles, etc., and for bicycles, a specified sidewalk, a shoulder of a general road, a bicycle lane, etc.

[0106] In step S207, the route determination device 13 inputs the received location information into the map information it possesses as a departure / via / arrival point. If the location information is a location word, the location word is used to search the map information and the corresponding latitude / longitude information is used. If the location information is latitude / longitude information, the location information is directly input into the map information and used. In addition, a route pre-search may be performed.

[0107] Next, in step S208, the route determination device 13 searches for a route from the departure point to the arrival point via the intermediate points. At this time, the route to be searched is a route conforming to the route type.

[0108] Then, in step S209, the route determination device 13 outputs the route from the departure point to the arrival point via the intermediate points (hereinafter referred to as route information) in GPX format (GPS eXchange Format) as a result of the search, and transmits it to the system control device 10.

[0109] GPX format files are mainly composed of three types of data: waypoints (unordered location information), routes (ordered location information with added time information), and tracks (a collection of multiple location information: a trajectory).

[0110] Furthermore, latitude / longitude are recorded as attribute values ​​for each point information, and altitude, geoid height, GPS reception conditions, accuracy, etc. are recorded as child elements. The minimum element required for a GPX file is the latitude / longitude information for a single point, and other information can be recorded as optional. The route information is output as a route, which is a collection of point information consisting of latitude / longitude with an ordered relationship. Note that route information can be in other formats as long as it satisfies the above.

[0111] Here, the format database 14-4 of the conversion information storage device 14 functions as a storage means, and an example of the configuration of the format managed by the format database 14-4 will be described in detail with reference to Figs. 11(A), 11(B) and 12.

[0112] Fig. 11(A) is a diagram showing latitude / longitude information of the earth, and Fig. 11(B) is a perspective view showing a predetermined space 100 in Fig. 11(A). In Fig. 11(B), the center of the predetermined space 100 is defined as center 101. Fig. 12 is a diagram showing a schematic diagram of spatial information within space 100.

[0113] In Figures 11(A) and 11(B), the format divides the space of the Earth into three-dimensional spaces determined by a range starting from, for example, latitude / longitude / altitude, and makes each space manageable by adding a unique identifier.

[0114] That is, the format database 14-4 of the conversion information storage device 14 stores a unique identifier assigned to each divided three-dimensional space in association with spatial information that includes information on the presence of objects in the three-dimensional space and represents the state of the three-dimensional space.

[0115] For example, here, space 100 is displayed as a predetermined three-dimensional space. Space 100 is a divided space whose center 101 is defined by latitude 20 degrees north, longitude 140 degrees east, and height (altitude, elevation) H, with a width in the latitude direction defined as D, a width in the longitude direction defined as W, and a width in the height direction defined as T. Also, it is a space obtained by dividing the space of the earth into spaces determined by ranges starting from latitude / longitude / height.

[0116] For convenience, only space 100 is shown in FIG. 11(A), but in terms of the format specifications, as described above, spaces defined in the same way as space 100 are arranged side by side in the latitude / longitude / height directions.

[0117] The horizontal position of each of the arranged divided spaces is defined by latitude / longitude, and they also overlap in the vertical direction, with their vertical position being defined by their height.

[0118] In FIG. 11B, the center 101 of the divided space is set as the starting point of the latitude / longitude / height, but this is not limited to this, and for example, a corner of the space or the center of the bottom surface may be set as the starting point.

[0119] Additionally, the shape need only be roughly rectangular, but when considering the case of laying them out over the surface of a sphere such as the Earth, it is better to make the top of the rectangular prism slightly wider than the bottom so that they can be placed more tightly without any gaps.

[0120] 12, taking space 100 as an example, the format database 14-4 stores information (spatial information) on the types of objects that exist or can enter within the range of space 100 and on time restrictions in association with unique identifiers. The formatted spatial information is stored in chronological order, such as from the past to the future.

[0121] That is, the conversion information storage device 14 formats spatial information regarding the types of objects that can exist or enter a three-dimensional space defined by latitude / longitude / height and time restrictions in association with a unique identifier, and stores the formatted information in the format database 14-4.

[0122] The spatial information is updated at a predetermined update interval based on information supplied by an information supplying means such as an external system (e.g., the sensor node 15) communicably connected to the conversion information holding device 14. Then, the information is shared with other external systems communicably connected to the conversion information holding device 14.

[0123] As described above, in the first embodiment, information on the type of object that can exist or enter a three-dimensional space defined by latitude / longitude / height and time restrictions (hereinafter referred to as spatial information) is associated with a unique identifier, formatted, and stored in a database. Then, the formatted spatial information makes it possible to manage space-time.

[0124] The conversion information storage device 14 of the first embodiment also executes a formatting step of associating information on the update interval of the spatial information with the unique identifier, formatting the information, and storing the information. Note that the information on the update interval that is formatted in association with the unique identifier may be the update frequency, and the information on the update interval includes the update frequency.

[0125] Returning to Fig. 8, the process executed by the autonomous mobile control system will be described below. In step S210, the system control device 10 checks the intervals between each piece of point information in the received route information. Then, the system control device 10 creates position point cloud data that matches the intervals between the point information and the intervals between the starting points of the divided spaces defined by the format.

[0126] At this time, if the interval between the point information is smaller than the interval between the starting points of the divided space, the system control device 10 thins out the point information in the route information to match the interval between the starting points of the divided space, and generates the position point cloud data. Also, if the interval between the point information is larger than the interval between the starting points of the divided space, the system control device 10 interpolates the point information within a range that does not deviate from the route information, and generates the position point cloud data.

[0127] Next, as shown in step S211 of FIG. 9, the system control device 10 transmits the latitude / longitude information of each point information of the position point cloud data to the conversion information holding device 14 in the order of the route.

[0128] In step S212, the conversion information storage device 14 searches the format database 14-4 for a unique identifier corresponding to the received latitude / longitude information, and in step S213 transmits the unique identifier to the system control device 10. The system control device 10 has acquired the unique identifier from the database of the conversion information storage device 14.

[0129] In step S214, the system control device 10 arranges the received unique identifiers in the same order as the original position point cloud data, and stores the information as route information using the unique identifiers (hereinafter, formatted route information).

[0130] Thus, in step S214, the system control device 10 as a control means acquires spatial information from the database of the conversion information storage device 14, and generates route information regarding the movement route of the moving body based on the acquired spatial information and the type information of the moving body.

[0131] Here, a process of generating position point cloud data from route information and converting it into route information using a unique identifier will be described in detail with reference to Figs. 13(A), 13(B) and 13(C).

[0132] Figure 13(A) is an image diagram of route information displayed as map information, Figure 13(B) is an image diagram of route information using position point cloud data displayed as map information, and Figure 13(C) is an image diagram of route information using a unique identifier displayed as map information.

[0133] In FIG. 13A, 120 denotes route information, 121 denotes a non-movable area through which the autonomous moving body 12 cannot pass, and 122 denotes a movable area through which the autonomous moving body 12 can move.

[0134] Based on the position information of the starting point, intermediate point, and arrival point specified by the user, the route information 120 generated by the route determination device 13 is generated as a route that passes through the starting point, intermediate point, and arrival point, and also passes through a movable area 122 on the map information.

[0135] 13B, a plurality of pieces of position information on the route information are indicated by 123. The system control device 10, which has acquired the route information 120, generates pieces of position information 123 arranged on the route information 120 at predetermined intervals.

[0136] The position information 123 can be expressed by latitude / longitude / altitude, and this position information 123 is called position point cloud data in embodiment 1. Then, the system control device 10 transmits this position information 123 (latitude / longitude / altitude of each point) one by one to the conversion information storage device 14 and converts it into a unique identifier.

[0137] In FIG. 13C, 124 denotes position / space information obtained by converting each piece of position information 123 into a unique identifier, and expressing a spatial range defined by the unique identifier in a rectangular frame.

[0138] By converting the position information into a unique identifier, the position space information 124 is obtained. As a result, the route represented by the route information 120 is converted and represented as continuous position space information 124.

[0139] The type of object that exists or can enter the spatial range and information on the time limit are linked to each piece of position / space information 124. This continuous position / space information 124 is called format path information in the first embodiment.

[0140] Returning to Fig. 9, the process executed by the autonomous mobile control system will be described below. Following step S214, in step S215 (acquisition step), the system control device 10 downloads and acquires spatial information linked to each unique identifier of the format route information from the conversion information storage device 14. At this time, the system control device 10 functions as an acquisition unit.

[0141] Then, in step S216, the system control device 10 converts the spatial information into a format that can be reflected in a three-dimensional map of the cyberspace of the autonomous mobile body 12, and creates information (hereinafter, a cost map) indicating the positions of multiple objects (obstacles) within a specified space.

[0142] The cost map may be created initially for the space of all routes in the format route information, or may be created in a form divided into certain regions and then updated sequentially.

[0143] Next, in step S217, the system control device 10 associates the formatted route information and the cost map with a unique identification number (unique identifier) ​​assigned to the autonomous moving body 12 and stores them.

[0144] The autonomous mobile body 12 monitors (hereinafter, polls) its own unique identification number via the network at a predetermined time interval, and downloads the associated cost map in step S218. In step S219, the autonomous mobile body 12 reflects the latitude / longitude information of each unique identifier in the formatted route information as route information in the 3D map of the cyberspace that it has created.

[0145] Next, in step S220, the autonomous mobile body 12 reflects the cost map as obstacle information on the route in a three-dimensional map of the cyberspace. If the cost map is created in a form divided at regular intervals, after moving through the area in which the cost map is created, the autonomous mobile body 12 downloads the cost map of the next area and updates the cost map.

[0146] In step S221, the autonomous moving body 12 moves along the route information while avoiding objects (obstacles) input in the cost map. That is, movement control is performed based on the cost map.

[0147] At this time, in step S222, the autonomous moving body 12 moves while detecting an object, and if there is a difference with the cost map, the autonomous moving body 12 moves while updating the cost map using the object detection information.

[0148] Furthermore, in step S223, the autonomous moving body 12 transmits difference information from the cost map to the system control device 10 together with the corresponding unique identifier.

[0149] The system control device 10, which has acquired the difference information between the unique identifier and the cost map, transmits the spatial information to the transformation information storage device 14 in step S224 of FIG. 10, and in step S225, the transformation information storage device 14 updates the spatial information of the corresponding unique identifier.

[0150] The content of the spatial information updated here does not directly reflect the difference information with the cost map, but is abstracted by the system control device 10 and then transmitted to the conversion information storage device 14. The details of the abstraction will be described later.

[0151] In step S226, the autonomous moving body 12, which is moving based on the formatted route information, transmits to the system control device 10 the unique identifier associated with the space through which it is currently passing, each time it passes through a divided space associated with the unique identifier.

[0152] Alternatively, the unique identification number of the autonomous moving body 12 may be linked to the unique identification number of the autonomous moving body 12 during polling. The system control device 10 grasps the current position of the autonomous moving body 12 on the formatted route information based on the spatial unique identifier information received from the autonomous moving body 12.

[0153] By repeating step S226, the system control device 10 can grasp the current location of the autonomous moving body 12 from the formatted route information. Note that the system control device 10 may stop storing the unique identifier of the space through which the autonomous moving body 12 has passed, thereby making it possible to reduce the amount of data stored in the formatted route information.

[0154] In step S227, the system control device 10 creates the confirmation screen 50 and the map display screen 60 described with reference to FIGS. 2 and 3 based on the grasped current position information of the autonomous moving body 12, and displays them on the display screen of the web page.

[0155] Every time the autonomous moving body 12 transmits a unique identifier indicating its current location to the system control device 10, the system control device 10 updates the confirmation screen 50 and the map display screen 60. Meanwhile, in step S228 of Fig. 8, the sensor node 15 stores the detection information of the detection range, and abstracts the detection information in step S229 and transmits it to the conversion information holding device 14 as spatial information in step S230.

[0156] The abstraction is information such as whether an object exists or not, and whether the existence state of the object has changed or not, but is not detailed information about the object. Detailed information about the object is stored in the memory of the sensor node.

[0157] Then, in step S231, the conversion information storage device 14 associates the spatial information, which is the abstracted detection information, with the unique identifier of the position corresponding to the spatial information and stores it. As a result, the spatial information is stored in one unique identifier in the format database.

[0158] In addition, when an external system different from the sensor node 15 utilizes the spatial information, the external system acquires and utilizes the detection information in the sensor node 15 via the conversion information storage device 14 based on the spatial information in the conversion information storage device 14. In this case, the conversion information storage device 14 also has a function of connecting the communication standard between the external system and the sensor node 15.

[0159] By storing the spatial information as described above among a plurality of devices, not limited to the sensor node 15, the conversion information holding device 14 has a function of linking data from a plurality of devices with a relatively light data amount.

[0160] In addition, if the system control device 10 requires detailed object information when creating a cost map in steps S215 and S216 of Figure 9, it can download the detailed information from an external system that stores detailed detection information of spatial information and use it.

[0161] Here, it is assumed that the sensor node 15 updates spatial information on the route of the format route information of the autonomous moving body 12. At this time, the sensor node 15 acquires detection information in step S232 of Fig. 10, generates abstracted spatial information in step S233, and transmits it to the conversion information holding device 14 in step S234. The conversion information holding device 14 stores the spatial information in the format database 14-4 in step S235.

[0162] The system control device 10 checks for changes in the spatial information in the format route information it manages at a predetermined time interval, and if there is a change, downloads the spatial information in step S236. Then, in step S237, it updates the cost map linked to the unique identification number assigned to the autonomous moving body 12.

[0163] In step S238, the autonomous mobile body 12 recognizes the update of the cost map by polling and reflects it in the 3D map of the cyberspace that it has created.

[0164] As described above, by utilizing spatial information shared by multiple devices, the autonomous moving body 12 can recognize changes on the route that it cannot recognize in advance and can respond to those changes. After carrying out the above series of systems, when the autonomous moving body 12 arrives at the destination point in step S239, it transmits the unique identifier in step S240.

[0165] The system control device 10, having recognized the unique identifier as a result, displays an arrival display on the user interface 11 and terminates the application in step S241. According to the first embodiment, it is possible to provide a digital architecture format and an autonomous mobile control system using the same as described above.

[0166] <Embodiment 2> Next, a detailed description will be given of how to handle points in the spatio-temporal data where no data exists in the embodiment 2. Fig. 14 is a schematic diagram of a vehicle control device for performing autonomous driving according to the embodiment 2 of the present invention.

[0167] The autonomous mobile body 12 in this embodiment is a mobility for moving people, but may be an unmanned autonomous vehicle. The control unit 12-2 enables the autonomous mobile body 12 to travel autonomously.

[0168] The network connection unit 12-5 functions as a communication means for obtaining information on the time-space data from the conversion information storage device 14 shown in Fig. 1 via the Internet 16. The network connection unit 12-5 is connected to the control unit 1-2. The control unit 1-2 has a built-in CPU 21.

[0169] The user interface 11 is connected to the network connection unit 12-5 via the Internet 16, and allows the user to input a destination, priority conditions to reach the destination, etc. The user interface 11 also allows the user to confirm vehicle information and the route for autonomous driving, and to convey vehicle information, emergency situations, and the status of autonomous driving to the user.

[0170] Map data 144 and the like are stored in the information storage unit (memory / HD) 12-4. The control unit 12-2 can read out data of any point stored in the map data 144, and can also display it on the user interface 11 connected via the Internet.

[0171] The map data 144, etc. may be stored in the system control device 10 or the conversion information storage device 14, and may not be stored in the control unit 12-2. If the map data 144, etc. are stored in the system control device 10 or the conversion information storage device 14, the control unit 12-2 acquires the map data 144, etc. from the system control device 10 or the conversion information storage device 14 via the Internet 16.

[0172] The information storage unit (memory / HD) 12-4 is connected to the CPU 21 in the control unit 12-2, and is capable of storing and reading out data required by the CPU 21.

[0173] The driving unit 1-6 of the autonomous moving body 12 includes an engine controller 147, a brake controller 148, etc. The direction control unit 12-3 includes a steering controller 149, etc. The CPU 21 can read information from a detection unit 12-1 in the autonomous moving body 12.

[0174] 15 is a conceptual diagram of route selection according to the second embodiment of the present invention, and shows an example of a travel route between a starting point 151 and a destination 152 (e.g., a parking lot P). In route selection, when a user inputs a destination and conditions from the user interface 11, the CPU 21 in the control unit 12-2 searches for a route.

[0175] 15 shows a state in which, as a result of the above search, three route candidates, for example, A-Root 153, B-Root 154, and C-Root 155, are displayed on the display unit 11-3 as a display means. Note that 156 indicates a spatiotemporal data missing portion where part of the spatiotemporal data is missing.

[0176] In this manner, in this embodiment, the location of the three-dimensional space having missing information is displayed on the display unit 11-3 as a display means, so that the user can intuitively grasp the location of the three-dimensional space having missing information on the travel route. Also, even if the travel route is automatically determined according to the location and number of the three-dimensional space having missing information, the user can understand why that travel route was selected.

[0177] Fig. 16 is a flowchart showing an example of a travel route determination method according to embodiment 2. Note that the CPU 21 as a computer in the control unit 12-2 of the autonomous moving body 12 executes a computer program stored in the memory, thereby performing the operation of each step of the sequence in Fig. 16.

[0178] First, in step S161, the CPU 21 in the control unit 12-2 receives from the user interface 11 information that the destination 152 and conditions to be prioritized have been input by the user. The conditions to be prioritized include a route that has the shortest arrival time (required time), a route that has the shortest distance, a route that prioritizes safety, etc. In this embodiment, an example of selection of a route that has the shortest arrival time (required time) will be described.

[0179] In step S162, the CPU 21 in the control unit 12-2 reads the map data 144 and the like from the system control device 10 and the conversion information storage device 14 and stores them in the information storage unit (memory / HD) 12-4. Then, based on the map data, three candidate routes (A-Root 153, B-Root 154, C-Root 155) are created as shown in FIG.

[0180] If the priority condition is set to arrival time, three candidate routes, A-Root 153, B-Root 154, and C-Root 155, are generated in order of earliest arrival time. It is preferable to display each route in a way that makes it clear the priority order, for example by color coding.

[0181] In the second embodiment, the number of candidate routes is three, but the number of candidate routes may be determined in accordance with the conditions, the capabilities of the CPU 21, and the user's settings, and is not limited to three.

[0182] In step S163, the CPU 21 in the control unit 12-2 reads the spatio-temporal data (voxel information) of A-Root 153, B-Root 154, and C-Root 155 shown in FIG.

[0183] Thereafter, the time-space data is stored together with the map data in the information storage unit (memory / HD) 12-4 by the CPU 21. Here, step S163 functions as an acquisition step (acquisition means) for acquiring spatial information.

[0184] In step S164, the CPU 21 in the control unit 12-2 counts the number of information gaps (the number of voxels with missing information) in the spatio-temporal data of A-Root 153, B-Root 154, and C-Root 155. In the example of Fig. 15, A-Root 153 has 2 locations, B-Root 154 has 2 locations, and C-Root 155 has 13 locations. When the counting is completed, the process proceeds to step S165.

[0185] In step S165, the CPU 21 in the control unit 12-2 compares and determines whether the time required for arrival for each route is equal to or greater than a preset time difference. In this embodiment, the CPU 21 compares the expected arrival times and determines whether there are multiple routes that are within a threshold value of, for example, 5 minutes for the fastest route.

[0186] If the result of step S165 is No, the process proceeds to step S167, and if the predicted arrival times of the multiple routes are within 5 minutes of the fastest route, the process proceeds to step S166. Note that the threshold value of 5 minutes in step S165 is an example, and is not limited to this value, and may be set arbitrarily by the user.

[0187] In step S167, the CPU 21 in the control unit 12-2 selects the fastest route and proceeds to step S1610. Meanwhile, in step S166, the CPU 21 in the control unit 12-2 rearranges a plurality of routes (e.g., A-Root 153 and B-Root 154 in the example of FIG. 15) whose expected arrival times are within 5 minutes of the fastest route in order of least information loss in the spatio-temporal data. That is, the routes are rearranged in order of least information-missing voxels.

[0188] Then, in step S168, CPU 21 in control unit 12-2 selects (acquires) a route with less information loss in the time-space data from among a plurality of routes (A-Root 153 and B-Root 154) whose expected arrival times are within 5 minutes of the fastest route.

[0189] 15, the number of missing pieces of information in the spatio-temporal data is the same for A-Root 153 and B-Root 154. Therefore, in the next step S169, the CPU 21 in the control unit 12-2 performs a comprehensive evaluation of A-Root 153 and B-Root 154. Then, since the priority condition is the expected arrival time (required time), the route with the shortest arrival time (for example, A-Root 153) is selected and the process proceeds to step S1610.

[0190] In step S1610, the CPU 21 in the control unit 12-2 determines an autonomous driving route and obtains the time-space data, map information, and information of the detection unit 12-1 stored in the information storage unit (memory / HD) 12-4.

[0191] Here, steps S165 to S1610 function as a control step (control means) for generating information on the moving path of the moving object based on missing information regarding at least a partial loss of spatial information.

[0192] In the control step (control means), when the required time difference is equal to or less than a predetermined value, a relatively small number of travel routes are selected from among the multiple travel route candidates in accordance with the number of 3D spaces having missing parts. Also, when the required time difference is greater than a predetermined value, the travel route with the shortest required time is selected from among the multiple travel route candidates.

[0193] Next, in step S1611, the CPU 21 in the control unit 12-2 controls the driving unit 12-6 as a driving control means of the autonomous moving body 12 to start traveling using the engine controller 147, the brake controller 148, and the steering controller 149. That is, the driving unit 12-6 as a driving control means controls traveling based on the information of the moving route determined in step S1610.

[0194] As described above, according to the second embodiment, by selecting a route taking into account missing information in the spatio-temporal data, it is possible to provide an autonomous moving body with increased certainty and reliability regarding the traveling of the autonomous moving body and improved certainty of reaching the destination.

[0195] In the second embodiment, the route is determined by acquiring and evaluating spatiotemporal data of the route before the autonomous moving body starts traveling, but this operation may be performed repeatedly periodically while traveling, with the current position being set as the starting point of traveling.

[0196] <Third embodiment> In the third embodiment, in addition to the number of missing spatio-temporal data when creating a route as in the second embodiment, traffic obstruction information, which is information read from the spatio-temporal data, is used to improve the reliability of route selection.

[0197] 17 is a conceptual diagram of route selection according to the third embodiment, and shows an example of a travel route between a departure point 151 and a destination point 152. In route selection, when a user inputs a destination and conditions using the user interface 11, the CPU 21 in the control unit 12-2 searches for a route.

[0198] As a result, three route candidates, for example, D-Root 172, E-Root 173, and F-Root 174, are selected and displayed as shown in Fig. 17. Also, in Fig. 17, spatiotemporal data missing portion 156 and traffic disturbance cause 171 are displayed.

[0199] The traffic disturbance factors 171 include vehicle information such as parked trucks and cars, people information such as bicycles and pedestrians, or obstacles that require vehicles to stop or slow down before passing, such as construction, accidents, and railroad crossings, or obstacles that make it impossible to pass. The traffic disturbance factors 171 are stored in the space-time data (voxels).

[0200] Fig. 18 is a flowchart showing an example of a travel route determination method according to embodiment 3. Note that the operation of each step of the sequence in Fig. 18 is performed by the CPU 21 as a computer in the control unit 12-2 executing a computer program stored in the memory.

[0201] In step S181, the CPU 21 in the control unit 12-2 receives from the user interface 11 information that the destination 152 and the conditions to be prioritized have been input by the user. The conditions to be prioritized include a route that has the shortest arrival time (required time), a route that has the shortest distance, a route that prioritizes safety, etc. In this embodiment, an example of selection of a route that has the shortest arrival time (required time) will be described.

[0202] In step S182, the CPU 21 in the control unit 12-2 reads the map data 144 and the like from the system control device 10 and the conversion information holding device 14 and stores them in the information storage unit (memory / HD) 12-4. Then, based on the stored map data, three candidate routes (D-Root 172, E-Root 173, F-Root 174) are created as shown in FIG.

[0203] In the third embodiment, the number of candidate routes is three, but the number of candidate routes may be determined in accordance with the conditions, the capabilities of the CPU 21, and the user's settings, and is not limited to three.

[0204] In step S183, the CPU 21 in the control unit 12-2 reads the spatio-temporal data (voxel information) of D-Root 172, E-Root 173, and F-Root 174 shown in Fig. 17 from the conversion information storage device 14 via the Internet 16. After that, the CPU 21 stores the spatio-temporal data together with the map data in the information storage unit (memory / HD) 12-4.

[0205] In step S184, the CPU 21 in the control unit 12-2 counts the number of information missing (the number of voxels with missing information) in the spatio-temporal data of D-Root 172, E-Root 173, and F-Root 174. In the example of Fig. 17, there are 2 locations for D-Root 172, 2 locations for E-Root 173, and 13 locations for F-Root 174. After counting, the process proceeds to step S185.

[0206] In step S185, the CPU 21 in the control unit 12-2 compares and determines whether the time required for arrival for each route is equal to a preset time difference. In this embodiment, the expected arrival times are also compared and it is determined whether there are multiple routes within a threshold value of, for example, 5 minutes for the fastest route.

[0207] If the answer is No in step S185, the process proceeds to step S187, and if the predicted arrival times of the multiple routes are within 5 minutes of the fastest route, the process proceeds to step S186. Note that the threshold value of 5 minutes in step S185 is an example, and is not limited to this value, and may be set arbitrarily by the user.

[0208] In step S187, the CPU 21 in the control unit 12-2 selects the fastest route and proceeds to step S1811. Meanwhile, in step S186, the CPU 21 in the control unit 12-2 rearranges a plurality of routes (e.g., D-Root 172 and E-Root 173 in the example of FIG. 15) whose predicted arrival times are within 5 minutes of the fastest route in order of least information loss in the spatiotemporal data. That is, the routes are rearranged in order of least information-missing voxels.

[0209] In step S188, the CPU 21 in the control unit 12-2 analyzes the time-space data collected in step S183, and analyzes and evaluates information on delays in travel or impassability of the autonomous moving body, such as automobiles, construction sites, and railroad crossings, as shown in traffic disturbance factors 171 in Fig. 17. Then, the CPU 21 calculates a delay time based on those traffic disturbance factors 171. Alternatively, the CPU 21 counts the number of those traffic disturbance factors 171.

[0210] In this embodiment, as shown in Fig. 17, it can be analyzed from the information of the spatio-temporal data that D-Root 172 has more traffic disturbance factors 171 than E-Root 173. That is, traffic disturbances (people, parking, railroad crossings, etc.) in the voxel can be evaluated.

[0211] In step S189, CPU 21 in control unit 12-2 rearranges the routes in order of least traffic disturbance factor 171 (or delay due to traffic disturbance factor 171) read in step S188. That is, the routes are rearranged in order of least delay due to traffic disturbance, and the process proceeds to step S1810.

[0212] In step S1810, the CPU 21 in the control unit 12-2 comprehensively evaluates the order of the number of spatiotemporal data missing information items in step S186 and the order of the number of traffic disturbance factors in step S189, and determines that, for example, E-Root 173 is optimal. That is, it determines that E-Root 173, which has the smallest number of spatiotemporal data missing information items and the smallest number of traffic disturbance factors, is optimal. Then, the process proceeds to step S1811.

[0213] In step S1811, CPU 21 in control unit 12-2 determines an autonomous driving route, and obtains, with respect to the autonomous driving route, time-space data and map data stored in information storage unit (memory / HD) 12-4 and information from detection unit 12-1.

[0214] Then, in step S1812, the CPU 21 in the control unit 12-2 controls the autonomous moving body 12 and starts traveling using the engine controller 147, the brake controller 148, and the steering controller 149.

[0215] As described above, in the third embodiment, a travel route is generated according to traffic obstruction information that is included in the spatial information and that is an obstacle to travel. That is, a route is selected that takes into consideration missing information in the spatial data and traffic obstruction information in the spatio-temporal data. This increases the reliability and certainty of the travel of the autonomous mobile body, and makes it possible to improve the reliability of reaching the destination.

[0216] In addition, in the third embodiment, the route is determined by acquiring and evaluating the spatiotemporal data of the route before the autonomous moving body starts traveling, but this operation may be repeatedly performed while traveling, with the current position being set as the traveling start point.

[0217] <Fourth embodiment> The fourth embodiment improves reliability by selecting a route taking into consideration not only the number of missing spatio-temporal data after route creation in the third embodiment, but also the last update time of the missing spatio-temporal data.

[0218] Fig. 19 is a flowchart showing an example of a travel route determination method according to embodiment 4. Note that the CPU 21 as a computer in the control unit 12-2 executes a computer program stored in a memory to perform the operation of each step of the sequence in Fig. 19.

[0219] First, in step S191, the CPU 21 in the control unit 12-2 receives from the user interface 11 information that the destination 152 and conditions to be prioritized have been input by the user. The conditions to be prioritized include a route that has the shortest arrival time (required time), a route that has the shortest distance, a route that prioritizes safety, etc. In this embodiment, an example of selection of a route that has the shortest arrival time (required time) will be described.

[0220] In step S192, the CPU 21 in the control unit 12-2 reads the map data 144 and the like from the system control device 10 and the conversion information storage device 14 and stores them in the information storage unit (memory / HD) 12-4. Then, based on the stored map data, three candidate routes (A-Root 153, B-Root 154, C-Root 155) are created, for example, as shown in FIG.

[0221] In the fourth embodiment, the number of candidate routes is three, but the number of candidate routes may be determined in accordance with the conditions, the capabilities of the CPU 21, and the user's settings, and is not limited to three.

[0222] In step S193, the CPU 21 in the control unit 12-2 reads the spatio-temporal data (voxel information) of A-Root 153, B-Root 154, and C-Root 155 shown in Fig. 15 from the conversion information storage device 14 via the Internet 16. After that, the CPU 21 stores the spatio-temporal data together with the map data in the information storage unit (memory / HD) 12-4.

[0223] In step S194, the CPU 21 in the control unit 12-2 compares and determines whether the time required for arrival for each route is equal to or greater than a preset time difference. In this embodiment, the CPU 21 compares the expected arrival times and determines whether there are multiple routes that are within a threshold value of, for example, 5 minutes for the fastest route.

[0224] If the answer is No in step S194, the process proceeds to step S196, and if the predicted arrival times of the multiple routes are within 5 minutes of the fastest route, the process proceeds to step S195. Note that the threshold value of 5 minutes in step S194 is an example, and is not limited to this value, and may be set arbitrarily by the user.

[0225] In step S196, the CPU 21 in the control unit 12-2 selects the fastest route and proceeds to step S1914. Meanwhile, in step S195, the CPU 21 in the control unit 12-2 counts the number of pieces of information missing (the number of voxels with missing information) in the spatio-temporal data of A-Root 153, B-Root 154, and C-Root 155.

[0226] 15, A-Root 153 has 2 locations, B-Root 154 has 2 locations, and C-Root 155 has 13 locations. When the counting is completed, the process proceeds to step S197.

[0227] In step S197, the CPU 21 in the control unit 12-2 rearranges the multiple routes (e.g., A-Root 153 and B-Root 154 in the example of FIG. 15) whose expected arrival times are within 5 minutes of the fastest route in order of least amount of missing information in the spatio-temporal data. That is, the routes are rearranged in order of least amount of missing information voxels.

[0228] Next, the process proceeds to step S198, where the CPU 21 in the control unit 12-2 extracts the last update time from the information-missing spatiotemporal data (information-missing voxel) of the spatiotemporal data (voxel) collected in step S193. That is, the last update time of the information-missing voxel is obtained, and the process proceeds to step S199.

[0229] In step S199, the CPU 21 in the control unit 12-2 determines whether the last update times of all information-missing voxels are within a predetermined range. In this embodiment, the predetermined range is, for example, 30 seconds. Note that the predetermined range is not limited to 30 seconds. It can be set arbitrarily.

[0230] If the answer is Yes in step S199, then in step S1910, the CPU 21 in the control unit 12-2 counts information-missing voxels within the update time range. On the other hand, if the answer is 30 seconds or more, then in step S1911, the CPU 21 in the control unit 12-2 counts information-missing voxels outside the update time range.

[0231] The count data of information-missing voxels in steps S1910 and S1911 is used in step S1912 to evaluate the update time in the CPU 21. That is, the in-range count of information-missing voxels in step S1910 is subtracted from the number of information-missing voxels counted in step S195.

[0232] Next, in step S1913, CPU 21 in control unit 12-2 compares the information-missing voxel count number in step S195 with the information-missing voxel count number in step S1912 to perform a comprehensive evaluation.

[0233] In the fourth embodiment, if the update times of the two information-missing voxels in A-Root153 are all within a predetermined range, the final number of information-missing voxels in A-Root153 will be 0. On the other hand, if the spatiotemporal data of only one of the two information-missing voxels in B-Root154 is within the above-mentioned predetermined range, the final number of information-missing voxels in B-Root153 will be 0.

[0234] Therefore, in step S169, the CPU 21 in the control unit 12-2 selects A-Root 153, which has the smaller final number of information-missing voxels, and proceeds to step S1914. That is, for information-missing voxels with high update frequency, this control is performed by determining that the reliability of the root is relatively high.

[0235] In step S1914, the CPU 21 in the control unit 12-2 determines an autonomous driving route, and obtains the time-space data and map information stored in the information storage unit (memory / HD) 12-4 and the information from the detection unit 12-1.

[0236] Then, the CPU 21 in the control unit 12-2 controls the autonomous moving body 12 and starts traveling using the engine controller 147, the brake controller 148, and the steering controller 149.

[0237] In the fourth embodiment, the update frequency of only information-missing voxels is taken into consideration; however, for example, when the number of information-missing voxels is approximately the same, a route with a higher update frequency for all voxels of each candidate route may be selected.

[0238] As described above, in the fourth embodiment, a travel route is generated according to the last update time of the spatial information including missing information. In addition, a route is selected taking into consideration the missing information of the spatio-temporal data and the last update of the spatio-temporal data. This increases the certainty and reliability of the travel of the autonomous mobile body, and makes it possible to provide an autonomous mobile body with improved certainty of reaching the destination.

[0239] In addition, in the fourth embodiment, the route is determined by acquiring and evaluating the spatiotemporal data of the route before the autonomous moving body starts traveling, but this operation may be repeatedly performed while traveling, with the same point being used as the starting point of traveling.

[0240] In the flowcharts of Figures 16, 18, and 19, each step is executed by CPU 21 in control unit 12-2, but this is not limiting. As shown in Figures 8 to 10, the processing of these steps may be executed by CPUs of multiple devices.

[0241] Also, in a place in the three-dimensional space having missing information, an instruction means for instructing to switch the control method of the moving body from an autonomous driving state to a manual control state, or a warning means for issuing a warning may be provided. In this way, even if the moving body becomes unable to autonomously drive in a place in the three-dimensional space having missing information, recovery measures for the moving body can be taken promptly.

[0242] In the above embodiment, a travel route is generated according to the number of three-dimensional spaces with missing information, but a travel route may also be generated according to the density on the map of three-dimensional spaces with missing information.

[0243] Although the present invention has been described in detail based on the preferred embodiments, the present invention is not limited to these specific embodiments, and various forms within the scope of the gist of the present invention are also included in the present invention. Parts of the above-mentioned embodiments may be appropriately combined. The present invention also includes the following combinations.

[0244] (Configuration 1) A control system characterized by having: an acquisition means for acquiring spatial information from a storage means that associates and stores a unique identifier assigned to each divided three-dimensional space with spatial information including information on the presence of an object in the three-dimensional space, the spatial information representing the state of the three-dimensional space; and a control means for generating information on the movement path of a moving body based on missing information regarding the missingness of at least a portion of the spatial information.

[0245] (Configuration 2) The control system according to configuration 1, wherein the control means selects the movement path from among a plurality of movement path candidates according to the number of the three-dimensional spaces having the defects.

[0246] (Configuration 3) The control system according to configuration 1 or 2, characterized in that the control means selects, from among a plurality of candidate movement paths, a movement path in which the number of three-dimensional spaces having the omissions is relatively small.

[0247] (Configuration 4) A control system described in any one of configurations 1 to 3, characterized in that the control means selects, from among a plurality of candidate travel routes, a travel route in which the number of three-dimensional spaces having the omissions is relatively small when the required time difference is equal to or less than a predetermined value.

[0248] (Configuration 5) The control system according to any one of configurations 1 to 4, characterized in that the control means selects the travel route with the shortest required time from among a plurality of travel route candidates when the required time difference is greater than a predetermined value.

[0249] (Configuration 6) The control system according to any one of configurations 1 to 5, wherein the control means generates the travel route in accordance with a last update time of the spatial information including the missing information.

[0250] (Configuration 7) The control system according to any one of configurations 1 to 6, wherein the travel route is generated in response to traffic obstruction information that is an obstacle to travel and is included in the spatial information.

[0251] (Configuration 8) The control system according to any one of claims 1 to 7, further comprising a display means for displaying a location in the three-dimensional space having the missing information.

[0252] (Configuration 9) A control system according to any one of configurations 1 to 8, characterized in that it has an instruction means for instructing a switching of a control method of the moving body or a warning means for issuing a warning at a location in the three-dimensional space having the missing information.

[0253] (Configuration 10) The control system according to any one of configurations 1 to 9, wherein the control means generates the travel route according to a density on a map of the three-dimensional space having the missing information.

[0254] (Method) A control method characterized by comprising: an acquisition step of acquiring spatial information from a storage means that associates and stores a unique identifier assigned to each divided three-dimensional space with spatial information including information on the presence of an object in the three-dimensional space, the spatial information representing the state of the three-dimensional space; and a control step of generating information on the movement path of a moving body based on missing information regarding the missingness of at least a portion of the spatial information.

[0255] (Program) A computer program for controlling each means in the control system according to any one of configurations 1 to 10 or the moving body according to configuration 11.

[0256] In order to realize a part or all of the control in the above-mentioned embodiment, a computer program for realizing the functions of the above-mentioned embodiment may be supplied to a control system or the like via a network or various storage media. Then, a computer (or a CPU, MPU, or the like) in the control system or the like may read and execute the program. In this case, the program and the storage medium storing the program constitute the present invention. [Explanation of symbols]

[0257] 10: System control device 11: User Interface 12: Autonomous mobile object 13: Route determination device 14: Identity conversion device 15: Sensor node 16: Internet 40: Input screen for departure point, intermediate point, and destination 40 41: "Departure point" input field 42: Input field for "waypoint 1" 43: "Destination" input field 44: Add stop button 45: Decision button 50: Status check screen 51: "Departure point" input field 52: Input field for "waypoint 1" 53: "Destination" input field 54: Change stop / destination button 55: Map display button 56: Current location 57: Update button 60: Map display screen 61: Back button 62: Current location 147: Engine controller 148: Brake controller 149: Steering controller 151: Departure point 152: Destination 153: A-Root 154: B-Root 155: C-Root 156: Missing spatiotemporal data 171: Traffic obstruction factors 172:D-Root 173: E-Root 174: F-Root

Claims

1. an acquisition means for acquiring spatial information from a storage means for storing a unique identifier assigned to each of the divided three-dimensional spaces and spatial information including information on the presence of an object in the three-dimensional space, the spatial information representing a state of the three-dimensional space, in association with each other; A control means for generating information on a moving path of a moving object based on missing information regarding at least a portion of the spatial information; A control system comprising:

2. 2. The control system according to claim 1, wherein the control means selects the movement path from among a plurality of movement path candidates in accordance with the number of the three-dimensional spaces having the gaps.

3. 2. The control system according to claim 1, wherein the control means selects, from among a plurality of candidate movement routes, the movement route in which the number of portions of the three-dimensional space having the defects is relatively small.

4. The control system according to claim 1, characterized in that the control means selects from among a plurality of candidate travel routes a travel route having a relatively small number of three-dimensional spaces having the omissions when the required time difference is equal to or less than a predetermined value.

5. 2. The control system according to claim 1, wherein said control means selects, from among a plurality of candidate travel routes, the travel route with the shortest required time when a difference in required time is greater than a predetermined value.

6. The control system according to claim 1 , wherein the control means generates the travel route in accordance with a last update time of the spatial information including the missing information.

7. The control system according to claim 1 , wherein the travel route is generated in response to traffic obstruction information that is included in the spatial information and that is an obstacle to travel.

8. 2. The control system according to claim 1, further comprising display means for displaying locations in the three-dimensional space having the missing information.

9. 2. The control system according to claim 1, further comprising an instruction means for instructing a change in a control method for the moving object or a warning means for issuing a warning at a location in the three-dimensional space having the missing information.

10. 2. The control system according to claim 1, wherein the control means generates the travel route in accordance with a density on a map of the three-dimensional space having the missing information.

11. A moving body comprising a drive control means for controlling traveling based on the information on the moving route generated by the control system according to any one of claims 1 to 9.

12. an acquisition step of acquiring the spatial information from a storage means that stores a unique identifier assigned to each of the divided three-dimensional spaces and the spatial information including information on the presence of an object in the three-dimensional space and expressing a state of the three-dimensional space in association with each other; A control step of generating information on a moving path of a moving object based on missing information regarding at least a portion of the spatial information; A control method comprising the steps of:

13. A computer program for controlling each means in a control system according to any one of claims 1 to 10 or a moving body according to claim 11.

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