Automatic traveling system and automatic traveling vehicle

Abstract

To provide a method for suppressing deviation from a set track of an automatic traveling vehicle in the case of automatic traveling without using a guidance line.SOLUTION: The automatic traveling system is provided with a plurality of two-dimensional codes installed on the route of an automatic traveling vehicle, a reader capable of reading the two-dimensional codes, and a controller for controlling the operation of the automatic traveling vehicle based on information of the two-dimensional codes. The two-dimensional codes include a two-dimensional code for movement in which information for the movement of the automatic traveling vehicle is encoded and a two-dimensional code for the trajectory correction in which information for a trajectory correction instruction for correcting the trajectory of the automatic traveling vehicle is encoded. The automatic traveling vehicle enters a trajectory correction mode when the reader reads the two-dimensional code for trajectory correction, while the controller determines, in the trajectory correction mode, an amount of deviation from a set trajectory set by the two-dimensional code for movement based on a positional relationship between the two-dimensional codes for trajectory correction so that the trajectory of the automatic traveling vehicle is corrected.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an automatic driving system and an autonomous vehicle.

Background Art

[0002] Patent Document 1 discloses an autonomous vehicle that includes a code reading unit that reads a two-dimensional code installed on the floor surface and a guidance path detection unit that optically detects a guidance line installed on the floor surface, and travels unmanned along a predetermined path.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the autonomous vehicle of Patent Document 1, since it travels while reading a two-dimensional code and a guidance line, two programs are necessary to read each piece of information.

[0005] Therefore, the inventor of the present application considered running an autonomous vehicle using only a two-dimensional code without using a guidance line. Then, the inventor of the present application found that when performing autonomous driving without using a guidance line, minute position and direction deviations are accumulated, and there is a risk that the autonomous vehicle may deviate from the set trajectory.

[0006] An object of the present invention is to suppress deviation from the set trajectory of an autonomous vehicle when performing autonomous driving without using a guidance line.

Means for Solving the Problems

[0007] In one aspect of the present invention, an automatic driving system for driving an autonomous vehicle includes a plurality of two-dimensional codes pre-installed on a route along which the autonomous vehicle travels, a reading device provided on the autonomous vehicle and capable of reading the two-dimensional codes, and a controller that controls the operation of the autonomous vehicle based on the information of the two-dimensional codes. The two-dimensional codes include a movement two-dimensional code in which information for moving the autonomous vehicle is encoded, and a trajectory correction two-dimensional code in which information for a trajectory correction instruction for correcting the trajectory of the autonomous vehicle is encoded. When the reading device reads the trajectory correction two-dimensional code, the autonomous vehicle enters a trajectory correction mode. In the trajectory correction mode, the controller determines the amount of deviation from a set trajectory set by the movement two-dimensional code based on the positional relationship of the plurality of trajectory correction two-dimensional codes, and corrects the trajectory of the autonomous vehicle.

Advantages of the Invention

[0008] According to one aspect of the present invention, since the amount of deviation from a set trajectory set by a movement two-dimensional code is determined based on the positional relationship of a plurality of trajectory correction two-dimensional codes and the trajectory of the autonomous vehicle is corrected, it is possible to correct the deviation from the set trajectory. Therefore, when the autonomous vehicle travels without using a guiding line, it is possible to suppress the deviation of the autonomous vehicle from the set trajectory.

Brief Description of the Drawings

[0009]

Figure 1

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MODE FOR CARRYING OUT THE INVENTION

[0010] Hereinafter, with reference to the drawings, the automatic driving system 1 according to the embodiment of the present invention will be described.

[0011] First, with reference to FIGS. 1 to 3, the overall configuration of the automatic driving system 1 will be described.

[0012] FIG. 1 is a configuration diagram for explaining the outline of the automatic driving system 1 according to the embodiment of the present invention. FIG. 2 is a side view of the autonomous vehicle 10 in the automatic driving system 1. FIG. 3 is a control block diagram of the autonomous vehicle 10.

[0013] Hereinafter, the direction parallel to the front and rear of the autonomous vehicle 10 will be referred to as the "front-rear direction" or the "travel direction", and the direction parallel to the left and right of the autonomous vehicle 10 will be referred to as the "left-right direction" or the "width direction".

[0014] As shown in FIG. 1, the automatic driving system 1 includes a plurality of two-dimensional codes 3 and an autonomous vehicle 10. The automatic driving system 1 automatically drives the autonomous vehicle 10.

[0015] The two-dimensional code 3 is pre-installed on the floor surface of the route along which the autonomous vehicle 10 travels. The two-dimensional code 3 is provided such that its left and right sides are along the set track 2 and its front and rear sides are orthogonal to the set track 2. The two-dimensional code 3 is provided such that the center in the left-right direction (width direction) is located on the set track 2. The two-dimensional code 3 has a moving two-dimensional code 4 and an orbit correction two-dimensional code 5.

[0016] Moving information of the autonomous vehicle 10 is encoded in the moving two-dimensional code 4. Instructions such as start, stop, right turn, left turn, right U-turn, left U-turn, etc. are encoded in the moving two-dimensional code 4, for example.

[0017] The moving two-dimensional code 4 sets the set track 2 along which the autonomous vehicle 10 travels. In FIG. 1, the set track 2 is illustrated by a two-dot chain line, but since the set track 2 is set by a plurality of two-dimensional codes 3, a line indicating the set track 2 is not provided on the actual floor surface. The set track 2 is a track having a certain width such that any deviation that does not affect reaching the final goal is allowed. A track is some kind of "road, route", and this "road, route" is set by the moving two-dimensional code 4. That is, the "road, route" is set by instructions such as "turn right" and "go straight" encoded in the moving two-dimensional code 4.

[0018] The orbit correction two-dimensional code 5 is composed of two provided at a predetermined distance L [mm] from the traveling direction of the autonomous vehicle 10. The distance L is set to, for example, 300 [mm].

[0019] If the distance L is too small, the deviation amount between the first and second two-dimensional codes 5 for trajectory correction is too small, and there is a possibility that it cannot be determined that the autonomous vehicle 10 is traveling obliquely. On the other hand, if the distance L is too large, there is a possibility that the second two-dimensional code 5 for trajectory correction may go out of the imaging range R described later while the autonomous vehicle 10 is traveling. Therefore, the distance L is set to a size that can detect the deviation amount between the first two-dimensional code 5 for trajectory correction and the second two-dimensional code 5 for trajectory correction.

[0020] In the two-dimensional code 5 for trajectory correction, information on trajectory correction instructions for correcting the trajectory of the autonomous vehicle 10 is encoded. In the first two-dimensional code 5 for trajectory correction provided on the set trajectory 2, an instruction for setting the autonomous vehicle 10 to the trajectory correction mode is encoded. In the second two-dimensional code 5 for trajectory correction provided on the set trajectory 2, an instruction for executing the trajectory correction operation is encoded.

[0021] The autonomous vehicle 10 is, for example, an Automated Guided Vehicle (AGV) that automatically travels indoors such as a factory without the need for an operation by an operator.

[0022] As shown in FIGS. 1 and 2, the autonomous vehicle 10 includes a frame 11, wheels 12, motors 13 as a pair of drive units, a power supply device 14, a reading device 20, and a controller 30. Here, the center in the left-right direction (width direction) of the autonomous vehicle 10 is defined as the center line CL.

[0023] The frame 11 is provided in a substantially rectangular parallelepiped shape. The frame 11 is supported by the wheels 12. The reading device 20, the power supply device 14, and the controller 30 are mounted on the frame 11. The frame 11 can mount an object to be transported by the autonomous vehicle 10.

[0024] The wheels 12 are provided at each corner of the frame 11 and support the frame 11. The wheels 12 include a pair of front wheels 12a and a pair of rear wheels 12b.

[0025] The front wheels 12a are drive wheels provided at the front side (front end portion) of the frame 11. The front wheels 12a are small wheels provided in a non-steerable manner in the front-rear direction of the frame 11. The pair of front wheels 12a are provided at intervals in the left-right direction. The front wheels 12a are driven by a motor 13. Independent driving forces are applied to the left and right front wheels 12a by the motor 13.

[0026] The rear wheels 12b are free wheels provided at the rear side (rear end portion) of the front wheels 12a in the frame 11. The rear wheels 12b are small wheels that always face the traveling direction during traveling. The rear wheels 12b turn due to the frictional resistance between the road surface and are steered to face the traveling direction.

[0027] The motor 13 operates by power supplied from a power supply device 14 and is controlled by a controller 30. The motor 13 is provided on each of the left and right front wheels 12a. A pair of motors 13 are provided to apply driving forces to the left and right front wheels 12a respectively. If the driving forces applied from the left and right motors 13 to the left and right front wheels 12a are made the same, the autonomous vehicle 10 travels straight. If a difference is made in the driving forces applied from the left and right motors 13 to the left and right front wheels 12a, the autonomous vehicle 10 turns.

[0028] The power supply device 14 supplies power to the pair of motors 13, the reading device 20, and the controller 30. The power supply device 14 is constituted by a secondary battery such as a lithium ion battery, for example.

[0029] The reading device 20 is a camera provided on the autonomous vehicle 10. The reading device 20 is capable of imaging and reading a two-dimensional code 3 provided on the set track 2. The reading device 20 is provided at a position spaced apart in front of the frame 11. The reading device 20 is attached to the frame 11 via a bracket 21 extending forward from the frame 11.

[0030] Here, the imaging range R, which is the readable range of the reading device 20, is shown as circular. However, the imaging range R may be other shapes such as rectangular, and is determined by the specifications of the reading device 20. The reading device 20 is attached to the center of the left - right direction (width direction) in the autonomous vehicle 10. Therefore, the center line in the left - right direction of the imaging range R coincides with the center line CL of the autonomous vehicle 10.

[0031] The controller 30 controls the operation of the autonomous vehicle 10 based on the information of the two - dimensional code 3. The controller 30 is composed of a microcomputer equipped with a CPU, RAM, ROM, input / output interface, etc. The controller 30 performs various processes by the CPU reading and executing the programs stored in the ROM. The controller 30 can also be composed of a plurality of microcomputers. The controller 30 controls the operation of the pair of motors 13 based on the signal input from the reading device 20.

[0032] Subsequently, with reference to FIGS. 4 to 7, the trajectory correction operation in the autonomous driving system 1 will be described.

[0033] First, with reference to FIG. 4, the control for correcting the trajectory of the autonomous vehicle 10 will be described.

[0034] FIG. 4 is a flowchart for explaining the trajectory correction operation in the autonomous driving system 1. The control for correcting the trajectory of the autonomous vehicle 10 is executed by the controller 30 at regular intervals.

[0035] When the autonomous vehicle 10 is running normally, the center of the two-dimensional code 3 (reference point CP described later) coincides with the center line CL of the autonomous vehicle 10. However, the autonomous vehicle 10 autonomously travels without using a guiding line. Therefore, the position of the autonomous vehicle 10 in the left-right direction may deviate from the set track 2 set by the two-dimensional code 4 for movement in the left-right direction. Thus, the autonomous driving system 1 executes the following control to suppress the deviation from the set track 2 by performing the autonomous driving of the autonomous vehicle 10 while correcting the deviation with respect to the position of the two-dimensional code 3.

[0036] In step S101, the controller 30 recognizes the two-dimensional code 3. Specifically, the controller 30 recognizes the information and instructions encoded in the two-dimensional code 3 imaged by the reading device 20.

[0037] In step S102, the controller 30 determines whether the two-dimensional code 3 recognized in step S101 is the first track correction two-dimensional code 5. If it is determined in step S102 that the two-dimensional code 3 is the track correction two-dimensional code 5, the process proceeds to step S103. On the other hand, if it is determined in step S102 that the two-dimensional code 3 is not the track correction two-dimensional code 5, that is, it is the two-dimensional code 4 for movement, the process proceeds to step S110 and the driving mode of the autonomous vehicle 10 is set to the movement mode.

[0038] In step S103, the controller 30 sets the driving mode of the autonomous vehicle 10 to the track correction mode. That is, the autonomous vehicle 10 enters the track correction mode when the reading device 20 reads the track correction two-dimensional code 5.

[0039] At this time, as shown in FIGS. 5 to 7, the controller 30 sets the outer frame 6 of the quadrilateral inscribed by the two-dimensional code 3, and sets the center of the front end portion of this outer frame 6 as the reference point CP.

[0040] Further, the controller 30 calculates and stores the amount of deviation P1 [pixels] in the left-right direction of the reference point CP with respect to the center line CL of the autonomous vehicle 10, that is, the amount of deviation in the left-right direction of the center line CL from the set trajectory 2 in the left-right direction. Note that the deviation amount P1 may be calculated as a length [mm] instead of the number of pixels (number of pixels) on the image.

[0041] Returning to FIG. 4, in step S104, similarly to step S101, the controller 30 recognizes the two-dimensional code 3.

[0042] In step S105, the controller 30 determines whether or not the two-dimensional code 3 recognized in step S104 is the second trajectory correction two-dimensional code 5. If it is determined in step S105 that the two-dimensional code 3 is the trajectory correction two-dimensional code 5, the process proceeds to step S106. On the other hand, if it is determined in step S105 that the two-dimensional code 3 is not the trajectory correction two-dimensional code 5, that is, it is the movement two-dimensional code 4, the processes of steps S104 and S105 are repeated until it is determined that it is the trajectory correction two-dimensional code 5.

[0043] At this time, as shown in FIGS. 5 to 7, the controller 30 sets the outer frame 6 of the quadrilateral inscribed by the two-dimensional code 3, and sets the center of the front end portion of this outer frame 6 as the reference point CP.

[0044] Further, the controller 30 calculates and stores the amount of deviation P2 [pixels] in the left-right direction of the reference point CP with respect to the center line CL of the autonomous vehicle 10, that is, the amount of deviation in the left-right direction of the center line CL from the set trajectory 2 in the left-right direction. Note that the deviation amount P2 may also be calculated as a length [mm] instead of the number of pixels (number of pixels) on the image.

[0045] In step S106, the controller 30 calculates the amount of deviation in the left-right direction of the autonomous vehicle 10 with respect to the set trajectory 2.

[0046] In step S107, the controller 30 calculates the amount of angular deviation of the autonomous vehicle 10 in the traveling direction with respect to the set trajectory 2.

[0047] In step S108, the controller 30 calculates the driving force to be applied to the front wheels 12a from the left and right motors 13, and executes a trajectory correction operation of the autonomous vehicle 10 by applying the driving force to the left and right motors 13 based on the calculated result.

[0048] The calculation of the amount of deviation of the autonomous vehicle 10 in the left - right direction, the calculation of the amount of angular deviation of the autonomous vehicle 10 in the traveling direction, and the trajectory correction operation of the autonomous vehicle 10 will be described in detail later with reference to FIGS. 5 to 7.

[0049] In step S109, the controller 30 determines whether or not the trajectory correction operation of the autonomous vehicle 10 has been completed. If it is determined in step S109 that the trajectory correction operation of the autonomous vehicle 10 has been completed, the process proceeds to step S110. On the other hand, if it is determined in step S109 that the trajectory correction operation of the autonomous vehicle 10 has not been completed, that is, the trajectory correction operation is still in progress, the process of step S109 is repeated until it is determined that the trajectory correction operation has been completed.

[0050] In step S110, the controller 30 sets the driving mode of the autonomous vehicle 10 to the moving mode. That is, when the trajectory correction of the autonomous vehicle 10 is completed in the trajectory correction mode, the autonomous vehicle 10 ends the trajectory correction mode and enters the moving mode.

[0051] In this way, in the autonomous driving system 1, since the autonomous vehicle 10 automatically returns to the moving mode when the trajectory correction is completed, there is no need for an operator to perform an operation to switch the driving mode.

[0052] As described above, in the trajectory correction mode, the controller 30 determines the amount of deviation from the set trajectory 2 set by the two-dimensional code 4 for movement based on the positional relationship of the plurality of two-dimensional codes 5 for trajectory correction, and corrects the trajectory of the autonomous vehicle 10. Thereby, the deviation from the set trajectory 2 can be corrected. Therefore, when the vehicle travels automatically without using a guiding line (not shown), the deviation of the autonomous vehicle 10 from the set trajectory 2 can be suppressed.

[0053] Next, with reference to FIGS. 5 to 7, specific examples of the trajectory correction operation in the autonomous driving system 1 will be described respectively.

[0054] FIG. 5 is a diagram for explaining a specific example of the trajectory correction operation in the autonomous driving system 1, and is a diagram for explaining a state in which the autonomous vehicle 10 is displaced parallel to the left from the set trajectory 2. FIG. 6 is a diagram for explaining a specific example of the trajectory correction operation in the autonomous driving system 1, and is a diagram for explaining a state in which the angle of the autonomous vehicle 10 is displaced clockwise from the set trajectory 2. FIG. 7 is a diagram for explaining a specific example of the trajectory correction operation in the autonomous driving system 1, and is a diagram for explaining a state in which the angle of the autonomous vehicle 10 is displaced counterclockwise from the set trajectory 2.

[0055] In each of the specific examples shown in FIGS. 5 to 7, the first two-dimensional code 5 for trajectory correction is shown below, and the second two-dimensional code 5 for trajectory correction is shown above.

[0056] The example shown in FIG. 5 shows a case where the autonomous vehicle 10 is displaced parallel to the left with respect to the set trajectory 2.

[0057] First, the controller 30 recognizes the first two-dimensional code 5 for trajectory correction (steps S101 and S102 in FIG. 4). At this time, the controller 30 sets the outer frame 6 of the quadrilateral inscribed by the two-dimensional code 5 for trajectory correction, and sets the center of the front end of this outer frame 6 as the reference point CP. Further, the controller 30 calculates and stores the deviation amount P1 [pixels] in the left-right direction of the reference point CP with respect to the center line CL of the autonomous vehicle 10, that is, the deviation amount in the left-right direction of the center line CL from the set trajectory 2 in the left-right direction.

[0058] Next, the controller 30 recognizes the second two-dimensional code 5 for trajectory correction (steps S104 and S105 in FIG. 4). At this time, the controller 30 sets the outer frame 6 of the quadrilateral inscribed by the two-dimensional code 5 for trajectory correction, and sets the center of the front end of this outer frame 6 as the reference point CP. Further, the controller 30 calculates and stores the deviation amount P2 [pixels] in the left-right direction of the reference point CP with respect to the center line CL of the autonomous vehicle 10, that is, the deviation amount in the left-right direction of the center line CL from the set trajectory 2 in the left-right direction.

[0059] When the deviation amount P1 in the left-right direction of the first two-dimensional code 5 for trajectory correction and the deviation amount P2 in the left-right direction of the second two-dimensional code 5 for trajectory correction are larger than a predetermined range, the controller 30 determines that the autonomous vehicle 10 is deviated in the left-right direction (step S106 in FIG. 4). The controller 30 compares the deviation amount P1 in the left-right direction of the first two-dimensional code 5 for trajectory correction and the deviation amount P2 in the left-right direction of the second two-dimensional code 5 for trajectory correction, and calculates ΔP [pixels], which is the difference between P1 and P2.

[0060] If ΔP is a value within a predetermined range, the controller 30 determines that the autonomous vehicle 10 is running while being deviated in parallel with respect to the set trajectory 2. Here, since P1 and P2 are substantially the same, the controller 30 determines that the autonomous vehicle 10 is only deviated in parallel with respect to the set trajectory 2 and the angle with respect to the set trajectory 2 is not deviated.

[0061] The controller 30 executes control to perform only lane changes so that the center of the autonomous vehicle 10 approaches the center line CL only by the magnitudes of P1 and P2 (step S108 in FIG. 4). Specifically, here, since the autonomous vehicle 10 is traveling parallelly shifted to the left by P1 (= P2), the controller 30 increases the driving force of the left motor 13 more than that of the right motor 13, and subsequently increases the driving force of the right motor 13 more than that of the left motor 13, and moves the autonomous vehicle 10 parallelly to the right by the amount of P1 (= P2).

[0062] Thereby, the trajectory correction operation of the autonomous vehicle 10 is completed. When the trajectory correction operation of the autonomous vehicle 10 is completed, the driving mode is switched from the trajectory correction mode to the movement mode (step S110 in FIG. 4).

[0063] The example shown in FIG. 6 shows the case where the angle of the autonomous vehicle 10 is deviated clockwise with respect to the set trajectory 2.

[0064] Regarding the recognition of the first two-dimensional code 5 for trajectory correction, the recognition of the second two-dimensional code 5 for trajectory correction, and the calculation of ΔP which is the difference between P1 and P2, since they are the same as the example shown in FIG. 5, detailed description is omitted here.

[0065] If ΔP is a value exceeding a predetermined range, the controller 30 determines that the autonomous vehicle 10 is deviating obliquely with respect to the center line CL and traveling obliquely. Here, the amount of deviation of P2 to the left with respect to the center line CL is larger than that of P1. Therefore, the controller 30 determines that the autonomous vehicle 10 is deviating obliquely clockwise and traveling obliquely. The controller 30 determines that the larger the ΔP which is the difference between P1 and P2, the larger the angle by which the autonomous vehicle 10 is deviating clockwise (step S107 in FIG. 4).

[0066] Based on the magnitude of ΔP, the controller 30 executes control to correct the angle so that the angle at which the autonomous vehicle 10 skews approaches the center line CL (step S108 in FIG. 4). Specifically, the controller 30 increases the driving force of the right motor 13 more than that of the left motor 13 and turns the autonomous vehicle 10 counterclockwise slightly.

[0067] In addition, when the controller 30 determines from the magnitudes of P1 and P2 that the autonomous vehicle 10 is not only skewed diagonally counterclockwise but also shifted parallel while being calculated, the controller 30 also executes control to correct the parallel shift in the same manner as the example shown in FIG. 5.

[0068] Thereby, the trajectory correction operation of the autonomous vehicle 10 is completed. When the trajectory correction operation of the autonomous vehicle 10 is completed, it is switched from the trajectory correction mode to the movement mode (step S110 in FIG. 4).

[0069] The example shown in FIG. 7 shows the case where the angle of the autonomous vehicle 10 is shifted counterclockwise with respect to the set trajectory 2.

[0070] Regarding the recognition of the first two-dimensional code 5 for trajectory correction, the recognition of the second two-dimensional code 5 for trajectory correction, and the calculation of ΔP which is the difference between P1 and P2, since it is the same as the example shown in FIG. 5, detailed description is omitted here.

[0071] If ΔP exceeds a predetermined range, the controller 30 determines that the autonomous vehicle 10 is skewed diagonally with respect to the center line CL. Here, the amount of shift of P2 to the right with respect to the center line CL is larger than that of P1. Therefore, the controller 30 determines that the autonomous vehicle 10 is skewed diagonally counterclockwise. The controller 30 determines that the larger the ΔP which is the difference between P1 and P2, the larger the angle by which the autonomous vehicle 10 is shifted counterclockwise (step S107 in FIG. 4).

[0072] Based on the magnitude of ΔP, the controller 30 executes control to correct the angle so that the angle at which the autonomous vehicle 10 skews approaches the center line CL (step S108 in FIG. 4). Specifically, the controller 30 increases the driving force of the left motor 13 more than that of the right motor 13 and turns the autonomous vehicle 10 counterclockwise in a small circle.

[0073] In addition, when the controller 30 determines from the magnitudes of P1 and P2 that the autonomous vehicle 10 is not only skewing obliquely counterclockwise as calculated but also deviating parallelly while running, the controller 30 also executes control to correct the parallel deviation in the same manner as the example shown in FIG. 5.

[0074] Thereby, the trajectory correction operation of the autonomous vehicle 10 is completed. When the trajectory correction operation of the autonomous vehicle 10 is completed, the driving mode is switched from the trajectory correction mode to the movement mode (step S110 in FIG. 4).

[0075] The configuration, operation, and effects of the above-described embodiment will be collectively described.

[0076] (1) An autonomous driving system 1 for driving an autonomous vehicle 10 includes a plurality of two-dimensional codes 3 installed in advance on a path along which the autonomous vehicle 10 travels, a reading device 20 provided on the autonomous vehicle 10 and capable of reading the two-dimensional code 3, and a controller 30 that controls the operation of the autonomous vehicle 10 based on the information of the two-dimensional code 3. The two-dimensional code 3 includes a movement two-dimensional code 4 in which information for moving the autonomous vehicle 10 is encoded, and a trajectory correction two-dimensional code 5 in which information for a trajectory correction instruction for correcting the trajectory of the autonomous vehicle 10 is encoded. When the reading device 20 reads the trajectory correction two-dimensional code 5, the autonomous vehicle 10 enters the trajectory correction mode. In the trajectory correction mode, the controller 30 determines the amount of deviation from the set trajectory 2 set by the movement two-dimensional code 4 based on the positional relationship of the plurality of trajectory correction two-dimensional codes 5, and corrects the trajectory of the autonomous vehicle 10.

[0077] (4) The autonomous vehicle 10 includes a reader 20 capable of reading a plurality of two-dimensional codes 3 installed in advance on the route to be traveled, and a controller 30 that controls the operation of the autonomous vehicle 10 based on the information of the two-dimensional code 3. The two-dimensional code 3 includes a movement two-dimensional code 4 in which information for the movement of the autonomous vehicle 10 is encoded, and a trajectory correction two-dimensional code 5 in which information of a trajectory correction instruction for correcting the trajectory of the autonomous vehicle 10 is encoded. When the reader 20 reads the trajectory correction two-dimensional code 5, the autonomous vehicle 10 enters a trajectory correction mode. In the trajectory correction mode, the controller 30 determines the deviation amount from the set trajectory 2 set by the movement two-dimensional code 4 based on the positional relationship of the plurality of trajectory correction two-dimensional codes 5, and corrects the trajectory of the autonomous vehicle 10.

[0078] According to these configurations, since the deviation amount from the set trajectory 2 set by the movement two-dimensional code 4 is determined based on the positional relationship of the plurality of trajectory correction two-dimensional codes 5 and the trajectory of the autonomous vehicle 10 is corrected, the deviation from the set trajectory 2 can be corrected. Therefore, when the autonomous vehicle travels without using a guiding line, the deviation of the autonomous vehicle 10 from the set trajectory 2 can be suppressed.

[0079] In addition, by using the two-dimensional code 3 for correcting the trajectory of the autonomous vehicle 10, it becomes possible to read the two-dimensional code 3 using a commercially available system. For example, if it is just another mark such as a simple square instead of the two-dimensional code 3, it is necessary to create software for recognizing and automatically extracting the mark from the source code. Also, by using the two-dimensional code 3 without using a guiding line, when changing the layout of a factory or the like, there is no need to replace the guiding line, and it can be dealt with only by replacing the two-dimensional code 3. Therefore, the work of changing the layout can be facilitated.

[0080] (2) The trajectory correction two-dimensional code 5 is composed of two provided at a predetermined distance L [mm] apart.

[0081] If the distance L is too small, the displacement amount between the first and second two-dimensional codes 5 for trajectory correction is too small, and there is a possibility that it cannot be determined that the autonomous vehicle 10 is traveling obliquely. On the other hand, if the distance L is too large, there is a possibility that the second two-dimensional code 5 for trajectory correction may go out of the imaging range R described later while the autonomous vehicle 10 is traveling. Therefore, the distance L is set to a size that can detect the displacement amount between the first two-dimensional code 5 for trajectory correction and the second two-dimensional code 5 for trajectory correction.

[0082] Note that, for example, a third two-dimensional code 5 for trajectory correction may be provided between the first two-dimensional code 5 for trajectory correction and the second two-dimensional code 5 for trajectory correction. In this case, the accuracy of the trajectory correction operation can be further improved. Thus, the two-dimensional code 5 for trajectory correction may be constituted by a plurality of them.

[0083] (3) When the trajectory correction of the autonomous vehicle 10 is completed in the trajectory correction mode, the autonomous vehicle 10 ends the trajectory correction mode and enters the movement mode.

[0084] According to this configuration, in the autonomous driving system 1, since it automatically returns to the movement mode when the trajectory correction of the autonomous vehicle 10 is completed, an operation for switching the driving mode by the operator is not required.

[0085] As described above, the embodiments of the present invention have been described. However, the above embodiments merely show one of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments.

[0086] For example, the controller 30 may be connected to a cloud server (not shown) on the Internet, and a part of the execution subject of each of the above processes of which the controller 30 is the execution subject may be the cloud server.

[0087] That is, in the above embodiment, the case where the execution entity of the trajectory correction operation in the autonomous vehicle 10 is the controller 30 mounted on the autonomous vehicle 10 has been described as an example. However, the execution entity of the control may be either one of the controller 30 and the cloud server, or a combination thereof. Therefore, either the controller 30, the cloud server, or a combination thereof corresponds to the controller.

Explanation of Reference Numerals

[0088] 1 Autonomous Driving System 2 Set Trajectory 3 Two-Dimensional Code 4 Moving Two-Dimensional Code 5 Trajectory Correction Two-Dimensional Code 10 Autonomous Vehicle 20 Reading Device 30 Controller

Claims

1. An automatic driving system for driving an automatic driving vehicle, A plurality of two-dimensional codes that are installed in advance on a route along which the autonomous vehicle travels; A reading device provided in the autonomous vehicle and capable of reading the two-dimensional code; A controller that controls the operation of the autonomous vehicle based on information of the two-dimensional code; Equipped with The two-dimensional code is A two-dimensional code for movement in which information for movement of the autonomous vehicle is encoded; A two-dimensional code for trajectory correction in which trajectory correction instruction information for correcting the trajectory of the autonomous vehicle is encoded, When the reading device reads the two-dimensional code for trajectory correction, the autonomous vehicle enters a trajectory correction mode, The controller, in the trajectory correction mode, determines an amount of deviation from a set trajectory set by the two-dimensional code for movement based on a positional relationship between the plurality of two-dimensional codes for trajectory correction, and corrects the trajectory of the autonomous vehicle. Autonomous driving system.

2. The automatic driving system according to claim 1, The two-dimensional code for trajectory correction is composed of two codes spaced a predetermined distance apart. Autonomous driving system.

3. The automatic driving system according to claim 1 or 2, When the trajectory correction of the autonomous vehicle is completed in the trajectory correction mode, the autonomous vehicle ends the trajectory correction mode and enters a travel mode. Autonomous driving system.

4. An autonomous vehicle, A reading device capable of reading a plurality of two-dimensional codes that are installed in advance along a travel route; A controller that controls the operation of the autonomous vehicle based on information of the two-dimensional code; Equipped with The two-dimensional code is A two-dimensional code for movement in which information for movement of the autonomous vehicle is encoded; A two-dimensional code for trajectory correction in which trajectory correction instruction information for correcting the trajectory of the autonomous vehicle is encoded, When the reading device reads the two-dimensional code for trajectory correction, the autonomous vehicle enters a trajectory correction mode, The controller, in the trajectory correction mode, determines an amount of deviation from a set trajectory set by the two-dimensional code for movement based on a positional relationship between the plurality of two-dimensional codes for trajectory correction, and corrects the trajectory of the autonomous vehicle. Self-driving vehicle.

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