Trailer travel route output device

Abstract

To provide a trailer travel route output device that outputs a target travel route corresponding to situation around a tractor and a trailer.SOLUTION: A trailer travel route output device comprises a trailer travel route generator 20 which generates and outputs a target travel route. The trailer travel route generator 20 generates a parking target travel route as the target travel route and outputs the same when a travel mode is a parking mode for parking a trailer 3. The parking target travel route is a first target route such that a route during retraction of the trailer 3 is linear when a parking space front distance is a predetermined distance threshold or more, and is a second target route such that a route during retraction of the trailer 3 includes a clothoid curve when the parking space front distance is smaller than the distance threshold.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a trailer travel route output device.

Background Art

[0002] Cargo transportation by a trailer towed by a tractor occupies an important part of the world's commercial transactions. In the present disclosure, a trailer refers to the cargo vehicle part for loading cargo, a tractor refers to the vehicle for towing the trailer, and a combination vehicle includes a tractor and a trailer. These days, the demand for businesses represented by e-commerce (Electric Commerce), which buys and sells products such as home appliances or food, or services on the Internet, has been rapidly expanding. On the other hand, in cargo transportation by trailer, a shortage of drivers or the aging of drivers has become a problem. In order to solve the problems of driver shortage or reduction of overtime work of drivers, the automatic driving of tractors in logistics facilities has attracted attention. Here, automatic driving refers to automatically operating steering, driving, braking, and shifting.

[0003] In order to control an autonomous vehicle, it is necessary to manage the mode of autonomous driving and control the vehicle according to the autonomous driving mode. Examples of the autonomous driving mode include a manual mode in which a driver performs driving operations, a standby mode that is a standby state before the start of autonomous driving, a traveling mode in which a trailer is made to travel along a circular course in a logistics facility, a parking mode in which a trailer towed by a tractor is parked at a target parking location, a docking mode in which a trailer is connected to a door (Loading Bay Door) of a cargo entrance of a logistics facility, a hitching mode in which a tractor and a trailer are coupled, and the like.

[0004] As a trailer travel route output device, in the parking mode, based on the rear axle of the trailer, a plurality of reverse route profiles corresponding to the wheelbase of the trailer are held in advance, and a route with a small travel curvature of the tractor is selected from the parking start position, the parking target position, and the surrounding information of the tractor and the trailer (see, for example, Patent Document 1). This technology is characterized by high reproducibility and low computational load because it uses predefined reverse route profiles.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the trailer travel route output device disclosed in Patent Document 1, since a plurality of reverse route profiles are held in advance and one reverse route is selected from the plurality of reverse route profiles, depending on the logistics facility or during peak seasons or snowy periods, etc., the passable range around the tractor and the trailer is different, so there may be no reverse route corresponding to each situation, and in that case, there is a problem that the target travel route cannot be generated.

[0007] The present disclosure discloses a technology for solving the above problems, and an object thereof is to provide a trailer travel route output device that outputs a target travel route corresponding to the situation around the tractor and the trailer.

Means for Solving the Problems

[0008] The trailer travel route output device of the present disclosure is a trailer travel route output device that generates and outputs a target travel route for moving a trailer connected to a tractor, and includes a locator that outputs tractor position information, which is the position information of the tractor, the tractor attitude angle, which is the attitude angle of the tractor, and tractor surrounding map information, which is information on the map around the tractor, a trailer detection sensor that outputs the tractor-trailer relative angle, which is the relative angle between the tractor and the trailer, and the tractor-trailer distance, which is the distance between the tractor and the trailer, a tractor side detection sensor that outputs the target parking width, which is the width of the target parking space, and the parking space front distance, which is the distance in the forward direction from the front end of the target parking space to the non-drivable area, and a trailer travel route generator that generates and outputs a target travel route of the trailer rear end center point at the trailer rear end center position, which is the center of the rear end of the trailer, from the outputs of the locator, the trailer detection sensor, and the tractor side detection sensor. The trailer travel route generator generates and outputs a parking target travel route as the target travel route when the travel mode is the parking mode for parking the trailer. The parking target travel route is a first target route in which the route when the trailer reverses is a straight line when the parking space front distance is equal to or greater than a predetermined distance threshold, and is a second target route that includes a cycloid curve when the parking space front distance is smaller than the distance threshold when the trailer reverses.

Advantages of the Invention

[0009] The trailer travel route output device of the present disclosure is a trailer travel route output device that generates and outputs a target travel route for moving a trailer connected to a tractor, and includes a locator that outputs tractor position information, which is the position information of the tractor, the tractor attitude angle, which is the attitude angle of the tractor, and tractor surrounding map information, which is information on the map around the tractor, a trailer detection sensor that outputs the tractor-trailer relative angle, which is the relative angle between the tractor and the trailer, and the tractor-trailer distance, which is the distance between the tractor and the trailer, a tractor side detection sensor that outputs the target parking width, which is the width of the target parking space, and the parking space front distance, which is the distance in the forward direction from the front end of the target parking space to the non-drivable area, and a trailer travel route generator that generates and outputs a target travel route of the trailer rear end center point at the trailer rear end center position, which is the center of the rear end of the trailer, from the outputs of the locator, the trailer detection sensor, and the tractor side detection sensor. The trailer travel route generator generates and outputs a parking target travel route as the target travel route when the travel mode is the parking mode for parking the trailer. The parking target travel route is a first target route in which the route when the trailer reverses is a straight line when the parking space front distance is equal to or greater than a predetermined distance threshold, and is a second target route that includes a cycloid curve when the parking space front distance is less than the distance threshold. Therefore, it is possible to output a target travel route corresponding to the situation around the tractor and the trailer.

Brief Description of the Drawings

[0010]

Figure 1

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Mode for Carrying Out the Invention

[0011] Hereinafter, the trailer travel route output device according to the embodiment will be described in detail with reference to the drawings. In the drawings, the same reference numerals indicate the same or corresponding parts.

[0012] Embodiment 1. FIG. 1 is a schematic diagram of a coupled vehicle equipped with the trailer travel route output device according to Embodiment 1. The coupled vehicle 4 includes a tractor 1 and a trailer 3 connected to the tractor 1 by a coupler 2. The tractor 1 includes a locator 11, a trailer detection sensor 12, a tractor side detection sensor 13, and a GNSS (Global Navigation Satellite System) antenna 14.

[0013] One or more tractor side detection sensors 13 are installed on each of the left and right sides of the tractor 1, and are, for example, surround view cameras or wide-angle cameras. The tractor side detection sensor 13 measures at least the target parking width, which is the width of the target parking space, and the parking space front distance, which is the distance in the forward direction from the front end of the target parking space to the non-drivable area, and outputs each value. Here, the measurement of the target parking width and the measurement of the parking space front distance using the tractor side detection sensor 13 are realized by known techniques. Note that the tractor side detection sensor 13 may use an infrared camera according to the environment of the logistics facility where the coupled vehicle 4 travels or the environment around the tractor 1. Further, the tractor side detection sensor 13 may obtain the target parking width and the parking space front distance by performing image processing on the image information acquired from the camera in an ECU (Electronic Control Unit).

[0014] The trailer detection sensor 12 is installed behind the tractor 1 in a direction to detect the trailer 3. The trailer detection sensor 12 measures at least the tractor-trailer relative angle, which is the relative angle between the tractor 1 and the trailer 3, and the tractor-trailer distance, which is the distance between the tractor 1 and the trailer 3, and outputs each value. The trailer detection sensor 12 is realized by, for example, LiDAR (Light Detection And Ranging), and may further be provided with a camera for recognizing the trailer 3. Note that the measurement of the relative angle between the tractor 1 and the trailer 3 and the measurement of the distance between the tractor 1 and the trailer 3 are not limited to LiDAR and a camera, and a millimeter wave radar may also be used.

[0015] The locator 11 outputs at least the tractor position, which is the position information of the tractor 1, the tractor attitude angle, which is the attitude angle of the tractor 1, and the tractor surrounding map information, which is the information of the map around the tractor 1. The locator 11 is, for example, an HD-Locator (High Definition-Locator: high-precision locator), and uses the information from GNSS satellites received by the GNSS antenna 14 and the augmentation information from quasi-zenith satellites to output high-precision position information with a position accuracy of centimeter level. The locator 11 is provided with a GNSS receiver, an IMU (Inertial Measurement Unit) sensor, and a high-precision map database. The GNSS antenna 14 is connected to the GNSS receiver, the GNSS antenna 14 is installed outside the tractor 1, and the locator 11 is installed inside the tractor 1. Here, the GNSS receiver outputs UTC (Coordinated Universal Time), latitude, longitude, azimuth angle, and the positioning state of the satellite, etc. The IMU sensor outputs triaxial acceleration information, triaxial angular acceleration information, etc.

[0016] The locator 11 extracts map information around the tractor 1 from the high-precision map database and outputs it as tractor surrounding map information. The high-precision map information stored in the high-precision map database includes information on the entire area of the logistics facility where the articulated vehicle 4 travels, and includes map information on the circular course that circulates within the logistics facility and map information on all parking spaces within the logistics facility. The map information of the circular course is, for example, point cloud information, and the map information of the parking space is, for example, point cloud information. The point cloud information of the circular course includes, for example, information on the latitude, longitude, azimuth, and recommended driving speed of a plurality of circular course points that are points on the circular course. The point cloud information of the parking space includes, for example, information on the latitude and longitude related to the parking space and information on the azimuth of the parking direction, which is the forward direction when parking in the parking space.

[0017] Figure 2 is a block diagram showing the configuration of the trailer travel route output device 100 according to Embodiment 1. The trailer travel route output device 100 according to Embodiment 1 includes a locator 11, a trailer detection sensor 12, a tractor side detection sensor 13, and a trailer travel route generator 20. The trailer travel route generator 20 is realized, for example, by an AD-ECU (Autonomous Driving - Electronic Control Unit) or an ADAS-ECU (Advanced Driver Assistance System - Electronic Control Unit). Note that the trailer travel route output device 100 may be realized by an industrial PC.

[0018] Figure 3 is a flowchart for explaining the operation of the trailer travel route output device 100 according to Embodiment 1. Step S01 is a locator output step, step S02 is a trailer detection sensor output step, step S03 is a tractor side detection sensor output step, and step S04 is a target travel route output step.

[0019] In step S01, the locator 11 outputs the tractor position, the tractor attitude angle, and the tractor surrounding map information, and proceeds to step S02. The tractor position includes the latitude and longitude information of the position of the tractor 1. For example, it includes the latitude and longitude information of the position of the GNSS antenna 14 installed on the tractor 1. The tractor attitude angle includes, for example, the information of the tractor azimuth angle which is the angle of the forward direction of the tractor 1 with the north as the reference azimuth.

[0020] In step S02, the trailer detection sensor 12 outputs the tractor-trailer relative angle and the tractor-trailer distance, and proceeds to step S03. In the example shown in FIG. 1, the trailer detection sensor 12 measures and outputs, for example, the distances from the right end, the center, and the left end at the rear end of the tractor 1 to the trailer 3. Also, for example, from the distances from the right end, the center, and the left end at the rear end to the trailer 3, the tractor-trailer relative angle which is the angle formed by the front-rear direction of the tractor 1 and the front-rear direction of the trailer 3 is obtained and output.

[0021] In step S03, the tractor side detection sensor 13 measures the target parking width which is the width of the target parking space, and the parking space front distance which is the distance in the forward direction from the front end of the target parking space to the non-drivable area, outputs each value, and proceeds to step S04. In step S04, the trailer travel route output device 100 outputs the target travel route of the trailer rear end center point, the speed profile corresponding to the target travel route, and the trailer rear end center position and ends the process. The speed profile is array information used to control the vehicle speed when the tractor 1 travels on the target travel route.

[0022] FIG. 4 is a block diagram showing the configuration of the trailer travel route generator 20 in Embodiment 1. The trailer travel route generator 20 includes a destination instruction output unit 21, a travel mode output unit 22, a coupled vehicle length information output unit 23, a trailer rear end position estimation unit 24, and a target travel route generation unit 25.

[0023] FIG. 5 is a flowchart for explaining the operation of the trailer travel route generator 20 in Embodiment 1 and is a flowchart for explaining the details of the process of the target travel route output step in step S04 of FIG. 3. Step S11 is a destination instruction output step, step S12 is a travel mode output step, step S13 is a coupled vehicle length information output step, step S14 is a trailer rear end position estimation step, and step S15 is a target travel route generation step.

[0024] In step S11, the destination instruction output unit 21 outputs the destination position, which is the position information of the destination, and proceeds to step S12. The destination position includes, for example, information on the latitude and longitude of the destination. When the travel mode is the parking mode or the docking mode, the destination position is the target parking position, and when the travel mode is the traveling mode, the destination position is the normal target position. The destination position is, for example, the longitude and latitude information of the destination set by the driver of the tractor 1. Alternatively, if there is a control system outside the trailer travel route output device 100, the destination position may be the longitude and latitude information of the destination acquired from the control system via the network, for example, via LTE (Long Term Evolution) or 5G (5th Generation Mobile Communication System).

[0025] In step S12, the travel mode output unit 22 outputs the travel mode and proceeds to step S13. The travel mode is, for example, the standby mode that indicates the standby state before the start of autonomous driving, the traveling mode in which the trailer 3 travels around along the circular course in the logistics facility, the parking mode in which the trailer 3 is parked in the target parking space, the docking mode in which the trailer 3 is connected to the door of the luggage entrance of the logistics facility, and the coupling mode in which the vehicle is moved to the coupling position between the tractor 1 and the trailer 3. The travel mode is set, for example, by the driver of the tractor 1. Or, if there is a control system outside the trailer travel route output device 100, the travel mode is set by the control system via a network, for example, via LTE (Long Term Evolution) or 5G (5th Generation Mobile Communication System).

[0026] In step S13, the combined vehicle length information output unit 23 outputs information on the tractor length, which is the total length of the tractor 1, and the trailer length, which is the total length of the trailer 3, and proceeds to step S14. The information on the tractor length and the trailer length is stored in the combined vehicle length information output unit 23 in advance. The combined vehicle length information output unit 23 may output information on the tractor length, which is the total length of the tractor 1, the trailer length, which is the total length of the trailer 3, and the trailer width, which is the total width of the trailer 3. In this case, the information on the tractor length, the trailer length, and the trailer width is stored in the combined vehicle length information output unit 23 in advance.

[0027] In step S14, the trailer rear end position estimator 24 acquires information on the tractor position, the tractor attitude angle, the tractor-trailer relative angle, the distance between the tractor and the trailer, the tractor length, and the trailer length, determines the central position of the trailer rear end from these values, outputs this information, and proceeds to step S15. The central position of the trailer rear end is the position of the central point of the rear end of the trailer 3, and is represented by, for example, latitude and longitude. Therefore, the central point of the trailer rear end is a point at the central position of the rear end of the trailer 3. Also, the central position of the trailer rear end, which is the output of the trailer rear end position estimator 24, is also output outside the trailer travel route generator 20.

[0028] In step S15, the target travel route generation unit 25 acquires information on the destination position, the tractor surrounding map information, the travel mode, the central position of the trailer rear end, the distance in front of the parking space, and the target parking width, generates and outputs a target travel route and a speed profile corresponding to the target travel route from these values, and ends the process.

[0029] FIG. 6 is a block diagram showing the configuration of the trailer rear end position estimator 24 in the first embodiment. The trailer rear end position estimator 24 includes a tractor rear end central position output unit 241, a trailer front end central position output unit 242, and a trailer rear end central position output unit 243.

[0030] FIG. 7 is a flowchart for explaining the operation of the trailer rear end position estimator 24 in the first embodiment, and is a flowchart for explaining the details of the process of the trailer rear end position estimation step in step S14 of FIG. 5. Step S21 is a tractor rear end central position output step, step S22 is a trailer front end central position output step, and step S23 is a trailer rear end central position output step.

[0031] In step S21, the tractor rear-end center position output unit 241 acquires information on the tractor position, tractor length, and tractor attitude angle, determines the tractor rear-end center position from these values, outputs information on the tractor rear-end center position and the tractor attitude angle, and proceeds to step S22. The tractor rear-end center position is the position of the tractor rear-end center point, which is the center point of the rear end of the tractor 1, and is represented by, for example, latitude and longitude.

[0032] In step S22, the trailer front-end center position output unit 242 acquires information on the tractor rear-end center position, tractor attitude angle, tractor-trailer distance, and tractor-trailer relative angle, determines the trailer front-end center position from these values, outputs information on the trailer front-end center position and the tractor attitude angle, and proceeds to step S23. The trailer front-end center position is the position of the trailer front-end center point, which is the center point of the front end of the trailer 3, and is represented by, for example, latitude and longitude.

[0033] In step S23, the trailer rear-end center position output unit 243 acquires information on the trailer front-end center position, tractor attitude angle, tractor-trailer relative angle, and trailer length, determines the trailer rear-end center position from these values, outputs this information, and ends the process. The trailer rear-end center position is the position of the trailer rear-end center point, which is the center point of the rear end of the trailer 3, and is represented by, for example, latitude and longitude.

[0034] In the above description, in the trailer rear-end position estimation unit 24, it is assumed that the tractor rear-end center position, trailer front-end center position, and trailer rear-end center position are obtained in this order. However, the trailer rear-end center position may also be determined from the tractor position, tractor length, tractor attitude angle, tractor-trailer distance, tractor-trailer relative angle, and trailer length.

[0035] FIG. 8 is a diagram for explaining an example of the center position at the rear end of the trailer in Embodiment 1, showing a case where the tractor 1 and the trailer 3 are lined up straight, that is, a case where the tractor-trailer relative angle is zero degrees. In FIG. 8, the rear direction of the tractor 1 is the positive direction of the x-axis, the right direction of the tractor 1 is the positive direction of the y-axis, and the installation position of the GNSS antenna 14 is the origin (0, 0). The trailer width is D. In the example shown in FIG. 8, the GNSS antenna 14 is installed at the center of the tractor 1. When the tractor length is L tractor , the coordinates (x 1 , y 1 ) in the xy plane of the tractor rear end center position, which is the position of the tractor rear end center point 31, can be obtained by the following equation (1). Further, the latitude and longitude of the tractor rear end center position may be obtained from the coordinates (x 1 , y 1 ), the tractor position, and the tractor attitude angle.

[0036]

Equation

[0037] When the tractor-trailer distance L trailer_detection_result , which is the distance from the tractor rear end center point 31 to the trailer front end center point 32, the coordinates (x 2 , y 2 ) in the xy plane of the trailer front end center position can be obtained by the following equation (2). Further, the latitude and longitude of the trailer front end center position may be obtained from the coordinates (x 2 , y 2 ), the tractor position, and the tractor attitude angle. Alternatively, the latitude and longitude of the trailer front end center position may be obtained from the latitude and longitude of the tractor rear end center position, the tractor attitude angle, and the tractor-trailer distance.

[0038]

Equation

[0039] Let the trailer length, which is the distance from the center point 32 at the front end of the trailer to the center point 33 at the rear end of the trailer, be L trailer When this is the case, the coordinates (x 3 , y 3 ) in the xy plane at the center position of the rear end of the trailer can be obtained by the following formula (3). Further, the latitude and longitude of the center position of the rear end of the trailer may be obtained from the coordinates (x 3 , y 3 ), the tractor position, and the tractor attitude angle. Alternatively, the latitude and longitude of the center position of the rear end of the trailer may be obtained from the latitude and longitude of the center position of the front end of the trailer, the tractor attitude angle, and the trailer length.

[0040]

Equation

[0041] FIG. 9 is a diagram for explaining another example of the center position of the rear end of the trailer in Embodiment 1. When the longitudinal direction of the trailer 3 is inclined counterclockwise by θ degrees with respect to the longitudinal direction of the tractor 1, that is, when the tractor-trailer relative angle is θ degrees, this is shown. In FIG. 9, when the value of θ is positive, it is shown, but in the formula shown below, the value of θ may be any of a positive value, a negative value, and zero. Further, the trailer 3 and the coupler 2 are fixedly connected, and the tractor 1 and the coupler 2 are rotatably connected at the center point 31 at the rear end of the tractor. In FIG. 9, the coordinates (x 1 , y 1 ) in the xy plane at the center position of the rear end of the tractor are as shown in formula (1), but the coordinates (x 2 , y 2 ) in the xy plane at the center position of the front end of the trailer can be obtained by the following formula (4). Further, the coordinates (x 2 , y 2) From the tractor position and the tractor attitude angle, the latitude and longitude of the center position of the front end of the trailer may be obtained. Alternatively, from the latitude and longitude of the center position of the rear end of the tractor, the tractor attitude angle, the tractor-trailer distance, and the tractor-trailer relative angle, the latitude and longitude of the center position of the front end of the trailer may be obtained.

[0042]

Number

[0043] The coordinates (x 3 , y 3 ) in the xy plane of the center position of the rear end of the trailer can be obtained by the following formula (5). Further, from the coordinates (x 3 , y 3 ) in the xy plane of the center position of the rear end of the trailer, the tractor position, and the tractor attitude angle, the latitude and longitude of the center position of the rear end of the trailer may be obtained. Alternatively, from the latitude and longitude of the center position of the front end of the trailer, the tractor attitude angle, the tractor-trailer relative angle, and the trailer length, the latitude and longitude of the center position of the rear end of the trailer may be obtained.

[0044]

Number

[0045] In the trailer rear end position estimation unit 24, using formula (5), from the tractor length, the tractor-trailer distance, the tractor-trailer relative angle, and the trailer length, the coordinates (x 3 , y 3 ) in the xy plane of the center position of the rear end of the trailer are obtained, and from the tractor position, the tractor attitude angle, and the coordinates (x 3 , y 3 ) in the xy plane of the center position of the rear end of the trailer, the latitude and longitude of the center position of the rear end of the trailer may be obtained.

[0046] FIG. 10 is a block diagram showing the configuration of the target travel route generation unit 25 in Embodiment 1. The target travel route generation unit 25 includes a travel mode determination unit 251, a normal travel target route generation unit 252, a parking target route generation unit 253, and a target travel route switching unit 254.

[0047] FIG. 11 is a flowchart for explaining the operation of the target travel route generation unit 25 in Embodiment 1, and is a flowchart for explaining the details of the process of the target travel route generation step in step S15 of FIG. 5. Step S31 is a travel mode determination step, step S32 is a normal travel target route generation step, step S33 is a normal target travel route output step, step S34 is a parking target route generation step, and step S35 is a parking target travel route output step. The block diagram shown in FIG. 10 and the flowchart shown in FIG. 11 show the processing when the travel mode output unit 22 shown in FIG. 4 outputs any one of a traveling mode in which the trailer 3 travels along a circular course in the logistics facility, a parking mode in which the trailer 3 is parked in a target parking space, or a docking mode in which the trailer 3 is connected to the door of the luggage entrance of the logistics facility.

[0048] In step S31, the travel mode determination unit 251 determines whether the travel mode is the traveling mode. If the travel mode is the traveling mode, it outputs a traveling instruction and proceeds to step S32. If the travel mode is not the traveling mode, it outputs a parking instruction and proceeds to step S34. In step S32, the normal travel target route generation unit 252 that has received the traveling instruction acquires the destination position, the tractor surrounding map information, and the information on the center position of the rear end of the trailer, generates a normal target travel route and a speed profile corresponding to the normal target travel route from these pieces of information, outputs these pieces of information, and proceeds to step S33. In step S33, the target travel route switching unit 254 that has received the traveling instruction acquires the normal target travel route for traveling the trailer 3 in a circular motion and the speed profile corresponding to the normal target travel route from the normal travel target route generation unit 252, outputs these, and ends the process.

[0049] In step S34, the parking target route generation unit 253 that has received the parking instruction acquires the destination position, the tractor surrounding map information, the center position of the trailer rear end, the distance in front of the parking space, and the target parking width, generates a parking target travel route and a speed profile corresponding to the parking target travel route from these pieces of information, outputs these pieces of information, and proceeds to step S35. In step S35, the target travel route switching unit 254 that has received the parking instruction acquires the parking target travel route toward the parking target position that is the destination position in the parking mode and the docking mode, and the speed profile corresponding to the parking target travel route, from the parking target route generation unit 253, outputs these, and ends the process.

[0050] FIG. 12 is a diagram showing an example of a normal target travel route in Embodiment 1. In FIG. 12, a state where a normal target travel route 5 is arranged on a plurality of turning course points 6 is shown. The tractor surrounding map information output from the locator 11 includes point group information of a turning course for traveling around inside the logistics facility, and the turning course points 6 shown in FIG. 12 are a part of the turning course points included in the point group information of the turning course. The normal travel target route generation unit 252 generates a normal target travel route 5 that passes over the turning course points 6. The turning course points 6 used when generating the normal target travel route 5 are those included in a predetermined data acquisition range in the front-rear direction of the trailer 3 with reference to the center position of the trailer rear end. Thereby, within a predetermined data acquisition range in the front-rear direction of the trailer 3 with reference to the center position of the trailer rear end, the normal target travel route 5 coincides with the turning course. The data acquisition range may be a fixed range, or may be a range that varies according to the surrounding environment of the tractor 1 or the vehicle speed of the tractor 1. For example, when the tractor 1 is located on a straight road, the data acquisition range may be widened, and when the tractor 1 is located on a curve, the data acquisition range may be narrowed. The normal travel target route generation unit 252 may further generate a normal target travel route that deviates from the turning course and moves the center point 33 of the trailer rear end to the normal target position when the distance from the center point 33 of the trailer rear end to the normal target position becomes smaller than a predetermined target distance.

[0051] FIG. 13 is a block diagram showing the configuration of the parking target route generation unit 253 in Embodiment 1. The parking target route generation unit 253 includes a parking space front distance determination unit 255, a first target route generation unit 256, a second target route generation unit 257, and a parking target route switching unit 258.

[0052] FIG. 14 is a flowchart for explaining the operation of the parking target route generation unit 253 in Embodiment 1 and is a flowchart for explaining the details of the process of the parking target route generation step in step S34 of FIG. 11. Step S41 is a parking space front distance determination step, step S42 is a first target route generation step, step S43 is a first target route output step, step S44 is a second target route generation step, and step S45 is a second target route output step.

[0053] In step S41, when the parking space front distance determination unit 255 determines that the parking space front distance is greater than or equal to a predetermined distance threshold, it outputs a first instruction and proceeds to step S42. When the parking space front distance is less than the predetermined distance threshold, it outputs a second instruction and proceeds to step S44. The parking space front distance is measured by the tractor side detection sensor 13. The distance threshold is set according to, for example, the minimum turning radius of the tractor 1, the trailer length, or the trailer width. The same value of the distance threshold may be used for all tractors 1 and trailers 3.

[0054] In step S42, the first target path generation unit 256 that has received the first instruction generates a first target path in which the path when the trailer 3 reverses is a straight line and a first speed profile corresponding to the first target path, outputs these, and proceeds to step S43. In step S43, the parking target path switching unit 258 that has received the first instruction acquires the first target path and the first speed profile corresponding to the first target path from the first target path generation unit 256, outputs these, and ends the process. In step S44, the second target path generation unit 257 that has received the second instruction generates a second target path in which the path when the trailer 3 reverses includes a clothoid curve and a second speed profile corresponding to the second target path, outputs these, and proceeds to step S45. In step S45, the parking target path switching unit 258 that has received the second instruction acquires the second target path and the second speed profile corresponding to the second target path from the second target path generation unit 257, outputs these, and ends the process.

[0055] FIG. 15 is a diagram showing an example of a first target path in Embodiment 1. FIG. 15 shows a state when the tractor 1 and the trailer 3 enter from the lateral direction of the target parking space 41 and stop at the parking standby position. First, the tractor side detection sensor 13 measures a target parking width 43 that is the width of the target parking space 41 and a parking space front distance 44a that is the distance from the front end of the target parking space 41 to the obstacle 45 that is a non-drivable area. When the parking space front distance 44a is greater than or equal to the distance threshold, a first target path 46 is generated. The first target path 46 is a target driving path for parking such that the center point 33 of the rear end of the trailer advances from the parking standby position to the turning point 48a and then reverses from the turning point 48a to the target parking position 42. The first target path 46 is a target driving path from the point where the control of the tractor 1 in the parking mode or the docking mode is started to the target parking position 42. The first target path 46 is composed of, for example, a straight line, a clothoid curve, and an arc. The first target path 46 shown in FIG. 15 is an example, and the shape of the first target path 46 is not limited to that shown in FIG. 15.

[0056] The first target path 46 is a target driving path for the trailer 3 to enter the target parking space 41 by reversing, and the path when the trailer 3 reverses is a straight line. The distance threshold is a distance that can generate the first target path 46 for the trailer 3 to enter the target parking space 41 by reversing, and is also a distance that can generate the first target path 46 whose path is a straight line when the trailer 3 reverses. The distance threshold is, for example, the shortest distance that can generate the first target path 46.

[0057] When controlling the tractor 1 in the parking mode or the docking mode, if an obstacle appears on the path of the first target path 46, or if the trailer 3 deviates from the first target path 46, the first target path generation unit 256 newly generates the first target path 46 in the empty space in front of the target parking space 41, generates a first speed profile corresponding to the newly generated first target path 46, and outputs them.

[0058] Since the first target path 46 is a target driving path for the trailer 3 to enter the target parking space 41 by reversing and the path when the trailer 3 reverses is a straight line, the distance between the trailer 3 and other parked vehicles when parking the trailer 3 in the target parking space 41 can be reduced. That is, more vehicles can be parked in a limited space.

[0059] FIG. 16 is a diagram showing an example of a second target path in Embodiment 1. Similar to FIG. 15, FIG. 16 shows a state where the tractor 1 and the trailer 3 enter from the lateral direction of the target parking space 41 and stop at the parking standby position. First, the tractor side detection sensor 13 measures the target parking width 43, which is the width of the target parking space 41, and the parking space front distance 44b, which is the distance from the front end of the target parking space 41 to another parking space that is a non-drivable area. When the parking space front distance 44b is smaller than the distance threshold, since a first target path in which the path when the trailer 3 reverses is a straight line cannot be generated, a second target path 47 is generated. The second target path 47 is a target driving path for parking such that the center point 33 of the rear end of the trailer advances from the parking standby position to the turning point 48b and then reverses from the turning point 48b to the target parking position 42. The second target path 47 is a target driving path from the point where the control of the tractor 1 in the parking mode or the docking mode is started to the target parking position 42, and is composed of, for example, a straight line, a clothoid curve, and an arc. The second target path 47 shown in FIG. 16 is an example, and the shape of the second target path 47 is not limited to that shown in FIG. 16. The second target path 47 is a target driving path for the trailer 3 to enter the target parking space 41 by reversing, and the path when the trailer 3 reverses includes a clothoid curve.

[0060] When an obstacle appears on the path of the second target path 47 or the trailer 3 deviates from the second target path 47 while the control of the tractor 1 in the parking mode or the docking mode is being performed, the second target path generation unit 257 newly generates the second target path 47 in the empty space in front of the target parking space 41, generates a second speed profile corresponding to the newly generated second target path 47, and outputs them.

[0061] As described above, the trailer travel route output device according to Embodiment 1 is a trailer travel route output device that generates and outputs a target travel route for moving the trailer 3 connected to the tractor 1. The locator 11 outputs the tractor position, which is the position information of the tractor 1, the tractor attitude angle, which is the attitude angle of the tractor 1, and the tractor surrounding map information, which is the information of the map around the tractor 1. The trailer detection sensor 12 outputs the tractor-trailer relative angle, which is the relative angle between the tractor 1 and the trailer 3, and the tractor-trailer distance, which is the distance between the tractor 1 and the trailer 3. The tractor side detection sensor 13 outputs the target parking width 43, which is the width of the target parking space 41, and the parking space front distance, which is the distance in the forward direction from the front end of the target parking space 41 to the non-drivable area. The trailer travel route generator 20 generates and outputs the target travel route of the trailer rear end center point 33 at the trailer rear end center position in the center of the rear end of the trailer 3 from the outputs of the locator 11, the trailer detection sensor 12, and the tractor side detection sensor 13. When the travel mode is the parking mode for parking the trailer 3, the trailer travel route generator 20 generates and outputs a parking target travel route as the target travel route. When the front distance of the parking space is greater than or equal to a predetermined distance threshold, the parking target travel route is the first target route 46 in which the route when the trailer 3 reverses is a straight line. When the front distance of the parking space is less than the distance threshold, the parking target travel route is the second target route 47 that includes a cycloid curve when the trailer 3 reverses. Therefore, it is possible to output a target travel route corresponding to the situations around the tractor 1 and the trailer 3. For example, even if there are temporarily parked vehicles on the road or traffic cones are placed for regulation or zoning purposes, the trailer travel route output device according to Embodiment 1 can output a target travel route corresponding to these obstacles.

[0062] FIG. 17 is a schematic diagram showing an example of the hardware configuration of the trailer travel route generator 20 in Embodiment 1. The destination instruction output unit 21, the travel mode output unit 22, the combined vehicle length information output unit 23, the trailer rear end position estimation unit 24, and the target travel route generation unit 25 are realized by a processor 301 such as a CPU (Central Processing Unit) that executes a program stored in the memory 302. The memory 302 is also used as a temporary storage device in each process executed by the processor 301. The memory 302 is, for example, a non-volatile or volatile semiconductor memory such as a RAM, ROM, flash memory, or EPROM, a magnetic disk, an optical disk, or a combination thereof. The processor 301 and the memory 302 are connected to a bus 303. The locator 11, the trailer detection sensor 12, and the tractor side detection sensor 13 are connected to the bus 303 through an input / output interface 304.

[0063] FIG. 18 is a schematic diagram showing another example of the hardware configuration of the trailer travel route generator 20 in Embodiment 1. In FIG. 18, the processing circuit 305 is connected to the bus 303, and the locator 11, the trailer detection sensor 12, and the tractor side detection sensor 13 are connected to the bus 303 through the input / output interface 304. When the processing circuit 305 is dedicated hardware, for example, a single circuit, a composite circuit, a programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof is applicable. Each function of the trailer travel route generator 20 may be realized by the processing circuit 305, or the functions may be collectively realized by the processing circuit 305. Further, each function of the trailer travel route generator 20 may be partly realized by dedicated hardware and partly realized by software or firmware.

[0064] Although exemplary embodiments are described, the various features, aspects, and functions described in the embodiments are not limited to the application of a particular embodiment, but are applicable to the embodiments alone or in various combinations. Accordingly, numerous variations not illustrated are envisioned within the scope of the technology disclosed in this specification. For example, it is assumed to include cases where at least one component is modified, added, or omitted.

[0065] Although the preferred embodiments and the like have been described in detail above, it is not limited to the above-described embodiments and the like, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope described in the claims.

[0066] Hereinafter, aspects of the present disclosure will be collectively described as appendices.

[0067] (Appendix 1) A trailer travel route output device that generates and outputs a target travel route for moving a trailer connected to a tractor, A locator that outputs tractor position, which is the position information of the tractor, tractor attitude angle, which is the attitude angle of the tractor, and tractor surrounding map information, which is information on a map around the tractor; A trailer detection sensor that outputs a tractor-trailer relative angle, which is a relative angle between the tractor and the trailer, and a tractor-trailer distance, which is a distance between the tractor and the trailer; A tractor side detection sensor that outputs a target parking width, which is the width of a target parking space, and a parking space front distance, which is a distance in the forward direction from the front end of the target parking space to a non-drivable area; A trailer travel route generator that generates and outputs a target travel route of a trailer rear end center point at the trailer rear end center position at the center of the rear end of the trailer from the outputs of the locator, the trailer detection sensor, and the tractor side detection sensor; When the driving mode is the parking mode for parking the trailer, the trailer travel route generator generates and outputs a parking target travel route as the target travel route. The parking target travel route is a first target route in which the route when the trailer reverses is a straight line when the distance in front of the parking space is equal to or greater than a predetermined distance threshold, and is a second target route including a cycloid curve when the distance in front of the parking space is less than the distance threshold. A trailer travel route output device characterized by this. (Appendix 2) The trailer travel route generator outputs information on the central position at the rear end of the trailer, which is position information on the central point at the rear end of the trailer. When the parking target travel route is the first target route, it outputs a first speed profile corresponding to the first target route. The trailer travel route output device according to Appendix 1, characterized in that when the parking target travel route is the second target route, it outputs a second speed profile corresponding to the second target route. (Appendix 3) The trailer travel route generator a destination indication output unit that outputs a destination position, which is position information of the destination, a travel mode output unit that outputs the travel mode, a combined vehicle length information output unit that outputs information on the length of the tractor, which is the total length of the tractor, and the length of the trailer, which is the total length of the trailer, a trailer rear end position estimation unit that obtains and outputs the central position at the rear end of the trailer from the information on the tractor position, the tractor attitude angle, the tractor-trailer relative angle, the distance between the tractor and the trailer, the length of the tractor, and the length of the trailer. A target travel route generation unit that generates the target travel route from the information on the destination position, the tractor surrounding map information, the travel mode, the center position of the rear end of the trailer, the distance in front of the parking space, and the target parking width, generates a speed profile corresponding to the target travel route, and outputs the target travel route and the speed profile. The trailer travel route output device according to Supplementary Note 1 or 2, characterized by comprising the above. (Supplementary Note 4) The tractor surrounding map information includes information on a plurality of round course points that are points on a round course for round-trip travel. When the travel mode is a traveling mode in which the trailer travels along the round course, the trailer travel route generator generates and outputs a normal target travel route as the target travel route. The normal target travel route is a route that passes over the round course points included in a data acquisition range defined in advance in the front-rear direction of the trailer with reference to the center point of the rear end of the trailer. The trailer travel route output device according to any one of Supplementary Notes 1 to 3, characterized by the above.

Explanation of Signs

[0068] 1 Tractor, 2 Coupler, 3 Trailer, 4 Articulated vehicle, 5 Normal target travel route, 6 Circuit course point, 11 Locator, 12 Trailer detection sensor, 13 Tractor side detection sensor, 14 GNSS antenna, 20 Trailer travel route generator, 21 Destination indication output unit, 22 Travel mode output unit, 23 Articulated vehicle length information output unit, 24 Trailer rear end position estimation unit, 25 Target travel route generation unit, 31 Tractor rear end center point, 32 Trailer front end center point, 33 Trailer rear end center point, 41 Target parking space, 42 Target parking position, 43 Target parking width, 44a, 44b Distance in front of the parking space, 45 Obstacle, 46 First target route, 47 Second target route, 48a, 48b Turning point, 100 Trailer travel route output device, 241 Tractor rear end center position output unit, 242 Trailer front end center position output unit, 243 Trailer rear end center position output unit, 251 Travel mode determination unit, 252 Normal travel target route generation unit, 253 Parking target route generation unit, 254 Target travel route switching unit, 255 Distance in front of the parking space determination unit, 256 First target route generation unit, 257 Second target route generation unit, 258 Parking target route switching unit, 301 Processor, 302 Memory, 303 Bus, 304 Input / output interface, 305 Processing circuit.

Claims

1. A trailer travel route output device that generates and outputs a target travel route for moving a trailer connected to a tractor, a locator that outputs tractor position information which is the position of the tractor, tractor attitude angle which is the attitude angle of the tractor, and tractor surrounding map information which is information on the map around the tractor; a trailer detection sensor that outputs a tractor-trailer relative angle which is the relative angle between the tractor and the trailer, and a tractor-trailer distance which is the distance between the tractor and the trailer; a tractor side detection sensor that outputs a target parking width which is the width of a target parking space, and a parking space front distance which is the distance in the forward direction from the front end of the target parking space to a non-drivable area; and a trailer travel route generator that generates and outputs a target travel route of a trailer rear end center point at the center of the rear end of the trailer from the outputs of the locator, the trailer detection sensor, and the tractor side detection sensor, wherein the trailer travel route generator generates and outputs a parking target travel route as the target travel route when the travel mode is a parking mode for parking the trailer, the parking target travel route is a first target route in which the path when the trailer reverses is a straight line when the parking space front distance is equal to or greater than a predetermined distance threshold, and a second target route including a clothoid curve when the parking space front distance is less than the distance threshold, and is characterized by a trailer travel route output device.

2. The trailer travel route generator, outputs information on the trailer rear end center position which is the position information of the trailer rear end center point, outputs a first speed profile corresponding to the first target route when the parking target travel route is the first target route, and outputs a second speed profile corresponding to the second target route when the parking target travel route is the second target route, and is characterized by the trailer travel route output device according to Claim 1.

3. The trailer travel route generator, a destination instruction output unit that outputs destination position information which is the position information of the destination, a travel mode output unit that outputs the travel mode, and a connected vehicle length information output unit that outputs information on the tractor length which is the total length of the tractor and the trailer length which is the total length of the trailer. A trailer rear end position estimation unit that obtains and outputs the position of the center of the rear end of the trailer from information on the tractor position, the tractor attitude angle, the tractor-trailer relative angle, the distance between the tractor and the trailer, the tractor length, and the trailer length; The trailer travel route output device according to claim 1 or 2, further comprising: a target travel route generation unit that generates a target travel route from information on the destination position, the tractor surrounding map information, the travel mode, the position of the center of the rear end of the trailer, the distance in front of the parking space, and the target parking width, generates a speed profile corresponding to the target travel route, and outputs the target travel route and the speed profile.

4. The tractor surrounding map information includes information on a plurality of circular course points that are points on a circular course for circular travel; When the travel mode is a traveling mode in which the trailer travels along the circular course, the trailer travel route generator generates and outputs a normal target travel route as the target travel route; The trailer travel route output device according to claim 1 or 2, wherein the normal target travel route is a route that passes over the circular course points included in a data acquisition range defined in advance in the front-rear direction of the trailer with reference to the center point of the rear end of the trailer.

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