Autonomous vehicle, control program for autonomous vehicle, and control method for autonomous vehicle

Abstract

To provide an automatic traveling vehicle capable of traveling straight as instructed even on a roadway where a magnetic line extending in a straight-ahead direction intersects with another magnetic line.SOLUTION: An automatic traveling vehicle (10) is equipped with a plurality of magnetic sensors (S1 to S16) arranged in the right-left direction, and travels along a strip-shaped magnetic line provided on a roadway based on the results of detection of the strip-shaped magnetic line by the plurality of magnetic sensors. A range acquisition unit (31) acquires a detection range, which is a continuous range of the magnetic sensors that have detected the magnetic line. When there are multiple detection ranges acquired by the range acquisition unit while the automatic traveling vehicle is being instructed to travel straight, a range selection unit (32) selects one detection range that is predicted to correspond to the magnetic line extending in the straight-ahead direction of the automatic traveling vehicle. A driving control unit (33) controls the driving state of the automatic traveling vehicle so that the right-left center of the one detection range selected by the range selection unit approaches the right-left center of the automatic traveling vehicle.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to an autonomous vehicle guided by magnetic lines.

Background Art

[0002] For example, there is an autonomous vehicle equipped with a plurality of magnetic sensors arranged in the left - right direction. The plurality of magnetic sensors are set such that only the magnetic sensors located directly above the magnetic tape are turned on. The autonomous vehicle detects the range of the turned - on magnetic sensors (hereinafter referred to as the "on - range") and outputs a signal indicating the center of the on - range (see Patent Document 1). The autonomous vehicle described in Patent Document 1 controls the rotational speeds of the left and right driving wheels so that the center of the on - range coincides with the center of the autonomous vehicle in the left - right direction when going straight.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when the autonomous vehicle is instructed to go straight and enters a crossroads of a magnetic tape (magnetic line) slightly obliquely, the following problems have been found. That is, when a magnetic sensor near the center detects a magnetic tape extending in the straight - ahead direction and turns on, and a magnetic sensor near the end detects a magnetic tape extending in the left - right direction and turns on. In this case, if an attempt is made to align the center of the entire range including the on - range near the center, the on - range near the end, and the range between them with the center of the autonomous vehicle in the left - right direction, the traveling direction of the autonomous vehicle changes in the direction of the magnetic sensor that turned on near the end. As a result, the autonomous vehicle may not go straight and may turn along the magnetic tape extending in the left - right direction.

[0005] Note that such a situation is not limited to the crossroads of magnetic tapes, and is generally common in a road where another magnetic tape intersects a magnetic tape extending in the straight-ahead direction.

[0006] The present invention has been made to solve the above problems, and its main object is to provide an autonomous vehicle that can travel straight as instructed even on a road where another magnetic line intersects a magnetic line extending in the straight-ahead direction.

Means for Solving the Problems

[0007] The first means for solving the above problems is An autonomous vehicle (10) that travels along the magnetic line, comprising a plurality of magnetic sensors (S1 to S16) arranged in the left-right direction, and detecting a strip-shaped magnetic line provided on a road by the plurality of magnetic sensors, a range acquisition unit (31) that acquires a detection range that is a range in which the magnetic sensors that have detected the magnetic line are continuous, a range selection unit (32) that selects one of the detection ranges predicted to correspond to the magnetic line extending in the straight-ahead direction of the autonomous vehicle when there are a plurality of the detection ranges acquired by the range acquisition unit when the autonomous vehicle is instructed to travel straight, a travel control unit (33) that controls the travel state of the autonomous vehicle so as to bring the center in the left-right direction of the one detection range selected by the range selection unit closer to the center in the left-right direction of the autonomous vehicle, and comprising.

[0008] According to the above configuration, the autonomous vehicle includes a plurality of magnetic sensors arranged in the left-right direction, and travels along the magnetic line based on the result of detecting the strip-shaped magnetic line provided on the road by the plurality of magnetic sensors.

[0009] Here, the range acquisition unit acquires a detection range that is the range in which the magnetic sensors that detected the magnetic line are continuous. For this reason, when there are a plurality of magnetic sensors that detected the magnetic line and those magnetic sensors are not continuous (separated from each other), those magnetic sensors are acquired as separate detection ranges. Note that even a single magnetic sensor that detected the magnetic line is also acquired as a detection range. That is, the detection range does not necessarily have to include a plurality of magnetic sensors.

[0010] When there are a plurality of detection ranges acquired by the range acquisition unit when the autonomous vehicle is instructed to go straight, the range selection unit selects one detection range predicted to correspond to the magnetic line extending in the straight-ahead direction of the autonomous vehicle. For this reason, when another magnetic line intersects the magnetic line extending in the straight-ahead direction, instead of regarding the entire range including the plurality of detection ranges and the range therebetween as the detection range, one detection range predicted to correspond to the magnetic line extending in the straight-ahead direction of the autonomous vehicle can be predicted and selected.

[0011] Then, the travel control unit controls the travel state of the autonomous vehicle so as to bring the center in the left-right direction of the one detection range selected by the range selection unit closer to the center in the left-right direction of the autonomous vehicle. For this reason, even on a road where another magnetic line intersects the magnetic line extending in the straight-ahead direction, the autonomous vehicle can bring the center of the magnetic line extending in the straight-ahead direction, which is behind the left and right, closer to the center in the left-right direction of the autonomous vehicle and can go straight as instructed.

[0012] The second means is a control program applied to an autonomous vehicle (10) that travels along the magnetic line based on the result of detecting a strip-shaped magnetic line provided on a road surface by a plurality of magnetic sensors (S1 to S16) arranged in the left-right direction, the control program comprising: a process of acquiring a detection range that is a range in which the magnetic sensors that detected the magnetic line are continuous; When there are a plurality of the acquired detection ranges when the autonomous vehicle is instructed to go straight, a process of selecting one of the detection ranges predicted to correspond to the magnetic line extending in the straight-ahead direction of the autonomous vehicle, a process of controlling the running state of the autonomous vehicle so as to bring the center in the left-right direction of the selected one detection range closer to the center in the left-right direction of the autonomous vehicle, and causing a computer (30) to execute the above.

[0013] According to the above configuration, by causing a computer to execute a control program applied to an autonomous vehicle, the same operational effects as those of the first means can be achieved.

Brief Description of Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

Figure 20

Figure 21

Embodiments for Carrying Out the Invention

[0015] Hereinafter, an embodiment embodied in an autonomous vehicle (AGV: Automatic guided vehicle) guided by a magnetic tape (magnetic line) in a factory, warehouse, etc. will be described with reference to the drawings. The autonomous vehicle is, for example, an unmanned transport vehicle or an unmanned transport robot.

[0016] As shown in the side view of FIG. 1, the autonomous vehicle 10 includes a main body 11, a pair of left and right drive wheels 12, a pair of left and right driven wheels 13, a sensor unit 20, etc.

[0017] The main body 11 is formed, for example, in the shape of a hollow rectangular parallelepiped. Inside the main body 11, there are provided respective motors (not shown) for rotating each drive wheel 12. By giving a difference between the rotational speed at which each motor rotates the left drive wheel 12 and the rotational speed at which each motor rotates the right drive wheel 12, the traveling direction (traveling state) of the autonomous vehicle 10 is controlled. The autonomous vehicle 10 is, for example, a front-wheel drive vehicle in which a pair of drive wheels 12 are front wheels and a pair of driven wheels 13 are rear wheels. The pair of left and right driven wheels 13 rotate as the autonomous vehicle 10 travels.

[0018] A sensor unit 20 is attached (provided) to the bottom of the front part of the main body 11. As shown in the front view of FIG. 2, the sensor unit 20 includes, for example, 16 magnetic sensors S1 to S16. The magnetic sensors S1 to S16 are horizontally arranged in a direction perpendicular to the straight-ahead direction of the autonomous vehicle 10. That is, the magnetic sensors S1 to S16 are arranged in the left-right direction of the autonomous vehicle 10. The magnetic sensors S1 to S16 are arranged at equal intervals in order from the right end to the left end of the autonomous vehicle 10. The magnetic sensors S1 to S16 turn on when magnetic tapes M1, M2 (see FIGS. 3 and 4) exist directly below themselves, and turn off when the magnetic tapes M1, M2 do not exist directly below themselves. That is, the magnetic sensors S1 to S16 detect only the magnetic tapes M1, M2 directly below themselves (the magnetic tapes M1, M2 directly below themselves).

[0019] FIG. 3 is a schematic diagram showing the traveling state of the autonomous vehicle 10 that has entered straight into the crossroads of the magnetic tapes M1, M2 during a straight-ahead instruction. For example, on the traveling path of the autonomous vehicle 10, a strip-shaped magnetic tape M1 extending linearly in the straight-ahead direction and a magnetic tape M2 extending linearly in the left-right direction perpendicular to the magnetic tape M1 are attached (provided). Here, an example in which the autonomous vehicle 10 travels straight along the magnetic tape M1 as instructed will be described.

[0020] As shown in FIG. 4, the left - right positions of the magnetic sensors S1 to S16 are respectively referred to as position 1 to position 16. The central position of the magnetic sensors S1 to S16 in the left - right direction is at the center between the position 8 of the magnetic sensor S8 and the position 9 of the magnetic sensor S9, which is position 8.5 (hereinafter, also referred to as "central position 8.5"). The central position of the autonomous vehicle 10 in the left - right direction coincides with the central position 8.5 of the sensor unit 20 in the left - right direction.

[0021] When the sensor unit 20 is at the position of ta in FIG. 3 or the position of tc in FIG. 3, for example, as shown in FIG. 4, the magnetic sensors S7 to S10 are turned on. Note that ta to tc represent each time. In this case, the detection range, which is the range where the magnetic sensors that detect the magnetic tape M1 are continuous, is the detection range S7 to S10. The center of the detection range S7 to S10 is position 8.5. When the autonomous vehicle 10 is instructed to go straight, the autonomous vehicle 10 controls each drive wheel 12 so that the center in the left - right direction of the detection range S7 to S10 (position 8.5 in FIG. 4) coincides with (approaches) the center in the left - right direction of the autonomous vehicle 10 (central position 8.5). Therefore, when the sensor unit 20 is at the position of ta in FIG. 3 or the position of tc in FIG. 3, the autonomous vehicle 10 goes straight along the magnetic tape M1.

[0022] When the sensor unit 20 is at the position of tb in FIG. 3, for example, as shown in FIG. 5, the magnetic sensors S1 to S16 are turned on. In this case, the detection range, which is the range where the magnetic sensors that detect the magnetic tapes M1 and M2 are continuous, is the detection range S1 to S16. The center of the detection range S1 to S16 is position 8.5. When the autonomous vehicle 10 is instructed to go straight, the autonomous vehicle 10 controls each drive wheel 12 so that the center in the left - right direction of the detection range S1 to S16 (position 8.5 in FIG. 5) coincides with the center in the left - right direction of the autonomous vehicle 10 (central position 8.5). Therefore, even when the sensor unit 20 is at the position of tb in FIG. 3, the autonomous vehicle 10 goes straight along the magnetic tape M1.

[0023] FIG. 6 is a schematic diagram showing the traveling state of a comparative example autonomous vehicle that has obliquely entered an intersection of magnetic tapes M1 and M2 during a straight-ahead instruction. Here, an example in which the autonomous vehicle turns right or left along magnetic tape M2 will be described.

[0024] When the sensor unit 20 is at the position tb in FIG. 6, for example, as shown in FIG. 7, the magnetic sensors S7 to S10 and S16 are turned on. In this case, the detection range, which is the range where the magnetic sensors that have detected magnetic tape M1 are continuous, is the detection range S7 to S10. Also, the detection range, which is the range where the magnetic sensors that have detected magnetic tape M2 are continuous, is the detection range S16. The center of the detection range S7 to S10 is position 8.5. The center of the detection range S16 is position 16. In the comparative example autonomous vehicle, when the autonomous vehicle is given a straight-ahead instruction, the center of the entire range S7 to S16, which is the combined range of the detection ranges S7 to S10 and the detection range S16 and the range S11 to S15 between these detection ranges (position 11.5 in FIG. 7), is made to coincide with the center in the left-right direction of the autonomous vehicle 10 (center position 8.5), and each drive wheel 12 of the autonomous vehicle 10 is controlled. For this reason, when the sensor unit 20 is at the position tb in FIG. 6, the autonomous vehicle 10 will turn left and proceed along magnetic tape M2. When the sensor unit 20 is at the position ta in FIG. 6, the autonomous vehicle 10 will turn right and proceed along magnetic tape M2.

[0025] Therefore, in the present embodiment, as shown in FIG. 8, the autonomous vehicle 10 includes a range acquisition unit 31, a range selection unit 32, a travel control unit 33, an antenna 41, a reception unit 42, a motor drive unit 50, and the like.

[0026] The reception unit 42 is constituted by, for example, a communication module. The reception unit 42 receives a straight-ahead instruction, a right-turn instruction, a left-turn instruction, etc. from a management device (not shown) via the antenna 41. The reception unit 42 inputs the received straight-ahead instruction, right-turn instruction, left-turn instruction, etc. to the range selection unit 32.

[0027] The range acquisition unit 31, the range selection unit 32, and the travel control unit 33 are configured by a microcomputer 30 including, for example, a CPU, a ROM, a RAM, and an input / output interface. The microcomputer 30 (computer) realizes functions such as the range acquisition unit 31, the range selection unit 32, and the travel control unit 33 by executing an installed control program. Note that the microcomputer 30 can transmit and receive data by wireless communication via the antenna 41 and the reception unit 42, or update software (program) by, for example, OTA (Over The Air) technology.

[0028] The range acquisition unit 31 inputs a signal indicating a magnetic sensor that is on from the sensor unit 20. The range acquisition unit 31 acquires a detection range that is a range in which magnetic sensors that have detected the magnetic tapes M1 and M2 are continuous based on the signal input from the sensor unit 20. When there is only one detection range acquired by the range acquisition unit 31 when the autonomous vehicle 10 is instructed to go straight, the range selection unit 32 selects the only existing detection range. When there are a plurality of detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is instructed to go straight, the range selection unit 32 selects one detection range that is closest to the center in the left-right direction of the autonomous vehicle 10. Further, when the autonomous vehicle 10 is instructed to turn right, the range selection unit 32 selects, as a detection range, one magnetic sensor that is closest to the right end of the autonomous vehicle 10 among the magnetic sensors that are on. When the autonomous vehicle 10 is instructed to turn left, the range selection unit 32 selects, as a detection range, one magnetic sensor that is closest to the left end of the autonomous vehicle 10 among the magnetic sensors that are on. Thereafter, the instruction to the autonomous vehicle 10 is switched to a straight-ahead instruction.

[0029] The travel control unit 33 sets the driving amount of each motor so that the center in the left-right direction of the one detection range selected by the range selection unit 32 coincides with (approaches) the center in the left-right direction of the autonomous vehicle 10 (center position 8.5). That is, the travel control unit 33 controls the traveling direction (travel state) of the autonomous vehicle 10.

[0030] The motor drive unit 50 includes, for example, a power supply and a drive circuit (not shown). The motor drive unit 50 drives each motor that rotates each drive wheel 12 based on the drive amount set by the travel control unit 33. Thereby, the autonomous vehicle 10 travels along the magnetic tape M1 or the magnetic tape M2 according to an instruction from a management device or the like.

[0031] FIG. 9 is a flowchart showing the control during a straight-ahead instruction. This series of processes is repeatedly executed by the microcomputer 30 at a predetermined cycle when the autonomous vehicle 10 is given a straight-ahead instruction by a management device or the like.

[0032] First, it is determined whether or not two or more detection ranges have been acquired (S10). In this determination, if it is determined that two or more detection ranges have been acquired (S10: YES), the detection range closest to the center of the autonomous vehicle 10 is selected (S11). On the other hand, in this determination, if it is determined that two or more detection ranges have not been acquired (S10: NO), the only existing detection range is selected (S12).

[0033] Subsequently, the motor drive unit 50 is controlled based on the selected detection range (S13). Specifically, the drive amount of each motor is set so that the center in the left-right direction of the selected one detection range coincides with the center in the left-right direction of the autonomous vehicle 10 (center position 8.5). Then, this series of processes is once terminated (END). And the motor drive unit 50 drives each motor based on the set drive amount.

[0034] Note that the process of S10 corresponds to the process as the range acquisition unit 31, the processes of S11 and S12 correspond to the process as the range selection unit, and the process of S13 corresponds to the process as the travel control unit 33.

[0035] FIG. 10 is a schematic diagram showing the positional relationship between the sensor unit 20 of the autonomous vehicle 10 that has obliquely entered the intersection of the magnetic tapes M1 and M2 and the intersection during a straight-ahead instruction.

[0036] When the autonomous vehicle 10 is moving straight along the magnetic tape M1 and the autonomous vehicle 10 slightly diagonally enters the intersection of the magnetic tapes M1 and M2 (time ta), the range acquisition unit 31 may acquire a plurality of detection ranges (see FIG. 11). In this case, among the detection ranges S1 and S8 to S11 acquired by the range acquisition unit 31, the detection ranges S8 to S11 closest to the central position 8.5 in the left-right direction of the autonomous vehicle 10 are likely to be the detection ranges acquired by the range acquisition unit 31 before entering the intersection. The dashed line C indicates the central position 8.5 of the autonomous vehicle 10 and the sensor unit 20.

[0037] When the sensor unit 20 is at the position of ta in FIG. 10, for example, as shown in FIG. 11, the magnetic sensors S1, S8 to S11 are turned on. In this case, the detection range in which the magnetic sensors that detected the magnetic tape M2 are continuous is the detection range S1. The center of the detection range S1 is position 1. The detection ranges in which the magnetic sensors that detected the magnetic tape M1 are continuous are the detection ranges S8 to S11. The center of the detection ranges S8 to S11 is position 9.5. Therefore, the range selection unit 32 selects the detection ranges S8 to S11 closest to the central position 8.5 in the left-right direction of the autonomous vehicle 10. That is, when there are a plurality of detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is instructed to move straight, the range selection unit 32 selects one detection range predicted to correspond to the magnetic tape M1 extending in the straight-ahead direction of the autonomous vehicle 10.

[0038] Then, the travel control unit 33 controls each drive wheel 12 of the autonomous vehicle 10 so that the center in the left-right direction of the detection ranges S8 to S11 (position 9.5 in FIG. 11) coincides with the central position 8.5 in the left-right direction of the autonomous vehicle 10. For this reason, the traveling direction of the autonomous vehicle 10 is corrected to the left direction. As a result, the autonomous vehicle 10 moves straight along the magnetic tape M1.

[0039] Also, when the sensor unit 20 is at the position of tb in FIG. 10, for example, as shown in FIG. 12, the magnetic sensors S6 to S9 and S16 are turned on. In this case, the detection range, which is the range where the magnetic sensors that detected the magnetic tape M2 are continuous, is the detection range S16. The center of the detection range S16 is position 16. The detection range, which is the range where the magnetic sensors that detected the magnetic tape M1 are continuous, is the detection ranges S6 to S9. The center of the detection ranges S6 to S9 is position 7.5. Therefore, the range selection unit 32 selects the detection range S6 to S9 that is closest to the center position 8.5 in the left-right direction of the autonomous vehicle 10. Then, the travel control unit 33 controls each drive wheel 12 of the autonomous vehicle 10 so that the center in the left-right direction of the detection range S6 to S9 (position 7.5 in FIG. 12) coincides with the center position 8.5 in the left-right direction of the autonomous vehicle 10. For this reason, the traveling direction of the autonomous vehicle 10 is corrected to the right direction. As a result, the autonomous vehicle 10 travels straight along the magnetic tape M1.

[0040] The embodiment described in detail above has the following advantages.

[0041] · The range acquisition unit 31 acquires the detection range, which is the range where the magnetic sensors that detected the magnetic tapes M1 and M2 are continuous. For this reason, as shown in FIG. 11, when there are magnetic sensors S1 and S8 to S11 that detected the magnetic tapes M1 and M2, and the magnetic sensor S1 and the magnetic sensors S8 to S11 are not continuous (separated from each other), the magnetic sensor S1 and the magnetic sensors S8 to S11 are acquired as separate detection ranges S1 and S8 to S11.

[0042] · When there are multiple detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is instructed to go straight, for example, as shown in FIG. 11, the range selection unit 32 selects one detection range S8 to S11 predicted to correspond to the magnetic tape M1 extending in the straight-ahead direction of the autonomous vehicle 10. Therefore, when another magnetic tape M2 intersects the magnetic tape M1 extending in the straight-ahead direction, instead of regarding the entire range including the multiple detection ranges and the ranges between them as the detection range, one detection range S8 to S11 predicted to correspond to the magnetic tape M1 extending in the straight-ahead direction of the autonomous vehicle 10 can be predicted and selected.

[0043] · The travel control unit 33 controls the travel state of the autonomous vehicle 10 so as to bring the center in the left-right direction of the one detection range selected by the range selection unit 32 closer to the center position 8.5 in the left-right direction of the autonomous vehicle 10. Therefore, even on a road where another magnetic tape M2 intersects the magnetic tape M1 extending in the straight-ahead direction, the autonomous vehicle 10 can bring the center in the left-right direction of the magnetic tape M1 extending in the straight-ahead direction closer to the center position 8.5 in the left-right direction of the autonomous vehicle 10 and can go straight as instructed.

[0044] · The range selection unit 32 selects, as one detection range predicted to correspond to the magnetic tape M1 extending in the straight-ahead direction, the one detection range among the multiple detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is instructed to go straight that is closest to the center position 8.5 in the left-right direction of the autonomous vehicle 10. According to such a configuration, when there are multiple detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is instructed to go straight, one detection range corresponding to the magnetic tape M1 extending in the straight-ahead direction of the autonomous vehicle 10 can be selected with a high probability.

[0045] · When there is only one detected range acquired by the range acquisition unit 31 while the autonomous vehicle 10 is being instructed to go straight, the range selection unit 32 selects the only existing detected range. According to such a configuration, it is possible to select the detected range even when there is only one detected range acquired by the range acquisition unit 31 while the autonomous vehicle 10 is being instructed to go straight. Therefore, the control by the travel control unit 33 can be performed in the same manner whether there are multiple acquired detected ranges or only one acquired detected range.

[0046] · By causing the microcomputer 30 to execute the control program applied to the autonomous vehicle 10, the above-described operational effects can be achieved.

[0047] It should be noted that the above-described embodiment can also be implemented with the following modifications. For the parts identical to those in the above-described embodiment, the description thereof is incorporated by attaching the same reference numerals.

[0048] · When the autonomous vehicle 10 is in a state of going straight and enters the intersection of the magnetic tapes M1 and M2 at a slight angle, for example, as shown in FIG. 11, in addition to the detected ranges S8 to S11 acquired by the range acquisition unit 31 before entering the intersection, a new detected range S1 may be acquired by the range acquisition unit 31. In this case, the newly acquired detected range S1 by the range acquisition unit 31 is likely to be initially narrower than the detected ranges S8 to S11 acquired by the range acquisition unit 31 before entering the intersection. Therefore, among the detected range S1 and the detected ranges S8 to S11 acquired by the range acquisition unit 31, the detected range S8 to S11 with the widest range is relatively likely to be the detected range acquired by the range acquisition unit 31 before entering the intersection.

[0049] Therefore, as shown in FIG. 11 for example, the range selection unit 32 selects, as one detection range predicted to correspond to the magnetic tape M1 extending in the straight-ahead direction, one detection range S8 to S11 that is closest to the center position 8.5 in the left-right direction of the autonomous vehicle 10 and has the widest range among the plurality of detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is given a straight-ahead instruction. According to such a configuration, when there are a plurality of detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is given a straight-ahead instruction, it is possible to select detection ranges S8 to S11 that satisfy two requirements, which increases the possibility that they are the detection ranges acquired by the range acquisition unit 31 before entering the intersection. Therefore, it is possible to select, with a higher probability, one detection range corresponding to the magnetic tape M1 extending in the straight-ahead direction of the autonomous vehicle 10.

[0050] Note that, as shown in FIG. 13, in the plurality of detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is given a straight-ahead instruction, there may be a plurality of detection ranges with the widest range. Here, the widths of the detection ranges S1 to S4 and the widths of the detection ranges S8 to S11 are equal. In this case, the range selection unit 32 may select, as one detection range predicted to correspond to the magnetic tape M1 extending in the straight-ahead direction, one detection range S8 to S11 that is closest to the center position 8.5 in the left-right direction of the autonomous vehicle 10 among the plurality of detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is given a straight-ahead instruction.

[0051] ·For example, as shown in FIG. 14, in a plurality of detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is instructed to go straight, one detection range S8 - S11 closest to the central position 8.5 in the left - right direction of the autonomous vehicle 10 and one detection range S1 - S5 with the widest range may be different. Therefore, when the range selection unit 32 determines that one detection range S8 - S11 closest to the central position 8.5 in the left - right direction of the autonomous vehicle 10 and one detection range S1 - S5 with the widest range are different among the plurality of detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is instructed to go straight, the range selection unit 32 may select one detection range S8 - S11 closest to the central position 8.5 in the left - right direction of the autonomous vehicle 10 as one detection range predicted to correspond to the magnetic tape M1 extending in the straight - ahead direction. According to such a configuration, even when one detection range S8 - S11 closest to the central position 8.5 in the left - right direction of the autonomous vehicle 10 and one detection range S1 - S5 with the widest range are different, it is possible to select one of the detection ranges S8 - S11, which is more likely to be the detection range acquired by the range acquisition unit 31 before entering the intersection.

[0052] ·For example, as shown in FIG. 11, in a plurality of detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is instructed to go straight, the detection range S8 - S11 closest to the central position 8.5 in the left - right direction of the autonomous vehicle 10 and one detection range S8 - S11 with the widest range often coincide. And one detection range S8 - S11 with the widest range is relatively likely to be the detection range acquired by the range acquisition unit 31 before entering the intersection. For this reason, when the range selection unit 32 determines that there are a plurality of detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is instructed to go straight, the range selection unit 32 may select one detection range S8 - S11 with the widest range among the detection ranges S1 and S8 - S11 as one detection range predicted to correspond to the magnetic tape M1 extending in the straight - ahead direction. Even with such a configuration, when there are a plurality of detection ranges acquired by the range acquisition unit 31 when the autonomous vehicle 10 is instructed to go straight, it is possible to select one detection range S8 - S11 corresponding to the magnetic tape M1 extending in the straight - ahead direction of the autonomous vehicle 10 with a relatively high probability.

[0053] · FIG. 15 is a schematic diagram showing the positional relationship between the sensor unit 20 of the autonomous vehicle 10 that has obliquely entered the T-junction of the magnetic tapes M1 and M2 and the T-junction when a straight-ahead instruction is given. Also in this case, when the sensor unit 20 is at the position ta in FIG. 15, for example, as shown in FIG. 11, the magnetic sensors S1, S8 to S11 are turned on. Therefore, by applying the above-described embodiment and each of the above modification examples, the autonomous vehicle 10 can travel straight as instructed.

[0054] · FIG. 16 is a schematic diagram showing the positional relationship between the sensor unit 20 of the autonomous vehicle 10 that has obliquely entered the diagonal four-way intersection of the magnetic tapes M1 and M2 and the diagonal four-way intersection when a straight-ahead instruction is given. In this case, when the sensor unit 20 is at the position ta in FIG. 16, for example, as shown in FIG. 13, the magnetic sensors S1 to S4, S8 to S11 are turned on. Also, when the sensor unit 20 is at the position tb in FIG. 16, for example, as shown in FIG. 12, the magnetic sensors S6 to S9, S16 are turned on. Therefore, by applying the above-described embodiment and each of the above modification examples, the autonomous vehicle 10 can travel straight as instructed.

[0055] · FIG. 17 is a schematic diagram showing the positional relationship between the sensor unit 20 of the autonomous vehicle 10 that has obliquely entered the diagonal three-way intersection of the magnetic tapes M1 and M2 and the diagonal three-way intersection when a straight-ahead instruction is given. Also in this case, when the sensor unit 20 is at the position ta in FIG. 17, for example, as shown in FIG. 11, the magnetic sensors S1, S8 to S11 are turned on. Therefore, by applying the above-described embodiment and each of the above modification examples, the autonomous vehicle 10 can travel straight as instructed.

[0056] · FIG. 18 is a schematic diagram showing the positional relationship between the sensor unit 20 of the autonomous vehicle 10 that has obliquely entered a four-way intersection of magnetic tapes M1, M2, and M3 and the four-way intersection when a straight-ahead instruction is given. In this case, when the sensor unit 20 is at the position ta in FIG. 18, the range selection unit 32 selects only one existing detection range. Then, the travel control unit 33 controls each drive wheel 12 of the autonomous vehicle 10 so that the center in the left-right direction of the selected detection range coincides with the center position 8.5 in the left-right direction of the autonomous vehicle 10. For this reason, the autonomous vehicle 10 can travel straight along the magnetic tape M1.

[0057] Also, when the sensor unit 20 is at the position tb in FIG. 18, for example, as shown in FIG. 19, the magnetic sensors S1, S6 to S9, S13 to S16 are turned on. Also in this case, the detection range S6 to 9 corresponding to the magnetic tape M1 extending in the straight-ahead direction of the autonomous vehicle 10 is the closest to the center position 8.5 in the left-right direction of the autonomous vehicle 10 and has the widest range among the plurality of detection ranges acquired by the range acquisition unit 31. Therefore, by applying the above-described embodiment and each of the above-described modification examples, the autonomous vehicle 10 can travel straight as instructed.

[0058] · FIG. 20 is a schematic diagram showing a side view of a modification example of the autonomous vehicle 10. In this modification example, the autonomous vehicle 10 is provided with two sensor units 20. One sensor unit 20 is attached to the bottom of the front part (one end in the front-rear direction) of the main body 11, and the other sensor unit 20 is attached to the bottom of the rear part (the other end in the front-rear direction) of the main body 11. In this case, when the autonomous vehicle 10 moves forward, the front sensor unit 20 detects the magnetic tapes M1 to M3, and when it moves backward, the rear sensor unit 20 may detect the magnetic tapes M1 to M3. Even with such a configuration, the same operational effects as those of the above-described embodiment and each of the above-described modification examples can be achieved.

[0059] · FIG. 21 is a flowchart showing a modified example of the control during straight-ahead instruction. For the processes identical to those in FIG. 12, the same step numbers S are assigned and the descriptions thereof are incorporated by reference. In FIG. 21, in the determination at S10, if it is determined that two or more detection ranges have not been acquired (S10: NO), the motor drive unit 50 is controlled based on the only existing detection range (S12A). Specifically, the motor drive unit 50 is controlled so that the center of the only existing detection range coincides with the center of the autonomous vehicle 10. Even with such a configuration, the same operational effects as those in the above-described embodiment can be achieved.

[0060] · The travel control unit 33 may set the driving amount of each motor so that the deviation between the center in the left-right direction of the one detection range selected by the range selection unit 32 and the center in the left-right direction of the autonomous vehicle 10 (center position 8.5) is smaller than a predetermined deviation. That is, the travel control unit 33 may set the driving amount of each motor so as to bring the center in the left-right direction of the one detection range selected by the range selection unit 32 closer to the center in the left-right direction of the autonomous vehicle 10.

[0061] · The driven wheels 13 of the autonomous vehicle 10 can also be changed to steering wheels. In this case, the travel control unit 33 may set the operation amount of the steering wheel so that the center in the left-right direction of the one detection range selected by the range selection unit 32 coincides with (is closer to) the center in the left-right direction of the autonomous vehicle 10 (center position 8.5). Then, based on the set operation amount, the steering wheel may be operated by an actuator. Even with such a configuration, the travel control unit 33 can control the traveling direction (travel state) of the autonomous vehicle 10. Note that the travel control unit 33 may set the operation amount of the steering wheel so that the deviation between the center in the left-right direction of the one detection range selected by the range selection unit 32 and the center in the left-right direction of the autonomous vehicle 10 is smaller than a predetermined deviation. That is, the travel control unit 33 may set the operation amount of the steering wheel so as to bring the center in the left-right direction of the one detection range selected by the range selection unit 32 closer to the center in the left-right direction of the autonomous vehicle 10.

[0062] · The number of the plurality of magnetic sensors included in the sensor unit 20 may be less than 16 or may be more than 16.

[0063] · The microcomputer 30 (range acquisition unit 31, range selection unit 32, and travel control unit 33) and its method described in the present disclosure may be realized by a dedicated computer configured by a processor and a memory programmed to execute one or more functions (instructions) embodied by a computer program. Alternatively, the microcomputer 30 and its method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Or, the microcomputer 30 and its method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured by one or more hardware logic circuits. Further, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions to be executed by a computer.

[0064] Note that the above-described embodiments and each modification example can also be executed in combination within a combinable range.

Description of Reference Numerals

[0065] 10... Autonomous vehicle, 20... Sensor unit, 30... Microcomputer, 31... Range acquisition unit, 32... Range selection unit, 33... Travel control unit, S1 to S16... Magnetic sensors.

Claims

1. An automated driving vehicle (10) is equipped with a plurality of magnetic sensors (S1 to S16) arranged in the left-right direction, and based on the results of detecting a strip-shaped magnetic line provided on a driving path by the plurality of magnetic sensors, it drives along the magnetic line, A range acquisition unit (31) acquires a detection range which is the range in which the magnetic sensor that detected the magnetic line is continuous, When the autonomous vehicle is instructed to proceed straight, and there are multiple detection ranges acquired by the range acquisition unit, and the detection ranges are far apart from each other, the range selection unit (32) selects one of the detection ranges that is closest to the center in the left-right direction of the autonomous vehicle. A driving control unit (33) controls the driving state of the autonomous vehicle so as to bring the center in the left-right direction of one of the detection ranges selected by the range selection unit closer to the center in the left-right direction of the autonomous vehicle, An autonomous vehicle equipped with [equipment name].

2. The autonomous vehicle according to claim 1, wherein the range selection unit selects one of the multiple detection ranges acquired by the range acquisition unit when the autonomous vehicle is instructed to go straight, which is closest to the center in the left-right direction of the autonomous vehicle and has the widest range, as the one detection range.

3. The autonomous vehicle according to claim 2, wherein the range selection unit, when the autonomous vehicle is instructed to drive straight, selects the detection range closest to the center in the left-right direction of the autonomous vehicle from among the plurality of detection ranges acquired by the range acquisition unit, if the detection range closest to the center in the left-right direction of the autonomous vehicle and the detection range with the widest range are different, the detection range closest to the center in the left-right direction of the autonomous vehicle as the one detection range.

4. An automated driving vehicle (10) is equipped with a plurality of magnetic sensors (S1 to S16) arranged in the left-right direction, and based on the results of detecting a strip-shaped magnetic line provided on a driving path by the plurality of magnetic sensors, it drives along the magnetic line, A range acquisition unit (31) acquires a detection range which is the range in which the magnetic sensor that detected the magnetic line is continuous, When the autonomous vehicle is instructed to proceed straight, if there are multiple detection ranges acquired by the range acquisition unit, the range selection unit (32) selects one of the detection ranges predicted to correspond to the magnetic line extending in the straight direction of the autonomous vehicle. A driving control unit (33) controls the driving state of the autonomous vehicle so as to bring the center in the left-right direction of one of the detection ranges selected by the range selection unit closer to the center in the left-right direction of the autonomous vehicle, Equipped with, The range selection unit selects, from among the multiple detection ranges acquired by the range acquisition unit when the autonomous vehicle is instructed to drive straight, the detection range that is closest to the center in the left-right direction of the autonomous vehicle and has the widest range, as the predicted detection range. The range selection unit, when the autonomous vehicle is instructed to drive straight, selects the detection range closest to the center in the left-right direction of the autonomous vehicle from among the multiple detection ranges acquired by the range acquisition unit as the predicted detection range when the detection range closest to the center in the left-right direction of the autonomous vehicle and the detection range with the widest range are different.

5. A control program applied to an automated driving vehicle (10) that travels along a magnetic line based on the results of detecting a strip-shaped magnetic line provided on a travel path using the multiple magnetic sensors (S1 to S16) arranged in the left-right direction, wherein the vehicle is equipped with a plurality of magnetic sensors (S1 to S16) arranged in the left-right direction, and the vehicle travels along the magnetic line. A process to acquire a detection range which is the range in which the magnetic sensor that detected the magnetic line is continuous, When the autonomous vehicle is instructed to proceed straight, and there are multiple detection ranges acquired, and these detection ranges are far apart from each other, the process of selecting one of the detection ranges that is closest to the center of the autonomous vehicle in the left-right direction, A process to control the driving state of the autonomous vehicle so as to bring the center of the selected detection range in the left-right direction closer to the center of the autonomous vehicle in the left-right direction, A control program for an autonomous vehicle that causes a computer (30) to execute.

6. A method for controlling an automated driving vehicle (10) that travels along a magnetic line, comprising a plurality of magnetic sensors (S1 to S16) arranged in the left-right direction, based on the results of detecting a strip-shaped magnetic line provided on a driving path by the plurality of magnetic sensors, The computer (30) of the autonomous vehicle, A process to acquire a detection range which is the range in which the magnetic sensor that detected the magnetic line is continuous, When the autonomous vehicle is instructed to proceed straight, and there are multiple detection ranges acquired, and these detection ranges are far apart from each other, the process of selecting one of the detection ranges that is closest to the center of the autonomous vehicle in the left-right direction, A process to control the driving state of the autonomous vehicle so as to bring the center of the selected detection range in the left-right direction closer to the center of the autonomous vehicle in the left-right direction, A method for controlling an autonomous vehicle.

Images