Automatic traveling vehicle, automatic traveling system, automatic traveling method, and program

Abstract

To provide an automatic traveling vehicle, an automatic traveling system, an automatic traveling method, and a program that are able to perform an operation, such as turning of the automatic traveling vehicle, more accurately.SOLUTION: The present invention includes: an imaging unit that captures an image of a traveling line provided on a traveling route of an automatic traveling vehicle; an angle acquisition unit that, when the traveling route turns right, turns left, or branches, acquires an angle between a front direction of the automatic traveling vehicle and a direction of the traveling line, based on the image captured by the imaging unit; and a display control unit that displays the acquired angle on a display unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an autonomous vehicle, an autonomous driving system, an autonomous driving method, and a program. [Background technology]

[0002] A well-known driving method for automated vehicles, such as automated guided vehicles, is to use sensors to detect magnetic tape tracks. However, this method has the disadvantages of being expensive to install and not easily changing tracks. Therefore, there are automated vehicles that use cameras to detect black vinyl tape tracks, which are inexpensive to install and easy to change tracks on. For these automated vehicles, a technology has been developed in which address lines (address marks) are attached next to the tape of the driving line (main line), and the automated vehicle performs operations such as turning according to commands set for each address.

[0003] Patent Document 1 discloses a technology for an automated vehicle comprising a vehicle body, a drive means for moving the vehicle body on a driving surface, an imaging means for photographing driving guidance lines that have been pre-marked on the driving surface, and a control means for controlling the drive means to make the vehicle travel along the driving guidance lines based on the images of the driving guidance lines photographed by the imaging means, with the aim of making the vehicle body assume a predetermined target attitude relative to the driving guidance lines when the vehicle stops, and the control means controls the drive means to make the vehicle assume the target attitude when it determines, based on the images of the driving guidance lines photographed by the imaging means, that the attitude of the vehicle body relative to the driving guidance lines is not the predetermined target attitude when the automated vehicle stops. Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the case of self-driving vehicles that travel by detecting driving lines placed on the route, there are cases where the self-driving vehicle does not perform normal operations such as turning due to incorrect application of address tape or branch tape, or deterioration of the tape over time.

[0005] The present invention has been made in consideration of the above, and aims to provide an autonomous vehicle, an autonomous driving system, an autonomous driving method, and a program that enable the autonomous vehicle to perform operations such as turning with greater precision. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the present invention comprises an imaging unit that photographs a driving line set on the driving route of an autonomous vehicle, an angle acquisition unit that acquires the angle between the forward direction of the autonomous vehicle and the direction of the driving line based on the image captured by the imaging unit when the driving route turns right, left, or branches, and a display control unit that displays the acquired angle on a display unit. [Effects of the Invention]

[0007] According to the present invention, an effect is achieved in that an autonomous vehicle can perform operations such as turning with greater precision. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of an automatic driving system according to this embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of a system configuration of an autonomous vehicle according to this embodiment. [Figure 3] FIG. 3 is a diagram illustrating an example of a system configuration of the control PC according to the present embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of the system configuration of the fleet management PC according to this embodiment. [Figure 5] FIG. 5 is a diagram for explaining an example of a turning operation of the autonomous vehicle according to this embodiment. [Figure 6] FIG. 6 is a diagram for explaining an example of the notification process in the automatic driving system according to the present embodiment. [Figure 7]FIG. 7 is a diagram for explaining an example of the notification process in the automatic driving system according to the present embodiment. [Figure 8] FIG. 8 is a flowchart showing an example of the flow of a deviation amount notification process in the automatic driving system according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of an autonomous vehicle, an autonomous driving system, an autonomous driving method, and a program will be described in detail with reference to the accompanying drawings.

[0010] FIG. 1 is a diagram illustrating an example of the configuration of an automated driving system according to this embodiment. As shown in FIG. 1, the automated driving system according to this embodiment includes an automated guided vehicle (AGV) 1, a control PC (Personal Computer) 2, and a traffic management PC 3. The automated driving vehicle 1 periodically transmits its own information, such as its travel route number, travel address, and reason for stopping, to the control PC 2 via a wireless local area network (LAN). The traffic management PC 3 collects information about each automated driving vehicle 1 stored in the control PC 2 via the wireless LAN, and displays the status of each automated driving vehicle 1 on a screen to notify the user. Each automated driving vehicle 1 also has a monitor that displays its own information. In this embodiment, the control PC 2 and the traffic management PC 3 are implemented using two PCs, but the control PC 2 and the traffic management PC 3 may also be implemented using one (same) PC.

[0011] 2 is a diagram illustrating an example of the system configuration of an autonomous vehicle according to this embodiment. As shown in FIG. 2, autonomous vehicle 1 according to this embodiment includes communication unit 101, driving management unit 102, input display unit 103, drive control unit 104, image processing unit 105, drive unit 106, and camera 107.

[0012] The communication unit 101 controls communication with the control PC 2. The input display unit 103 receives, on a screen provided on the autonomous vehicle 1, an input of the course number of the driving route (tape driving route) along which the autonomous vehicle 1 will travel and a start instruction, and transmits these to the driving management unit 102. The input display unit 103 also displays the course number, the driving address along which the autonomous vehicle 1 will travel, error information, etc. on the screen.

[0013] The driving management unit 102 stores a train schedule, receives driving instructions based on a route number from the communication unit 101 and the input / display unit 103, starts driving along the corresponding driving route in the train schedule, and manages driving until completion.

[0014] Camera 107 acquires a camera image (an example of a captured image) of a driving route (for example, a tape track). Specifically, camera 107 is an example of an imaging unit that captures an image of a driving line provided on the driving route of autonomous vehicle 1. Camera 107 also captures an image of an address mark (for example, an address line) provided at a position where the driving route turns right, turns left, or branches (i.e., a position where autonomous vehicle 1 turns).

[0015] The image processing unit 105 acquires images from the camera 107, processes the images, acquires position and angle information of the driving line (e.g., black vinyl tape, magnetic tape) on which the self-driving vehicle 1 is driving, and transmits the driving line information to the drive control unit 104, or acquires address information indicating the address on which the self-driving vehicle 1 is driving and transmits it to the driving management unit 102.

[0016] Specifically, image processing unit 105 functions as an example of an angle acquisition unit that acquires the angle between the front direction (direction of travel) of autonomous vehicle 1 and the direction of the driving line (main line) based on an image captured by camera 107 when the driving path of autonomous vehicle 1 makes a right turn, a left turn, or a branch. Image processing unit 105 also functions as an example of a display control unit that displays angle information indicating the acquired angle on input display unit 103 (an example of a display unit) via driving management unit 102. This makes it possible to calculate the angle of the driving line after the driving path of autonomous vehicle 1 makes a right turn, a left turn, or a branch, and notify the user of information on the difference from the correct angle to prompt them to make a correction, thereby enabling autonomous vehicle 1 to perform operations such as turning with greater precision.

[0017] The image processing unit 105 calculates, based on the captured image, the amount of positional deviation of the autonomous vehicle 1 with respect to the driving line when the driving route of the autonomous vehicle 1 makes a right turn, a left turn, or a branch, and calculates the amount of deviation of the address mark from a specified position based on the detected amount of positional deviation. Here, the amount of positional deviation may be the amount of deviation of the driving line from a preset position in the captured image (for example, the center position of the captured image). The image processing unit 105 then displays the calculated amount of deviation on the input display unit 103 via the driving management unit 102. For example, the image processing unit 105 may display on the input display unit 103 whether or not the address mark is deviated from the specified position, the calculated amount of deviation, the direction of deviation of the address mark from the specified position, etc.

[0018] Furthermore, if the acquired angle is not within the angle specification, the image processing unit 105 may display on the input display unit 103 that the autonomous vehicle 1 is skidding. Here, the angle specification is a preset angle, which is a threshold angle at which it is determined that the autonomous vehicle 1 is not skidding.

[0019] The drive control unit 104 acquires information about the driving line (position and angle information about the driving line) from the image processing unit 105, and controls the drive unit 106 to drive the autonomous vehicle 1 along the driving line instructed by the driving management unit 102. The drive unit 106 operates in response to instructions from the drive control unit 104, and moves the autonomous vehicle 1.

[0020] 3 is a diagram illustrating an example of a system configuration of a control PC according to this embodiment. In this embodiment, the control PC 2 includes a communication unit 201, a processing unit 202, a display unit 203, and a data storage unit 204, as shown in FIG.

[0021] The data storage unit 204 stores information such as status information of the autonomous vehicle 1 and an operation schedule. The status information of the autonomous vehicle 1 is received from each autonomous vehicle 1 via the communication unit 201. The calculation processing unit 202 analyzes the status information of each autonomous vehicle 1, calculates the stop time of the autonomous vehicle 1, and notifies registered PCs via the communication unit 201 by playing an audio file and sending an email when an event occurs, based on the event notification settings configured in the operation management PC 3. The display unit 203 displays error information and the like on the screen of the control PC 2.

[0022] Specifically, the communication unit 201 functions as an example of a receiving unit that receives, from the autonomous vehicle 1, the angle between the front direction of the autonomous vehicle 1 and the direction of the driving line, acquired based on camera images captured by the camera 107 when the driving route of the autonomous vehicle 1 makes a right turn, a left turn, or a branch. The communication unit 201 also functions as an example of a notifying unit that notifies a pre-registered device of the received angle. The communication unit 201 also receives, from the autonomous vehicle 1, a calculation result, based on the camera images, of the amount of deviation from a specified position of an address line provided at a position where the driving route makes a right turn, a left turn, or a branch. The communication unit 201 may then notify a pre-registered device of the calculation result of the amount of deviation. This makes it possible to receive notification of the angle between the front direction of the autonomous vehicle 1 and the direction of the driving line without having to look at the input display unit 103 of the autonomous vehicle 1.

[0023] 4 is a diagram illustrating an example of a system configuration of the fleet management PC according to this embodiment. In this embodiment, the fleet management PC 3 includes a communication unit 301, a processing unit 302, and an input / display unit 303, as shown in FIG.

[0024] The arithmetic processing unit 302 transmits the status information of each autonomous vehicle 1 acquired via the communication unit 301 to the input / display unit 303. The arithmetic processing unit 302 also receives event notification settings from the input / display unit 303 and transmits them to the control PC 2 via the communication unit 301.

[0025] The communication unit 301 acquires information such as the driving course number, address location, reason for stopping, and stopping time of each autonomous vehicle 1 from the control PC 2, and transmits this information to the calculation processing unit 302. The communication unit 301 also receives event notification settings from the calculation processing unit 302 and transmits them to the control PC 2.

[0026] The input display unit 303 displays the position information, driving course number, reason for stopping, etc. of each autonomous vehicle 1 on the screen of the operation management PC 3. The input display unit 303 also transmits the event notification settings input into the setting screen of the operation management PC 3 to the calculation processing unit 302.

[0027] FIG. 5 is a diagram illustrating an example of a turning operation of an autonomous vehicle according to this embodiment. FIG. 5(a) illustrates a state in which the autonomous vehicle 1 travels from the bottom to the top of the figure, and the leading edge of an address mark such as an address line is out of the range of image capture by the camera 107, causing the autonomous vehicle 1 to stop. FIG. 5(b) illustrates a state in which the autonomous vehicle 1 turns rightward from the midpoint between the left and right drive wheels, turns 90 degrees, and then stops, from the state illustrated in FIG. 5(a). Because the turning center of the autonomous vehicle 1 is on an extension of the right driving line, the autonomous vehicle 1 after turning stops parallel to the right driving line, as illustrated in FIG. 5(b). In the state illustrated in FIG. 5(b), the right driving line is vertical and located at the center of the image captured by the camera 107. In this case, the image processing unit 105 determines that the autonomous vehicle 1 is not misaligned with the driving line after the driving route of the autonomous vehicle 1 turns right, turns left, or branches.

[0028] In FIG. 5(c), the address lines are positioned higher than in the state shown in FIG. 5(a), so the autonomous vehicle 1 is stopped higher than in the state shown in FIG. 5(a). FIG. 5(d) shows the autonomous vehicle 1 turning right from the state shown in FIG. 5(c) around the midpoint between the left and right drive wheels, turning 90 degrees, and then stopping. Because the right-hand driving lane is shifted to the right in the direction of travel from the center position of the captured image, the autonomous vehicle 1 after turning is stopped in a position shifted to the left of the driving lane, as shown in FIG. 5(d). In this case, the image processing unit 105 calculates the amount of positional deviation of the autonomous vehicle 1 from the driving lane after the autonomous vehicle 1 turns right based on the captured image, and calculates the amount of deviation of the address lines from the specified position based on the detected amount of positional deviation. The image processing unit 105 then displays the calculated amount of deviation on the input display unit 103.

[0029] Similar to Fig. 5(a), Fig. 5(e) shows the state before autonomous vehicle 1 starts turning from the correct address line position. Fig. 5(f) shows the state in which autonomous vehicle 1 slips while turning, is unable to turn 90 degrees, and is stopped at an angle relative to the driving line. In this case, image processing unit 105 determines that autonomous vehicle 1 has slipped, and displays on input display unit 103 that autonomous vehicle 1 has slipped.

[0030] 6 and 7 are diagrams illustrating an example of a notification process in the autonomous driving system according to this embodiment. The image processing unit 105 of the autonomous vehicle 1 calculates the inclination (angle) of the driving line captured by the camera 107 when the autonomous vehicle 1 has finished turning, the amount of deviation, the presence or absence of deviation, the direction of deviation, and the like, and transmits the information to the control PC 2 via the communication unit 101. If the inclination of the driving line when the autonomous vehicle 1 has finished turning, etc., matches the event notification conditions transmitted from the operation management PC 3, the communication unit 201 of the control PC 2 notifies the registered PC 4, etc., by email (see FIG. 7) of the inclination information (angle information), i.e., that the address tape around which the autonomous vehicle 1 has turned has deviated from a specified position.

[0031] 8 is a flowchart showing an example of the flow of deviation amount notification processing in the autonomous driving system according to this embodiment. When autonomous vehicle 1 stops at an address line where it makes a right or left turn (step S801), autonomous vehicle 1 turns around the midpoint between the left and right drive wheels (step S802). The driving management unit 102 determines whether a specified time has elapsed since autonomous vehicle 1 started turning until it has turned a predetermined angle (for example, 90 degrees) (step S803).

[0032] If the specified time has not elapsed since the autonomous vehicle 1 started turning (step S803: No), the driving management unit 102 returns to step S802 and continues turning the autonomous vehicle 1. On the other hand, if the specified time has elapsed since the autonomous vehicle 1 started turning (step S803: Yes), the driving management unit 102 controls the drive unit 106 via the drive control unit 104 to stop the turning of the autonomous vehicle 1 (step S804).

[0033] Next, the image processing unit 105 acquires a photographed image (camera image) of the driving route from the camera 107 (step S805), performs image processing on the camera image (step S806), and determines whether or not the camera image includes a driving lane (main lane) (step S807). If the camera image does not include a driving lane (step S807: No), the image processing unit 105 determines that the autonomous vehicle 1 has gone off course (step S808).

[0034] If the camera image includes a driving line (step S807: Yes), the image processing unit 105 calculates the angle of the driving line along which the autonomous vehicle 1 is traveling (step S809). Next, the image processing unit 105 determines whether the calculated angle is within a specified angle range (step S810). If the calculated angle is not within the specified angle range (step S810: No), the image processing unit 105 displays, via the driving management unit 102, on the input display unit 103 that the autonomous vehicle 1 has skidded (step S811).

[0035] If the calculated angle is within the angle specification (step S810: Yes), the image processing unit 105 calculates the amount of positional deviation of the driving line in the camera image (step S812). Next, the image processing unit 105 determines whether the calculated amount of positional deviation is within the positional deviation specification (step S813). Here, the positional deviation specification is a positional deviation amount that is set in advance, and may be the amount of positional deviation of the driving line that is determined to be an error.

[0036] If the calculated positional deviation amount is within the positional deviation specification (step S813: Yes), the notification process ends. On the other hand, if the calculated positional deviation amount is not within the positional deviation specification (step S813: No), the image processing unit 105 calculates the deviation amount of the address mark such as the address line from the specified position (address line positional deviation amount) (step S814), and displays the calculated address line positional deviation amount on the input display unit 103 (step S815).

[0037] In this way, according to the autonomous driving system of this embodiment, the angle of the driving line after the autonomous vehicle 1 turns right, left, or branches off can be calculated, and the user can be notified of the difference between the correct angle and the calculated angle, prompting the user to make corrections, thereby enabling the autonomous vehicle 1 to perform operations such as turning more accurately.

[0038] The program executed by autonomous vehicle 1 of this embodiment is provided by being pre-installed in a ROM (Read Only Memory) or the like. The program executed by autonomous vehicle 1 of this embodiment may also be provided by being recorded in an installable or executable file format on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk).

[0039] Furthermore, the program executed by autonomous vehicle 1 of this embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Also, the program executed by autonomous vehicle 1 of this embodiment may be provided or distributed via a network such as the Internet.

[0040] The program executed by the self-driving vehicle 1 of this embodiment has a modular structure including the above-mentioned units (communication unit 101, driving management unit 102, drive control unit 104, image processing unit 105, etc.), and in terms of actual hardware, an example of a processor such as a CPU (Central Processing Unit) reads and executes the program from the above-mentioned ROM, thereby loading the above-mentioned units onto the main memory device, and the communication unit 101, driving management unit 102, drive control unit 104, image processing unit 105, etc. are generated on the main memory device. [Explanation of symbols]

[0041] 1. Self-driving cars 2 Control PC 3 Operation management PC 101, 201, 301 Communications Department 102 Driving Management Department 103,303 Input display section 104 Drive control unit 105 Image processing section 106 Drive unit 107 Camera 202,302 Processing unit 203 Display section [Prior art documents] [Patent documents]

[0042] [Patent Document 1] Japanese Patent Application Publication No. 2017-111552

Claims

1. an imaging unit that captures an image of a driving line provided on a driving route of the autonomous vehicle; an angle acquisition unit that acquires an angle between a front direction of the autonomous vehicle and a direction of the driving line based on an image captured by the imaging unit when the driving route of the autonomous vehicle makes a right turn, a left turn, or a branch; a display control unit that displays the acquired angle on a display unit; An autonomous vehicle equipped with

2. the imaging unit captures an image of an address mark provided at a position where the travel route makes a right turn, a left turn, or a branch; the angle acquisition unit calculates, based on the captured image, a positional deviation amount of the autonomous vehicle with respect to the driving line after the driving route makes a right turn, a left turn, or a branch, and calculates a deviation amount of the address mark from a specified position based on the detected positional deviation amount; The autonomous vehicle according to claim 1 , wherein the display control unit displays the amount of deviation.

3. The autonomous vehicle according to claim 1 or 2, wherein the display control unit displays that the autonomous vehicle is slipping when the angle is not within a specified angle range.

4. a receiving unit that receives, from the autonomous vehicle, an angle between a front direction of the autonomous vehicle and a direction of a driving line, the angle being acquired based on an image captured by an imaging unit when the driving route of the autonomous vehicle makes a right turn, a left turn, or a branch; a notification unit that notifies a pre-registered device of the received angle; An autonomous driving system equipped with

5. the receiving unit receives, from the autonomous vehicle, a calculation result of an amount of deviation of an address mark provided at a position where the driving route makes a right turn, a left turn, or a branch, from a specified position, based on the captured image; and The automated driving system according to claim 4 , wherein the notification unit notifies the device of the amount of deviation.

6. When the driving route of the autonomous vehicle turns right, turns left, or branches, acquiring an angle between a front direction of the autonomous vehicle and a direction of the driving route based on an image captured by an imaging unit that captures an image of a driving route provided on the driving route; displaying the acquired angle on a display unit; An automated driving method including:

7. Computer, an angle acquisition unit that acquires, when a driving route of an autonomous vehicle makes a right turn, a left turn, or a branch, an angle between a front direction of the autonomous vehicle and a direction of the driving route based on an image captured by an imaging unit that captures an image of a driving route provided on the driving route; a display control unit that displays the acquired angle on a display unit; A program to make it function as such.

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