Mobile control system

Abstract

This invention provides a mobile vehicle control system that, when a mobile vehicle changes its route, can set a target position on the new route, predict the future movement of other mobile vehicles on the new route, and then revise the set target position accordingly. [Solution] A mobile body control system that, after setting a target position, predicts, based on mobile body information and speed plan, whether other mobile bodies on the alternative route will enter the restricted area set around the mobile body when the mobile body reaches the target position, and cancels the set target position if it is determined that they will enter the restricted area.

Description

Technical Field

[0001] This disclosure relates to a movement control system.

Background Art

[0002] Systems for assisting the speed or steering of a moving object are becoming increasingly popular. For example, in the technology of Patent Document 1, candidate target positions are evaluated, a target position is determined based on the result of the evaluation value, and after the target position is determined, if the evaluation value of the target position does not match a predetermined evaluation value, a penalty is given to that target position, and then a new target position is rejudged.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the technology of Patent Document 1, for the rejudgment of the target position, there is no prediction function for predicting the movement of other moving objects, and it only has a function of judging from the surrounding information of the current moving object itself. Therefore, it is impossible to make a judgment that anticipates the future movement of other moving objects. For example, when another moving object suddenly brakes or accelerates, the rejudgment of the target position may be delayed, or an inappropriate target position may be selected. Also, in the technology of Patent Document 1, the processing when no new candidate target position is found is not disclosed. For example, when there are a large number of other moving objects on the route to the route change destination and a candidate target position cannot be set, or even if there is a candidate target position but the evaluation value does not match the predetermined evaluation value, it is impossible to judge whether to abort or enforce the route change.

[0005] Therefore, the purpose of this disclosure is to provide a mobile body control system that, when a mobile body changes its route, can set a target position on the route to be changed, and then predict the future movement of other mobile bodies present on the route to be changed, thereby reviewing the set target position and so on. [Means for solving the problem]

[0006] The mobile control system relating to this disclosure is An information acquisition unit that acquires mobile body information including information about the aforementioned mobile body and information about other mobile bodies present in the vicinity of the aforementioned mobile body, When a mobile vehicle changes its route from its current path, a target position setting unit sets a target position around the other mobile vehicle located on the new route of the mobile vehicle. A speed plan generation unit calculates a speed plan, which is the target speed of the self-moving body at each future point in time from the time the target position is set until the self-moving body reaches the target position, based on the aforementioned moving body information and the aforementioned target position. A mobile body control unit controls the speed of the mobile body so that its speed follows the speed plan, After setting the target position, and until the self-propelled body reaches the target position, an intrusion prediction unit predicts, based on the body information and the speed plan, whether or not each of the other self-propelled bodies on the route to the changed path will enter the intrusion-restricted area set around the self-propelled body when the self-propelled body reaches the target position. Equipped with, If it is determined that the other moving body enters the no-entry zone of the self-moving body, the target position setting unit cancels the set target position, the speed plan generation unit cancels the speed plan calculated based on the target position, and the moving body control unit cancels the control of the self-moving body based on the speed plan calculated based on the target position. [Effects of the Invention]

[0007] According to the mobile vehicle control system described in this disclosure, when a mobile vehicle changes its route from its current path, target positions are set around other mobile vehicles on the new route, a speed plan is calculated, and the vehicle starts its journey at the speed determined by the speed plan. Subsequently, the system continuously predicts the future movement of each mobile vehicle on the new route to determine whether or not it will enter a restricted area set around the vehicle. If it is determined that another vehicle will enter the restricted area of ​​the vehicle, the set target positions, the speed plan calculated based on the target positions, and the vehicle's control based on the speed plan are canceled. Therefore, when a vehicle changes its route, after setting target positions on the new route, the system can predict the future movement of other mobile vehicles on the new route and revise the set target positions, etc. Since the future movement of other vehicles is predicted, the decision can be made earlier than if it were directly determined from the current surrounding information of the vehicle, improving the accuracy of the route change decision and the ride comfort. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic block diagram of the mobile control system according to Embodiment 1. [Figure 2] This is a schematic hardware configuration diagram of the mobile device control device according to Embodiment 1. [Figure 3] This is a diagram illustrating the setting of target position candidates according to Embodiment 1. [Figure 4] This is a diagram illustrating the setting of target position candidates according to Embodiment 1. [Figure 5] This is a time chart for explaining the calculation of the acceleration of the front target position candidate according to Embodiment 1. [Figure 6] This is a time chart for explaining the calculation of the acceleration of the rear target position candidate according to Embodiment 1. [Figure 7] This is a diagram illustrating the calculation of the movement position of the self-moving object and the movement position of the other moving object according to Embodiment 1. [Figure 8] This is a diagram illustrating the setting of the intrusion-restricted area according to Embodiment 1. [Figure 9] This is a flowchart illustrating the processing of the mobile control system according to Embodiment 1. [Figure 10] This is a schematic block diagram of the mobile control system according to Embodiment 2. [Figure 11] This is a schematic block diagram of the mobile control system according to Embodiment 3. [Modes for carrying out the invention]

[0009] 1. Embodiment 1 A mobile control system according to Embodiment 1 will be described with reference to the drawings. In this embodiment, the mobile control system is installed on the self-mobile vehicle. The self-mobile vehicle and the other mobile vehicle are vehicles. The self-mobile vehicle is a vehicle that performs automatic driving or driving assistance.

[0010] As shown in Figure 1, the self-propelled vehicle is equipped with a surrounding monitoring device 31, a position detection device 32, a vehicle status detection device 33, a map information database 34, a wireless communication device 35, a vehicle control device 50, a drive control device 36, a power unit 8, an electric steering device 7, an electric brake device 9, and a human interface device 37, etc.

[0011] The surrounding monitoring device 31 is a device such as a camera or radar that monitors the area around the mobile unit. Millimeter-wave radar, laser radar, ultrasonic radar, etc., are used as radar. The wireless communication device 35 uses cellular wireless communication standards such as 4G and 5G to communicate wirelessly with base stations or peripheral equipment. The wireless communication device 35 also communicates wirelessly with roadside units and surrounding mobile units.

[0012] The position detection device 32 is a device that detects the current position (latitude, longitude, and altitude) of the mobile object, and uses a GPS antenna or the like that which receives signals output from artificial satellites such as GNSS (Global Navigation Satellite System). Various methods may be used to detect the current position of the mobile object, such as the map matching method, the dead reckoning method, or a method using detection information from the surrounding area of ​​the mobile object.

[0013] The map information database 34 stores road information such as road shape (for example, number of lanes, position of each lane, shape of each lane, type of each lane, road type, speed limit, shape of intersection, etc.), road signs (speed limit sign and its speed limit, stop sign, etc.), road markings (stop line, crosswalk, etc.), toll gates (entrance position of toll gate, passing speed of toll gate, etc.), and traffic lights. The map information database 34 is mainly composed of a storage device. Note that the map information database 34 may be provided in an external server connected to the network, and the movement control device 50 may obtain necessary road information from the external server via the wireless communication device 35.

[0014] As the drive control device 36, a power control device, a brake control device, an automatic steering control device, a light control device, etc. are provided. The power control device controls the output of the power units 8 such as the internal combustion engine and the motor. The brake control device controls the braking operation of the electric brake device 9. The automatic steering control device controls the electric steering device 7. The light control device controls the direction indicator, hazard lamp, etc.

[0015] The moving body state detection device 33 is a detection device that detects the state of the moving body such as the driving state and running state of the self-moving body. In the present embodiment, the moving body state detection device 33 detects the speed, acceleration, yaw rate, steering angle, lateral acceleration, etc. of the self-moving body as the running state of the self-moving body. For example, as the moving body state detection device 33, a speed sensor that detects the rotational speed of the wheels, an acceleration sensor, an angular velocity sensor, a steering angle sensor, etc. are provided.

[0016] As the driving state of the self-moving body, acceleration / deceleration operations, steering angle operations, and lane change operations by the driver are detected. For example, as the moving body state detection device 33, an accelerator position sensor, a brake position sensor, a steering angle sensor (steering wheel angle sensor), a steering torque sensor, and a direction indicator position switch, etc. are provided.

[0017] The human interface device 37 is a device that receives input from the driver, such as a speaker, display screen, and input device, and transmits information to the driver.

[0018] 1-1. Mobile device control device 50 The mobile object control device 50 includes processing units such as an information acquisition unit 51, a target position setting unit 52, a speed plan generation unit 53, a mobile object control unit 54, and an intrusion prediction unit 55. Each process of the mobile object control device 50 is realized by the processing circuits provided in the mobile object control device 50. Specifically, as shown in Figure 2, the mobile object control device 50 includes a arithmetic processing unit 90 such as a CPU (Central Processing Unit), a storage device 91, and an input / output device 92 that inputs and outputs external signals to and from the arithmetic processing unit 90.

[0019] The arithmetic processing unit 90 may include an ASIC (Application Specific Integrated Circuit), an IC (Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), a GPU (Graphics Processing Unit), an AI (Artificial Intelligence) chip, various logic circuits, and various signal processing circuits. Furthermore, multiple arithmetic processing units 90 of the same or different types may be provided, with each processing unit being assigned to a specific task. The storage device 91 may include various storage devices such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), and hard disks.

[0020] The input / output device 92 is equipped with a communication device, an A / D converter, input / output ports, a drive circuit, etc. The input / output device 92 is connected to the surrounding monitoring device 31, the position detection device 32, the moving object status detection device 33, the map information database 34, the wireless communication device 35, the drive control device 36, and the human interface device 37, etc., and communicates with these devices.

[0021] The processing units 51 to 55 and other units of the mobile control device 50 are realized by the arithmetic processing unit 90 executing software (programs) stored in the storage device 91 and cooperating with the storage device 91 and other hardware of the mobile control device 50, such as the input / output device 92. The setting data used by each processing unit 51 to 55 is stored in the storage device 91, such as an EEPROM.

[0022] 1-1-1. Information acquisition section 51 The information acquisition unit 51 acquires mobile body information, which includes information about the mobile body itself and information about other mobile bodies present in the vicinity of the mobile body.

[0023] For example, other moving objects from which information is acquired include other moving objects traveling in front of and behind the lane in which the vehicle is currently traveling (hereinafter referred to as "preceding moving objects"), other moving objects traveling in adjacent lanes adjacent to the current lane, and other moving objects traveling in the lane to which the vehicle is changing lanes.

[0024] In this embodiment, the information acquisition unit 51 acquires the position and velocity v of the self-moving object, and the position and velocity vothr of each other-moving object. The information acquisition unit 51 also acquires the inter-moving object distance d, which is the distance between the self-moving object and the other-moving objects, and the relative velocity vrel of the other-moving objects with respect to the self-moving object. The relative velocity vrel is the relative velocity obtained by subtracting the velocity veg of the self-moving object from the velocity vothr of the other-moving object (vrel = vothr - veg).

[0025] The information acquisition unit 51 acquires the position information of the mobile body from the position detection device 32, and the direction of movement, speed, and acceleration of the mobile body from the mobile body state detection device 33.

[0026] The information acquisition unit 51 acquires road information around the mobile vehicle from the map information database 34 based on the position information of the mobile vehicle acquired from the position detection device 32. The road information to be acquired includes road shape (e.g., number of lanes, position of each lane, shape of each lane, type of each lane, road type, speed limit, intersection shape, etc.), road signs (speed limit signs and their speed limits, stop signs, etc.), road markings (stop lines, pedestrian crossings, etc.), toll booth information (toll booth entrance position, toll booth passing speed, etc.), traffic light information, etc. The shape of each lane includes the lane center position, lane width, lane curvature, etc. The shape of the lane is set at each point along the longitudinal direction of the lane. The type of each lane includes the main lane, merging lane that merges with the main lane, and branching lane that branches off from the main lane, etc. The shape of the lane also includes the starting position of the merging lane, the ending position of the merging lane, and the length of the merging lane.

[0027] Furthermore, the information acquisition unit 51 detects the shape and type of road markings, such as white lines and shoulders, based on detection information of road markings acquired from the surrounding monitoring device 31, and determines the shape and position of each lane, the number of lanes, the type of each lane, etc., based on the detected shape and type of road markings, etc. The shape of each lane includes the lane's center position, lane width, lane curvature, etc. The type of each lane includes main lanes, merging lanes, and branching lanes, etc.

[0028] Furthermore, the information acquisition unit 51 acquires information on road signs, road markings, traffic lights, and toll booths based on detection information acquired from the surrounding monitoring device 31. The information acquisition unit 51 may also acquire the current status of traffic lights, etc., from an external source via wireless communication.

[0029] The information acquisition unit 51 acquires information about other moving objects in the vicinity of the self-moving object. In this embodiment, the information acquisition unit 51 acquires the relative position, relative speed, and relative distance of other moving objects relative to the self-moving object, as well as the position, direction of movement, speed, and acceleration of other moving objects, based on detection information acquired from the surrounding monitoring device 31 and the position information of the self-moving object acquired from the position detection device 32. In addition to other moving objects, the information acquisition unit 51 also acquires information such as obstacles, pedestrians, and traffic restrictions such as lane closures.

[0030] The information acquisition unit 51 may acquire information from outside its own mobile vehicle via communication regarding the driving status of other mobile vehicles (such as the position, direction of movement, and speed of other mobile vehicles), as well as road information (such as lane information) and traffic information (such as obstacles and congestion) around its own mobile vehicle. For example, the information acquisition unit 51 may acquire information from other mobile vehicles or a server on which other mobile vehicles have uploaded information via wireless communication, etc., regarding the driving status of other mobile vehicles, as well as road information and traffic information around its own mobile vehicle. It may also acquire information from roadside devices such as cameras that monitor road conditions, as well as road information and traffic information in the monitoring area, via wireless communication, etc.

[0031] 1-1-2.Target position setting section 52 The target position setting unit 52 sets a target position around other moving objects that are located on the new path of the moving object when the moving object changes its path from its current path.

[0032] If there are no other moving objects on the route to which the route has been changed, the target position may be set using a method different from that of this embodiment.

[0033] In this embodiment, the path is a lane, and the path change is a lane change. For example, lane changes include when an automobile changes lanes from the lane it is currently traveling in to an adjacent lane, when an automobile changes lanes from the lane it is currently traveling in on the main line to a branching lane, and when an automobile changes lanes from the lane it is currently traveling in on a merging line to a lane on the main line.

[0034] The route may be a road, and a route change may be a road change. For example, a road change includes changing from the road you are currently traveling on to a road where you turn right or left, or changing from the road you are currently traveling on to another road such as a road that branches off or merges with it.

[0035] In this embodiment, the target position setting unit 52 sets multiple target position candidates around the other moving object to which the route change will occur, and selects and sets a target position from among the multiple target position candidates.

[0036] The target position setting unit 52 sets one or more other moving objects present on the route to be changed as the other moving objects for which the target position direction is set. For example, the target position setting unit 52 sets one or more other moving objects present within the range of the determination distance from the self-moving object on the route to be changed as the other moving objects for which the target position direction is set. The determination distance may be increased as the speed of the self-moving object increases.

[0037] In this embodiment, as shown in Figure 3, if the path width of the destination path is wide and target position candidates can be set on the left and right sides of the other moving object being set, the target position setting unit 52 sets target position candidates in four locations: the front, rear, left, and right sides of the other moving object being set. As shown in Figure 4, if the path width of the destination path is narrow and target position candidates cannot be set on the left and right sides of the other moving object being set, the target position candidates are set in two locations: the front and rear of the other moving object being set. Note that if there is no space to set target position candidates on the front, rear, left, or right side of the other moving object being set, the target position setting unit 52 does not need to set target position candidates on the front, rear, left, or right side where there is no space.

[0038] The target position setting unit 52 sets a candidate target position for the front side at a position forward of the other target moving object by a distance dobj along the route to be changed, and sets a candidate target position for the rear side at a position backward of the other target moving object by a distance dobj along the route to be changed.

[0039] Using the following formula, the target position setting unit 52 sets the distance between target mobile bodies, dobj, based on the target velocity vobj of the self-mobile at the time of arrival at the target position candidate. The target position setting unit 52 increases the absolute value of the distance between target mobile bodies, dobj, as the velocity vothr of the other mobile body being set increases. The target velocity vobj of the self-mobile is set to the velocity vothr0 of the other mobile body at the time of setting the target position. In the case of a target position candidate on the front side, the distance between target mobile bodies, dobj, is negative, and in the case of a target position candidate on the rear side, the distance between target mobile bodies, dobj, is positive.

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[0040] Here, Thw_f is the time between vehicles ahead, Thw_r is the time between vehicles behind, and Dstop is the target distance when the other moving object is stopped, and is referred to as the stopping distance.

[0041] The target position setting unit 52 sets a candidate target position on the right or left side at a distance equal to the left-right spacing distance from the other moving object to be set. The left-right spacing distance is usually shorter than the distance between target moving objects dobj. When setting a candidate target position on the right or left side, the distance between target moving objects dobj is set to 0.

[0042] <Evaluation of acceleration for each target position candidate> In this embodiment, the target position setting unit 52 selects and sets as the target position candidate the one in which the magnitude of the acceleration of the moving body required to reach the target position candidate is minimized, from among a plurality of target position candidates.

[0043] This section explains how to calculate the acceleration of the moving object until it reaches the front and rear target position candidates. Figure 5 shows the front target position candidate, and Figure 6 shows the rear target position candidate. The path change time Tchg from the time the target position is set until the object reaches the target position candidate is divided into a first time T1 and a second time T2. The first time T1 and the second time T2 are set to the same time.

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[0044] It is assumed that after setting the target position, the self-propelled object accelerates with a first acceleration a1 for a first time T1, and then accelerates with a second acceleration a2 for a second time T2, until it reaches the target position candidate in front. If the target position candidate is in front, the first acceleration a1 is positive and the second acceleration a2 is negative. If the target position candidate is in rear, both the first acceleration a1 and the second acceleration a2 are positive.

[0045] The target velocity vobj of the mobile object at the time of arrival at the target position candidate is set to the velocity vothr0 of the other mobile object at the time the target position was set. As shown in the following equation, the velocity veg1 of the mobile object at the time of the first time T1 is calculated using the first time T1, the first acceleration a1, and the velocity veg0 of the mobile object at the time the target position was set. The velocity Veg2 of the mobile object at the time of arrival at the target position candidate is equal to the target velocity vobj and is calculated using the velocity veg1 of the mobile object at the time of the first time T1, the second acceleration a2, and the second time T2.

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[0046] The difference between the distance d0 between the moving objects when setting the target position and the distance d2 between the moving objects when arriving at the candidate target position can be expressed by the following equation from equations (2) and (3). The distance d2 between the moving objects when arriving is equal to the distance dobj between the target moving objects. The distance d between the moving objects is the forward and backward distance along the path between the own moving object and the other moving object. It is positive when the own moving object is located behind the other moving object, and negative when it is located in front of it. In the case of a candidate target position in front, the distance dobj between the target moving objects is negative, and in the case of a candidate target position behind, the distance dobj between the target moving objects is positive.

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[0047] Let XL be the distance traveled by the self-moving object during the route change time Tchg. The distance traveled by the other moving object during the route change time Tchg is XL-(d0-d2), and the route change time Tchg and the first time T1 can be expressed using the target velocity vobj by the following equations.

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[0048] Rearranging the above equation, the first acceleration a1 and the second acceleration a2 can be expressed by the following equations.

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[0049] Therefore, for each target position candidate of the other moving object that is the target of each setting, the target position setting unit 52 uses equation (6) to calculate the first acceleration a1 and the second acceleration a2 based on the velocity veg0 of the self moving object at the time of setting the target position, the velocity vothr0 of the other moving object at the time of setting the target position, the distance d0 between the moving objects at the time of setting the target position, and the distance dobj between the target moving objects. Note that the path change time Tchg and the first time T1 are set in advance.

[0050] For each target position candidate of the other moving object being set, the target position setting unit 52 calculates the maximum acceleration value amax and the minimum acceleration value amin using the following formula.

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[0051] For each target position candidate of the other moving object being set, the target position setting unit 52 excludes that target position candidate from the selection of target positions if the maximum acceleration value amax exceeds a preset upper acceleration limit, or if the minimum acceleration value amin falls below a preset lower acceleration limit.

[0052] For each target position candidate of the other moving object being set, the target position setting unit 52 calculates the maximum value of the absolute value of acceleration during path change, |a|max, as the magnitude of the acceleration of the moving object itself, using the following formula.

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[0053] The target position setting unit 52 then selects and sets as the target position the target position candidate that minimizes the maximum absolute value of acceleration |a|max among the multiple target position candidates that have not been excluded from the selection.

[0054] Furthermore, for each target position candidate of the other moving object being set, the target position setting unit 52 may use the following formula to calculate the integral value A of the square of the acceleration during the path change as the magnitude of the acceleration of the moving object itself. Alternatively, the integral value of the absolute value of the acceleration may also be used.

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[0055] On the other hand, if there are no target position candidates that have not been excluded from the selection, and the target position setting unit 52 cannot select and set a target position from multiple target position candidates, it will cancel the selection and setting of the target position.

[0056] The target position setting unit 52 may, for each target position candidate, calculate a velocity plan, which is the target velocity of the moving body at each future point in time, using the same processing as the velocity plan generation unit 53. It may then calculate the target acceleration of the moving body at each future point in time by differentiating the target velocity of the velocity plan with respect to time, and select and set the target position candidate that minimizes the magnitude of the target acceleration as the target position.

[0057] <Processing after intrusion into a restricted area is detected> The target position setting unit 52 cancels the set target position when the intrusion prediction unit 55, described later, determines that another mobile object is entering the area where its own mobile object is prohibited from entering.

[0058] In this embodiment, the target position setting unit 52 re-selects and sets the target position when the intrusion prediction unit 55, described later, determines that another moving object is entering the area where the own moving object is prohibited from entering.

[0059] In this embodiment, similar to the initial selection setting described above, the target position setting unit 52 re-selects and sets as the target position the target position candidate that minimizes the magnitude of the acceleration of the moving body required to reach the target position candidate from among multiple target position candidates that have not been excluded from the selection target. The re-selection setting process is the same as the initial selection setting process, so the explanation is omitted. Furthermore, if the target position setting unit 52 cannot re-select a target position from among multiple target position candidates, it cancels the re-selection setting of the target position. Note that even if a target position candidate that was excluded due to the intrusion detection of the restricted area is re-selected, a velocity plan is calculated so that other moving bodies do not enter the restricted area of ​​the moving body. Note that a target position candidate that was excluded due to the intrusion detection of the restricted area may be excluded from the target position re-selection target.

[0060] 1-1-3. Speed ​​planning generation unit 53 The velocity plan generation unit 53 calculates a velocity plan, which is the target velocity vplan(t) of the mobile body at each future point in time from the time the target body is set until the mobile body reaches the target body, based on the mobile body information and the target position.

[0061] In this embodiment, the speed plan generation unit 53 performs filtering on the step change from the distance d0 between moving bodies at the time the target position is set to the distance dobj between target moving bodies at the target position, in a virtual time representing each future time point t from the time the target position is set to a time point beyond the planning period, and calculates the transient distance dplan(t) between target moving bodies at each future time point t. The planning period is set to the period until the transient distance dplan between target moving bodies after filtering reaches the distance dobj between target moving bodies, and is a period corresponding to the time constant of the filtering process, and is the same as the route change time Tchg.

[0062] For example, the following operation is performed. din(t) is the input value to the filter process, which changes stepwise from d0-dobj to 0 when the target position is set at t=0. Here, s is the Laplace operator, F(s) is the transfer function representing the filter process, and din(s) represents the Laplace-transformed input value din, L -1 This represents the inverse Laplace transform. Note that the actual calculation formula uses a discretized form of the formula.

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[0063] Various low-pass filtering methods are used for filtering. For example, multi-stage (e.g., 2, 3, or 4 stages) moving average processing is used for filtering.

[0064] In this embodiment, the velocity planning generation unit 53 calculates the transient target velocity vplan(t) for each future time point t, based on the time derivative of the transient distance between target moving objects dplan(t) at each future time point t and the target velocity vobj when the target position is reached, in a virtual time representing each future time point t from the time the target position is set to a time point in the planning period.

[0065] For example, the following operation is performed, where d / dt represents the differential operation. Note that the actual operation formula uses a discretized form.

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[0066] The velocity planning generation unit 53 calculates the time derivative of the initial output value of the filtering process at time t=0 when the target position is set, such that the target velocity vplan(0) at time t=0 when the target position is set matches the velocity veg0 of the self-moving object at time t=0 when the target position is set. It also calculates the initial output value of the filtering process at time t=0 when the target position is set, such that the transient distance between target moving objects dplan(0) at time t=0 when the target position is set matches the distance d0 between moving objects at time t=0 when the target position is set. Finally, at time t=0 when the target position is set, it sets the initial internal calculation value of the filtering process such that the time derivative of the output value of the filtering process matches the time derivative of the initial output value, and the output value of the filtering process matches the initial output value.

[0067] Furthermore, if the speed plan generation unit 53 cannot select or re-select the target position, it will stop calculating the speed plan.

[0068] <Recalculation after intrusion detection into a restricted area> The speed plan generation unit 53 cancels the speed plan calculated based on the target position when the intrusion prediction unit 55 (described later) determines that another moving object is entering the intrusion prohibition area of ​​the own moving object.

[0069] In this embodiment, if the velocity plan generation unit 53 determines that another moving object is entering the intrusion prohibition area of ​​the own moving object, as determined by the intrusion prediction unit 55 (described later), and the target position is re-selected and set, it recalculates the velocity plan corresponding to the re-selected target position.

[0070] 1-1-4. Intrusion prediction unit 55 The intrusion prediction unit 55 predicts, based on the vehicle information and speed plan, whether other vehicles on the route to the destination will enter the no-intrusion zone set around the vehicle when the vehicle reaches the target location after the target location has been set (or reset). This prediction process is performed at each calculation cycle and continuously from the time the target location is set (or reset) until the vehicle reaches the target location.

[0071] In this embodiment, the intrusion prediction unit 55 predicts the forward and backward movement position xeg(Tchg) of the mobile body and the movement position xothr(Tchg) of other mobile bodies in the forward and backward directions of the path at the time the mobile body reaches the target position, based on the mobile body information and the velocity plan.

[0072] As shown in Figure 7, the intrusion prediction unit 55 calculates the mobile body's position xeg(Tchg) at the time it reaches the target position using the following equation. Here, xeg(Tnow) is the mobile body's position at the current time Tnow, relative to its position at the time the target position was set.

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[0073] For each other moving object present on the route to be changed, the intrusion prediction unit 55 calculates the movement position xothr(Tchg) of the other moving object at the time the self-mobile object reaches the target position after the target position has been set, using the following formula. Here, xothr(Tnow) is the movement position of the other moving object at the current time Tnow, relative to the position of the self-mobile object at the time the target position was set, and vothr(Tnow) is the velocity of the other moving object at the current time Tnow.

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[0074] The intrusion prediction unit 55 determines whether or not another mobile object will enter the intrusion-restricted area of ​​the mobile object based on the mobile object's movement position xeg(Tchg) and the movement position xothr(Tchg) of the other mobile object.

[0075] As shown in Figure 8, the intrusion prediction unit 55 sets intrusion prohibition zones within the range of the intrusion prohibition distance Fthr in front of the mobile body when it reaches the target position, and within the range of the intrusion prohibition distance Rthr behind the mobile body.

[0076] The front entry restriction distance Fthr and the rear entry restriction distance Rthr are set using the following formula, based on the target speed vobj of the moving vehicle when it reaches the target position. As the target speed vobj increases, the entry restriction area is enlarged. Here, Thw_f is the time between vehicles in front, Thw_r is the time between vehicles behind, and Dstop is the stopping distance.

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[0077] For each other mobile object present on the route to which the route has been changed, the intrusion prediction unit 55 predicts that the other mobile object will enter the intrusion-restricted area of ​​the self-mobile object if the following equation holds true, and predicts that the other mobile object will not enter the intrusion-restricted area of ​​the self-mobile object if the following equation does not hold true.

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[0078] The intrusion prediction unit 55 may notify the driver of the mobile vehicle via the speaker and display screen if it predicts that another mobile vehicle will enter the mobile vehicle's restricted area.

[0079] 1-1-5. Mobile Unit Control Unit 54 The mobile unit control unit 54 controls the speed of the mobile unit so that its speed veg follows the speed plan.

[0080] In this embodiment, the mobile unit control unit 54 calculates an acceleration command value aref such that the current velocity veg of the mobile unit approaches the current target velocity vplan(t). In this case, known feedback control or known optimal control may be performed.

[0081] The mobile unit control unit 54 calculates the command value for the output of the power unit 8 and the command value for the braking force of the electric brake device 9 based on the command value of acceleration aref, and transmits each command value to the power control device and the brake control device.

[0082] The power control device controls the output of power units 8, such as internal combustion engines and motors, according to the output command value. The brake control device controls the braking operation of the electric brake device 9 according to the braking force command value.

[0083] If the target position cannot be selected or re-selected and the speed plan cannot be calculated, the mobile unit control unit 54 will discontinue controlling the mobile unit based on the speed plan.

[0084] <Processing after intrusion into a restricted area is detected> If the intrusion prediction unit 55 determines that another mobile object is entering the intrusion restriction area of ​​the own mobile object, the mobile object control unit 54 cancels the control of the own mobile object based on the speed plan calculated based on the target position.

[0085] In this embodiment, the mobile unit control unit 54 controls its own mobile body based on the recalculated speed plan when the intrusion prediction unit 55 determines that another mobile body is entering the intrusion prohibition area of ​​its own mobile body, the target position is re-selected and set, and the speed plan is recalculated.

[0086] The mobile unit control unit 54 may calculate a target movement trajectory for the mobile unit to change its path to the target position and control the steering of the mobile unit so that it follows the target movement trajectory. The mobile unit control unit 54 calculates a command value for the target steering angle, and the automatic steering control device controls the electric steering device 7 according to the command value for the target steering angle.

[0087] 1-1-6. Flowchart Next, the general processing procedure (mobile body control method) of the mobile body control system according to this embodiment will be explained using the flowchart shown in Figure 9. The processing in the flowchart of Figure 9 is executed, for example, at predetermined calculation cycles. Note that unnecessary steps at the time of execution are skipped as appropriate.

[0088] In step S01, as described above, the information acquisition unit 51 acquires mobile body information, which includes information about the mobile body itself and information about other mobile bodies present in the vicinity of the mobile body itself.

[0089] In step S02, the target position setting unit 52 determines whether the moving body is changing its route from the current route. If it is changing its route, the process proceeds to step S03. If it is not changing its route, the process ends.

[0090] In step S03, the target position setting unit 52 determines whether or not it is the start of a route change. If it is the start of a route change, the unit proceeds to step S04; otherwise, it proceeds to step S06.

[0091] In step S04, as described above, the target position setting unit 52 sets a target position around other moving objects that are on the path to which the self-moving object will change its route. In this embodiment, as described above, the target position setting unit 52 sets a plurality of target position candidates around other moving objects on the path to which the self-moving object will change its route, and selects and sets a target position from the plurality of target position candidates. Among the plurality of target position candidates, the target position setting unit 52 selects and sets as the target position the target position candidate that minimizes the magnitude of the self-moving object's acceleration required to reach the target position candidate.

[0092] If it is determined in step S06 that another moving object has entered the intrusion-restricted area of ​​the own moving object, the target position setting unit 52 cancels the selected target position and re-selects and sets a new target position.

[0093] In step S05, as described above, the velocity plan generation unit 53 calculates a velocity plan, which is the target velocity vplan(t) of the mobile body at each future point in time from the time the target position is set until the mobile body reaches the target position, based on the mobile body information and the target position.

[0094] If it is determined in step S06 that another moving object has entered the area where the own moving object is prohibited from entering, the speed plan generation unit 53 cancels the speed plan calculated based on the target position and recalculates the speed plan corresponding to the re-selected target position.

[0095] In step S06, as described above, after setting (or resetting) the target position, the intrusion prediction unit 55 predicts, based on the mobile body information and speed plan, whether other mobile bodies on the route to the changed path will enter the no-entry zone set around the mobile body when the mobile body reaches the target position. If it is predicted that an intrusion will occur, the process returns to step S04, cancels the target position set in the target position setting unit 52, and allows the target position to be re-selected and set. If it is predicted that an intrusion will not occur, the process proceeds to step S07.

[0096] In step S07, as described above, the mobile unit control unit 54 controls the speed of the mobile unit so that the speed veg of the mobile unit follows the speed plan.

[0097] 2. Embodiment 2 Next, a mobile body control system according to Embodiment 2 will be described. The same components as in Embodiment 1 will not be described. The basic configuration of the mobile body control system according to this embodiment is the same as in Embodiment 1, but the information acquisition unit 51 is provided on the roadside unit 60, and the target position setting unit 52, intrusion prediction unit 55, speed plan generation unit 53, and mobile body control unit 54 are provided on the mobile body itself.

[0098] Figure 10 shows a schematic block diagram of the mobile object control system according to this embodiment. The roadside unit 60 is a monitoring device such as a camera installed in a passageway to monitor the condition of the passageway. The passageway includes roads and various other passageways, such as passageways within facilities where mobile objects can move. Multiple roadside units 60 are provided distributed along the passageway. The roadside units 60 monitor mobile objects present in the monitoring area of ​​the passageway. Each roadside unit 60 is equipped with an information acquisition unit 51 and acquires information on each mobile object and passageway information (including road information) present in the monitoring area based on detection information from cameras, etc. The information on each mobile object and passageway information (road information) to be acquired is the same as in Embodiment 1, so a description will be omitted, but the information on each mobile object includes the position and speed information of each mobile object. The mobile object control device 50 acquires mobile object information by wirelessly communicating with one or more roadside units 60 (information acquisition units 51) arranged around the mobile object. The acquired mobile body information includes information about the mobile body corresponding to the self-mobile and information about each other mobile body present in the vicinity of the self-mobile. The mobile body control device 50 uses the mobile body information acquired from the roadside unit 60 to determine the mobile body corresponding to the self-mobile and the other mobile bodies present in the vicinity of the self-mobile, based on the self-mobile's position information, etc.

[0099] Since detection information from the roadside unit 60 is used, information on other moving objects that are in the blind spot of the moving object can also be obtained, improving the accuracy of each process.

[0100] 3. Embodiment 3 Next, a mobile body control system according to Embodiment 3 will be described. The same components as in Embodiment 1 will be omitted from the description. The basic configuration of the mobile body control system according to this embodiment is the same as in Embodiment 1, however, the information acquisition unit 51, target position setting unit 52, intrusion prediction unit 55, and speed plan generation unit 53 are provided on the roadside unit 60, and the mobile body control unit 54 is provided on the mobile body itself.

[0101] Figure 11 shows a schematic block diagram of the mobile object control system according to this embodiment. The roadside unit 60 is a monitoring device such as a camera installed in the passageway to monitor the condition of the passageway. Multiple roadside units 60 are provided distributed along the passageway. The roadside units 60 monitor mobile objects present in the monitoring area of ​​the passageway. Each roadside unit 60 is equipped with an information acquisition unit 51 and acquires information on each mobile object present in the monitoring area and passageway information (including road information) based on detection information from cameras, etc. The information on each mobile object and passageway information (road information) to be acquired are the same as in Embodiment 1, so a description will be omitted, but the information on each mobile object includes the position and speed information of each mobile object.

[0102] Each roadside unit 60 is also equipped with a target position setting unit 52, an intrusion prediction unit 55, and a speed plan generation unit 53. When each roadside unit 60 receives route change information (information about its own mobile body, the route it is currently traveling on, and the route to which it will change the route, etc.) from a mobile body in the monitoring area via wireless communication, it sets the mobile body to be changed as its own mobile body, sets the mobile bodies in the vicinity of its own mobile body as other mobile bodies, performs processing in each unit to calculate the target position and the speed plan of its own mobile body, and transmits the target position and the speed plan of its own mobile body to its own mobile body via wireless communication. The processing of each unit is the same as in Embodiment 1, so the explanation is omitted. The target position setting unit 52, the intrusion prediction unit 55, and the speed plan generation unit 53 may be provided in a management server that manages multiple roadside units 60.

[0103] When the mobile vehicle changes its route, the mobile vehicle control device 50 communicates wirelessly with one or more roadside units 60 (information acquisition units 51) positioned around the mobile vehicle to transmit information about the mobile vehicle's route change (information about the mobile vehicle, the route being traveled, and the route to which the route has been changed, etc.). The mobile vehicle control device 50 then receives information such as the target position and the mobile vehicle's speed plan from the roadside units 60 via wireless communication. The mobile vehicle control unit 54 controls the speed of the mobile vehicle using the received speed plan. The processing of the mobile vehicle control unit 54 is the same as in Embodiment 1, so a description is omitted.

[0104] Since the roadside unit 60 performs the calculation processing for each part, the processing load on the mobile control device 50 can be reduced.

[0105] While this disclosure describes various exemplary embodiments and examples, the various features, aspects, and functions described in one or more embodiments are not limited to the application of a particular embodiment, but are applicable individually or in various combinations to the embodiments. Accordingly, countless variations not illustrated are envisioned within the scope of the art disclosed in this disclosure. For example, these include modifying, adding or omitting at least one component, or even extracting at least one component and combining it with a component from another embodiment. [Explanation of Symbols]

[0106] 51: Information acquisition unit, 52: Target position setting unit, 53: Speed ​​plan generation unit, 54: Mobile unit control unit, 55: Intrusion prediction unit, 60: Roadside unit, xeg: Movement position of the own mobile unit, xothr: Movement position of other mobile units

Claims

1. An information acquisition unit that acquires mobile body information including information about the mobile body itself and information about other mobile bodies present in the vicinity of the mobile body, When a mobile vehicle changes its route from its current path, a target position setting unit sets a target position around another mobile vehicle that is located on the new route of the mobile vehicle. A speed plan generation unit calculates a speed plan, which is the target speed of the self-moving body at each future point in time from the time the target position is set until the self-moving body reaches the target position, based on the aforementioned moving body information and the aforementioned target position. A mobile body control unit controls the speed of the mobile body so that its speed follows the speed plan, After setting the target position, and until the self-propelled body reaches the target position, an intrusion prediction unit predicts, based on the body information and the speed plan, whether or not each of the other self-propelled bodies on the route to the changed path will enter the intrusion-restricted area set around the self-propelled body when the self-propelled body reaches the target position. Equipped with, A mobile body control system in which, when it is determined that the other mobile body has entered the no-entry zone of the mobile body, the target position setting unit cancels the set target position, the speed plan generation unit cancels the speed plan calculated based on the target position, and the mobile body control unit cancels the control of the mobile body based on the speed plan calculated based on the target position.

2. The intrusion prediction unit predicts the position of the self-mobile and the position of each of the other mobile bodies at the time the self-mobile reaches the target position, based on the mobile body information and the speed plan, after the target position has been set and until the self-mobile reaches the target position, and determines whether or not the other mobile bodies enter the intrusion prohibited area based on the position of the self-mobile and the position of each of the other mobile bodies.

3. The target position setting unit sets a plurality of target position candidates around the other moving body, and selects and sets the target position from the plurality of target position candidates. The mobile body control system according to claim 1 or 2, in which it is determined that the other mobile body has entered the no-entry zone of the self-mobile body, the target position is re-selected and set, the speed plan generation unit recalculates the speed plan corresponding to the re-selected target position, and the mobile body control unit controls the self-mobile body based on the recalculated speed plan.

4. The target position setting unit sets a plurality of target position candidates around the other moving body, and selects and sets the target position from the plurality of target position candidates. The mobile body control system according to claim 1, wherein, among the plurality of target position candidates, the target position candidate that minimizes the magnitude of the acceleration of the mobile body required to reach the target position candidate is selected and set as the target position.

5. The target position setting unit sets a plurality of target position candidates around the other moving body, and selects and sets the target position from the plurality of target position candidates. If it is not possible to select and set the target position from multiple candidate target positions, the selection and setting of the target position will be canceled. The speed plan generation unit stops the calculation of the speed plan, The mobile body control system according to claim 1, wherein the mobile body control unit discontinues control of the mobile body based on the speed plan.

6. The mobile body control system according to claim 1, wherein the intrusion prediction unit enlarges the intrusion prohibition area as the target speed included in the speed plan increases.

7. The information acquisition unit, the target position setting unit, the intrusion prediction unit, the speed plan generation unit, and the mobile body control unit are provided on the mobile body, as described in claim 1.

8. The aforementioned information acquisition unit is installed in a roadside unit that is set up in a passageway to monitor the condition of the passageway. The mobile body control system according to claim 1, wherein the target position setting unit, the intrusion prediction unit, the speed plan generation unit, and the mobile body control unit are provided on the mobile body.

9. The information acquisition unit, the target position setting unit, the intrusion prediction unit, and the speed plan generation unit are provided in a roadside unit installed in the passageway to monitor the condition of the passageway. The mobile body control system according to claim 1, wherein the mobile body control unit is provided on the mobile body.

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