Unmanned vehicle control system, unmanned vehicle, and unmanned vehicle control method

Abstract

To secure safety of a work site in which an unmanned vehicle is operated and suppress reduction in productivity.SOLUTION: A control system 1 for an unmanned vehicle for setting an allowable area for permitting travel for each unmanned vehicle includes: an unmanned vehicle data acquisition unit 321 for acquiring unmanned vehicle data including position data of the unmanned vehicle; a road surface state data acquisition unit 322 for acquiring road surface state data capable of predicting stop accuracy of a road on which the unmanned vehicle travels; and a travel conditions data generation unit 323 for generating data including an allowable area in a travel path of the unmanned vehicle, a stop point in the allowable area, and target travel speed for stopping the unmanned vehicle at the stop point based on the unmanned vehicle data acquired by the unmanned vehicle data acquisition unit 321. The travel conditions data generation unit 323 sets the allowable area or the stop point based on the road conditions data of the predetermined area including the stop point acquired by the road surface state data acquisition unit 322.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an unmanned vehicle control system, an unmanned vehicle, and a method for controlling an unmanned vehicle. [Background technology]

[0002] 2. Description of the Related Art In wide-area work sites such as mines, unmanned vehicles that travel unmanned along a travel course are sometimes used. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2016 / 139757 Summary of the Invention [Problem to be solved by the invention]

[0004] At a work site, multiple unmanned vehicles are used. The unmanned vehicles are permitted to travel within a permission area set ahead in the traveling direction. The travel speed of the unmanned vehicles is controlled so that they stop before reaching the end of the permission area. However, if the unmanned vehicles slip, there is a risk that they will not be able to stop before reaching the end of the permission area.

[0005] An aspect of the present invention aims to ensure the safety of a work site where an unmanned vehicle operates and to suppress a decrease in productivity. [Means for solving the problem]

[0006] According to an aspect of the present invention, there is provided an unmanned vehicle control system that sets an allowed area where driving is permitted for each unmanned vehicle, the control system comprising: an unmanned vehicle data acquisition unit that acquires unmanned vehicle data including position data of the unmanned vehicle; a road surface condition data acquisition unit that acquires road surface condition data capable of predicting the stopping accuracy of the driving path along which the unmanned vehicle is traveling; and a driving condition data generation unit that generates data including an allowed area on the driving path of the unmanned vehicle, a stopping point in the allowed area, and a target driving speed for the unmanned vehicle to stop at the stopping point, based on the unmanned vehicle data acquired by the unmanned vehicle data acquisition unit, wherein the driving condition data generation unit sets the allowed area or the stopping point based on the road surface condition data of a predetermined area including the stopping point acquired by the road surface condition data acquisition unit. Effect of the Invention

[0007] According to the aspects of the present invention, it is possible to ensure the safety of a work site where an unmanned vehicle operates and to suppress a decrease in productivity. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of a control system and an unmanned vehicle according to an embodiment. [Diagram 2] FIG. 2 is a diagram showing a schematic diagram of an unmanned vehicle and a travel path according to the embodiment. [Diagram 3] FIG. 3 is a functional block diagram showing a control system for an unmanned vehicle according to the embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of a permission area. [Diagram 5] FIG. 5 is a diagram illustrating another example of the permission area. [Figure 6] FIG. 6 is a flowchart showing a control method for an unmanned vehicle according to the embodiment. [Figure 7] FIG. 7 is a diagram showing an example of setting the permission area. [Figure 8] FIG. 8 is a schematic diagram showing an example of a speed limit for an unmanned vehicle. [Figure 9] FIG. 9 is a schematic diagram showing another example of the speed limit of an unmanned vehicle. [Figure 10] FIG. 10 is a block diagram illustrating an example of a computer system according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings, but the present invention is not limited thereto. The components of the embodiments described below can be appropriately combined. In addition, some components may not be used.

[0010] Fig. 1 is a diagram showing a schematic diagram of an example of a control system 1 and an unmanned vehicle 2 according to this embodiment. Fig. 2 is a diagram showing a schematic diagram of an unmanned vehicle 2 and a travel path HL according to this embodiment. Fig. 3 is a functional block diagram showing a control system 1 for an unmanned vehicle 2 according to this embodiment. In this embodiment, an unmanned vehicle 2 is used at a work site. The unmanned vehicle 2 refers to a work vehicle that travels unmanned based on control commands without being driven by a driver.

[0011] The work site is, for example, a mine. A mine refers to a place or business where minerals are extracted. The cargo transported by the unmanned vehicle 2 is, for example, ore or soil excavated in the mine. The unmanned vehicle 2 travels on at least a portion of a travel path HL that leads to a plurality of work sites PA in the mine. The work sites PA include at least one of a loading site and a soil unloading site. The travel path HL includes an intersection IS. The loading site refers to an area where loading work is carried out to load the cargo onto the unmanned vehicle 2. A loader 7 such as a hydraulic excavator operates in the loading site. The soil unloading site refers to an area where unloading work is carried out to unload the cargo from the unmanned vehicle 2. A crusher 8, for example, is provided in the soil unloading site.

[0012] The unmanned vehicle 2 is, for example, a dump truck that travels around a work site and transports cargo.

[0013] The control system 1 is a control system for the unmanned vehicles 2 that sets an allowed area AP or a stop point SP in which travel is permitted for each unmanned vehicle 2. The control system 1 includes a management device 3 and a communication system 4. The management device 3 includes a computer system and is installed in a control facility 5 at the work site. An operator is present at the control facility 5. The communication system 4 performs communication between the management device 3 and the unmanned vehicles 2. A wireless communication device 6 is connected to the management device 3. The communication system 4 includes a wireless communication device 6. The management device 3 and the unmanned vehicles 2 communicate wirelessly via the communication system 4. The unmanned vehicles 2 output unmanned vehicle data of each unmanned vehicle 2 to the management device 3. The unmanned vehicles 2 travel on the travel path HL at the work site based on the travel condition data transmitted from the management device 3. The unmanned vehicles 2 travel according to the travel path HL and the travel course CS set in the work area PA based on the control signal from the management device 3.

[0014] [Unmanned vehicles] The unmanned vehicle 2 includes a vehicle body 21, a dump body 22 supported by the vehicle body 21, a traveling device 23 supporting the vehicle body 21, a wireless communication device 28, a position sensor 41, a steering angle sensor 42, an azimuth angle sensor 43, a speed sensor 44, a road surface camera 45, and a control device 10. The control device 10 will be described later.

[0015] The vehicle body 21 includes a vehicle body frame and supports the dump body 22. The vehicle body 21 also has a hydraulic pump (not shown) and a plurality of hydraulic cylinders (not shown) that operate with hydraulic oil discharged from the hydraulic pump.

[0016] The dump body 22 is a member into which a load is loaded. The dump body 22 is raised and lowered by the operation of a hoist cylinder, which is a hydraulic cylinder. The dump body 22 is adjusted to at least one of a loading position and a dumping position by the operation of the hoist cylinder. The loading position is a position in which a load can be loaded, and in which the dump body 22 is lowered. The dumping position is a position in which a load is discharged, and in which the dump body 22 is raised.

[0017] The traveling device 23 includes wheels 27 and travels on the travel path HL. The wheels 27 include front wheels 27F and rear wheels 27R. Tires are attached to the wheels 27. The traveling device 23 has a driving device 23A, a braking device 23B, and a steering device 23C.

[0018] The driving device 23A generates a driving force for accelerating the unmanned vehicle 2. The driving device 23A includes an internal combustion engine such as a diesel engine. The driving device 23A may also include an electric motor. The driving force generated by the driving device 23A is transmitted to the rear wheels 27R, causing the rear wheels 27R to rotate. The rotation of the rear wheels 27R causes the unmanned vehicle 2 to move on its own.

[0019] The braking device 23B generates a braking force for decelerating or stopping the unmanned vehicle 2.

[0020] The steering device 23C is capable of adjusting the traveling direction of the unmanned vehicle 2. The traveling direction of the unmanned vehicle 2 includes the orientation of the front part of the vehicle body 21. The steering device 23C adjusts the traveling direction of the unmanned vehicle 2 by steering the front wheels 27F. The steering device 23C has a steering cylinder, which is a hydraulic cylinder. The front wheels 27F are steered by the power generated by the steering cylinder.

[0021] The wireless communication device performs wireless communication with the wireless communication device 6 connected to the management device 3. The communication system 4 includes the wireless communication device .

[0022] The position sensor 41 detects the position of the unmanned vehicle 2 traveling on the travel path HL. The detection data of the position sensor 41 includes absolute position data indicating the absolute position of the unmanned vehicle 2. The absolute position of the unmanned vehicle 2 is detected using a Global Navigation Satellite System (GNSS). The Global Navigation Satellite System includes a Global Positioning System (GPS). The position sensor 41 includes a GNSS receiver. The Global Navigation Satellite System detects the absolute position of the unmanned vehicle 2 defined by coordinate data of longitude, latitude, and altitude. The Global Navigation Satellite System detects the absolute position of the unmanned vehicle 2 defined in a global coordinate system. The global coordinate system refers to a coordinate system fixed to the earth.

[0023] The steering angle sensor 42 detects the steering angle of the unmanned vehicle 2 by the steering device 23C. The steering angle sensor 42 includes, for example, a rotary encoder provided in the steering device 23C. The detection data of the steering angle sensor 42 includes steering angle data that indicates the steering angle of the unmanned vehicle 2.

[0024] The azimuth angle sensor 43 detects the azimuth angle of the unmanned vehicle 2. The azimuth angle of the unmanned vehicle 2 includes the yaw angle of the unmanned vehicle 2. The yaw angle refers to the tilt angle of the unmanned vehicle 2 centered on a rotation axis extending in the up and down direction of the unmanned vehicle 2. The detection data of the azimuth angle sensor 43 includes azimuth angle data indicating the azimuth angle of the unmanned vehicle 2. The azimuth of the unmanned vehicle 2 is the traveling direction of the unmanned vehicle 2. The azimuth angle sensor 43 includes, for example, a gyro sensor.

[0025] The speed sensor 44 detects the traveling speed of the unmanned vehicle 2. The detection data of the speed sensor 44 includes traveling speed data that indicates the traveling speed of the traveling device 23.

[0026] The road surface camera 45 captures an image of the road surface of the travel path HL ahead in the traveling direction of the unmanned vehicle 2. The road surface camera 45 may be provided on the unmanned vehicle 2.

[0027] Data detected by the position sensor 41, steering angle sensor 42, azimuth angle sensor 43, and speed sensor 44 of the unmanned vehicle 2, as well as image data captured by the road surface camera 45, are output to the management device 3 as unmanned vehicle data of the unmanned vehicle 2.

[0028] [Control System] 3, the control system 1 includes a management device 3 and a control device 10. The control system 1 controls an unmanned vehicle 2 at a work site. The control device 10 is capable of communicating with the management device 3 via a communication system 4.

[0029] [Management device] The management device 3 sets the driving conditions of the unmanned vehicle 2 on the travel path HL. The unmanned vehicle 2 travels on the travel path HL based on driving condition data that specifies the driving conditions transmitted from the management device 3.

[0030] The management device 3 includes a computer system. The management device 3 includes an input / output interface 31, an arithmetic processing device 32 including a processor such as a CPU (Central Processing Unit), and a storage device 33 including a memory and storage such as a ROM (Read Only Memory) or a RAM (Random Access Memory).

[0031] The input / output interface 31 is connected to each of the input device 35, the output device 36, and the wireless communication device 6. Each of the input device 35, the output device 36, and the wireless communication device 6 is installed in the control facility 5. The input / output interface 31 transmits driving condition data to the unmanned vehicle 2 via the communication system 4. The input / output interface 31 receives unmanned vehicle data from the unmanned vehicle 2 via the communication system 4.

[0032] The calculation processing device 32 has an unmanned vehicle data acquisition unit 321 , a road surface condition data acquisition unit 322 , a driving condition data generation unit 323 , and an allowed area setting unit 324 .

[0033] The unmanned vehicle data acquisition unit 321 acquires unmanned vehicle data including position data of the unmanned vehicle 2 at the work site. The unmanned vehicle data acquisition unit 321 acquires unmanned vehicle data of the unmanned vehicle 2 transmitted from the control device 10 via the input / output interface 31. The unmanned vehicle data refers to data that indicates the operating status of the unmanned vehicle 2. The data of the unmanned vehicle 2 includes detection data from sensors mounted on the unmanned vehicle 2.

[0034] The road surface condition data acquisition unit 322 acquires road surface condition data indicating road surface conditions that can predict the stopping accuracy of the travel path HL on which the unmanned vehicle 2 travels at the work site. The road surface condition data acquisition unit 322 acquires road surface condition data indicating the road surface condition of the travel path HL input via the input / output interface 31. The road surface condition data includes data related to moisture on the road surface. The data related to moisture includes data on points that are likely to slip, such as puddles or mud on the road surface. More specifically, the road surface condition data may include data on points set by the operator, for example, position data on points determined by the operator to be likely to cause slipping. In addition, the road surface condition data may include at least any of water sprinkling data including the amount of water sprinkled on the road surface by a water sprinkler truck, image data of the road surface of the travel path HL captured by the road surface camera 45 mounted on the unmanned vehicle 2, and travel data of other unmanned vehicles 2. Puddles or mud can be recognized on the road surface by image processing of the image data. If the travel data of the other unmanned vehicles 2 indicates that the other unmanned vehicles 2 have slipped, the location can be recognized as a location prone to slipping.

[0035] The driving condition data generation unit 323 generates driving condition data that specifies the driving conditions of the unmanned vehicle 2. More specifically, the driving condition data generation unit 323 generates driving condition data including an allowed area AP on the driving path HL of the unmanned vehicle 2, a stopping point SP in the allowed area AP, and a target driving speed for the unmanned vehicle 2 to stop at the stopping point SP, based on the unmanned vehicle data acquired by the unmanned vehicle data acquisition unit 321. The driving condition data generation unit 323 has a function of setting the allowed area AP or the stopping point SP based on the road surface condition data of a predetermined area including the stopping point SP acquired by the road surface condition data acquisition unit 322. The area including the stopping point SP is the area around the stopping point SP in the allowed area AP. The driving condition data generation unit 323 communicates with each of the input device 35, the output device 36, and the wireless communication device 6 via the input / output interface 31.

[0036] The driving conditions are determined, for example, by an operator present at the control facility 5. The operator operates the input device 35 connected to the management device 3. Based on input data generated by operating the input device 35, driving condition data is generated.

[0037] The traveling condition data includes the target position, target traveling speed, target orientation, and traveling course CS of the unmanned vehicle 2. Furthermore, the traveling condition data includes allowed area data of the allowed area AP that is set by the allowed area setting unit 324 described later.

[0038] As shown in FIG. 2, the driving condition data includes a plurality of target points PI set at intervals on the driving path HL. The interval between the target points PI is set, for example, at least 1 [m] and no more than 5 [m]. The target points PI define the target position of the unmanned vehicle 2. A target driving speed and a target orientation are set for each of the plurality of target points PI. The driving course CS is defined by lines connecting the plurality of target points PI. In other words, the driving condition data that defines the driving conditions of the unmanned vehicle 2 includes a plurality of target points PI indicating the target position of the unmanned vehicle 2, and a target driving speed and target orientation of the unmanned vehicle 2 set for each of the plurality of target points PI.

[0039] The target position of the unmanned vehicle 2 refers to the target position of the unmanned vehicle 2 defined in a global coordinate system. In other words, the target position refers to the target position in coordinate data defined by longitude, latitude, and altitude. The target position includes a target position in longitude (x coordinate) and a target position in latitude (y coordinate). The target position of the unmanned vehicle 2 may be defined in a local coordinate system of the unmanned vehicle 2.

[0040] The target traveling speed of the unmanned vehicle 2 refers to the target traveling speed of the unmanned vehicle 2 when traveling (passing) the target point PI. For example, when a target traveling speed at the target point PI is set, the drive device 23A or the brake device 23B of the unmanned vehicle 2 is controlled so that the actual traveling speed of the unmanned vehicle 2 when traveling through the target point PI becomes the target traveling speed.

[0041] The target orientation of the unmanned vehicle 2 refers to the target orientation of the unmanned vehicle 2 when traveling (passing) the target point PI. The target orientation also refers to the azimuth angle of the unmanned vehicle 2 relative to a reference orientation (e.g., north). In other words, the target orientation is the target orientation of the front of the vehicle body 21, and indicates the target traveling direction of the unmanned vehicle 2. For example, when a target orientation at the target point PI is set, the steering device 23C of the unmanned vehicle 2 is controlled so that the actual orientation of the unmanned vehicle 2 when traveling through the target point PI becomes the target orientation.

[0042] The permission area setting unit 324 will be described with reference to FIG. 4 and FIG. 5. FIG. 4 is a diagram showing an example of the permission area AP. FIG. 5 is a diagram showing another example of the permission area AP. The permission area setting unit 324 is one of the functions of the driving condition data generating unit 323. The permission area setting unit 324 sets the permission area AP or the stop point SP according to the road surface condition data of a predetermined area including the stop point SP acquired by the road surface condition data acquiring unit 322 as one of the functions of the driving condition data generating unit 323. The permission area setting unit 324 may expand the permission area AP forward from the stop point SP in the traveling direction according to the slip amount predicted in the predetermined area including the stop point SP as one of the functions of the driving condition data generating unit 323. The permission area setting unit 324 may set the stop point SP to a position moved toward the rear end side of the permission area AP while keeping the permission area AP as it is according to the slip amount predicted in the predetermined area including the stop point SP as one of the functions of the driving condition data generating unit 323.

[0043] As shown in FIG. 4, the permission area setting unit 324 sets an permission area AP in which the unmanned vehicle 2 is permitted to travel. The permission area AP is an area in which the entry of other unmanned vehicles 2 is prohibited. The permission areas AP of multiple unmanned vehicles 2 are set so as not to overlap. The permission area AP is formed in a strip shape in front of the unmanned vehicle 2 in the traveling direction, for example, corresponding to the traveling course CS. The permission area AP has a length of, for example, about several hundreds [m] in the traveling direction of the unmanned vehicle 2. The traveling speed of the unmanned vehicle 2 is controlled so that the unmanned vehicle 2 can stop at a stopping point SP provided at the tip of the permission area AP. As the unmanned vehicle 2 travels, the permission area setting unit 324 opens the permission area AP that has been passed through and extends the permission area AP forward in the traveling direction. As the unmanned vehicle 2 travels, the permission area AP extends, allowing the unmanned vehicle 2 to continue traveling without stopping. If the permitted area AP cannot be extended forward in the traveling direction because another unmanned vehicle 2 is stopped, for example, the unmanned vehicle 2 travels to a stopping point SP and stops there. The permitted area data of the permitted area AP set by the permitted area setting unit 324 is included in the traveling condition data.

[0044] 5, the permission area setting unit 324 sets an additional permission area BP ahead of the permission area AP according to the stopping accuracy of the unmanned vehicle 2 in the specified area including the stopping point SP. More specifically, if the road surface conditions in the specified area including the stopping point SP make it easy for the unmanned vehicle 2 to slip, in other words, if the stopping accuracy in the specified area including the stopping point SP is predicted to be poor, the permission area setting unit 324 sets an additional permission area BP ahead of the permission area AP and expands the permission area AP forward.

[0045] Whether or not the road surface condition is slippery can be determined from the road surface condition data acquired by the road surface condition data acquisition unit 322. For example, when position data of a predetermined area including the stop point SP, where the operator has determined that slipping may occur, is acquired as the road surface condition data, it is determined that the road surface condition is slippery. For example, when water sprinkling data including the amount of water sprinkled by a water sprinkler on the road surface of the predetermined area including the stop point SP is acquired as the road surface condition data, it is determined that the road surface condition is slippery. For example, when image processing is performed on image data of the road surface of the predetermined area including the stop point SP and puddles or muddy areas on the road surface are recognized as the road surface condition data, it is determined that the road surface condition is slippery. For example, when the road surface condition data indicates that the other unmanned vehicle 2 has slipped in the predetermined area including the stop point SP, it is determined that the road surface condition is slippery.

[0046] The additional permission area BP has a length that allows the unmanned vehicle 2 to stop if it slips. The additional permission area BP is set to a length according to the predicted slip amount by predicting the slip amount of the unmanned vehicle 2 in a predetermined area including the stop point SP. The slip amount may be predicted by, for example, an operator. The slip amount may be calculated using a relational equation or map of the slip amount with respect to predetermined parameters such as unmanned vehicle data and road surface condition data that is stored in memory. The slip amount may be predicted from, for example, the amount of water sprayed. The slip amount may be predicted from, for example, the size of a puddle or muddy area recognized from image data. The slip amount may be predicted from, for example, the travel data of another unmanned vehicle 2. When the permission area setting unit 324 cannot secure an additional permission area BP of a length according to the slip amount, it moves the stop point SP forward, in other words, toward the rear end of the permission area AP, by the length according to the slip amount.

[0047] The storage device 33 stores road surface condition data input via the input device 35. The storage device 33 stores unmanned vehicle data acquired from the unmanned vehicle 2.

[0048] The input device 35 generates input data by being operated by an operator at the control facility 5. The input data generated by the input device 35 is output to the management device 3. The management device 3 acquires the input data from the input device 35. Examples of the input device 35 include contact-type input devices operated by the operator's hands, such as a computer keyboard, a mouse, a touch panel, an operation switch, and an operation button. Note that the input device 35 may be a voice input device operated by the operator's voice.

[0049] The output device 36 provides output data to an operator at the control facility 5. The output device 36 may be a display device that outputs display data, a printing device that outputs print data, or an audio output device that outputs audio data. Examples of the display device include a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OELD).

[0050] [Control device] The control device 10 includes a computer system and is disposed in the vehicle body 21. The control device 10 outputs control commands to control the traveling of the traveling device 23 of the unmanned vehicle 2. The control commands output from the control device 10 include an accelerator command for operating the driving device 23A, a brake command for operating the braking device 23B, and a steering command for operating the steering device 23C. The driving device 23A generates a driving force for accelerating the unmanned vehicle 2 based on the accelerator command output from the control device 10. The braking device 23B generates a braking force for decelerating or stopping the unmanned vehicle 2 based on the brake command output from the control device 10. The steering device 23C generates a turning force for changing the direction of the front wheels 27F to make the unmanned vehicle 2 go straight or turn based on the steering command output from the control device 10.

[0051] The control device 10 includes an input / output interface 11, an arithmetic processing device 12 including a processor such as a CPU, and a storage device 13 including a memory and storage such as a ROM or a RAM. The control device 10 acquires the driving condition data transmitted from the management device 3 via the communication system 4.

[0052] The input / output interface 11 is connected to each of the position sensor 41, the steering angle sensor 42, the azimuth angle sensor 43, the speed sensor 44, the road surface camera 45, the traveling device 23, and the wireless communication device 28. The input / output interface 11 communicates with each of the position sensor 41, the steering angle sensor 42, the azimuth angle sensor 43, the speed sensor 44, the road surface camera 45, the traveling device 23, and the wireless communication device 28.

[0053] The calculation processing device 12 has a driving condition data acquisition unit 121, a position data acquisition unit 122, a detection data acquisition unit 123, and a driving control unit .

[0054] The traveling condition data acquisition unit 121 acquires traveling condition data generated by the traveling condition data generation unit 323 of the management device 3. The traveling condition data acquisition unit 121 acquires the updated traveling condition data every time the traveling condition data is updated by the management device 3. More specifically, the traveling condition data acquisition unit 121 acquires traveling condition data including the updated permission area data every time the permission area AP is updated by the management device 3. For example, the traveling condition data acquisition unit 121 acquires traveling condition data including permission area data in which the permission area AP that has been passed through is opened as the unmanned vehicle 2 travels and the permission area AP is extended forward in the traveling direction.

[0055] The position data acquisition unit 122 acquires position data indicating the position of the unmanned vehicle 2 from the position sensor 41 .

[0056] The detection data acquisition unit 123 acquires detection data of the azimuth angle sensor 43 that detected the traveling direction of the unmanned vehicle 2 from the azimuth angle sensor 43. The detection data includes steering angle data detected by the steering angle sensor 42, azimuth angle data detected by the azimuth angle sensor 43, and speed data detected by the speed sensor 44. The detection data acquisition unit 123 acquires the steering angle data from the steering angle sensor 42, the azimuth angle data from the azimuth angle sensor 43, and the speed data from the speed sensor 44. The detection data acquisition unit 123 acquires image data captured by the road surface camera 45 from the road surface camera 45.

[0057] The traveling control unit 124 outputs a control signal to control at least one of the drive device 23A, the braking device 23B, and the steering device 23C of the unmanned vehicle 2, based on the traveling course CS acquired by the traveling condition data acquisition unit 121. The management device 3 outputs the traveling course CS generated by the traveling condition data generation unit 323 from the input / output interface 11 to the traveling control unit 124 of the unmanned vehicle 2. The traveling course CS generated by the traveling condition data generation unit 323 is transmitted from the input / output interface 11 to the traveling control unit 124 of the unmanned vehicle 2.

[0058] The traveling control unit 124 generates a control signal for controlling the traveling of the unmanned vehicle 2 based on the traveling course CS. The control signal generated in the traveling control unit 124 is output from the traveling control unit 124 to the traveling device 23. The control signal output from the traveling control unit 124 includes an accelerator signal output to the driving device 23A, a brake control signal output to the braking device 23B, and a steering control signal output to the steering device 23C. Based on the position data detected by the position sensor 41, the traveling control unit 124 controls the driving device 23A, the braking device 23B, and the steering device 23C so that the unmanned vehicle 2 travels in a state where a specific part of the unmanned vehicle 2 matches the traveling course CS.

[0059] The traveling control unit 124 controls the traveling of the unmanned vehicle 2 based on the traveling condition data. The traveling control unit 124 outputs an accelerator command value according to the traveling speed to the driving device 23A of the traveling device 23. The driving device 23A generates power based on the accelerator command value. When the speed condition data includes a speed limit, the traveling control unit 124 outputs an accelerator command value or a brake command value to decelerate the traveling speed.

[0060] The traveling control unit 124 controls the traveling of the unmanned vehicle 2 in the permission area AP based on the permission area data set by the permission area setting unit 324. The traveling control unit 124 controls the traveling speed of the unmanned vehicle 2 so that the unmanned vehicle 2 can stop at a stop point SP in the permission area AP. If the permission area AP is not extended forward in the traveling direction while the unmanned vehicle 2 is traveling and the permission area data included in the traveling condition data is not updated, the traveling control unit 124 causes the unmanned vehicle 2 to travel to the stop point SP and stop it. If the permission area AP is extended forward in the traveling direction while the unmanned vehicle 2 is traveling and the permission area data included in the traveling condition data is updated, the traveling control unit 124 causes the unmanned vehicle 2 to continue traveling.

[0061] [Control method] FIG. 6 is a flowchart showing a method for controlling an unmanned vehicle 2 according to this embodiment. FIG. 7 is a diagram showing an example of setting an allowed area AP. During operation of the control system 1, the arithmetic processing device 32 of the management device 3 acquires unmanned vehicle data transmitted from the control device 10 of the unmanned vehicle 2 at the work site via the input / output interface 31 by the unmanned vehicle data acquisition unit 321. The arithmetic processing device 32 of the management device 3 acquires road surface condition data by the road surface condition data acquisition unit 322. In addition, the arithmetic processing device 32 of the management device 3 generates driving condition data that specifies the driving conditions of the unmanned vehicle 2 by the driving condition data generation unit 323. The processing of the flowchart shown in FIG. 6 is executed for each unmanned vehicle 2.

[0062] The calculation processing device 32 of the management device 3 secures an allowed area AP for each unmanned vehicle 2 (step ST11). More specifically, the allowed area setting unit 324 sets an allowed area AP in which the unmanned vehicle 2 is permitted to travel. As shown in Fig. 7, the allowed area AP is set ahead in the traveling direction of the unmanned vehicle 2.

[0063] The calculation processing device 32 of the management device 3 sets a stopping point SP within the permission area AP of the unmanned vehicle 2 without taking slippage into consideration (step ST12). More specifically, the permission area setting unit 324 sets the stopping point SP at the front end of the permission area AP of the unmanned vehicle 2. As shown in Fig. 7, the stopping point SP is set at the front end of the permission area AP of the unmanned vehicle 2.

[0064] The calculation processing device 32 of the management device 3 predicts the slip amount SL of a predetermined area including the stop point SP, which is an area around the stop point SP (step ST13). More specifically, the permitted area setting unit 324 predicts the slip amount SL of the predetermined area including the stop point SP of the unmanned vehicle 2 based on the road surface condition data. If the permitted area setting unit 324 determines that the predetermined area including the stop point SP of the unmanned vehicle 2 is prone to slip based on the road surface condition data acquired by the road surface condition data acquisition unit 322, the slip amount SL is calculated, and if the predetermined area including the stop point SP of the unmanned vehicle 2 is not determined to be prone to slip, the slip amount SL becomes zero. In the example shown in FIG. 7, the predicted slip amount SL of the predetermined area including the stop point SP protrudes forward of the permitted area AP of the unmanned vehicle 2. In this state, if the unmanned vehicle 2 slips in the predetermined area including the stop point SP, there is a high possibility that it will not be able to stop within the permitted area AP.

[0065] The calculation processing device 32 of the management device 3 requests securing of an additional permission area BP for the slip amount SL (step ST14). More specifically, the permission area setting unit 324 requests securing of an additional permission area BP ahead of the permission area AP. As shown in Fig. 7, the additional permission area BP requests securing of an additional permission area BP corresponding to the slip amount SL ahead in the traveling direction of the unmanned vehicle 2. The additional permission area BP is set so as to include the slip amount SL.

[0066] The calculation processing device 32 of the management device 3 determines whether or not the additional permission area BP has been secured (step ST15). More specifically, for example, if there are no other vehicles or the like in front of the permission area AP of the unmanned vehicle 2, the additional permission area BP can be secured. For example, if there is an obstacle such as another unmanned vehicle 2 in front of the permission area AP of the unmanned vehicle 2, the additional permission area BP cannot be secured. If the permission area setting unit 324 determines that the additional permission area BP has been secured (Yes in step ST15), the process proceeds to step ST16. If the permission area setting unit 324 does not determine that the additional permission area BP has been secured (No in step ST15), the process proceeds to step ST17.

[0067] If it is determined that the additional permission region BP has been secured (Yes in step ST15), the stopping point SP is left as is, the additional permission region BP is secured, and the permission region AP is expanded (step ST16). As shown in Fig. 7, the additional permission region BP secures an area corresponding to the slip amount SL ahead in the traveling direction of the unmanned vehicle 2. The permission region AP is expanded ahead in the traveling direction of the unmanned vehicle 2.

[0068] If it is not determined that the additional allowed region BP has been secured (No in step ST15), the stop point SP is moved forward by the slip amount SL (step ST17). As shown in Fig. 7, the allowed region AP remains unchanged, but the stop point SP is moved forward.

[0069] The management device 3 transmits, via the input / output interface 31, driving condition data including the permission area data of the permission area AP set in this manner, to the control device 10 of the unmanned vehicle 2.

[0070] The unmanned vehicle 2 outputs a control signal to the traveling device 23 via the input / output interface 11 based on the traveling condition data acquired from the management device 3 so that the unmanned vehicle 2 travels within the permission area AP.

[0071] With reference to FIGS. 8 and 9, the control of the traveling speed in the permission area AP will be described. FIG. 8 is a schematic diagram showing an example of the speed limit of the driverless vehicle 2. FIG. 9 is a schematic diagram showing another example of the speed limit of the driverless vehicle 2. As shown in FIG. 8, assume that the speed limit of the permission area AP is Vmax. In this case, for the driverless vehicle 2 with the current traveling speed V1 (V1 < Vmax) in the permission area AP, a control signal is output so as to accelerate up to Vmax. Then, when reaching a position a predetermined distance before the stop point SP so that the traveling speed becomes zero at the position of the stop point SP, a control signal is output so as to decelerate. If the permission area AP is updated and extended before reaching the position a predetermined distance before the stop point SP, the vehicle continues to travel at a constant speed without decelerating. As in step ST16, if the permission area AP is expanded, even if the driverless vehicle 2 slips and cannot stop at the stop point SP in a predetermined area including the stop point SP, the driverless vehicle 2 is suppressed from protruding from the permission area AP.

[0072] FIG. 9 shows the speed limit when the stop point SP is moved forward by the slip amount SL as in step ST17. In this case, when reaching a position a predetermined distance before the stop point SP so that the traveling speed becomes zero at the position of the stop point SP moved forward, a control signal is output so as to decelerate. If the stop point SP is moved forward, even if the driverless vehicle 2 slips and cannot stop at the stop point SP in a predetermined area including the stop point SP, the driverless vehicle 2 is suppressed from protruding from the permission area AP.

[0073] [Computer System] FIG. 10 is a block diagram showing an example of a computer system 1000. Each of the above-mentioned management device 3 and control device 10 includes a computer system 1000. The computer system 1000 has a processor 1001 such as a CPU, a main memory 1002 including a non-volatile memory such as a ROM and a volatile memory such as a RAM, a storage 1003, and an interface 1004 including an input / output circuit. The functions of the above-mentioned management device 3 and the functions of the control device 10 are stored in the storage 1003 as a program. The processor 1001 reads the program from the storage 1003, expands it in the main memory 1002, and executes the above-mentioned process according to the program. The program may be distributed to the computer system 1000 via a network.

[0074] [effect] As described above, this embodiment can appropriately set the permission area AP based on road surface condition data for a predetermined area including the stopping point SP of the permission area AP of the unmanned vehicle 2. According to this embodiment, when the road surface conditions change, it is possible to set the permission area AP or stopping point SP accordingly. This embodiment can ensure the safety of the work site where the unmanned vehicle 2 operates and suppress a decrease in productivity.

[0075] In this embodiment, the permission area AP is expanded forward in the traveling direction from the stop point SP according to the amount of slippage predicted in a predetermined area including the stop point SP of the permission area AP of the unmanned vehicle 2. According to this embodiment, the permission area AP can be set so that the unmanned vehicle 2 will stop within the permission area AP even if the unmanned vehicle 2 slips in the predetermined area including the stop point SP. According to this embodiment, the slipping unmanned vehicle 2 is prevented from going out of the permission area AP, so the safety of vehicles around the unmanned vehicle 2 can also be ensured.

[0076] In this embodiment, a stopping point SP within the permission area AP is set according to the amount of slippage predicted in a predetermined area including the stopping point SP of the permission area AP of the unmanned vehicle 2. According to this embodiment, even if the unmanned vehicle 2 slips in the predetermined area including the stopping point SP, it is possible to set the permission area AP by moving the stopping point SP so that the unmanned vehicle 2 stops within the permission area AP. According to this embodiment, the slipping unmanned vehicle 2 is prevented from going out of the permission area AP, so the safety of vehicles around the unmanned vehicle 2 can also be ensured.

[0077] In this embodiment, the road surface condition data includes data on points on the road surface that are prone to slipping, such as puddles or mud. This embodiment can appropriately predict the stopping accuracy of a predetermined area including the stopping point SP of the permission area AP of the unmanned vehicle 2.

[0078] This embodiment includes position data of points where the operator has determined that there is a possibility of slipping. This embodiment can appropriately predict the stopping accuracy of the unmanned vehicle 2 in a predetermined area including the stopping point SP of the permission area AP.

[0079] In this embodiment, the road surface condition data includes water sprinkling data including the amount of water sprinkled on the road surface by the water sprinkler truck. In this embodiment, the stopping accuracy of a predetermined area including the stopping point SP of the permission area AP of the unmanned vehicle 2 can be appropriately predicted from the water sprinkling data.

[0080] In this embodiment, the road surface condition data includes image data of the road surface captured by a camera that captures the road surface of the travel road HL. In this embodiment, the stopping accuracy of a predetermined area including the stopping point SP of the allowed area AP of the unmanned vehicle 2 can be appropriately predicted from the image data of the road surface.

[0081] In this embodiment, the road surface condition data includes travel data of other unmanned vehicles 2. In this embodiment, the stopping accuracy of a specified area including the stopping point SP of the permitted area AP of the unmanned vehicle 2 can be appropriately predicted from the travel data of the other unmanned vehicles 2.

[0082] [Other embodiments] In the above-described embodiment, at least a part of the functions of the control device 10 may be provided in the management device 3, or at least a part of the functions of the management device 3 may be provided in the control device 10. For example, in the above-described embodiment, the control device 10 of the unmanned vehicle 2 may have the functions of the driving condition data generation unit 323 of the management device 3. The driving control unit 124 of the control device 10 controls the unmanned vehicle 2 based on the generated driving condition data. [Explanation of symbols]

[0083] 1...control system, 2...unmanned vehicle, 3...management device, 4...communication system, 6...wireless communication device, 7...loader, 8...crusher, 10...control device, 11...input / output interface, 12...arithmetic processing device, 121...traveling condition data acquisition unit, 122...position data acquisition unit, 123...detection data acquisition unit, 124...traveling control unit, 13...storage device, 21...vehicle body, 22...dump body, 23...traveling device, 23A...driving device, 23B...brake device, 23C...steering device, 27...wheels, 27F...front wheels, 27R...rear wheels, 28...wireless communication machine, 31...input / output interface, 32...processing device, 321...unmanned vehicle data acquisition unit, 322...road surface condition data acquisition unit, 323...driving condition data generation unit, 324...permission area setting unit, 33...storage device, 35...input device, 36...output device, 41...position sensor, 42...steering angle sensor, 43...azimuth angle sensor, 44...speed sensor, 45...road surface camera, AP...permission area, BP...additional permission area, CS...driving course, HL...driving path, IS...intersection, PA...workplace, PI...target point, SL...slip amount, SP...stopping point.

Claims

1. A control system for unmanned vehicles that sets an allowed area for each unmanned vehicle, an unmanned vehicle data acquisition unit that acquires unmanned vehicle data including position data of the unmanned vehicle; a road surface condition data acquisition unit that acquires road surface condition data capable of predicting the stopping accuracy of a road along which the unmanned vehicle travels; a driving condition data generation unit that generates data including an allowed area in a driving path of the unmanned vehicle, a stopping point in the allowed area, and a target driving speed for the unmanned vehicle to stop at the stopping point based on the unmanned vehicle data acquired by the unmanned vehicle data acquisition unit; Equipped with The road surface condition data includes driving data of other unmanned vehicles, the driving condition data generation unit sets the permitted area to a position expanded forward in the traveling direction from the stopping point when there is no obstacle such as another unmanned vehicle ahead of the permitted area of ​​the unmanned vehicle, according to an amount of slippage predicted from the road surface condition data of a predetermined area including the stopping point acquired by the road surface condition data acquisition unit, and sets the stopping point to a position moved toward the rear end of the permitted area when there is an obstacle such as another unmanned vehicle ahead of the permitted area of ​​the unmanned vehicle. Unmanned vehicle control system.

2. The road surface condition data includes data on moisture on the road surface. The unmanned vehicle control system according to claim 1 .

3. The road surface condition data includes position data of a point set by an operator. The control system for an unmanned vehicle according to claim 2 .

4. The road surface condition data includes water sprinkling data including an amount of water sprinkled on the road surface by a water sprinkler truck.

4. An unmanned vehicle control system according to claim 2 or 3.

5. The road surface condition data includes image data of the road surface captured by a camera that captures the road surface of the road. An unmanned vehicle control system according to any one of claims 2 to 4.

6. An unmanned vehicle controlled by the unmanned vehicle control system according to any one of claims 1 to 5.

7. A method for controlling an unmanned vehicle, which sets an allowed area in which driving is permitted for each unmanned vehicle, acquiring unmanned vehicle data including position data of the unmanned vehicle; Obtaining road surface condition data of a road along which the unmanned vehicle travels; generating data including an allowed area in a travel path of the unmanned vehicle, a stopping point in the allowed area, and a target travel speed for the unmanned vehicle to stop at the stopping point based on the acquired unmanned vehicle data; Including, The road surface condition data includes driving data of other unmanned vehicles, according to a slippage predicted from the road surface condition data of a predetermined area including the stopping point, if there is no obstacle such as another unmanned vehicle ahead of the permitted area of ​​the unmanned vehicle, the permitted area is set to a position expanded forward in the traveling direction from the stopping point, and if there is an obstacle such as another unmanned vehicle ahead of the permitted area of ​​the unmanned vehicle, the stopping point is set to a position moved toward the rear end of the permitted area. A method for controlling an unmanned vehicle.

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