Autonomous driving device and route setting method

Abstract

To automatically and easily designate an autonomous traveling route when changing traveling methods from an inductive traveling method to an autonomous traveling method.SOLUTION: An autonomous traveling apparatus 1 includes a route detection unit 2 that detects an inductive traveling route laid on a path, a trigger detection unit 3 that detects a trigger disposed on the inductive traveling route, an inductive traveling control unit 12 that controls inductive traveling on the basis of the inductive traveling route and trigger, a route designation unit 14 that designates an autonomous traveling route on the basis of a result of traveling along the inductive traveling route, and designates a virtual trigger on the autonomous traveling route on the basis of the detected position of the trigger, and an autonomous traveling control unit 15 that controls autonomous traveling on the basis of the autonomous traveling route and virtual trigger.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an autonomous driving device and a route setting method. [Background technology]

[0002] Patent Document 1 discloses a technology for generating a map along which an autonomous mobile device travels while traveling along laid magnetic tape, and for controlling the autonomous mobile device based on the information of the map. Patent Document 1 also discloses controlling the speed and the like of the autonomous mobile device by setting a virtual RFID (Radio Frequency IDentifier) ​​on the map. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-107994 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, in a logistics warehouse or the like, an unmanned guided vehicle that is guided by magnetism or the like is in operation. When replacing this unmanned guided vehicle with an autonomous unmanned guided vehicle, it is necessary to set a route for autonomous driving in the autonomous unmanned guided vehicle. However, since the driving route in a logistics warehouse or the like may be vast and complicated, it is considered that the workload for setting the route for autonomous driving will increase. Therefore, a mechanism for automatically and simply setting a route for autonomous driving is required.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide an autonomous driving device and a route setting method that can automatically and easily set an autonomous driving route when switching from a guided driving system to an autonomous driving system. [Means for solving the problem]

[0006] An autonomous driving device according to one aspect of the present disclosure includes a route detection unit that detects a guided driving route laid on a road, a trigger detection unit that detects a trigger placed on the guided driving route, a guided driving control unit that controls guided driving based on the guided driving route and the trigger, a route setting unit that sets an autonomous driving route based on the driving results of the guided driving route and sets a virtual trigger on the autonomous driving route based on the detection position of the trigger, and an autonomous driving control unit that controls autonomous driving based on the autonomous driving route and the virtual trigger.

[0007] A route setting method according to one aspect of the present disclosure includes the steps of detecting a guided driving route laid on a road, detecting a trigger placed on the guided driving route, controlling guided driving based on the guided driving route and the trigger, setting an autonomous driving route based on the driving results of the guided driving route and setting a virtual trigger on the autonomous driving route based on the detection position of the trigger, and controlling autonomous driving based on the autonomous driving route and the virtual trigger.

[0008] In this autonomous driving device and route setting method, guided driving is performed based on a guided driving route laid on a road and a trigger placed on the guided driving route. Then, the autonomous driving route and virtual trigger are set based on the actual guided driving result. Since the autonomous driving route and virtual trigger are automatically and simply set according to the guided driving, the workload for setting the autonomous driving route and virtual trigger is eliminated. In addition, the guided route laid on the road and the trigger placed on the guided route can be said to be an environment where the autonomous driving device has a proven track record of operating. By utilizing this environment, it is possible to reduce omissions or setting errors in the setting of the autonomous driving route and virtual trigger.

[0009] The autonomous driving device may correct the position of the virtual trigger on the autonomous driving path based on the amount of deviation between the detection position of the path detection unit and the detection position of the trigger detection unit. The route setting method may correct the position of the virtual trigger on the autonomous driving path based on the amount of deviation between the detection position of the guided driving path and the detection position of the trigger. In this case, the deviation of the detection position where the trigger is actually read is reflected in the setting of the virtual trigger. As a result, autonomous driving closer to guided driving is possible.

[0010] The route setting method may further include a step of removing the guided driving route and the trigger from the road after the setting of the autonomous driving route and the setting of the virtual trigger are completed. Since the autonomous driving is possible even after the removal of the guided driving route and the trigger, the degree of freedom on the road is improved. Effect of the Invention

[0011] According to the present disclosure, it is possible to provide an autonomous driving device and a route setting method that can automatically and simply set an autonomous driving route when switching from a guided driving system to an autonomous driving system. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram showing a configuration of an autonomous driving device. [Diagram 2] FIG. 11 is a diagram showing an example of operation information associated with number information. [Diagram 3] FIG. 13 is a diagram showing an example of guided travel. [Figure 4] FIG. 1 is a diagram illustrating an example of an autonomous driving route and a virtual trigger. [Diagram 5] FIG. 1 is a diagram illustrating an example of autonomous driving. [Figure 6] 10 is a flowchart showing an example of the operation of the autonomous driving device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, preferred embodiments of an autonomous driving device and a route setting method according to one aspect of the present disclosure will be described in detail with reference to the drawings.

[0014] FIG. 1 is a block diagram showing a configuration of an autonomous driving device 1 according to an embodiment of the present disclosure. The autonomous driving device 1 is an autonomous unmanned guided vehicle that operates, for example, in a logistics warehouse or the like. When using the autonomous driving device 1, it is necessary to set a route for autonomous driving (hereinafter referred to as an "autonomous driving route"). The autonomous driving device 1 is configured to be able to set an autonomous driving route by using a guided driving route that is originally laid on a road in a logistics warehouse or the like. The autonomous driving device 1 includes a route detection unit 2, a trigger detection unit 3, a control unit 10, and a storage unit 20.

[0015] The route detection unit 2 detects a guided travel route laid on a road. The route detection unit 2 is, for example, a magnetic sensor. The guided travel route is, for example, a magnetic tape or a magnetic bar. The route detection unit 2 outputs information on the detected guided travel route to the control unit 10. The route detection unit 2 may store information on the detected guided travel route in the storage unit 20.

[0016] The trigger detection unit 3 detects a trigger arranged on the guided travel path. The trigger detection unit 3 is, for example, an RFID reader or a magnetic sensor. The trigger is, for example, an RFID tag or a magnetic mark. The trigger may be arranged, for example, at a position overlapping the guided travel path, or at a position spaced apart from the guided travel path. The trigger has number information. The number information of the trigger is an identifier that identifies operation information for controlling the guided travel of the autonomous mobile device 1. For example, when the trigger is an RFID reader, the trigger stores an ID. When the trigger is a magnetic mark, the trigger is assigned a relative number from an initial value. The trigger detection unit 3 outputs the number information of the detected trigger to the control unit 10. The trigger detection unit 3 may store the number information of the detected trigger in the storage unit 20.

[0017] The control unit 10 controls the traveling of the autonomous driving device 1. The control unit 10 is an electronic control unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The control unit 10 realizes various functions, for example, by loading a program stored in the ROM into the RAM and executing the program loaded into the RAM by the CPU. The control unit 10 has an acquisition unit 11, a guided traveling control unit 12, an estimation unit 13, a route setting unit 14, and an autonomous driving control unit 15 as functional elements.

[0018] The acquisition unit 11 acquires information on the guided travel route detected by the route detection unit 2 and number information on the trigger detected by the trigger detection unit 3.

[0019] The guided travel control unit 12 controls the guided travel based on the guided travel route and the trigger. For example, the guided travel control unit 12 controls the start and end of the guided travel according to the detection of the guided travel route or the trigger. The guided travel control unit 12 controls, for example, the motor and wheels of the vehicle body to make the autonomous driving device 1 travel along the guided travel route. The guided travel control unit 12 also acquires operation information associated with the number information of the trigger from the storage unit 20. Examples of the operation information include, but are not limited to, information on the acceleration or deceleration of the traveling speed of the autonomous driving device 1, the temporary stop of the autonomous driving device 1, or the selection of a route at a branch point or intersection of the guided travel route. For example, the guided travel control unit 12 controls the guided travel of the autonomous driving device 1 according to the operation information. In one example, the guided travel control unit 12 accelerates the traveling speed of the autonomous driving device 1 according to the operation information regarding the acceleration of the traveling speed.

[0020] The estimation unit 13 estimates the self-position of the autonomous driving device 1. The estimation unit 13 estimates the coordinates on the map of the guided driving route as the self-position based on, for example, a map of the guided driving route stored in advance in the storage unit 20 or the like and the distance traveled by the guided driving. The estimation unit 13 estimates the self-position of the autonomous driving device 1 from the start to the end of the guided driving, and acquires the change in the self-position as the driving result of the guided driving route. In addition, the estimation unit 13 acquires the self-position at the position where the trigger is detected as the detected position. When multiple triggers are detected, the estimation unit 13 acquires the detected position for each trigger. The estimation unit 13 may store the driving result of the guided driving route and the detected position of the trigger in the storage unit 20.

[0021] The estimation unit 13 may estimate the self-position of the autonomous mobile device 1 using, for example, SLAM (Simultaneous Localization And Mapping) technology. The estimation unit 13 may detect objects around the autonomous mobile device 1 by, for example, a camera or a LIDAR (Light Detection And Ranging) sensor. The estimation unit 13 may generate an environmental map based on the relationship between the autonomous mobile device 1 and the objects around it, and estimate the self-position on the environmental map. Examples of surrounding objects include, but are not limited to, walls, pillars, containers, luggage, people, and other unmanned guided vehicles.

[0022] The route setting unit 14 sets an autonomous driving route based on the travel results of the guided travel route. For example, the route setting unit 14 sets the autonomous driving route by storing a map showing the autonomous driving route in the storage unit 20. The autonomous driving route corresponds to the route that the autonomous driving device 1 actually traveled along the guided travel route.

[0023] Furthermore, the route setting unit 14 sets a virtual trigger on the autonomous driving route based on the detection position of the trigger. For example, the route setting unit 14 sets the virtual trigger on the autonomous driving route by associating the virtual trigger with the autonomous driving route and storing it in the storage unit 20. Furthermore, the route setting unit 14 sets the trigger number information held by the trigger to the virtual trigger. When multiple triggers are detected, the route setting unit 14 sets a virtual trigger for each trigger. There is a one-to-one correspondence between each of the triggers arranged on the guided driving route and each of the virtual triggers set on the autonomous driving route.

[0024] The autonomous driving control unit 15 controls the autonomous driving based on the autonomous driving route and the virtual trigger. For example, the autonomous driving control unit 15 controls the start and end of the autonomous driving according to the setting of the autonomous driving route or the virtual trigger. The autonomous driving control unit 15 controls the motor, wheels, etc. of the vehicle body to drive the autonomous driving device 1 along the autonomous driving route. In addition, the autonomous driving control unit 15 acquires operation information associated with the number information held by the virtual trigger from the storage unit 20. The autonomous driving control unit 15 controls the autonomous driving of the autonomous driving device 1 according to the operation information. In one example, the autonomous driving control unit 15 accelerates the driving speed of the autonomous driving device 1 according to information on the acceleration of the driving speed held by the virtual trigger.

[0025] The storage unit 20 stores various data used or generated in the autonomous driving device 1. For example, the storage unit 20 stores operation information in association with trigger number information. The storage unit 20 stores an autonomous driving route and a virtual trigger. The storage unit 20 may store, for example, information on a detected guided driving route and trigger number information, a map of the guided driving route, a driving result of the guided driving route, a detected position of a trigger, and information on objects around the autonomous driving device 1. The storage unit 20 may be a device separate from the autonomous driving device 1, or may be a component of the autonomous driving device 1 (for example, a component of the control unit 10).

[0026] FIG. 2 is a diagram showing an example of operation information associated with number information. For example, the storage unit 20 stores operation information "acceleration" in association with number information "1". When a trigger detected during guided driving has number information "1", the guided driving control unit 12 accelerates the driving speed of the autonomous driving device 1 according to the operation information "acceleration". Similarly, when a virtual trigger detected during autonomous driving has number information "1", the autonomous driving control unit 15 accelerates the driving speed of the autonomous driving device 1 according to the operation information "acceleration". The storage unit 20 also stores "deceleration", "pause", and "acceleration" in association with number information "2", "3", and "4", respectively.

[0027] FIG. 3 is a diagram showing an example of guided travel. As shown in FIG. 3, a guided travel route GR is laid on a road. A trigger T is placed on the guided travel route GR. In the autonomous mobile device 1, the route detection unit 2 and the trigger detection unit 3 may be mounted at different positions. For example, there may be a deviation amount Δd in the traveling direction between the detection position of the route detection unit 2 and the detection position of the trigger detection unit 3. In this case, the storage unit 20 may store the deviation amount Δd in the traveling direction based on the detection position of the route detection unit 2.

[0028] The route detection unit 2 detects the guided driving route GR. The guided driving control unit 12 starts guided driving according to information on the detected guided driving route GR. A trigger related to the start of guided driving may be placed at the start point of the guided driving route GR. The autonomous driving device 1 moves in a direction D at a predetermined driving speed along the guided driving route GR. The estimation unit 13 starts estimating the self-position of the autonomous driving device 1 with the start of guided driving.

[0029] The trigger detection unit 3 detects a trigger T during guided driving. The storage unit 20 stores operation information related to the deceleration of the driving speed, for example, in association with the number information of the trigger T. The guided driving control unit 12 acquires the operation information associated with the number information of the trigger T. The guided driving control unit 12 decelerates the driving speed of the autonomous driving device 1 according to the acquired operation information. The estimation unit 13 acquires the self-position at the position where the trigger T is detected as the detection position of the trigger T.

[0030] The guided travel control unit 12 ends the guided travel according to the information of the detected guided travel route GR. A trigger related to the end of the guided travel may be placed at the end point of the guided travel route GR. When the guided travel ends, the estimation unit 13 acquires a change in the self-position from the start to the end of the guided travel as a travel result of the guided travel route.

[0031] Fig. 4 is a diagram showing an example of an autonomous driving route and a virtual trigger. The route setting unit 14 sets the autonomous driving route AR shown in Fig. 4 based on the driving result of the guided driving route GR shown in Fig. 3. In addition, the route setting unit 14 sets a virtual trigger VT on the autonomous driving route AR based on the detection position of the trigger T. The route setting unit 14 sets the number information of the trigger T in the virtual trigger VT.

[0032] The detected position of the trigger T is the self-position at the position where the trigger T is detected, and therefore may differ from the detected position of the trigger detection unit 3. The route setting unit 14 may correct the position of the virtual trigger VT on the autonomous driving route AR based on the deviation amount Δd in the traveling direction between the detected position of the route detection unit 2 and the detected position of the trigger detection unit 3. For example, the route setting unit 14 corrects the position of the virtual trigger VT to a position moved by the deviation amount Δd with respect to the traveling direction based on the detected position of the route detection unit 2.

[0033] When the self-position is estimated by SLAM technology, the route setting unit 14 may correct the position of the virtual trigger VT on the autonomous driving route AR based on the amount of deviation in the travel direction between the position of the camera or LIDAR sensor and the detection position of the trigger detection unit 3.

[0034] After the setting of the autonomous driving route AR and the setting of the virtual trigger VT are completed, the guided driving route GR and the trigger T are removed from the road.

[0035] 5 is a diagram showing an example of autonomous driving. The autonomous driving control unit 15 starts autonomous driving according to the setting of the autonomous driving route AR. The autonomous driving device 1 advances in a direction D along the autonomous driving route AR at a predetermined driving speed similar to the driving speed of the guided driving. The estimation unit 13 starts estimating the self-position of the autonomous driving device 1 with the start of autonomous driving.

[0036] The autonomous driving control unit 15 detects the virtual trigger VT during autonomous driving. For example, the autonomous driving control unit 15 detects the virtual trigger VT when the estimated self-position reaches the position of the virtual trigger VT. The virtual trigger VT has number information of a trigger T. The storage unit 20 stores operation information related to the deceleration of the traveling speed, for example, in association with the number information of the trigger T. The autonomous driving control unit 15 acquires the operation information associated with the number information of the trigger T. The autonomous driving control unit 15 decelerates the traveling speed of the autonomous driving device 1 according to the acquired operation information.

[0037] The autonomous driving control unit 15 may generate a virtual trigger detection unit at a position similar to that of the trigger detection unit 3. The virtual trigger detection unit is a virtual functional element for detecting a virtual trigger. For example, the autonomous driving control unit 15 generates a virtual trigger detection unit at a position moved by a deviation amount Δd with respect to the traveling direction based on the detection position of the path detection unit 2. The virtual trigger detection unit has the same detection range as the detection range of the trigger detection unit 3. The autonomous driving control unit 15 detects the virtual trigger VT when the detection range of the virtual trigger detection unit reaches the position of the virtual trigger VT.

[0038] An example of the operation of the autonomous mobile device 1 will be described with reference to Fig. 6. Fig. 6 is a flowchart showing the operation of the autonomous mobile device 1.

[0039] The guided traveling control unit 12 starts guided traveling in accordance with information on the guided traveling route detected by the route detection unit 2 (step S1). The guided traveling control unit 12 may start guided traveling in response to detection of a trigger by the trigger detection unit 3.

[0040] The estimation unit 13 starts estimating the self-position of the autonomous mobile device 1 (step S2).

[0041] The guided running control unit 12 determines whether or not a trigger is detected during guided running (step S3). If a trigger is detected during guided running (YES in step S3), the process proceeds to step S4. If a trigger is not detected during guided running (NO in step S3), the process proceeds to step S5.

[0042] The guided travel control unit 12 controls the guided travel of the autonomous mobile device 1 according to the detected trigger. The estimation unit 13 also acquires the self-position at the position where the trigger is detected as the detected position (step S4). When multiple triggers are detected, the estimation unit 13 acquires the detected position for each trigger.

[0043] The guided travel control unit 12 determines whether to end or continue the guided travel according to the detected guided travel route or trigger (step S5). If it is determined that the guided travel is to end (YES in step S5), the estimation unit 13 acquires the change in the self-position from the start to the end of the guided travel as the travel result of the guided travel route. Then, the process proceeds to step S6. If it is determined that the guided travel is to continue (NO in step S5), the process returns to step S2.

[0044] The route setting unit 14 sets an autonomous driving route based on the driving result of the guided driving route (step S6).

[0045] The route setting unit 14 corrects the position of the virtual trigger and sets the virtual trigger on the autonomous driving route (step S7). The route setting unit 14 corrects the position of the virtual trigger on the autonomous driving route based on the deviation amount in the traveling direction between the detection position of the route detection unit 2 and the detection position of the trigger detection unit 3. The route setting unit 14 sets the trigger number information in the virtual trigger.

[0046] In the route setting method, after the setting of the autonomous driving route and the setting of the virtual trigger are completed, the guided driving route and the trigger are removed from the road (step S8).

[0047] The autonomous driving control unit 15 starts autonomous driving according to the setting of the autonomous driving route (step S9). The autonomous driving control unit 15 may start autonomous driving according to the setting of a virtual trigger. The autonomous driving device 1 runs along the autonomous driving route at a predetermined running speed similar to the running speed of the guided driving. The estimation unit 13 starts estimating the self-position of the autonomous driving device 1 with the start of autonomous driving.

[0048] The autonomous driving control unit 15 determines whether or not a virtual trigger is detected (step S10). If a virtual trigger is detected during autonomous driving (YES in step S10), the process proceeds to step S11. If a virtual trigger is not detected during autonomous driving (NO in step S10), the process proceeds to step S12.

[0049] The autonomous driving control unit 15 controls the autonomous driving of the autonomous driving device 1 in accordance with the detected virtual trigger (step S11).

[0050] The autonomous driving control unit 15 determines whether to end or continue the autonomous driving according to the setting of the autonomous driving route or the setting of the virtual trigger (step S12). If it is determined that the autonomous driving is to end (YES in step S12), the process ends. If it is determined that the autonomous driving is to continue (NO in step S12), the process returns to step S10.

[0051] As described above, in the autonomous driving device 1 and the route setting method, guided driving is performed based on the guided driving route laid on the road and the trigger placed on the guided driving route. Then, the autonomous driving route and the virtual trigger are set based on the actual guided driving result. Since the autonomous driving route and the virtual trigger are automatically and simply set according to the guided driving, the workload for setting the autonomous driving route and the virtual trigger is eliminated. In addition, the guided route laid on the road and the trigger placed on the guided route can be said to be an environment where the autonomous driving device has a proven track record of operating. By utilizing this environment, it is possible to reduce omissions or setting errors in the setting of the autonomous driving route and the virtual trigger.

[0052] The autonomous driving device 1 of this embodiment corrects the position of the virtual trigger on the autonomous driving path based on the deviation in the travel direction between the detection position of the path detection unit 2 and the detection position of the trigger detection unit 3. The route setting method of this embodiment corrects the position of the virtual trigger on the autonomous driving path based on the deviation in the travel direction between the detection position of the guided driving path and the detection position of the trigger. In this case, the deviation of the detection position where the trigger is actually read is reflected in the setting of the virtual trigger. As a result, autonomous driving closer to guided driving is possible.

[0053] The route setting method of the present embodiment further includes a step of removing the guided driving route and the trigger from the road after the setting of the autonomous driving route and the setting of the virtual trigger are completed. Since the autonomous driving is possible even after the removal of the guided driving route and the trigger, the degree of freedom on the road is improved.

[0054] In the above embodiment, the path detection unit 2 and the trigger detection unit 3 are mounted at different positions on the autonomous mobile device 1, but they may be mounted at the same position. Alternatively, the path detection unit 2 and the trigger detection unit 3 may be mounted at positions where the deviation amount Δd in the traveling direction between the detection position of the path detection unit 2 and the detection position of the trigger detection unit 3 is small enough to be negligible. Also, in the above embodiment, the guided traveling is a magnetic guidance type, but it may be a guidance type such as electromagnetic induction. [Explanation of symbols]

[0055] 1...autonomous driving device, 2...route detection unit, 3...trigger detection unit, 10...control unit, 11...acquisition unit, 12...guided driving control unit, 13...estimation unit, 14...route setting unit, 15...autonomous driving control unit, 20...memory unit.

Claims

1. A route detection unit that detects a guided driving route laid on a road; A trigger detection unit that detects a trigger disposed on the guided travel route; a guided travel control unit that controls guided travel based on the guided travel route and the trigger; a route setting unit that sets an autonomous driving route based on a travel result of the guided driving route and sets a virtual trigger on the autonomous driving route based on a detection position of the trigger; an autonomous driving control unit that controls autonomous driving based on the autonomous driving route and the virtual trigger; Equipped with Each of the triggers and each of the virtual triggers have a one-to-one correspondence. Autonomous driving device.

2. The autonomous driving device according to claim 1 , wherein the route setting unit corrects the position of the virtual trigger on the autonomous driving route based on an amount of deviation in a traveling direction between a position detected by the route detection unit and a position detected by the trigger detection unit.

3. Detecting a guided driving route laid on a road; detecting a trigger disposed on the guided travel path; controlling guided travel based on the guided travel route and the trigger; setting an autonomous driving route based on a travel result of the guided driving route, and setting a virtual trigger on the autonomous driving route based on a detection position of the trigger; Controlling the autonomous driving based on the autonomous driving path and the virtual trigger; Equipped with Each of the triggers and each of the virtual triggers have a one-to-one correspondence. Routing methods.

4. The route setting method according to claim 3 , wherein setting the virtual trigger includes correcting a position of the virtual trigger on the autonomous driving route based on an amount of deviation in a traveling direction between a detected position of the guided driving route and a detected position of the trigger.

5. 5. The route setting method according to claim 3, further comprising the step of removing all of the guided driving route and the trigger from the road after the setting of the autonomous driving route and the setting of the virtual trigger are completed.

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