AUTONOMOUS VEHICLE CONTROL SYSTEM AND AUTONOMOUS VEHICLE CONTROL METHOD

Abstract

To suppress a reduction in productivity in a work site while securing the safety of an occupant of an automatically traveling vehicle.SOLUTION: A control system for an automatically traveling vehicle comprises: a work machine position acquisition unit that acquires a position of a work machine; an automatically traveling vehicle position acquisition unit that acquires a position of an automatically traveling vehicle; a person information acquisition unit that acquires person information indicating whether there is a person inside the automatically traveling vehicle or not; and a command generation unit that changes control of the automatically traveling vehicle, based the person information and a positional relation between the work machine and the automatically traveling vehicle.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a control system for an autonomous vehicle and a control method for an autonomous vehicle. [Background technology]

[0002] 2. Description of the Related Art In the technical field relating to control systems for autonomous vehicles, a traffic control system such as that disclosed in Patent Document 1 is known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-10110 A Summary of the Invention [Problem to be solved by the invention]

[0004] When transporting people at a work site using an autonomous vehicle, it is necessary to prevent a decrease in productivity at the work site while ensuring the safety of the occupants of the autonomous vehicle.

[0005] The present disclosure aims to suppress a decline in productivity at work sites while ensuring the safety of passengers in autonomous vehicles. [Means for solving the problem]

[0006] According to the present disclosure, there is provided a control system for an autonomous vehicle comprising a work machine position acquisition unit that acquires the position of the work machine, an autonomous vehicle position acquisition unit that acquires the position of the autonomous vehicle, a human information acquisition unit that acquires human information indicating whether or not a person is present inside the autonomous vehicle, and a command generation unit that changes control of the autonomous vehicle based on the human information and the positional relationship between the work machine and the autonomous vehicle. Effect of the Invention

[0007] According to the present disclosure, it is possible to suppress a decline in productivity at work sites while ensuring the safety of passengers in autonomous vehicles. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a work site according to the first embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing a work site management system according to the first embodiment. [Diagram 3] FIG. 3 is a block diagram showing a work site management system according to the first embodiment. [Figure 4] FIG. 4 is a hardware configuration diagram of the management device according to the first embodiment. [Diagram 5] FIG. 5 is a schematic diagram for explaining the travel data and permitted area of ​​the unmanned light vehicle according to the first embodiment. [Figure 6] FIG. 6 is a schematic diagram for explaining the travel data and permitted area of ​​the unmanned dump truck according to the first embodiment. [Figure 7] FIG. 7 is a diagram showing a state in which the unmanned light vehicle according to the first embodiment is traveling on a travel path with no human present inside the unmanned light vehicle. [Figure 8] FIG. 8 is a diagram showing a state in which the unmanned light vehicle according to the first embodiment is traveling on a travel path with a person present inside the unmanned light vehicle. [Figure 9] FIG. 9 is a flowchart showing a control method for an unmanned light vehicle according to the first embodiment. [Figure 10] FIG. 10 is a diagram showing a state in which an unmanned light vehicle according to the second embodiment is traveling on a travel path with no human present inside the unmanned light vehicle. [Figure 11] FIG. 11 is a diagram showing a state in which an unmanned light vehicle according to the second embodiment is traveling on a travel path with a person present inside the unmanned light vehicle. [Figure 12] FIG. 12 is a flowchart showing a control method for an unmanned light vehicle according to the second embodiment. [Figure 13] FIG. 13 is a diagram showing a state in which an unmanned light vehicle according to the third embodiment is traveling in a loading area with no human present inside the unmanned light vehicle. [Figure 14] FIG. 14 is a diagram showing a state in which an unmanned light vehicle according to the third embodiment is traveling in a loading area with a person present inside the unmanned light vehicle. [Figure 15] FIG. 15 is a flowchart showing a control method for an unmanned light vehicle according to the third embodiment. [Figure 16] FIG. 16 is a diagram showing a state in which an unmanned light vehicle according to the fourth embodiment is traveling on a travel path with no human present inside the unmanned light vehicle. [Figure 17] FIG. 17 is a diagram showing a state in which an unmanned light vehicle according to the fourth embodiment is traveling on a travel path with a person present inside the unmanned light vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0010] [First embodiment] A first embodiment will be described.

[0011] <Work site> FIG. 1 is a schematic diagram showing a work site 10 according to the present embodiment. An example of the work site 10 is a wide-area work site such as a mine or a quarry. A mine is a place or business where minerals are mined. A quarry is a place or business where stone materials are mined. An example of a mine is a metal mine where metals are mined, a non-metal mine where limestone is mined, or a coal mine where coal is mined.

[0012] An autonomous vehicle 1, a work machine 2, and a work machine 8 are in operation at a work site 10. An autonomous vehicle is a vehicle that travels without being driven by a driver.

[0013] In this embodiment, the autonomous vehicle 1 is a lightweight vehicle that travels in a work site 10 without the presence of a driver. In this embodiment, the autonomous vehicle 1 is appropriately referred to as an unmanned light vehicle 1.

[0014] In this embodiment, the unmanned light vehicle 1 transports people at a work site 10. That is, the unmanned light vehicle 1 does not have a driver on board, but has a passenger on board who does not operate the vehicle.

[0015] In this embodiment, the work machine 2 is an unmanned vehicle that operates without being driven by a driver. When traveling at the work site 10, no driver is on board the work machine 2. A driver may be on board the work machine 2 for maintenance of the work machine 2 and other specified work. In this embodiment, the work machine 2 is a transport vehicle that performs transport work to transport loads. The transport vehicle travels at the work site 10 unmanned. In this embodiment, the work machine 2 is appropriately referred to as an unmanned dump truck 2.

[0016] In this embodiment, the work machine 8 is a manned vehicle that is operated by a driver. The driver rides on the work machine 8. In this embodiment, the work machine 8 is a loader that performs loading work of loading cargo onto the unmanned dump truck 2. In this embodiment, the work machine 8 will be referred to as a shovel 8 as appropriate.

[0017] The work site 10 includes a loading area 3, a dumping area 4, a parking area 5, a waiting area 6, and a travel path 7.

[0018] The loading site 3 refers to an area where loading work is carried out to load a load onto the unmanned dump truck 2. An example of the load is an excavated material excavated at the loading site 3. A shovel 8 operates at the loading site 3. The shovel 8 has a traveling device, a rotating body supported by the traveling device, and a working machine supported by the rotating body. The shovel 8 can move within a work site 10 including the loading site 3.

[0019] The soil unloading site 4 refers to an area where soil unloading work is carried out, in which the load is unloaded from the unmanned dump truck 2. In the soil unloading site 4, a crusher 9 is provided.

[0020] The parking area 5 refers to an area where the unmanned dump trucks 2 are parked.

[0021] The waiting area 6 refers to an area where the unmanned light vehicle 1 waits.

[0022] The travel path 7 refers to an area where at least one of the unmanned light vehicle 1 and the unmanned dump truck 2 travels. The travel path 7 is provided so as to connect at least the loading site 3 and the soil unloading site 4. In this embodiment, the travel path 7 connects to each of the loading site 3, the soil unloading site 4, the parking site 5, and the waiting site 6.

[0023] The unmanned light vehicle 1 can travel through each of the loading site 3, the soil unloading site 4, the waiting site 6, and the travel path 7. The unmanned dump truck 2 can travel through each of the loading site 3, the soil unloading site 4, the parking area 5, and the travel path 7. The unmanned dump truck 2 travels on the travel path 7, for example, to travel back and forth between the loading site 3 and the soil unloading site 4.

[0024] <Management system> 2 is a schematic diagram showing a management system 11 of a work site 10 according to this embodiment. The management system 11 includes a management device 12 and a communication system 13.

[0025] The management device 12 includes a computer system. The management device 12 is disposed outside the unmanned light vehicle 1, the unmanned dump truck 2, and the shovel 8. The management device 12 is installed in a control facility 14 of the work site 10. The management device 12 manages the work site 10. The management device 12 manages at least the unmanned light vehicle 1, the unmanned dump truck 2, and the shovel 8.

[0026] The communication system 13 may be exemplified by the Internet, a mobile phone communication network, a satellite communication network, or a local area network (LAN).

[0027] The unmanned light vehicle 1 includes a vehicle body 101, a traveling device 102, a control device 15, and a wireless communication device 13A. The control device 15 includes a computer system. The wireless communication device 13A is connected to the control device 15.

[0028] The unmanned dump truck 2 includes a vehicle body 201, a traveling device 202, a dump body 203, a control device 16, and a wireless communication device 13B. The control device 16 includes a computer system. The wireless communication device 13B is connected to the control device 16.

[0029] The communication system 13 includes a wireless communication device 13A connected to the control device 15, a wireless communication device 13B connected to the control device 16, and a wireless communication device 13C connected to the management device 12. The management device 12 and the control device 15 of the unmanned light vehicle 1 communicate wirelessly via the communication system 13. The management device 12 and the control device 16 of the unmanned dump truck 2 communicate wirelessly via the communication system 13.

[0030] The vehicle body 101 includes a vehicle body frame. The vehicle body 101 is supported by a traveling device 102. The traveling device 102 supports the vehicle body 101 and travels. The traveling device 102 includes wheels, tires attached to the wheels, an engine, a brake device, and a steering device.

[0031] The vehicle body 201 includes a vehicle body frame. The vehicle body 201 is supported by a traveling device 202. The traveling device 202 supports the vehicle body 201 and travels. The traveling device 202 includes wheels, tires attached to the wheels, an engine, a brake device, and a steering device. The dump body 203 is a member on which a load is loaded. The dump body 203 is supported by the vehicle body 201. The dump body 203 performs a dumping operation and a lowering operation. The dumping operation refers to an operation of moving the dump body 203 away from the vehicle body 201 and tilting it in the dumping direction. The lowering operation refers to an operation of moving the dump body 203 closer to the vehicle body 201. When a loading operation is performed, the dump body 203 performs a lowering operation. When an earth removal operation is performed, the dump body 203 performs a dumping operation.

[0032] FIG. 3 is a block diagram showing a management system 11 of a work site 10 according to this embodiment.

[0033] The unmanned light vehicle 1 has a control device 15, a wireless communication device 13A, a position sensor 17, an orientation sensor 18, a speed sensor 19, a human recognition sensor 20, and a traveling device 102. Each of the wireless communication device 13A, the position sensor 17, the orientation sensor 18, the speed sensor 19, and the human recognition sensor 20 can communicate with the control device 15. The traveling device 102 is controlled by the control device 15.

[0034] The position sensor 17 detects the position of the unmanned light vehicle 1. The position of the unmanned light vehicle 1 is detected using a Global Navigation Satellite System (GNSS). The Global Navigation Satellite System includes a Global Positioning System (GPS). The Global Navigation Satellite System detects the position of the unmanned light vehicle 1 in a global coordinate system defined by coordinate data of latitude, longitude, and altitude. The global coordinate system refers to a coordinate system fixed to the earth. The position sensor 17 includes a GNSS receiver and detects the absolute position of the unmanned light vehicle 1, which indicates the position of the unmanned light vehicle 1 in the global coordinate system.

[0035] The orientation sensor 18 detects the orientation of the unmanned light vehicle 1. The orientation of the unmanned light vehicle 1 includes the yaw angle of the unmanned light vehicle 1. When an axis extending in the vertical direction at the center of gravity of the vehicle body 101 is defined as a yaw axis, the yaw angle refers to a rotation angle around the yaw axis. An example of the orientation sensor 18 is a gyro sensor.

[0036] The speed sensor 19 detects the traveling speed of the unmanned light vehicle 1. An example of the speed sensor 19 is a pulse sensor that detects the rotation of the wheels of the unmanned light vehicle 1.

[0037] The human recognition sensor 20 recognizes whether or not a human is present inside the unmanned light vehicle 1. That is, the human recognition sensor 20 detects whether or not there is a passenger in the unmanned light vehicle 1. A seat on which the passenger sits is disposed inside the unmanned light vehicle 1. An example of the human recognition sensor 20 is a pressure sensor provided on the seat. The human recognition sensor 20 may be a weight sensor that detects the weight of the passenger, or an in-vehicle camera that captures an image of the passenger.

[0038] The unmanned dump truck 2 has a control device 16, a wireless communication device 13B, a position sensor 22, an orientation sensor 23, a speed sensor 24, and a traveling device 202. Each of the wireless communication device 13B, the position sensor 22, the orientation sensor 23, and the speed sensor 24 can communicate with the control device 16. The traveling device 202 is controlled by the control device 16.

[0039] The position sensor 22 detects the position of the unmanned dump truck 2. The position sensor 22 includes a GNSS receiver, and detects the absolute position of the unmanned dump truck 2 indicating the position of the unmanned dump truck 2 in a global coordinate system.

[0040] The orientation sensor 23 detects the orientation of the unmanned dump truck 2. An example of the orientation sensor 23 is a gyro sensor.

[0041] The speed sensor 24 detects the traveling speed of the unmanned dump truck 2. An example of the speed sensor 24 is a pulse sensor that detects the rotation of the wheels of the unmanned dump truck 2.

[0042] The management device 12 has a first driving path generation unit 121, a second driving path generation unit 122, a first permitted area generation unit 123, a second permitted area generation unit 124, a work machine position acquisition unit 125, an autonomous vehicle position acquisition unit 126, a human information acquisition unit 127, a judgment unit 128, and a command generation unit 129.

[0043] The first travel path generation unit 121 generates travel data indicating the travel conditions of the unmanned light vehicle 1. The first travel path generation unit 121 transmits the travel data to the unmanned light vehicle 1 via the communication system 13.

[0044] The second travel path generation unit 122 generates travel data indicating the travel conditions of the unmanned dump truck 2. The second travel path generation unit 122 transmits the travel data to the unmanned dump truck 2 via the communication system 13.

[0045] The first permitted area generation unit 123 generates an permitted area 33 in which traveling of the unmanned light vehicle 1 is permitted. The first permitted area generation unit 123 transmits the permitted area 33 to the unmanned light vehicle 1 via the communication system 13.

[0046] The second permitted area generation unit 124 generates the permitted area 43 in which travel of the unmanned dump truck 2 is permitted. The second permitted area generation unit 124 transmits the permitted area 43 to the unmanned dump truck 2 via the communication system 13.

[0047] The work machine position acquisition unit 125 acquires the position of the unmanned dump truck 2. As described above, the unmanned dump truck 2 has the position sensor 22 that detects the position of the unmanned dump truck 2. The work machine position acquisition unit 125 acquires the position of the unmanned dump truck 2 by acquiring detection data of the position sensor 22 via the communication system 13.

[0048] Furthermore, the work machine position acquisition unit 125 acquires the position of the shovel 8. The shovel 8 is provided with a position sensor that detects the position of the shovel 8. The position sensor of the shovel 8 includes a GNSS receiver, and detects the absolute position of the shovel 8 that indicates the position of the shovel 8 in the global coordinate system. The work machine position acquisition unit 125 acquires the position of the shovel 8 by acquiring detection data of the position sensor of the shovel 8 via the communication system 13.

[0049] The autonomous vehicle position acquisition unit 126 acquires the position of the unmanned light vehicle 1. As described above, the unmanned light vehicle 1 has a position sensor 17 that detects the position of the unmanned light vehicle 1. The autonomous vehicle position acquisition unit 126 acquires the position of the unmanned light vehicle 1 by acquiring detection data of the position sensor 17 via the communication system 13.

[0050] The human information acquisition unit 127 acquires human information indicating whether or not a human is present inside the unmanned light vehicle 1. As described above, the unmanned light vehicle 1 has a human recognition sensor 20 that recognizes whether or not a human is present inside the unmanned light vehicle 1. The human information acquisition unit 127 acquires human information indicating whether or not a human is present inside the unmanned light vehicle 1 by acquiring detection data of the human recognition sensor 20 via the communication system 13.

[0051] The determination unit 128 determines whether or not a person is present inside the unmanned light vehicle 1, based on the person information acquired by the person information acquisition unit 127. Furthermore, the determination unit 128 can recognize the positional relationship (relative position) between the unmanned dump truck 2 and the unmanned light vehicle 1, based on the position of the unmanned dump truck 2 acquired by the work machine position acquisition unit 125 and the position of the unmanned light vehicle 1 acquired by the autonomous vehicle position acquisition unit 126. The determination unit 128 determines whether or not to change the control of the unmanned light vehicle 1, based on the person information and the positional relationship between the unmanned dump truck 2 and the unmanned light vehicle 1.

[0052] Furthermore, the determination unit 128 can recognize the positional relationship (relative position) between the shovel 8 and the unmanned light vehicle 1 based on the position of the shovel 8 acquired by the work machine position acquisition unit 125 and the position of the unmanned light vehicle 1 acquired by the autonomous vehicle position acquisition unit 126. The determination unit 128 determines whether or not to change the control of the unmanned light vehicle 1 based on the person information and the positional relationship between the shovel 8 and the unmanned light vehicle 1.

[0053] The command generating unit 129 changes the control of the unmanned light vehicle 1 based on the person information and the positional relationship between the unmanned dump truck 2 and the unmanned light vehicle 1. The command generating unit 129 also changes the control of the unmanned light vehicle 1 based on the person information and the positional relationship between the shovel 8 and the unmanned light vehicle 1. That is, the command generating unit 129 changes the control of the unmanned light vehicle 1 when the determining unit 128 determines that the control of the unmanned light vehicle 1 should be changed.

[0054] In this embodiment, changing the control of the unmanned light vehicle 1 includes changing the driving conditions of the unmanned light vehicle 1. Changing the driving conditions of the unmanned light vehicle 1 includes changing the driving data and the permitted area 33 of the unmanned light vehicle 1.

[0055] The driving conditions of the unmanned light vehicle 1 include the driving speed of the unmanned light vehicle 1. In addition, the driving conditions of the unmanned light vehicle 1 include one or both of the maximum value of the acceleration of the unmanned light vehicle 1 and the maximum value of the deceleration of the unmanned light vehicle 1.

[0056] The command generating unit 129 changes the running speed of the unmanned light vehicle 1 based on the person information. When no person is present inside the unmanned light vehicle 1, the command generating unit 129 causes the unmanned light vehicle 1 to run at a first running speed V1. When a person is present inside the unmanned light vehicle 1, the command generating unit 129 causes the unmanned light vehicle 1 to run at a second running speed V2 lower than the first running speed V1.

[0057] The command generating unit 129 may change the traveling speed of the unmanned light vehicle 1 based on the person information and the positional relationship between the unmanned dump truck 2 or the shovel 8 and the unmanned light vehicle 1. For example, the command generating unit 129 may cause the unmanned light vehicle 1 to travel at a first traveling speed V1 when a person is present inside the unmanned light vehicle 1 but the unmanned dump truck 2 and the shovel 8 are not present around the unmanned light vehicle 1. The command generating unit 129 may cause the unmanned light vehicle 1 to travel at a second traveling speed V2 when a person is present inside the unmanned light vehicle 1 and at least one of the unmanned dump truck 2 and the shovel 8 is present around the unmanned light vehicle 1.

[0058] The command generating unit 129 changes one or both of the maximum acceleration value and the maximum deceleration value of the unmanned light vehicle 1 based on the person information. When no person is present inside the unmanned light vehicle 1, the command generating unit 129 sets the maximum acceleration value of the unmanned light vehicle 1 to a first acceleration, or sets the maximum deceleration value to a first deceleration. When a person is present inside the unmanned light vehicle 1, the command generating unit 129 sets the maximum acceleration value of the unmanned light vehicle 1 to a second acceleration lower than the first acceleration, or sets the maximum deceleration value to a second deceleration lower than the first deceleration.

[0059] The command generating unit 129 may change one or both of the maximum acceleration value and the maximum deceleration value of the unmanned light vehicle 1 based on the person information and the positional relationship between the unmanned dump truck 2 or the shovel 8 and the unmanned light vehicle 1. For example, when a person is present inside the unmanned light vehicle 1 but the unmanned dump truck 2 and the shovel 8 are not present around the unmanned light vehicle 1, the command generating unit 129 may set the maximum acceleration value of the unmanned light vehicle 1 to the first acceleration or the maximum deceleration value to the first deceleration. When a person is present inside the unmanned light vehicle 1 and at least one of the unmanned dump truck 2 and the shovel 8 is present around the unmanned light vehicle 1, the command generating unit 129 may set the maximum acceleration value of the unmanned light vehicle 1 to the second acceleration or the maximum deceleration value to the second deceleration.

[0060] In this embodiment, the command generating unit 129 outputs a change command to the first travel path generating unit 121 so that the travel data of the unmanned light vehicle 1 is changed based on the person information and the positional relationship between the unmanned dump truck 2 and the unmanned light vehicle 1. Also, the command generating unit 129 outputs a change command to the first permitted area generating unit 123 so that the permitted area 33 of the unmanned light vehicle 1 is changed based on the person information and the positional relationship between the unmanned dump truck 2 and the unmanned light vehicle 1. The management device 12 transmits the travel data and the permitted area 33 indicating the changed travel conditions to the unmanned light vehicle 1. The first travel path generating unit 121 transmits the changed travel data to the unmanned light vehicle 1. The first permitted area generating unit 123 transmits the changed permitted area 33 to the unmanned light vehicle 1.

[0061] The control device 15 includes a first travel path acquisition unit 151 , a first permitted area acquisition unit 152 , a sensor data acquisition unit 153 , a sensor data transmission unit 154 , and a travel control unit 155 .

[0062] The first travel path acquisition unit 151 acquires the travel data of the unmanned light vehicle 1 generated in the first travel path generation unit 121 from the management device 12 via the communication system 13.

[0063] The first permitted area acquisition unit 152 acquires the permitted area 33 of the unmanned light vehicle 1 generated by the first permitted area generation unit 123 from the management device 12 via the communication system 13.

[0064] The sensor data acquisition unit 153 acquires detection data from the position sensor 17 , the direction sensor 18 , and the speed sensor 19 .

[0065] The sensor data transmission unit 154 transmits the detection data of the position sensor 17 and the detection data of the human recognition sensor 20 to the management device 12 via the communication system 13.

[0066] The driving control unit 155 controls the driving device 102 based on the driving data of the unmanned light vehicle 1 acquired by the first driving path acquisition unit 151, the permitted area 33 of the unmanned light vehicle 1 acquired by the first permitted area acquisition unit 152, and the detection data acquired by the sensor data acquisition unit 153.

[0067] The control device 16 includes a second travel path acquisition unit 161 , a second permitted area acquisition unit 162 , a sensor data acquisition unit 163 , a sensor data transmission unit 164 , and a travel control unit 165 .

[0068] The second travel path acquisition unit 161 acquires the travel data of the unmanned dump truck 2 generated in the second travel path generation unit 122 from the management device 12 via the communication system 13.

[0069] The second allowed area acquisition unit 162 acquires the allowed area 43 for the unmanned dump truck 2 generated by the second allowed area generation unit 124 from the management device 12 via the communication system 13.

[0070] The sensor data acquisition unit 163 acquires detection data from the position sensor 22, the direction sensor 23, and the speed sensor .

[0071] The sensor data transmission unit 164 transmits the detection data of the position sensor 22 to the management device 12 via the communication system 13.

[0072] The traveling control unit 165 controls the traveling device 202 based on the traveling data of the unmanned dump truck 2 acquired by the second traveling path acquisition unit 161, the permitted area 43 of the unmanned dump truck 2 acquired by the second permitted area acquisition unit 162, and the detection data acquired by the sensor data acquisition unit 163.

[0073] FIG. 4 is a hardware configuration diagram of the management device 12 according to this embodiment. The management device 12 includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the management device 12 described above are stored in the storage 1003 as a computer program. The processor 1001 reads the computer program from the storage 1003, expands it in the main memory 1002, and executes the above-mentioned processing according to the program. The computer program may be distributed to the computer system 1000 via a network.

[0074] Each of the control devices 15 and 16 also includes a computer system 1000 as shown in Fig. 4. The functions of each of the control devices 15 and 16 described above are stored in the storage 1003 as computer programs.

[0075] <Driving data and permitted areas> FIG. 5 is a schematic diagram for explaining the travel data and the permitted area 33 of the unmanned light vehicle 1 according to this embodiment.

[0076] The travel data of the unmanned light vehicle 1 specifies the travel conditions of the unmanned light vehicle 1. The travel data of the unmanned light vehicle 1 includes a travel point 31, a travel path 32, a target position of the unmanned light vehicle 1, a target orientation of the unmanned light vehicle 1, and a target travel speed of the unmanned light vehicle 1. The travel data of the unmanned light vehicle 1 including the travel path 32 is generated in a first travel path generation unit 121.

[0077] A plurality of travel points 31 are set at the work site 10. The travel points 31 define the target position of the unmanned light vehicle 1. A target orientation and a target travel speed of the unmanned light vehicle 1 are set for each of the plurality of travel points 31. The plurality of travel points 31 are set at intervals. The intervals between the travel points 31 may be uniform or non-uniform.

[0078] The travel path 32 refers to a virtual line that indicates the target travel route of the unmanned light vehicle 1. The travel path 32 is defined by a trajectory that passes through a plurality of travel points 31. The unmanned light vehicle 1 travels in the work site 10 according to the travel path 32. The unmanned light vehicle 1 travels such that the center of the unmanned light vehicle 1 and the travel path 32 coincide in the vehicle width direction of the unmanned light vehicle 1.

[0079] The target position of the unmanned light vehicle 1 refers to the target position of the unmanned light vehicle 1 when passing the travel point 31. The target position of the unmanned light vehicle 1 may be defined in the local coordinate system of the unmanned light vehicle 1 or in the global coordinate system.

[0080] The target orientation of the unmanned light vehicle 1 refers to the target orientation of the unmanned light vehicle 1 when passing through the travel point 31.

[0081] The target traveling speed of the unmanned light vehicle 1 refers to the target traveling speed of the unmanned light vehicle 1 when passing through the traveling point 31.

[0082] The first allowed area generating unit 123 generates an allowed area 33 in which the unmanned light vehicle 1 is permitted to travel, and a stopping point 34 for the unmanned light vehicle 1. The allowed area 33 functions as a no-entry area that prohibits the entry of surrounding vehicles traveling around the unmanned light vehicle 1. In this embodiment, the surrounding vehicles of the unmanned light vehicle 1 include other unmanned light vehicles 1 and an unmanned dump truck 2. The allowed area 33 is set in the traveling direction of the unmanned light vehicle 1. When the unmanned light vehicle 1 moves forward, at least a part of the allowed area 33 is set in front of the unmanned light vehicle 1. The allowed area 33 is set in a strip shape so as to include the traveling path 32. In addition, the allowed area 33 is set so as to include the unmanned light vehicle 1. In the vehicle width direction of the unmanned light vehicle 1, the width of the allowed area 33 is larger than the vehicle width of the unmanned light vehicle 1. The stopping point 34 is set at the tip of the allowed area 33. The travel speed of the unmanned light vehicle 1 is controlled so that the unmanned light vehicle 1 can stop at the stop point 34.

[0083] FIG. 6 is a schematic diagram for explaining the travel data and the permitted area 43 of the unmanned dump truck 2 according to this embodiment.

[0084] The travel data of the unmanned dump truck 2 specifies the travel conditions of the unmanned dump truck 2. The travel data of the unmanned dump truck 2 includes a travel point 41, a travel path 42, a target position of the unmanned dump truck 2, a target orientation of the unmanned dump truck 2, and a target travel speed of the unmanned dump truck 2. The travel data of the unmanned dump truck 2 including the travel path 42 is generated in a second travel path generating unit 122. The unmanned dump truck 2 travels such that the center of the unmanned dump truck 2 and the travel path 42 coincide with each other in the vehicle width direction of the unmanned dump truck 2. The functions of the travel point 41 and the travel path 42 of the unmanned dump truck 2 are similar to the functions of the travel point 31 and the travel path 32 of the unmanned light vehicle 1, and therefore will not be described.

[0085] The second allowed area generating unit 124 generates an allowed area 43 in which the unmanned dump truck 2 is permitted to travel, and a stopping point 44 for the unmanned dump truck 2. The allowed area 43 is set so as to include the unmanned dump truck 2. In the vehicle width direction of the unmanned dump truck 2, the width of the allowed area 43 is larger than the vehicle width of the unmanned dump truck 2. The functions of the allowed area 43 and the stopping point 44 of the unmanned dump truck 2 are similar to the functions of the allowed area 33 and the stopping point 34 of the unmanned light vehicle 1, and therefore description thereof will be omitted.

[0086] The first allowed area generation unit 123 generates an allowed area 33 for each of the multiple unmanned light vehicles 1. The first allowed area generation unit 123 generates the allowed areas 33 such that the multiple allowed areas 33 do not overlap with each other. The first allowed area generation unit 123 generates the allowed areas 33 such that they do not overlap with the allowed area 43 of the unmanned dump truck 2.

[0087] The second allowed area generation unit 124 generates an allowed area 43 for each of the multiple unmanned dump trucks 2. The second allowed area generation unit 124 generates the allowed areas 43 such that the multiple allowed areas 43 do not overlap with each other. The second allowed area generation unit 124 generates the allowed areas 43 such that they do not overlap with the allowed area 33 of the unmanned light vehicle 1.

[0088] The first permitted area generating unit 123 sequentially updates the permitted area 33 as the unmanned light vehicle 1 travels. The first permitted area generating unit 123 sequentially cancels the permitted area 33 after the unmanned light vehicle 1 has passed. The first permitted area generating unit 123 sequentially extends the permitted area 33 before the unmanned light vehicle 1 has passed in the traveling direction of the unmanned light vehicle 1. By canceling the permitted area 33 after the unmanned light vehicle 1 has passed, other unmanned light vehicles 1 and unmanned dump trucks 2 can travel. By extending the permitted area 33 before the unmanned light vehicle 1 has passed, the unmanned light vehicle 1 continues traveling. If an event occurs in which the permitted area 33 cannot be extended, the unmanned light vehicle 1 stops at a stop point 34. An example of an event in which the permitted area 33 cannot be extended is an event in which another unmanned light vehicle 1 or an unmanned dump truck 2 is stopped in front of the permitted area 33.

[0089] The second permitted area generating unit 124 sequentially updates the permitted area 43 as the unmanned dump truck 2 travels. The second permitted area generating unit 124 sequentially cancels the permitted area 43 after the unmanned dump truck 2 has passed. The second permitted area generating unit 124 sequentially extends the permitted area 43 before the unmanned dump truck 2 has passed in the traveling direction of the unmanned dump truck 2. By canceling the permitted area 43 after the unmanned dump truck 2 has passed, other unmanned dump trucks 2 and unmanned light vehicles 1 can travel. By extending the permitted area 43 before the unmanned dump truck 2 has passed, the unmanned dump truck 2 continues traveling. If an event occurs in which the permitted area 43 cannot be extended, the unmanned dump truck 2 stops at a stop point 44. An example of an event in which the permitted area 43 cannot be extended is an event in which another unmanned dump truck 2 or an unmanned light vehicle 1 is stopped in front of the permitted area 43.

[0090] The driving control unit 155 controls the driving device 102 so that the unmanned light vehicle 1 drives according to the driving path 32 based on the driving data of the unmanned light vehicle 1, the permitted area 33 of the unmanned light vehicle 1, and the detection data acquired by the sensor data acquisition unit 153.

[0091] The driving control unit 155 controls the driving device 102 so as to reduce the deviation between the detected position of the unmanned light vehicle 1 detected by the position sensor 17 when passing the driving point 31 and the target position of the unmanned light vehicle 1 set at the driving point 31.

[0092] The driving control unit 155 controls the driving device 102 so that the deviation between the detected direction of the unmanned light vehicle 1 detected by the direction sensor 18 when passing through the driving point 31 and the target direction of the unmanned light vehicle 1 set at the driving point 31 is small.

[0093] The driving control unit 155 controls the driving device 102 so as to reduce the deviation between the detected driving speed of the unmanned light vehicle 1 detected by the speed sensor 19 when passing the driving point 31 and the target driving speed of the unmanned light vehicle 1 set at the driving point 31.

[0094] The traveling control unit 155 controls the traveling device 102 based on the permission area 33 and the permission area 43. If an event occurs in which the permission area 33 cannot be extended, the traveling control unit 155 controls the traveling device 102 so that the unmanned light vehicle 1 stops at the stop point 34. The traveling control unit 155 controls the traveling device 102 so that the unmanned light vehicle 1 does not enter the permission area 33 set for another unmanned light vehicle 1 and the permission area 43 set for the unmanned dump truck 2.

[0095] The traveling control unit 165 controls the traveling device 202 so that the unmanned dump truck 2 travels according to the traveling path 42 based on the traveling data of the unmanned dump truck 2, the permitted area 43 of the unmanned dump truck 2, and the detection data acquired by the sensor data acquisition unit 163.

[0096] The traveling control unit 165 controls the traveling device 202 so as to reduce the deviation between the detected position of the unmanned dump truck 2 detected by the position sensor 22 when passing the traveling point 41 and the target position of the unmanned dump truck 2 set at the traveling point 41.

[0097] The traveling control unit 165 controls the traveling device 202 so that the deviation between the detected orientation of the unmanned dump truck 2 detected by the orientation sensor 23 when passing the traveling point 41 and the target orientation of the unmanned dump truck 2 set at the traveling point 41 is small.

[0098] The traveling control unit 165 controls the traveling device 202 so that the deviation between the detected traveling speed of the unmanned dump truck 2 detected by the speed sensor 24 when passing the traveling point 41 and the target traveling speed of the unmanned dump truck 2 set at the traveling point 41 is small.

[0099] The traveling control unit 165 controls the traveling device 202 based on the permission area 43 and the permission area 33. If an event occurs in which the permission area 43 cannot be extended, the traveling control unit 165 controls the traveling device 202 so that the unmanned dump truck 2 stops at the stop point 44. The traveling control unit 165 controls the traveling device 202 so that the unmanned dump truck 2 does not enter the permission area 43 set for another unmanned dump truck 2 and the permission area 33 set for the unmanned light vehicle 1.

[0100] <Control method> Fig. 7 is a diagram showing a state in which the unmanned light vehicle 1 according to this embodiment is traveling on a travel path 7 with no person present inside the unmanned light vehicle 1. Fig. 8 is a diagram showing a state in which the unmanned light vehicle 1 according to this embodiment is traveling on a travel path 7 with a person present inside the unmanned light vehicle 1.

[0101] 7 and 8, unmanned dump trucks 2 exist around an unmanned light vehicle 1. The unmanned dump trucks 2 include an unmanned dump truck 2A that travels in front of the unmanned light vehicle 1, and an unmanned dump truck 2B that travels behind the unmanned light vehicle 1. The unmanned dump truck 2A, the unmanned light vehicle 1, and the unmanned dump truck 2B travel in the same direction.

[0102] In this embodiment, when a person is present inside the unmanned light vehicle 1, the command generating unit 129 changes the control of one or both of the unmanned light vehicle 1 and the unmanned dump truck 2 so that the distance between the unmanned light vehicle 1 and the unmanned dump truck 2 present in the vicinity of the unmanned light vehicle 1 becomes longer. When a person is present inside the unmanned light vehicle 1, the command generating unit 129 changes the control of one or both of the unmanned light vehicle 1 and the unmanned dump truck 2 so that the distance between the unmanned light vehicle 1 and the unmanned dump truck 2 present in the vicinity of the unmanned light vehicle 1 becomes longer than when a person is not present inside the unmanned light vehicle 1.

[0103] When the distance between the unmanned light vehicle 1 and an unmanned dump truck 2A traveling in front of the unmanned light vehicle 1 is equal to or less than a predetermined threshold, the command generating unit 129 changes the control of the unmanned light vehicle 1 so as to increase the distance between the unmanned light vehicle 1 and the unmanned dump truck 2A.

[0104] When the distance between the unmanned light vehicle 1 and the unmanned dump truck 2B traveling behind the unmanned light vehicle 1 is equal to or less than a predetermined threshold, the command generating unit 129 changes the control of the unmanned dump truck 2B so as to increase the distance between the unmanned light vehicle 1 and the unmanned dump truck 2B.

[0105] In this embodiment, changing the control of the unmanned light vehicle 1 includes changing the permitted area 33 of the unmanned light vehicle 1. Changing the control of the unmanned dump truck 2B includes changing the permitted area 43 of the unmanned dump truck 2B.

[0106] 7 and 8, the length of the permission area 33 of the unmanned light vehicle 1 when a person is present inside the unmanned light vehicle 1 and is boarded is longer than the length of the permission area 33 of the unmanned light vehicle 1 when a person is not present inside the unmanned light vehicle 1 and is not boarded. The length of the permission area 33 refers to the dimension of the permission area 33 in the direction of travel of the unmanned light vehicle 1.

[0107] 7 and 8, the length of the permission area 43 of the unmanned dump truck 2B when a person is present inside the unmanned light vehicle 1 and is on board is longer than the length of the permission area 43 of the unmanned dump truck 2B when a person is not present inside the unmanned light vehicle 1 and is not on board. The length of the permission area 43 refers to the dimension of the permission area 43 in the traveling direction of the unmanned dump truck 2B.

[0108] As shown in Fig. 7, the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2A is set to distance Da1, and the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2B is set to distance Db1. As shown in Fig. 8, when a person is present inside the unmanned light vehicle 1 and is boarding, the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2A is set to distance Da2, which is longer than distance Da1, and the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2B is set to distance Db2, which is longer than distance Db1.

[0109] In this embodiment, the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2A is changed based on the length of the permission area 33 of the unmanned light vehicle 1. When not on board, the length of the permission area 33 is set short, and the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2A is set to distance Da1. When on board, the length of the permission area 33 is set long, and the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2A is set to distance Da2.

[0110] In this embodiment, the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2B is changed based on the length of the permission area 43 of the unmanned dump truck 2B. When not on board, the length of the permission area 43 is set short, and the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2B is set to distance Db1. When on board, the length of the permission area 43 is set long, and the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2B is set to distance Db2.

[0111] FIG. 9 is a flowchart showing a control method for the unmanned light vehicle 1 according to this embodiment.

[0112] The work machine position acquisition unit 125 acquires the position of the unmanned dump truck 2 (step SA1).

[0113] The autonomous vehicle position acquisition unit 126 acquires the position of the unmanned light vehicle 1 (step SA2).

[0114] The person information acquisition unit 127 acquires person information (step SA3).

[0115] The determination unit 128 determines whether or not a person is on board the unmanned light vehicle 1 based on the person information acquired in step SA3 (step SA4).

[0116] In step SA4, if it is determined that the unmanned light vehicle 1 is not in a non-boarding state (step SA4: No), the command generating unit 129 outputs a generation command to the first allowed area 123 so that the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2A is the distance Da1 (first inter-vehicle distance). The first allowed area generating unit 123 generates the allowed area 33 so that the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2A is the distance Da1. In addition, the command generating unit 129 outputs a generation command to the second allowed area generating unit 124 so that the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2B is the distance Db1 (first inter-vehicle distance). The second allowed area generating unit 124 generates the allowed area 43 so that the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2B is the distance Db1 (step SA5).

[0117] In step SA4, if it is determined that a person is in the onboard state of the unmanned light vehicle 1 (step SA4: Yes), the command generating unit 129 outputs a generation command to the first allowed area 123 so that the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2A is the distance Da2 (second inter-vehicle distance). The first allowed area generating unit 123 generates the allowed area 33 so that the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2A is the distance Da2. In addition, the command generating unit 129 outputs a generation command to the second allowed area generating unit 124 so that the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2B is the distance Db2 (second inter-vehicle distance). The second allowed area generating unit 124 generates the allowed area 43 so that the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2B is the distance Db2 (step SA6).

[0118] The permission area 33 generated in step SA5 or step SA6 is transmitted from the management device 12 to the unmanned light vehicle 1. In addition, the permission area 43 generated in step SA5 or step SA6 is transmitted from the management device 12 to the unmanned dump truck 2B (step SA7).

[0119] <Effects> As described above, according to this embodiment, the control of the unmanned light vehicle 1 is changed based on the person information and the positional relationship between the unmanned dump truck 2 and the unmanned light vehicle 1. In this embodiment, when there is no person inside the unmanned light vehicle 1, the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2A is shortened, and when there is a person inside the unmanned light vehicle 1, the inter-vehicle distance between the unmanned light vehicle 1 and the unmanned dump truck 2A is lengthened. When not on board, the inter-vehicle distance is shortened, so that the decrease in productivity of the work site 10 is suppressed. When on board, the inter-vehicle distance is lengthened, so that the safety of the occupant of the unmanned light vehicle 1 is ensured.

[0120] Furthermore, when no person is present inside the unmanned light vehicle 1, the maximum running speed of the unmanned light vehicle 1 becomes high, and when a person is present inside the unmanned light vehicle 1, the maximum running speed of the unmanned light vehicle 1 becomes low. When no person is on board, the unmanned light vehicle 1 runs at high speed, which suppresses a decrease in productivity at the work site 10. When on board, the unmanned light vehicle 1 runs at low speed, which ensures the safety of the occupants of the unmanned light vehicle 1.

[0121] Furthermore, when no person is present inside the unmanned light vehicle 1, the maximum acceleration value of the unmanned light vehicle 1 becomes high, and when a person is present inside the unmanned light vehicle 1, the maximum acceleration value of the unmanned light vehicle 1 becomes low. When no person is on board, the unmanned light vehicle 1 accelerates at a high acceleration rate, thereby preventing a decrease in productivity at the work site 10. When on board, the unmanned light vehicle 1 is prevented from accelerating suddenly, thereby ensuring the safety of the occupants of the unmanned light vehicle 1. The same applies to the deceleration rate.

[0122] <Modification> In this embodiment, the management device 12 has the human information acquisition unit 127. The control device 15 of the unmanned light vehicle 1 may have the human information acquisition unit 127.

[0123] [Second embodiment] A second embodiment will be described below. In the following description, the same or equivalent components as those in the above-described embodiment are denoted by the same reference numerals, and the description of those components will be simplified or omitted.

[0124] <Control method> Fig. 10 is a diagram showing a state in which the unmanned light vehicle 1 according to this embodiment is traveling on a travel path 7 with no person present inside the unmanned light vehicle 1. Fig. 11 is a diagram showing a state in which the unmanned light vehicle 1 according to this embodiment is traveling on a travel path 7 with a person present inside the unmanned light vehicle 1.

[0125] 10 and 11, in this embodiment, the travel path 32 of the unmanned light vehicle 1 and the travel path 42 of the unmanned dump truck 2 are set to be aligned on the travel road 7 of the work site 10. The unmanned light vehicle 1 travels on the travel road 7 of the work site 10 according to the travel path 32 generated by the first travel path generating unit 121. The unmanned dump truck 2 travels on the travel road 7 of the work site 10 according to the travel path 42 generated by the second travel path generating unit 122.

[0126] In the example shown in FIG. 10 and FIG. 11, the travel path 32 and the travel path 42 are substantially parallel. The travel path 32 and the travel path 42 are set so that the travel path 7 becomes an opposing two-lane travel path. The unmanned light vehicle 1 and the unmanned dump truck 2 travel in opposite directions. The unmanned dump truck 2 is an oncoming vehicle of the unmanned light vehicle 1. On the travel path 7, the unmanned light vehicle 1 and the unmanned dump truck 2 travel so as to pass each other. In the example shown in FIG. 10 and FIG. 11, the unmanned light vehicle 1 travels in a first direction on a first travel lane on one side (left side) of the travel path 7 in the width direction of the travel path 7 based on the travel path 32. The unmanned dump truck 2 travels in a second direction opposite to the first direction on a second travel lane on the other side (right side) of the travel path 7 in the width direction of the travel path 7 based on the travel path 42.

[0127] The unmanned light vehicle 1 travels such that the center of the unmanned light vehicle 1 coincides with the traveling path 32 in the vehicle width direction of the unmanned light vehicle 1. The unmanned dump truck 2 travels such that the center of the unmanned dump truck 2 coincides with the traveling path 42 in the vehicle width direction of the unmanned dump truck 2. The permission area 33 is set so as to include the traveling path 32 and the unmanned light vehicle 1. The permission area 43 is set so as to include the traveling path 42 and the unmanned dump truck 2.

[0128] In this embodiment, changing the control of the unmanned light vehicle 1 includes changing the travel path 32 of the unmanned light vehicle 1. Changing the control of the unmanned dump truck 2 includes changing the travel path 42 of the unmanned dump truck 2.

[0129] As shown in Figure 10, when there is no occupant inside the unmanned light vehicle 1 and no passenger is aboard, the command generation unit 129 causes the first driving path generation unit 121 to generate a driving path 32 so that the unmanned light vehicle 1 drives along the center of the first driving lane.

[0130] As shown in FIG. 11, when a person is present inside the unmanned light vehicle 1 and is boarding, the command generating unit 129 shifts the travel path 32 of the unmanned light vehicle 1 to one side (left side) of the first travel lane so that the distance between the unmanned light vehicle 1 and the unmanned dump truck 2 increases when the unmanned light vehicle 1 and the unmanned dump truck 2 pass each other. That is, when a person is boarding, the command generating unit 129 separates the travel path 32 of the unmanned light vehicle 1 from the travel path 42 of the unmanned dump truck 2 so that the distance between the unmanned light vehicle 1 and the unmanned dump truck 2 increases when the unmanned light vehicle 1 and the unmanned dump truck 2 pass each other. In this embodiment, the travel path 32 is changed so that the unmanned light vehicle 1 travels on the shoulder side of the first travel lane.

[0131] FIG. 12 is a flowchart showing a control method for the unmanned light vehicle 1 according to this embodiment.

[0132] The work machine position acquisition unit 125 acquires the position of the unmanned dump truck 2 (step SB1).

[0133] The autonomous vehicle position acquisition unit 126 acquires the position of the unmanned light vehicle 1 (step SB2).

[0134] The person information acquisition unit 127 acquires person information (step SB3).

[0135] The determination unit 128 determines whether or not a person is on board the unmanned light vehicle 1 based on the person information acquired in step SB3 (step SB4).

[0136] In step SB4, if it is determined that the unmanned light vehicle 1 is not in a non-occupied state (step SB4: No), the command generating unit 129 outputs a generation command to the first traveling path generating unit 121 so that the unmanned light vehicle 1 travels in the center of the first traveling lane. The first traveling path generating unit 121 generates a traveling path 32 in the center of the first traveling lane (step SB5).

[0137] In step SB4, if it is determined that a person is in the onboard state of the unmanned light vehicle 1 (step SB4: Yes), the command generating unit 129 outputs a generation command to the first travel path generating unit 121 so that the unmanned light vehicle 1 travels on the shoulder side of the first travel lane. The first travel path generating unit 121 generates a travel path 32 on the shoulder side of the first travel lane (step SB6).

[0138] The travel path 32 generated in step SB5 or step SB6 is transmitted from the management device 12 to the unmanned light vehicle 1 (step SB7).

[0139] <Effects> As described above, in this embodiment, the control of the unmanned light vehicle 1 is changed based on the person information and the positional relationship between the unmanned dump truck 2 and the unmanned light vehicle 1. In this embodiment, when there is no person inside the unmanned light vehicle 1, the travel path 32 of the unmanned light vehicle 1 when the unmanned light vehicle 1 and the unmanned dump truck 2A pass each other is generated on the center side of the first travel lane, and when there is a person inside the unmanned light vehicle 1, the travel path 32 of the unmanned light vehicle 1 when the unmanned light vehicle 1 and the unmanned dump truck 2A pass each other is generated on the shoulder side of the first travel lane. When not on board, the travel path 32 is generated on the center side of the first travel lane, so that the decrease in productivity of the work site 10 is suppressed. When on board, the travel path 32 is generated on the shoulder side of the first travel lane, so that the safety of the passenger of the unmanned light vehicle 1 is ensured.

[0140] <Modification> In this embodiment, the distance between the unmanned light vehicle 1 and the unmanned dump truck 2 when they pass each other is increased by changing the travel path 32 of the unmanned light vehicle 1. The distance between the unmanned light vehicle 1 and the unmanned dump truck 2 when they pass each other may be increased by changing the travel path 42 of the unmanned dump truck 2. When a person is present inside the unmanned light vehicle 1, the command generating unit 129 may shift the travel path 42 of the unmanned dump truck 2 from the center side of the second travel lane to the shoulder side so as to increase the distance between the unmanned light vehicle 1 and the unmanned dump truck 2 when they pass each other.

[0141] [Third embodiment] A third embodiment will be described below. In the following description, the same or equivalent components as those in the above-described embodiment are denoted by the same reference numerals, and the description of those components will be simplified or omitted.

[0142] <Control method> Fig. 13 is a diagram showing a state in which the unmanned light vehicle 1 according to this embodiment is traveling at a loading site 3 with no person present inside the unmanned light vehicle 1. Fig. 14 is a diagram showing a state in which the unmanned light vehicle 1 according to this embodiment is traveling at a loading site 3 with a person present inside the unmanned light vehicle 1.

[0143] In this embodiment, when a person is present inside the unmanned light vehicle 1, the command generating unit 129 generates a travel path 32 for the unmanned light vehicle 1 so as to move away from the shovel 8 at the loading site 3 where the shovel 8 is operating. In this embodiment, increasing the distance between the unmanned light vehicle 1 and the shovel 8 includes generating a travel path 32 so as to move away from the shovel 8.

[0144] As shown in Figure 13, when there is no person inside the unmanned light vehicle 1 and no passenger is aboard, the command generation unit 129 generates a driving path 32 so that the unmanned light vehicle 1 passes through a target passing position set at the loading area 3 and so that the driving distance at the loading area 3 is the shortest distance.

[0145] 14, when a person is present inside the unmanned light vehicle 1 and is boarding, the command generating unit 129 generates a travel path 32 so that the unmanned light vehicle 1 passes through a target passing position set in the loading area 3 and detours around the shovel 8. In this embodiment, the travel path 32 is generated so that a space 50 is formed between the shovel 8 and the travel path 32.

[0146] FIG. 15 is a flowchart showing a control method for the unmanned light vehicle 1 according to this embodiment.

[0147] The work machine position acquisition unit 125 acquires the position of the shovel 8 (step SC1).

[0148] The autonomous vehicle position acquisition unit 126 acquires the position of the unmanned light vehicle 1 (step SC2).

[0149] The person information acquisition unit 127 acquires person information (step SC3).

[0150] The determination unit 128 determines whether or not a person is on board the unmanned light vehicle 1 based on the person information acquired in step SC3 (step SC4).

[0151] In step SC4, if it is determined that the unmanned light vehicle 1 is in a non-boarding state where a person is not on board (step SC4: No), the command generating unit 129 outputs a generation command to the first traveling path generating unit 121 so that the traveling distance of the unmanned light vehicle 1 at the loading site 3 is the shortest distance. The first traveling path generating unit 121 generates a traveling path 32 so that the unmanned light vehicle 1 passes through the target passing position set at the loading site 3 and so that the traveling distance at the loading site 3 is the shortest distance (step SC5).

[0152] In step SC4, if it is determined that a person is on board the unmanned light vehicle 1 (step SC4: Yes), the command generating unit 129 outputs a generation command to the first travel path generating unit 121 so that the unmanned light vehicle 1 detours around the shovel 8. The first travel path generating unit 121 generates a travel path 32 so that the unmanned light vehicle 1 passes through a target passing position set in the loading area 3 and detours around the shovel 8 (step SC6).

[0153] The travel path 32 generated in step SC5 or step SC6 is transmitted from the management device 12 to the unmanned light vehicle 1 (step SC7).

[0154] <Effects> As described above, in this embodiment, the control of the unmanned light vehicle 1 is changed based on the person information and the positional relationship between the shovel 8 and the unmanned light vehicle 1. In this embodiment, when there is no person inside the unmanned light vehicle 1, the travel path 32 is generated so that the travel distance of the unmanned light vehicle 1 at the loading site 3 is the shortest distance, and when there is a person inside the unmanned light vehicle 1, the travel path 32 is generated so that the unmanned light vehicle 1 detours around the shovel 8 at the loading site 3. This prevents a decrease in productivity at the work site 10 when the person is not on board, and ensures the safety of the occupant of the unmanned light vehicle 1 when on board.

[0155] [Fourth embodiment] A fourth embodiment will be described below. In the following description, the same or equivalent components as those in the above-described embodiment are denoted by the same reference numerals, and the description of those components will be simplified or omitted.

[0156] <Control method> Fig. 16 is a diagram showing a state in which the unmanned light vehicle 1 according to this embodiment is traveling on a travel path 7 with no person present inside the unmanned light vehicle 1. Fig. 17 is a diagram showing a state in which the unmanned light vehicle 1 according to this embodiment is traveling on a travel path 7 with a person present inside the unmanned light vehicle 1.

[0157] As in the second embodiment described above, in this embodiment, the travel path 32 of the unmanned light vehicle 1 and the travel path 42 of the unmanned dump truck 2 are set to be aligned on the travel path 7 of the work site 10. The unmanned light vehicle 1 and the unmanned dump truck 2 travel so as to pass each other.

[0158] In this embodiment, when a person is present inside the unmanned light vehicle 1, the command generating unit 129 reduces the traveling speed of the unmanned dump truck 2 present around the unmanned light vehicle 1. Also, in this embodiment, when a person is present inside the unmanned light vehicle 1, the command generating unit 129 reduces the traveling speed of the unmanned light vehicle 1.

[0159] 16, when no person is present inside the unmanned light vehicle 1 and no passenger is aboard, the command generating unit 129 causes the first traveling path generating unit 121 to generate traveling data for the unmanned light vehicle 1 so that the unmanned light vehicle 1 travels in the first traveling lane at the first traveling speed V1. Also, when no person is present inside the unmanned light vehicle 1 and no passenger is aboard, the command generating unit 129 causes the second traveling path generating unit 122 to generate traveling data for the unmanned dump truck 2 so that the unmanned dump truck 2 travels in the second traveling lane at the third traveling speed V3.

[0160] 17, when a person is present inside the unmanned light vehicle 1 and is boarding, the command generation unit 129 causes the first travel path generation unit 121 to generate travel data for the unmanned light vehicle 1 so that the unmanned light vehicle 1 travels in the first travel lane at a second travel speed V2 lower than the first travel speed V1. Also, when a person is present inside the unmanned light vehicle 1 and is boarding, the command generation unit 129 causes the second travel path generation unit 122 to generate travel data for the unmanned dump truck 2 so that the unmanned dump truck 2 travels in the second travel lane at a fourth travel speed V4 lower than the third travel speed V3.

[0161] <Effects> As described above, in this embodiment as well, the control of the unmanned light vehicle 1 is changed based on the person information and the positional relationship between the unmanned dump truck 2 and the unmanned light vehicle 1. In this embodiment, when there is no person inside the unmanned light vehicle 1, the unmanned light vehicle 1 and the unmanned dump truck 2 each travel at a high speed, and when there is a person inside the unmanned light vehicle 1, the unmanned light vehicle 1 and the unmanned dump truck 2 each travel at a low speed. This prevents a decrease in productivity at the work site 10 when no person is on board, and ensures the safety of the occupant of the unmanned light vehicle 1 when on board.

[0162] <Modification> In this embodiment, the travel speed of the unmanned light vehicle 1 may be the same when not boarding and when boarding. The unmanned dump truck 2 travels at a high speed when not boarding and at a low speed when boarding, thereby suppressing a decrease in productivity of the work site 10 when not boarding and ensuring the safety of the occupant of the unmanned light vehicle 1 when boarding. The travel speed of the unmanned dump truck 2 may be the same when not boarding and when boarding, and the unmanned light vehicle 1 may travel at a high speed when not boarding and at a low speed when boarding. [Explanation of symbols]

[0163] 1...Unmanned light vehicle (autonomous vehicle), 2...Unmanned dump truck (work machine), 3...Loading area, 4...Soil discharge area, 5...Parking area, 6...Waiting area, 7...Runway, 8...Shovel (work machine), 9...Crusher, 10...Work site, 11...Management system, 12...Management device, 13...Communication system, 13A...Wireless communication device, 13B...Wireless communication device, 13C...Wireless communication device, 14...Control facility, 15...Control device, 16...control device, 17...position sensor, 18...orientation sensor, 19...speed sensor, 20...human recognition sensor, 22...position sensor, 23...orientation sensor, 24...speed sensor, 31...travel point, 32...travel path, 33...permitted area, 34...stop point, 41...travel point, 42...travel path, 43...permitted area, 44...stop point, 50...space, 101...vehicle body, 102...travel device, 121...first travel Path generation unit, 122...second travel path generation unit, 123...first permitted area generation unit, 124...second permitted area generation unit, 125...work machine position acquisition unit, 126...automatic driving vehicle position acquisition unit, 127...person information acquisition unit, 128...judgment unit, 129...command generation unit, 151...first travel path acquisition unit, 152...first permitted area acquisition unit, 153...sensor data acquisition unit, 154...sensor data transmission unit, 155...travel control unit, 161...second travel path acquisition unit, 162...second permitted area acquisition unit, 163...sensor data acquisition unit, 164...sensor data transmission unit, 165...travel control unit, 201...vehicle body, 202...traveling device, 203...dump truck body, 1000...computer system, 1001...processor, 1002...main memory, 1003...storage, 1004...interface.

Claims

1. a work machine position acquisition unit that acquires a position of the work machine; an autonomous vehicle position acquisition unit that acquires a position of an autonomous vehicle; a human information acquisition unit that acquires human information indicating whether or not a human is present inside the autonomous driving vehicle; a first travel path generation unit that generates travel data indicating travel conditions of the autonomous vehicle, the travel path including a travel path indicating a target travel route of the autonomous vehicle; and a command generation unit that changes at least one of the driving data including the driving path of the autonomous vehicle along which the autonomous vehicle follows and an allowed area that permits the autonomous vehicle to drive and prohibits the work machine from entering, based on the human information and the positional relationship between the work machine and the autonomous vehicle. Autonomous vehicle control system.

2. The work machine is a transport vehicle having a dump body. The control system for an autonomous vehicle according to claim 1 .

3. A human recognition sensor is provided to recognize whether or not a human is present inside the autonomous vehicle. The human information acquisition unit acquires the human information by acquiring detection data of the human recognition sensor. The control system for an autonomous vehicle according to claim 1 .

4. A management device is provided that is arranged outside the autonomous vehicle and the work machine and manages the autonomous vehicle and the work machine; The management device includes the command generation unit, The driving data is transmitted from the management device to the autonomous vehicle. The control system for an autonomous vehicle according to claim 1 .

5. The driving conditions include a driving speed of the autonomous vehicle. The control system for an autonomous vehicle according to claim 4.

6. The driving conditions include one or both of a maximum acceleration value and a maximum deceleration value of the autonomous vehicle, The control system for an autonomous vehicle according to claim 4.

7. A second travel path generating unit that generates travel data indicating travel conditions of the work machine including a travel path indicating a target travel route of the work machine, The autonomous vehicle travels through a work site according to the travel path generated by the first travel path generation unit, The work machine travels through a work site according to the travel path generated by the second travel path generation unit, when a person is present inside the autonomous driving vehicle, the command generation unit changes control of one or both of the autonomous driving vehicle and the work machine so as to increase a distance between the autonomous driving vehicle and the work machine present around the autonomous driving vehicle; Changing the control of the automated driving vehicle includes changing at least one of the driving path of the automated driving vehicle along which the automated driving vehicle travels and an allowed area of ​​the automated driving vehicle that permits the automated driving vehicle to travel and prohibits the work machine from entering; changing the control of the work machine includes changing at least one of the travel path of the work machine along which the work machine travels and an allowed area of ​​the work machine that permits the work machine to travel and prohibits the autonomous vehicle from entering. The control system for an autonomous vehicle according to claim 1 .

8. the command generating unit changes control of the autonomous vehicle so as to increase the distance between the autonomous vehicle and the work machine when the distance between the autonomous vehicle and the work machine is equal to or less than a threshold value. The control system for an autonomous vehicle according to claim 7.

9. the command generating unit changes control of the work machine so as to increase the distance between the autonomous vehicle and the work machine when the distance between the autonomous vehicle and the work machine is equal to or less than a threshold value. The control system for an autonomous vehicle according to claim 7.

10. The travel path of the automated driving vehicle and the travel path of the work machine are set to be aligned on a travel path at a work site, The autonomous vehicle travels in a first direction in a first travel lane on one side in a width direction of the travel path based on the travel path generated by the first travel path generation unit; the work machine travels in a second direction opposite to the first direction in a second travel lane on the other side in a width direction of the travel path based on the travel path generated by the second travel path generation unit, the command generating unit, when a person is present inside the autonomous vehicle, shifts a driving path of the autonomous vehicle to the one side of the first driving lane so as to increase a distance between the autonomous vehicle and the work machine; The control system for an autonomous vehicle according to claim 7.

11. The command generation unit generates a driving path for the autonomous vehicle to move away from the work machine when a person is present inside the autonomous vehicle. The control system for an autonomous vehicle according to claim 7.

12. The work machine is a shovel having a rotating body and a work implement supported by the rotating body, The command generation unit generates a travel path for the autonomous vehicle so as to move away from the work machine at a loading site where the shovel is operated. The control system for an autonomous vehicle according to claim 11.

13. The command generating unit reduces a traveling speed of the work machine present around the autonomous driving vehicle when a person is present inside the autonomous driving vehicle. The control system for an autonomous vehicle according to claim 1 .

14. Obtaining a position of a work machine; Obtaining a position of an autonomous vehicle; Acquiring human information indicating whether a human is present inside the autonomous vehicle; and Generating driving data indicating driving conditions of the autonomous vehicle, the driving data including a driving path indicating a target driving route of the autonomous vehicle; and changing at least one of the driving data including the driving path of the autonomous vehicle along which the autonomous vehicle follows and an allowed area that permits the autonomous vehicle to travel and prohibits the work machine from entering, based on the human information and the positional relationship between the work machine and the autonomous vehicle. A method for controlling an autonomous vehicle.

15. The driving conditions include a driving speed of the autonomous vehicle, When no person is present inside the autonomous vehicle, the autonomous vehicle travels at a first travel speed; When a person is present inside the autonomous vehicle, the autonomous vehicle travels at a second traveling speed that is lower than the first traveling speed. The method for controlling an autonomous vehicle according to claim 14.

16. A method for generating driving data indicating driving conditions of the work machine, the driving data including a driving path indicating a target driving route of the work machine, The automated driving vehicle travels through a work site according to a travel path of the automated driving vehicle; The work machine travels through a work site according to a travel path of the work machine; When a person is present inside the autonomous vehicle, control of one or both of the autonomous vehicle and the work machine is changed so that a distance between the autonomous vehicle and the work machine present around the autonomous vehicle is longer than when a person is not present inside the autonomous vehicle; Changing the control of the automated driving vehicle includes changing at least one of the driving path of the automated driving vehicle along which the automated driving vehicle travels and an allowed area of ​​the automated driving vehicle that permits the automated driving vehicle to travel and prohibits the work machine from entering; changing the control of the work machine includes changing at least one of the travel path of the work machine along which the work machine travels and an allowed area of ​​the work machine that permits the work machine to travel and prohibits the autonomous vehicle from entering. The method for controlling an autonomous vehicle according to claim 14.

17. Increasing the distance between the automated driving vehicle and the work machine includes separating a travel path of the automated driving vehicle from a travel path of a work machine. The method for controlling an autonomous vehicle according to claim 16.

18. Increasing the distance between the automated driving vehicle and the work machine includes generating a driving path for the automated driving vehicle away from the work machine. The method for controlling an autonomous vehicle according to claim 16.

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