Automatic driving device for vehicles

Abstract

To provide an automatic driving device for a navigation vehicle, which restricts the navigation vehicle from entering a specific area.SOLUTION: An automatic driving device for a navigation vehicle is provided, comprising an acquisition unit for acquiring formation on an environment surrounding a navigation vehicle, a route setting unit configured to set one or more routes based on the environment surrounding the navigation vehicle, a route selection unit for selecting a route for the navigation vehicle from among the one or more routes, and driving unit for driving the navigation vehicle according to a selected route.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an automatic driving system for a vehicle. [Background technology]

[0002] There is a need to prevent navigational objects from entering specific areas such as aquaculture sites and swimming beaches. Technology has been developed to warn navigational objects by voice from buoys (for example, Patent Document 1, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2004-345434 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, there is a risk that the occupants of the navigation vehicle may not be able to hear the warning voice due to noise, etc., and the navigation vehicle may enter a specific area. Therefore, the objective of the present invention is to provide an automatic driving device for a navigation vehicle that can prevent the navigation vehicle from entering a specific area. [Means for solving the problem]

[0005] The object of the present invention is to provide a navigation system that includes an acquisition unit that acquires the surrounding environment of a navigation body, a route setting unit that determines one or more routes based on the surrounding environment of the navigation body, and a route selection unit that selects a route for the navigation body from the one or more routes. Automatically A driving unit that drives the vehicle, When the route is determined so as to avoid restricted access areas and the driving unit is automatically driving the navigation vehicle, the driving unit drives the navigation vehicle based on the selected route, and when the navigation vehicle is driven by the operation of the crew and the navigation vehicle is less than a predetermined distance from the restricted access area, the driving unit forcibly switches to the automatic driving and drives the navigation vehicle so as to move the navigation vehicle away from the restricted access area by a predetermined distance or more. This can be achieved by the vehicle's automatic driving system. Effect of the Invention

[0006] It is possible to provide an automatic driving device for a vehicle that can prevent the vehicle from entering a specific area. [Brief description of the drawings]

[0007] [Figure 1] Fig. 1(a) is a block diagram illustrating a navigation vehicle according to an embodiment, and Fig. 1(b) is a block diagram illustrating a control unit. [Diagram 2] FIG. 2 is a flowchart illustrating the process executed by the control unit. [Diagram 3] FIG. 3 is a flowchart illustrating the process executed by the control unit. [Figure 4] FIG. 4 is a diagram illustrating a route. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] 1(a) is a block diagram illustrating a navigation body 100 according to an embodiment. The navigation body 100 is, for example, a ship that navigates the sea or a lake. The navigation body 100 includes an engine 10, a propeller 11, a steering gear 12, a rudder 13, an operation unit 14, a notification unit 15, a sensor unit 16, a GPS (Global Positioning System) module 18, a communication unit 19, and a control unit 20.

[0009] The engine 10 is a power source for the vehicle 100. The engine 10 is connected to a propeller 11 and generates driving force. The driving force is transmitted to the propeller 11, which rotates, causing the vehicle 100 to sail.

[0010] The steering gear 12 is connected to a rudder 13 and controls the rudder 13, for example, hydraulically. The course of the vehicle 100 is determined according to the rudder angle of the rudder 13.

[0011] The operation unit 14 includes, for example, a handle, a lever, a touch panel, etc., and is a device that can be operated by a crew member of the navigation vehicle 100. By operating the operation unit 14, the crew member controls the engine 10 of the navigation vehicle 100 and changes the rotation of the propeller 11. By operating the operation unit 14, the crew member controls the steering gear 12 and changes the rudder angle of the rudder 13. In other words, the crew member drives the navigation vehicle 100 by operating the operation unit 14. The crew member operates the operation unit 14 to control the control unit 20.

[0012] The notification unit 15 is, for example, a display and a speaker, and notifies the occupant of information by image or sound.

[0013] The sensor unit 16 includes a plurality of sensors. The plurality of sensors are, for example, a camera, a sonar, an acceleration sensor, and the like. The camera captures images of the surroundings of the navigation body 100. The sonar is one or both of a passive sonar and an active sonar. The sonar detects sounds in the sea and detects other navigation bodies and floating objects. The acceleration sensor detects the acceleration of the navigation body 100.

[0014] The GPS module 18 detects the position of the navigation body 100 and the positions of objects (such as buoys) around the navigation body 100 by radio waves received from GPS satellites. The GPS module 18 outputs the detected position information to the control unit 20.

[0015] The communication unit 19 communicates with the outside of the navigable body 100. The outside of the navigable body 100 is, for example, other navigable bodies, buoys, land or sea facilities, etc. The communication unit 19 receives information such as weather and the positions of other navigable bodies from the facilities, for example.

[0016] 1(b) is a block diagram illustrating the control unit 20. The control unit 20 controls the navigation vehicle 100 and functions as an automatic driving device. The control unit 20 is, for example, a microcontroller, and has a CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 24, a RAM (Random Access Memory) 26, a storage device 28, and an input / output port 29. The CPU 22 is connected to the ROM 24, the RAM 26, the storage device 28, and the input / output port 29 via a bus 21 so as to be able to input and output signals to and from each other. The control unit 20 is an example of a computer.

[0017] Programs are stored in the ROM 24. The RAM 26 functions as a working memory for the CPU 22. The storage device 28 is a non-volatile storage device such as a flash memory.

[0018] The input / output port 29 transmits and receives various signals between, for example, the engine 10, the steering gear 12, the notification unit 15, the sensor unit 16, the GPS module 18, and the communication unit 19. The CPU 22 inputs and outputs signals between the engine 10, the steering gear 12, the notification unit 15, the sensor unit 16, the GPS module 18, and the communication unit 19 via the input / output port 29.

[0019] The CPU 22 reads programs from the ROM 24 and functions as an acquisition unit, a route setting unit, a route selection unit, and an operation unit.

[0020] The CPU 22 acquires information about the surrounding environment of the navigation body 100 from the sensor unit 16, the GPS module 18, the communication unit 19, etc. The surrounding environment includes, for example, information about other navigation bodies, buoys, weather, etc., information about restricted access areas, etc. Restricted access areas are set near obstacles such as beaches, fish farms, and reefs.

[0021] The CPU 22 sets one or more routes for the navigation body 100 based on the surrounding environment. The routes are determined so as to avoid restricted access areas. The CPU 22 selects one route from the one or more routes that have been set. For example, one route is selected depending on the weather and sea surface conditions (wave height, etc.).

[0022] The CPU 22 controls the engine 10 to control the propeller 11. The CPU 22 controls the steering gear 12 to control the rudder 13. That is, the CPU 22 performs automatic operation of the navigation vehicle 100. During automatic operation, the CPU 22 operates the navigation vehicle 100 according to one selected route. The crew can switch between manual operation and automatic operation by operating buttons, levers, etc. included in the operation unit 14, for example.

[0023] 2 and 3 are flowcharts illustrating the processing executed by the control unit 20. It is assumed that the crew of the navigation vehicle 100 is manually operating the navigation vehicle 100 at the start of the processing.

[0024] As shown in Fig. 2, the control unit 20 acquires information on the position of the navigation body 100 from, for example, the GPS module 18, and acquires the position of a buoy from, for example, the communication unit 19. The control unit 20 acquires information on restricted access areas (specific areas) based on the position information (step S10). The control unit 20 automatically controls the engine 10 to reduce the speed of the navigation body 100 (step S12). The control unit 20 allows the crew to select whether or not to operate the navigation body 100 autonomously, for example, by displaying the information on a display. The control unit 20 determines whether or not autonomous operation has been selected by the crew of the navigation body 100 (step S14).

[0025] If the determination in step S14 is negative (No), the control unit 20 monitors the distance between the navigation vehicle 100 and the restricted access area based on, for example, information detected by the GPS module 18 (step S16). The control unit 20 determines whether the navigation vehicle 100 is a certain distance or more (for example, several hundred meters or more, several kilometers or more, or several tens of kilometers or more) away from the restricted access area (step S18). If the determination is positive (Yes), the control unit 20 continues manual operation (step S20) and ends the process (FIG. 3). If the determination in step S18 is negative, the control unit 20 changes to automatic operation even without operation by the occupant (step S22).

[0026] If the determination in step S14 is affirmative, the control unit 20 also switches to automatic operation. If the determination in step S14 is affirmative, or after step S22, the control unit 20 sets one or more routes for the navigation body 100 (step S24 in FIG. 3). Each of the one or more routes avoids restricted access areas and is located at a certain distance or more away from the restricted access areas.

[0027] The control unit 20 selects one route from the one or more routes calculated in step S24 (step S26). For example, the control unit 20 acquires information on weather and information on obstacles on the sea from the sensor unit 16 and the communication unit 19, and selects one route based on this information.

[0028] The control unit 20 navigates the navigation vehicle 100 in automatic operation along one of the selected routes (step S28). The control unit 20 controls the speed of the navigation vehicle 100 during automatic operation according to the weather and sea surface conditions, etc. The control unit 20 determines whether the navigation vehicle 100 has moved a certain distance or more away from the restricted access area (step S30). If the determination is negative, the automatic operation continues and step S30 is repeated. If the determination is positive, the control unit 20 uses the notification unit 15 to notify the crew that the navigation vehicle 100 has moved a certain distance or more away from the restricted access area (step S32). The notification method may be, for example, a display, turning on or off a lamp, or a voice. The control unit 20 stops the automatic operation and returns the navigation vehicle 100 to manual operation (step S34). After step S34, the processing ends.

[0029] FIG. 4 is a diagram illustrating an example of a route. As shown in FIG. 4, a navigation body 100 and a buoy 30 are on the sea. A restricted access area 32 is defined around the buoy 30. The control unit 20 sets, for example, three routes R1, R2, and R3 (step S24 in FIG. 3). The control unit 20 selects one route from the three routes R1, R2, and R3, and navigates the selected route (steps S26 and S28). The control unit 20 selects, for example, route R2. By selecting route R2, the navigation body 100 can bypass the restricted access area 32. On the other hand, when the weather near the restricted access area 32 is bad (such as a storm) or when the waves are high, the control unit 20 selects route R3, which is farther away from the restricted access area 32.

[0030] According to this embodiment, the control unit 20 sets one or more routes based on the environment around the navigation body 100 (such as the location of the restricted access area 32) (step S24 in FIG. 3). The control unit 20 selects one route from the one or more routes, and operates the navigation body 100 based on the one route (steps S26 and S28). It is possible to prevent the navigation body 100 from entering a specific area (here, the restricted access area 32).

[0031] If the crew selects automatic driving (positive judgment in step S14 in FIG. 2), the control unit 20 performs automatic driving. Even if the crew does not select automatic driving (negative judgment in step S14), when the navigation vehicle 100 approaches within a certain distance of the restricted access area 32, the control unit 20 forcibly switches to automatic driving (step S22). The crew may take an evasive route in response to a warning such as an audio warning. However, there is a risk that the crew will not recognize the warning and will not be able to take an appropriate route. According to this embodiment, the navigation vehicle 100 can avoid the restricted access area 32 without any operation by the crew.

[0032] The control unit 20 allows the occupant to select whether or not to change to automatic driving (step S14). The occupant may not select automatic driving (negative judgment in step S14). The occupant may also manually drive the vehicle away from the restricted access area by a certain distance or more without automatic driving (positive judgment in step S18).

[0033] The number of routes set by the control unit 20 is one or more, for example, it may be two or more, or it may be three or more. Depending on the weather and the like, the control unit 20 selects an appropriate route. It is possible to avoid the restricted access area 32 and to navigate stably.

[0034] In the above example, the control unit 20 is mounted on one navigation body 100 and selects a route and automatically drives the navigation body 100. For example, the control unit 20 may be installed in a facility for maritime traffic control. The control unit 20 may set and select a route for one or more navigation bodies 100 and automatically drive the one or more navigation bodies 100 so that the one or more navigation bodies 100 do not enter restricted access areas.

[0035] Although a preferred embodiment of the present invention has been described in detail above, the present invention is not limited to such a specific embodiment, and various modifications and variations are possible within the scope of the gist of the present invention described in the claims. [Explanation of symbols]

[0036] 10 Engine 11 Propeller 12 Steering gear 13 Rudder 14 Control section 15 Notification Department 16 Sensor section 18 GPS Module 19 Communications Department 20 Control section 21 Bus 22 CPU 24 ROM 26 RAM 28 Storage device 29 Input / Output Ports 30 Buoy 32 Restricted Access Area 100 Vehicles

Claims

[Claim 1] An acquisition unit that acquires the surrounding environment of the navigation body; A route setting unit that determines one or more routes based on the surrounding environment of the navigation body; a route selection unit for selecting a route of the navigable object from among the one or more routes; A driving unit that automatically drives the vehicle, The route is designed to avoid restricted access areas; When the driving unit is automatically driving the vehicle, the driving unit drives the vehicle based on the selected route, An automatic driving device for a vehicle in which the vehicle is driven by the crew and, when the vehicle becomes less than a predetermined distance from the restricted access area, the driving unit forcibly switches to the automatic driving mode, and drives the vehicle so that it is at least a predetermined distance away from the restricted access area.

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