Mobile object control device and mobile object control method

Abstract

To achieve smooth and stable traveling of a mobile body.SOLUTION: A mobile body control device comprises: traveling track generating means 104 for generating a first traveling track T1 of a mobile body 1; traveling control means 106 for controlling traveling of the mobile body 1 on the basis of the first traveling track T1; detecting means 14 for detecting a speed and an acceleration of the mobile body 1; object information acquiring means 6 for acquiring information of an object Ob existing around the mobile body 1; and determining means 100 for determining whether or not the mobile body 1 comes into contact with the object Ob on the basis of information of the detected object Ob. The traveling track generating means 104 generates a second traveling track T2 to a target traveling destination DT for avoiding contact between the mobile body and the object using a polynomial having the term of at least fourth order on the basis of the speed and acceleration allowable in traveling of the mobile body. The traveling control means 106 controls traveling of the mobile body 1 on the basis of the second traveling track T2 when it is determined that the mobile body 1 comes into contact with the object Ob.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a mobile object control device and a mobile object control method. [Background technology]

[0002] For example, the technology described in Patent Document 1 is known as a device for controlling the travel of a moving object. The unmanned guided vehicle described in Patent Document 1 presets an avoidance distance on the route data, and when it detects an object ahead in the traveling direction, it travels sideways the avoidance distance and then travels forward. Specifically, Patent Document 1 proposes, as an avoidance control process, that the vehicle decelerates and temporarily stops, and then travels along an avoidance route according to predetermined conditions.

[0003] As in the avoidance control procedure of Patent Document 1, it is usually necessary to accelerate / decelerate or temporarily stop a moving body in order to avoid an object on a route. However, Patent Document 1 does not mention a specific control procedure for accelerating / decelerating or temporarily stopping during execution of the avoidance control procedure. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-53838 A Summary of the Invention

[0005] In one aspect of the present disclosure, a mobile object control device is provided. The device includes a trajectory generating means for generating a first running trajectory of a mobile object, a running control means for controlling the running of the mobile object based on the first running trajectory, a speed detecting means for detecting the speed of the mobile object, an acceleration detecting means for detecting the acceleration of the mobile object, an object information acquiring means for acquiring information on objects existing around the mobile object, and a determining means for determining whether or not the mobile object will come into contact with the detected object based on the information on the detected object. The trajectory generating means generates a second running trajectory to a target destination that avoids contact between the mobile object and the object, based on a speed and acceleration allowed for the running of the mobile object, using a polynomial including a fourth-order or higher term. The running control means controls the running of the mobile object based on the generated second running trajectory when it is determined that the mobile object will come into contact with the object.

[0006] In addition, one aspect of the present disclosure provides a mobile object control method, which includes the steps of: generating a first running trajectory of the mobile object, controlling the running of the mobile object based on the first running trajectory, detecting the speed of the mobile object, detecting the acceleration of the mobile object, detecting information of an object present around the mobile object, determining whether or not the mobile object will come into contact with the detected object based on the information of the detected object, generating a second running trajectory to a target destination that avoids contact between the mobile object and the object based on a speed and acceleration allowed for the running of the mobile object using a polynomial including a fourth or higher degree term, and controlling the running of the mobile object based on the generated second running trajectory when it is determined that the mobile object may come into contact with the object. [Brief description of the drawings]

[0007] [Figure 1] 1 is a schematic diagram showing a moving body including a moving body control device according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a schematic diagram showing a system configuration of the mobile object control device of FIG. [Diagram 3] FIG. 2 is an explanatory diagram for explaining a process performed by the mobile object control device of FIG. [Figure 4] FIG. 2 is an explanatory diagram for explaining a process performed by the mobile object control device of FIG. [Diagram 5] 2 is a diagram showing the effect of travel control by the moving body control device of FIG. 1. [Figure 6] 1. FIG. 4 is an explanatory diagram for explaining another process by the mobile object control device of FIG. [Figure 7] 1. FIG. 4 is an explanatory diagram for explaining another process by the mobile object control device of FIG. [Figure 8] 2 is a flowchart showing travel control by the mobile object control device of FIG. 1. [Figure 9] 2 is an explanatory diagram for explaining a determination condition of the moving body control device of FIG. 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, embodiments of a mobile object control device and a mobile object control method according to the present disclosure will be described with reference to the drawings.

[0009] FIG. 1 shows a schematic diagram of a moving body 1 equipped with a moving body control device 10 according to the present disclosure. FIG. 2 shows a system configuration of the moving body control device 10. As shown in FIG. 1, the moving body 1 has four wheels 2 provided on the front, rear, left and right. The wheels 2 are driven by in-wheel motors 12 provided inside. The moving body 1 also has a loading surface 4 on which an object is loaded. Note that in this embodiment, the moving body 1 will be described as an automated guide vehicle (AGV), but the moving body 1 is not limited to an AGV.

[0010] 2, the mobile body control device 10 according to the embodiment includes an object detection unit (object information acquisition means) 6 that detects objects (obstacles, etc.) present around the mobile body 1, and an encoder 14 that detects the amount of rotation of the in-wheel motor 12. When the mobile body 1 is configured as an AGV, the mobile body control device 10 may include a weight sensor 18 that detects the weight of an object placed on the loading surface 4. The mobile body control device 10 may also include a steering angle sensor 16 that detects the steering angle of the wheels 2 in order to control the traveling direction of the mobile body 1. The mobile body control device 10 may also include a center of gravity position detection sensor (not shown) that detects the center of gravity position of the object placed on the loading surface 4.

[0011] The object detection unit 6 is, for example, a millimeter wave radar, and detects the position, speed, and acceleration of an object (obstacle, etc.) present in front of the moving body 1 based on the reflected waves of radio waves emitted in the forward traveling direction of the moving body 1. In addition, if the object to be detected has a function of emitting radio waves or signals, the object detection unit 6 may detect the position, speed, and acceleration of the object by receiving the radio waves or signals emitted by the object. In other words, the object detection unit 6 may function as a signal detection means. Instead of a millimeter wave radar, the object detection unit 6 may be an optical transceiver or a TOF (Time Of Flight) sensor that irradiates light such as a laser forward and receives reflected light from the object.

[0012] In addition to being provided in front of the moving body 1 in the traveling direction, the object detection unit 6 may also be provided on the sides and rear of the moving body 1. Also, a means for detecting objects existing around the traveling route of the moving body 1, such as a surveillance monitor, may be provided separately from the moving body control device 10. In this case, a receiver that receives the position information of the object acquired by the surveillance monitor corresponds to the object information acquisition means.

[0013] The encoder 14 calculates (detects) the rotation speed and rotation acceleration of the wheel 2, i.e., the speed and acceleration of the moving body 1, from the detected rotation amount of the in-wheel motor 12. Therefore, in this embodiment, the encoder 14 functions as a speed detection means and an acceleration detection means.

[0014] Instead of the steering angle sensor 16, a gyro sensor or a GPS may be used to detect the traveling direction of the moving body 1. When a travel route is determined in advance, a travel line (marker) may be laid along the travel route, and the traveling direction of the moving body 1 may be detected based on the inclination of the attitude of the moving body 1 relative to the travel line. The moving body control device 10 controls the steering angle of the moving body 1 so that the detected traveling direction of the moving body 1 coincides with the determined traveling direction (travel route).

[0015] The mobile object control device 10 according to the embodiment also includes a control unit 100 that controls the mobile object 1. The control unit 100 is made up of a microcomputer (microcontroller) and includes a storage unit 102 that stores programs and the like described below, a trajectory generating unit 104 (trajectory generating means) that generates a travel trajectory of the mobile object 1, and a travel control unit 106 (travel control means) that controls the travel of the mobile object 1 based on the generated trajectory. The control unit 100 may also include a transmission unit 108 that notifies the surroundings of the presence of the mobile object 1.

[0016] The trajectory generation unit 104 generates a target travel trajectory of the moving body 1 based on the current position of the moving body 1 and map information (or a predetermined travel route) pre-stored in the storage unit 102. Note that instead of pre-storing the map information in the storage unit 102, the map information may be downloaded via a network using a communication means (not shown).

[0017] The current position of the moving body 1 can be calculated, for example, in a coordinate system with the origin at the travel start point, from the amount of movement based on the amount of rotation of the wheel 2 detected by the encoder 14 and the traveling direction of the moving body 1 based on the steering angle detected by the steering angle sensor 16. The current position of the moving body 1 may be calculated from the elapsed time from the start of travel and the generated target travel trajectory. A GPS receiver may be provided in the moving body 1 to acquire the current position. Alternatively, a communication device may be provided in the moving body 1, and the current position of the moving body 1 may be calculated from the relative position with respect to a reference station provided around the travel route.

[0018] The driving control unit 106 controls the rotation speed of each motor 12 and the steering angle of each wheel 2 based on the target driving trajectory generated by the trajectory generation unit 104. Since the driving control unit 106 can control each wheel 2 independently, the steering of the moving body 1 may be realized by appropriately varying the rotation speed of each wheel 2 instead of controlling the steering angle of each wheel 2.

[0019] When controlling the traveling of the moving object 1, the traveling control unit 106 may perform feedforward control to predict an output (speed, acceleration, movement amount, etc. of the moving object 1) in response to an input to the in-wheel motor 12 and calculate a necessary input value based on the predicted output and the generated target traveling trajectory. Also, the traveling control unit 106 may calculate a difference between the current position of the moving object 1 and the target traveling trajectory and perform feedback control based on the difference.

[0020] The transmitter 108 is connected to a light emitting element such as an LED or an alarm (neither of which are shown) provided on the moving object 1, and transmits the presence of the moving object 1 to the surroundings using at least one of light and sound.

[0021] FIG. 3 is an explanatory diagram illustrating a basic operation of the mobile object control device 10 according to the embodiment.

[0022] The mobile object control device 10 according to the present embodiment calculates a target travel trajectory (first travel trajectory T 1 ) is generated. The first running trajectory T 1 For example, the driving route and the target arrival time TA 1 In addition, the target speed V of the moving object 1 is also included. 1 and target acceleration α 1 , and velocity-related information such as jerk, which will be described later.

[0023] In addition, the first running track T 1 A specific calculation method for generating the vector Δx can be realized by using known techniques, and therefore detailed description thereof will be omitted here.

[0024] FIG. 4 shows a travel route (more specifically, a first travel trajectory T 1 1 is an explanatory diagram illustrating the operation of the mobile body control device 10 when an object Ob is present around the mobile body control device 10. FIG.

[0025] The mobile object control device 10 uses the object detection means 6 to detect whether an object Ob exists around the mobile object 1. When the object Ob is detected, the control unit 100 (determination unit) determines whether the mobile object 1 and the object Ob come into contact with each other based on the travel information of the mobile object 1 and the information of the object Ob. The travel information of the mobile object 1 may be, for example, the current position P 0 , traveling direction, current speed V 1 , and the current acceleration α 1 Moreover, the information on the object Ob means, for example, the current position of the object Ob, the moving direction of the object Ob, the speed and acceleration of the object Ob, and the distance from the moving body 1 to the object Ob.

[0026] Here, "contact" may include not only the case where the moving body 1 and the object Ob come into direct contact with each other after a predetermined time has elapsed, but also the case where the distance between the moving body 1 and the object Ob becomes less than a predetermined distance L and there is a possibility of contact. Note that the "predetermined distance" refers to the distance L required for the moving body 1 to stop or maintain a constant speed after the moving body control device 10 starts control to decelerate or accelerate the moving body 1. 0 For example, if there is an object Ob in the direction of the moving object 1, and the stopping distance required to stop the moving object 1 is L 0 If the distance to the object Ob is 1.2*L 0 (i.e., L) or less (when the safety factor is 20%), the control unit 100 determines that the moving body 1 and the object Ob will "contact each other." 0 From 1.2*L 0 (i.e. L 1 ), it may be determined that the moving body 1 and the object Ob are in "contact". Also, it is not necessary to provide a predetermined safety factor, and 1 = 0. Also, L 0can also be a default value.

[0027] When it is determined that the moving body 1 and the object Ob will come into contact with each other, the moving body control device 10 sets a position where the moving body 1 can avoid contact with the object Ob as a target destination D. T Specifically, the target destination D is a position a predetermined distance (avoidance distance) before the position where there is a possibility of contact. T In FIG. 4, the target destination D T The current position of moving object 1, P 0 Distance L from 0 The target destination D T It goes without saying that the position of is not limited to this.

[0028] The current position of the moving object 1 is P 0 From destination D T Determining speed-related information such as speed, acceleration, and the like, in addition to the distance and route to the vehicle is referred to as determining a travel trajectory.

[0029] Here, when controlling the moving object 1 based on the running trajectory, the maximum acceleration α MAX If is used as a constant acceleration, the behavior of the moving body 1 is likely to become unstable.

[0030] Therefore, the moving body control device 10 according to the embodiment generates the second traveling trajectory T 2 This makes it possible to reduce the braking distance while suppressing vibrations to the moving body 1 and its mounted objects.

[0031] For example, the travel trajectory of the moving object 1 is expressed by the following quintic polynomials (1) to (3).

number

[0032] In equations (1) to (3), r(t) represents the distance traveled by the moving object 1 at time t, r'(t) represents the speed of the moving object 1 at time t, and r"(t) represents the acceleration of the moving object 1 at time t.

[0033] For example, if a moving object 1 starts moving and stops after T seconds by moving a distance L, the initial state [t 0 ,r 0 ,r' 0 ,r" 0 ] is [0,0,0,0], and the final state [t 1 ,r 1 ,r' 1 ,r" 1 The boundary condition for [T, L, 0, 0] is [T, L, 0, 0]. Therefore, by applying the above conditions to equations (1) to (3), we obtain the following equations (4) to (6).

number

[0034] The above formulas (4) to (6) are consistent with the minimum jerk trajectory formula that minimizes the square integral value of the jerk. In other words, by controlling the moving body 1 based on the fifth-order polynomial trajectory expressed by the above formulas (1) to (3), smooth running with minimized changes in acceleration can be achieved. Note that the velocity V 1 may be the maximum speed of r'(t) per second until the time T required for the moving body 1 to stop. In addition, the allowable acceleration (allowable deceleration) α MAX may be the maximum acceleration of r″(t) per second until the time T required for the moving body 1 to stop.

[0035] The second travel path T of the moving body 1 2 may be generated using a fourth-order polynomial. As shown in FIG. 5, the second running trajectory T 2 Even when the vehicle is generated, a smooth running trajectory close to the fifth-order polynomial (minimum jerk trajectory) can be achieved.

[0036] For example, when the mobile object control device 10 is configured as an AGV, a fourth-order polynomial and a fifth-order polynomial may be used depending on the type of the loaded object. If the loaded object is a precision device or the like and vibration needs to be suppressed as much as possible, the fifth-order polynomial is used to calculate the second traveling trajectory T 2 On the other hand, if the load has high vibration resistance, the second running trajectory T 2 may be generated to reduce the computational load of the trajectory generating unit 104.

[0037] In addition, when the moving body 1 detects an object Ob while decelerating, if the moving body 1 continues to decelerate, the moving body control device 10 detects the current speed V 1 and acceleration (deceleration) α 1 Based on this, the target destination D T Alternatively, the target destination D may be determined based on a value previously obtained by an experiment or the like. T An avoidance distance may be defined for determining

[0038] As shown in FIG. 4, when an object Ob is present ahead of the moving body 1 in the traveling direction, the moving body control device 10 determines a first traveling trajectory T 1 The current position P of moving object 1 on 0 and any position between the expected contact position C (in other words, the current position P 0 and the expected contact position C) to the target point (target destination D T Alternatively, if the object Ob is not moving or if the object Ob is moving in a direction away from the moving body 1, the moving body control device 10 may determine the current position P 0 The distance from the current position of the object Ob to the target movement distance (target movement destination D T ) may be determined.

[0039] In FIG. 4, the moving object 1 is moving to the destination D T However, the collision avoidance process according to the present disclosure is not limited to this case. TAlternatively, the moving body 1 may be decelerated until the first traveling trajectory T 1 The moving direction of the moving object 1 is changed to the target destination D in a direction different from the current moving direction of the moving object 1 or the moving direction of the object Ob, such as moving sideways from the moving direction of the moving object 1. T In this case, contact with the object Ob may be avoided by determining

[0040] Also, as shown in FIG. 6, the target destination D T Before the moving object 1 moves, another object Ob different from the object Ob 2 is the second running trajectory T 2 When it is determined that the moving object 1 will enter the target destination D T A different destination D T2 Then, we determine the object Ob 2 The moving object 1 may be controlled so as to avoid contact with the target destination D T2 For example, the distance from the moving object 1 to the object Ob in the running direction of the moving object 1 is 2 The distance is shorter than the distance to the second travel trajectory T 2 It is also possible to determine whether or not the moving body 1 and the object Ob will come into contact with each other in real time even during traveling. For example, the target destination D T While the target position is being determined, the object Ob starts moving in the direction of the moving object 1, and the target destination D T If it is determined that the moving object 1 will come into contact with the object Ob before reaching the determined target destination D T A new destination D different from T may be determined.

[0041] Fig. 7 shows a case where an object Ob approaches from the opposite direction to the traveling direction of the moving body 1. In the embodiment shown in Fig. 7, the object detection unit 6 of the moving body control device 10 is configured to be able to detect at least an object behind the vehicle.

[0042] When the mobile object control device 10 detects an object Ob on the opposite side to the traveling direction of the mobile object 1 (i.e., behind the mobile object 1), it judges whether or not the mobile object 1 and the object Ob will come into contact with each other based on the traveling information of the mobile object 1 and the information of the object Ob. When it is judged that the mobile object 1 and the object Ob will come into contact with each other at the expected contact position C, the mobile object control device 10 detects a target destination D a predetermined distance ahead in the traveling direction. T Determine.

[0043] In this case, in order for the moving object 1 to avoid contact with the object Ob, the moving object 1 must be in a position that is closer to the target destination D T When the moving object 1 reaches the target, its speed V 2 is the moving speed V of object Ob Ob It would be good if it was more than that.

[0044] Target destination D T When the above is determined, the trajectory generation unit 104 of the moving object control device 10 calculates the target destination D T The second running track T 2 Then, the traveling control unit 106 of the moving object control device 10 generates the second traveling trajectory T 2 In this way, when the object Ob approaches the moving body 1 from the opposite direction to the moving direction of the moving body 1, the target destination D T For example, the moving object 1 does not stop at the moving speed V Ob In other words, the boundary condition of the terminal state in the above polynomial is r' 1 ≧V ob This can be done as follows.

[0045] In addition, when the object Ob is not moving at a constant speed but is accelerating or decelerating, the moving body control device 10 calculates the acceleration α Ob Taking into account the above, the target destination of moving object 1 is D T Determine.

[0046] In addition, when an object Ob approaches from diagonally behind the moving object 1, the velocity of the moving object 1 does not necessarily change 2It is not necessary to accelerate the moving body 1 to a speed equal to or faster than that of the object Ob. For example, as described with reference to FIG. 4, the moving body 1 may be decelerated or stopped to avoid contact with the object Ob.

[0047] In addition, the moving object 1 moves at the speed V Ob Before accelerating to the target, the distance between the moving body 1 and the object Ob is a predetermined distance L determined based on a safety factor. 1 If the distance between the moving body 1 and the object Ob is less than the predetermined distance L 1 In this case, the distance between the moving body 1 and the object Ob is equal to or greater than the predetermined distance L 1 After moving away from the target, the speed of the moving object 1 is V 2 Let V be the moving speed of object Ob. Ob Therefore, the moving object control device 10 can realize the above-mentioned traveling by setting the target destination D T (Specifically, the target destination D T and the target destination D during deceleration T ) and each destination D T Based on this, the trajectory generation unit 104 generates a second running trajectory T 2 Generate.

[0048] This allows the moving body control device 10 to achieve smooth and stable acceleration and deceleration of the moving body 1 while avoiding contact with the object Ob.

[0049] 8 is a flowchart illustrating an example of control executed by the control unit 10 of the moving body control device 10 according to the embodiment. The flowchart illustrated in FIG. 8 illustrates a process of controlling the first traveling trajectory T 1 The process is started when the moving object 1 starts moving based on the above, and is repeatedly executed at predetermined intervals.

[0050] In S10, the control unit 100 of the moving body control device 10 calculates the speed V of the moving body 1 based on the output from the encoder 14. 1 and acceleration α 1 Detect.

[0051] In S12, the control unit 100 calculates an emergency avoidance condition. The "emergency avoidance condition" means a limit condition for the moving body 1 to avoid the object Ob. That is, the control unit 100 calculates the emergency avoidance condition based on the detected speed V 1 and acceleration α 1 In addition, the preset allowable speed V MAX and allowable acceleration α MAX From the above, the distance (emergency avoidance distance) and time (emergency avoidance time) required to avoid contact between the moving body 1 and the object Ob are calculated.

[0052] The emergency avoidance condition of S12 will be described with reference to FIG. 9. As shown in the figure, the emergency avoidance distance is the distance between the current speed V 1 and acceleration α 1 In this case, the allowable acceleration α MAX For example, when making an emergency stop, the allowable acceleration (allowable deceleration) α MAX When the moving object 1 is stopped only by the vehicle, the distance required for the moving object 1 to stop is the shortest emergency avoidance distance L 0 Here, the target destination D T is set as a position within the emergency avoidance area.

[0053] If the distance is less than the emergency avoidance distance, contact between the moving body 1 and the object Ob cannot be avoided. Therefore, in this embodiment, the region is defined as an "unavoidable region." In addition, a predetermined distance L obtained by multiplying the emergency avoidance distance by a predetermined safety factor (for example, 20%) is calculated from the emergency avoidance distance. 1 The area up to the distance obtained by adding the allowable acceleration α is defined as the "emergency avoidance area." In other words, the area where contact with the object Ob can be avoided by performing an emergency avoidance operation is the "emergency avoidance area." Also, the area where the distance from the moving body 1 exceeds the "emergency avoidance area" is defined as the "normal operation area." In the "normal operation area," the control unit 100 moves the moving body 1 at a distance of α MAX Therefore, contact between the moving body 1 and the object Ob can be avoided without controlling the moving body 1 and the object Ob.

[0054] Therefore, S12 can be said to be a process of calculating an "unavoidable area" and an "emergency avoidance area" based on the current traveling state of the moving object 1. Note that each area can also be determined based on an emergency avoidance time instead of an emergency avoidance distance.

[0055] In S14, the control unit 100 uses the object detection unit 6 to detect an object Ob (obstacle or the like) present around the moving object 1.

[0056] In S16, the control unit 100 determines whether or not the detected object Ob comes into contact with the moving body 1. Specifically, the first running trajectory T 1 The travel route and current position P of the moving object 1 in 0 , current speed V 1 Based on the predicted arrival position after a certain time (time) calculated from the above and the predicted arrival position of the object Ob at the same time, it is determined whether or not the two will come into contact with each other.

[0057] If it is determined in S16 that the object Ob and the moving object 1 are not in contact with each other, the process in Fig. 8 returns to S10. Note that, even if the object Ob is not detected in S14, the determination in S16 is negative, and the process in Fig. 8 returns to S10.

[0058] On the other hand, if it is determined in S16 that the detected object Ob and the moving object 1 will come into contact with each other, the process of FIG. 8 proceeds to S18.

[0059] In S18, the control unit 100 operates the transmission unit 108 to notify the surroundings by using light and / or sound that there is a possibility of a collision between the moving body 1 and the object Ob. Note that, if there is no user around the moving body 1, the process of S18 may be omitted.

[0060] In S20, the control unit 100 determines the target destination D T Specifically, a position a predetermined distance (avoidance distance) before the position where the moving body 1 and the object Ob are predicted to come into contact is determined as the target destination D T The predetermined distance may be a predetermined distance or the current speed V 1 and acceleration (deceleration) α1 It may be determined based on.

[0061] In S22, the control unit 100 uses a polynomial of degree 4 or higher to calculate the target destination D T The running trajectory (second running trajectory T 2 )

[0062] In S24, the control unit 100 determines whether the second running trajectory T 2 In step S24, the control unit 100 determines whether or not the moving object 1 will come into contact with the object Ob when the moving object 1 is caused to travel in the unavoidable area. In other words, in step S24, the control unit 100 determines whether or not the object Ob is in an unavoidable area. Note that the determination in step S24 may be performed together with the determination in step S16.

[0063] If the determination in S24 is negative, the process in FIG. 8 proceeds to S26, and the control unit 100 2 Then, in S28, the moving object 1 is controlled to move to the target destination D T If it is determined that the number of iterations has reached 1, the process of FIG. 8 ends.

[0064] As a result, the moving body control device 10 according to the present disclosure can avoid contact between the moving body 1 and the object Ob while achieving smooth and stable acceleration and deceleration.

[0065] On the other hand, if the determination in S24 is positive, the process in FIG. 8 proceeds to S30, where the allowable acceleration α MAX Then, in S32, the increased allowable acceleration α MAX Based on the target destination D T and the second running track T 2 In other words, the control unit 100 repeats the processes of S30-S32 until the contact determination in S24 is negative, and updates the allowable acceleration α MAX Increase the

[0066] Allowable acceleration α MAXIf it is determined in S24 that the moving body 1 and the object Ob do not come into contact with each other as a result of increasing the second running trajectory T 2 The travel of the moving body 1 is controlled based on this.

[0067] As a result, the moving body control device 10 according to the present disclosure can avoid contact with the moving body 1 even if the object Ob is present in the unavoidable area.

[0068] Although not shown in the figure, the allowable acceleration α MAX 8 proceeds to S26 and S28, and the moving body 1 is caused to travel based on the limit value, regardless of the result of the determination in S24. In this case, although contact between the moving body 1 and the object Ob cannot be avoided, the impact of the contact can be kept to a minimum.

[0069] As described above, the moving body control device 10 according to the present disclosure detects the first traveling trajectory T 1 and a trajectory generating unit 104 for generating a first running trajectory T 1 A travel control unit (travel control section 106) controls the travel of the moving body 1 based on the speed V 1 and a speed detection means (encoder 14) for detecting the acceleration α 1 The moving body 1 is equipped with an acceleration detection means (encoder 14) that detects the acceleration, an object information acquisition means (object detection unit 6) that detects information about an object Ob present around the moving body 1, and a determination means (control unit 100) that determines whether or not the moving body 1 and the detected object Ob will come into contact with each other based on the information about the detected object Ob. In addition, the trajectory generation unit 104 calculates the speed V MAX and acceleration α MAX Based on this, a target destination D is calculated to avoid contact between the moving object 1 and the object Ob using a polynomial including a fourth-order or higher term. T The second running track T 2 Generate. Then, when it is determined that the moving body 1 and the object Ob will come into contact with each other, the traveling control unit 106 performs the generated second traveling trajectory T 2Based on this, the travel of the moving body 1 is controlled.

[0070] As a result, the moving body control device 10 according to the present disclosure can achieve smooth and stable acceleration and deceleration while avoiding contact between the moving body 1 and the object Ob.

[0071] In addition, the moving object control method according to the present disclosure is 1 and generating a first running trajectory T 1 A step of controlling the travel of the moving body 1 based on the velocity V 1 and detecting the acceleration α of the moving body 1 (S10). 1 (S10), a step of detecting information about an object Ob present around the moving body 1 (S14), a step of determining whether or not the moving body 1 and the detected object Ob come into contact with each other based on the information about the detected object Ob (S16), and a step of determining a speed V allowed for the moving body 1 to travel. MAX and acceleration α MAX Based on this, a target destination D is calculated to avoid contact between the moving object 1 and the object Ob using a polynomial including a fourth-order or higher term. T The second running track T 2 (S20-S22), and if it is determined that the moving body 1 and the object Ob come into contact with each other, the generated second running trajectory T 2 and controlling the traveling of the moving body 1 based on the information (S26-S28).

[0072] As a result, the moving body control method according to the present disclosure can achieve smooth and stable acceleration and deceleration while avoiding contact between the moving body 1 and the object Ob.

[0073] The above describes in detail the mobile body control device 10 according to the embodiment with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes that do not deviate from the gist of the disclosure are included in the present disclosure.

[0074] For example, the allowable speed V of the moving object 1 is set based on the road surface conditions (friction coefficient, etc.) of the travel route. MAX and allowable acceleration α MAXIn addition, the allowable speed V may be changed based on at least one of the weight and center of gravity of the load placed on the loading surface 4 of the moving body 1 and the characteristics of the load. MAX and allowable acceleration α MAX Here, the characteristics of the loaded object refer to the size and vibration resistance of the loaded object, the coefficient of friction between the loaded object and the loading surface 4, etc. Furthermore, if the loaded object is a person, the characteristics include at least one of the height, weight, and age of the person.

[0075] In the embodiment, the object detection means 6 detects the current position P 0 Although the moving direction of the object Ob, the speed and acceleration of the object Ob, and the distance from the moving body 1 to the object Ob are detected, the object detection means 6 may detect at least one of them. Note that the distance from the moving body 1 to the object Ob may be obtained from the position information (e.g., GPS information) of each of the moving body 1 and the object Ob.

[0076] Furthermore, the number of wheels 2 of the moving body 1 is not limited to four. As long as the moving body 1 can move forward, backward, left and right, the number of wheels 2 may be three, or five or more. Alternatively, a single sphere may be provided near the center of gravity of the moving body 1, and this may serve as the wheel 2. Furthermore, the moving body 1 may be provided with one training wheel and two wheels 2 separate from the training wheel.

[0077] Furthermore, the moving body 1 is not limited to an AGV, but may be, for example, an electric wheelchair.

[0078] 2 shows a configuration in which the encoder 14 is provided only on one of the front wheels 2, the encoder 14 may also be provided on the rear wheels 2 so that driving control is performed for each drive shaft. Alternatively, the encoder 14 may be provided on each of the four wheels 2 so that each wheel 2 is controlled independently. [Explanation of symbols]

[0079] 1. Mobile 2 wheels 6 Object detection unit (object information acquisition means) 10 Mobile control device 12 In-wheel motor 14 Encoder (velocity detection means / acceleration detection means) 16 Steering angle sensor 18 Weight Sensor 100 Control unit (determination means, target destination determination means) 102 Storage section 104 Trajectory generation unit (trajectory generation means) 106 Travel control unit (travel control means) 108 Transmission Department

Claims

1. A trajectory generating means for generating a first running trajectory of the moving object; a travel control means for controlling travel of the moving body based on the first travel trajectory; A speed detection means for detecting a speed of the moving object; an acceleration detection means for detecting the acceleration of the moving object; An object information acquisition means for acquiring information about objects existing around the moving object; a determination means for determining whether or not the moving body will come into contact with the detected object based on information about the detected object; a target destination determining means for determining, as a target destination, a position that is a predetermined avoidance distance away from a position where the determining means has determined that the moving body will come into contact with the object, the trajectory generation means generates a second traveling trajectory to the target destination that avoids contact between the moving body and the object by using a polynomial including a fourth or higher degree term, based on a speed and an acceleration allowed for traveling of the moving body; the traveling control means, when it is determined that the moving body and the object will come into contact with each other, controls traveling of the moving body based on the generated second traveling trajectory; the determining means determines whether or not the moving body will come into contact with the object on the second travel path; When it is determined that the moving body will come into contact with the object on the second running path, the target destination determination means increases the preset allowable acceleration and newly determines the target destination based on the increased allowable acceleration; When the allowable acceleration reaches a set upper limit value, regardless of whether or not the moving body and the detected object will come into contact with each other, the driving control means causes the moving body to travel based on the allowable acceleration that has reached the upper limit value and the target destination, the moving body control device.

2. The mobile body control device according to claim 1 , wherein the information on the object includes at least one of a position of the object, a distance from the moving body to the object, and a speed and a moving direction of the object.

3. The mobile body control device according to claim 2 , wherein the target destination determining means determines the target destination in a direction different from a running direction of the mobile body or a moving direction of the object.

4. The mobile body control device according to claim 1 , wherein the allowable acceleration is determined based on at least one of the road surface conditions on which the mobile body is traveling, or the weight, center of gravity, and characteristics of an object carried by the mobile body.

5. A mobile unit position detection means is provided for detecting a current position of the mobile unit, 5. The mobile body control device according to claim 1, wherein the driving control means performs driving control of the mobile body using at least one of feedforward control based on the generated first driving trajectory and feedback control based on a difference between a detected current position of the mobile body and the first driving trajectory.

6. The moving body has at least two drive shafts, The mobile body control device according to claim 1 , wherein the travel control means controls the travel of the mobile body for each of the drive shafts.

7. The car body and A mobile object control device according to any one of claims 1 to 6, At least two drive wheels; A motor that drives the drive wheels; and an encoder that detects the amount of rotation of the motor.

8. generating a first running trajectory of the moving object; controlling the traveling of the moving body based on the first traveling trajectory; Detecting the speed of the moving object; detecting an acceleration of the moving object; detecting information about objects present around the moving object; determining whether or not the moving body and the detected object come into contact with each other based on information of the detected object; generating a second travel trajectory to a target destination that avoids contact between the moving body and the object by using a polynomial including a fourth or higher degree term based on a speed and acceleration allowed for the moving body; When it is determined that the moving body and the object will come into contact with each other, controlling the moving body based on the generated second moving trajectory; determining whether the moving body comes into contact with the object on the second running path; when it is determined that the moving body will come into contact with the object on the second running path, increasing the preset allowable acceleration and determining a new target moving destination based on the increased allowable acceleration; When the allowable acceleration reaches a set upper limit value, the moving body is caused to travel based on the allowable acceleration that has reached the upper limit value and the target destination, regardless of a determination of whether or not the moving body and the detected object will come into contact with each other.

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