Driving control system, driving control device, autonomous driving vehicle, driving control method, and driving control program

Abstract

To provide a travel control system improved in versatility.SOLUTION: The travel control system includes a processor and controls travel of an autonomously traveling vehicle which passes through an automatic door controlled from a closed state to an open state in response to approach of a mobile body. The processor is configured to cause the autonomously traveling vehicle to travel toward the automatic door being in the closed state. The processor is configured to learn door map data associating sensing results of a door opening distance and a door opening time with position-related information of the automatic door, wherein the door opening distance is a distance to the automatic door at opening start timing of the automatic door and the door opening time is a time from the opening start timing to timing at which the autonomously traveling vehicle can pass through the automatic door.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present disclosure relates to a driving control technology for controlling the driving of an autonomous vehicle. [Background technology]

[0002] Patent Document 1 discloses a system for allowing an unmanned vehicle to pass safely through an automatic door. This system is equipped with a control device that drives the automatic door when it receives a door-open request signal from the unmanned vehicle, and sends a door-full-open detection signal to the unmanned vehicle when it detects that the door is fully open. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 2618251 Summary of the Invention [Problem to be solved by the invention]

[0004] The system in Patent Document 1 requires the automatic door to be equipped with a control device that controls the automatic door in response to a door-opening request signal from the unmanned vehicle. Therefore, it may be difficult to pass through an automatic door that does not have such a control device. For these reasons, this system may have low versatility.

[0005] An object of the present disclosure is to provide a cruise control system with improved versatility. Another object of the present disclosure is to provide a cruise control device with improved versatility. Yet another object of the present disclosure is to provide an autonomous vehicle with improved versatility. Yet another object of the present disclosure is to provide a cruise control method with improved versatility. Yet another object of the present disclosure is to provide a cruise control program with improved versatility. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the correspondence with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is a driving control system having a processor (102) for controlling driving of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, the system comprising: The processor driving an autonomous vehicle toward a closed automatic door; Learning door map data that associates the sensing results of the door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and the door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with the position-related information of the automatic door; is configured to execute

[0008] A second aspect of the present disclosure is a driving control device having a processor (102), configured to be mountable on an autonomous vehicle (1), and configured to control driving of the autonomous vehicle passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The processor driving an autonomous vehicle toward a closed automatic door; Learning door map data that associates the sensing results of the door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and the door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with the position-related information of the automatic door; is configured to execute

[0009] A third aspect of the present disclosure is an autonomous vehicle having a processor (102) and passing through an automatic door (AD) that is controlled from a closed state to an open state in response to an approach of a moving object, The processor Running towards a closed automatic door; Learning door map data that associates the sensing results of the door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and the door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with the position-related information of the automatic door; is configured to execute

[0010] A fourth aspect of the present disclosure is a driving control method executed by a processor (102) to control driving of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, the method comprising: driving an autonomous vehicle toward a closed automatic door; Learning door map data that associates the sensing results of the door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and the door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with the position-related information of the automatic door; Includes:

[0011] A fifth aspect of the present disclosure provides a travel control program stored in a storage medium (101) and including instructions to be executed by a processor (102) for controlling travel of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, the program comprising: The command is, driving an autonomous vehicle toward a closed automatic door; The system learns door map data that associates the sensing results of the door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and the door opening time (T1), which is the time from the opening start time to the time when the autonomous vehicle can pass, with the position-related information of the automatic door; Includes:

[0012] According to these first to fifth aspects, door map data that associates the sensing results of the automatic door's door opening distance and door opening time with the automatic door's position-related information is learned as the autonomous vehicle travels. Therefore, it may be possible to control passing through each automatic door based on the door map data. Because this learning is possible through control on the autonomous vehicle side, it may be unnecessary to install a device on the automatic door side to control it in response to signals from the autonomous vehicle. This may improve versatility.

[0013] A sixth aspect of the present disclosure is a driving control system that includes a processor (102) and controls driving of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, the system comprising: The processor Storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and a door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with position-related information about the automatic door; driving the vehicle at a speed that correlates with the door opening distance and the door opening time indicated by the door map data with respect to the closed automatic door; is configured to execute

[0014] According to a seventh aspect of the present disclosure, there is provided a driving control device having a processor (102), configured to be mountable on an autonomous vehicle (1), and configured to control driving of the autonomous vehicle passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, the driving control device comprising: The processor Storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and a door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with position-related information about the automatic door; driving the vehicle at a speed that correlates with the door opening distance and the door opening time indicated by the door map data with respect to the closed automatic door; is configured to execute

[0015] According to an eighth aspect of the present disclosure, there is provided an autonomous vehicle having a processor (102) and passing through an automatic door (AD) that is controlled from a closed state to an open state in response to an approach of a moving object, the autonomous vehicle comprising: The processor Storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and a door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with position-related information about the automatic door; Traveling at a speed that correlates with the door opening distance and door opening time represented by the door map data with respect to the closed automatic door; is configured to execute

[0016] According to a ninth aspect of the present disclosure, there is provided a driving control method executed by a processor (102) for controlling driving of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, the method comprising: Storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and a door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with position-related information about the automatic door; driving the vehicle at a speed that correlates with the door opening distance and the door opening time indicated by the door map data with respect to the closed automatic door; Includes:

[0017] According to a tenth aspect of the present disclosure, there is provided a travel control program stored in a storage medium (101) and including instructions to be executed by a processor (102) for controlling travel of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, the program comprising: The command is, Storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and a door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with position-related information about the automatic door; driving the vehicle at a speed that correlates with the door opening distance and the door opening time indicated by the door map data with respect to the closed automatic door; Includes:

[0018] According to the sixth to tenth aspects, the automatic door can travel at a speed that correlates with the door opening distance and the door opening time based on door map data that associates the sensing results of the automatic door's door opening distance and door opening time with the automatic door's position-related information. This eliminates the need for the automatic door to provide a device for controlling the automatic door in response to signals between the autonomous vehicle and the automatic door. This improves versatility. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a block diagram showing the overall configuration of an embodiment; [Figure 2] FIG. 1 is a schematic diagram illustrating an autonomous vehicle to which an embodiment is applied. [Figure 3] 1 is a block diagram showing a functional configuration of a cruise control system according to an embodiment; [Figure 4] FIG. 10 is a diagram showing a series of driving operations of an autonomous vehicle when learning is successful. [Figure 5] FIG. 10 is a diagram illustrating a series of driving operations of an autonomous vehicle when learning fails. [Figure 6] 4 is a flowchart illustrating a travel control flow according to one embodiment. [Figure 7] 4 is a flowchart illustrating a travel control flow according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0021] (First embodiment) An autonomous driving control system 100 of the first embodiment shown in FIG. 1 controls the driving of an autonomous driving vehicle 1 shown in FIG. 2. The autonomous driving vehicle 1 is, for example, a delivery robot that provides a delivery service by driving on a road and delivering luggage. The operation of the autonomous driving vehicle 1 is managed by communication with an external center. The autonomous driving vehicle 1 may also be a logistics robot that transports luggage in a warehouse where the luggage is stored.

[0022] The autonomous vehicle 1 comprises a body 2 having an internal space for storing luggage, and a plurality of running wheels 3 provided on the body 2. The autonomous vehicle 1 is a running body that runs using a battery 5 built into the body 2 as a power source.

[0023] The autonomous vehicle 1 is equipped with a sensor system 10, a communication system 20, a map database (hereinafter referred to as "DB") 30, an information presentation system 40, and a motor control unit 50, all of which are shown in Fig. 3. The sensor system 10 acquires sensor information that can be used by the autonomous driving control system 100 by detecting the external and internal worlds of the autonomous vehicle 1. To this end, the sensor system 10 is configured to include an external sensor 11 and an internal sensor 12.

[0024] The external sensor 11 acquires external information usable by the autonomous driving control system 100 from the external environment surrounding the autonomous vehicle 1. The external sensor 11 may acquire the external information by detecting targets present in the external world of the autonomous vehicle 1. The target detection type external sensor 11 includes, for example, an optical sensor 11a such as a camera or LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), and a sonar 11b. The target detection type external sensor 11 may also include radar. The external sensor 11 may also include a contact sensor 11c that detects contact with a surrounding object.

[0025] The external sensor 11 may include a positioning type sensor that acquires external information by receiving positioning signals from artificial satellites of the Global Navigation Satellite System (GNSS) that exist in the external world of the autonomous vehicle 1. The positioning type external sensor 11 is, for example, a GNSS receiver 11d.

[0026] The internal sensor 12 acquires internal information that can be used by the autonomous driving control system 100 from the internal world that is the internal environment of the autonomous vehicle 1. The internal sensor 12 may acquire the internal information by detecting a specific physical quantity of motion in the internal world of the autonomous vehicle 1. The internal sensor 12 of the physical quantity detection type is at least one type of sensor, such as a traveling speed sensor, an acceleration sensor, or a gyro sensor.

[0027] The communication system 20 acquires communication information usable by the autonomous driving control system 100 via wireless communication. The communication system 20 may transmit and receive communication signals to and from a V2X system existing in the external world of the autonomous vehicle 1. The V2X type communication system 20 is, for example, at least one of a DSRC (Dedicated Short Range Communications) communication device and a cellular V2X (C-V2X) communication device. The V2X type communication system 20 can also be said to be a sensor that acquires external world information through communication. The V2X type communication system 20 enables the autonomous vehicle 1 to communicate with an external center.

[0028] The map DB 30 stores map information that can be used by the autonomous driving control system 100. The map DB 30 stores at least map information covering a service area in which transportation services are provided by the driving control system 100. The map DB 30 includes at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium. The map DB 30 may be a database of a locator that estimates the autonomous vehicle 1's own state quantities, including its own position. The map DB 30 may be a database of a planning unit that plans the driving of the autonomous vehicle 1. The map DB 30 may be configured by combining multiple types of these databases.

[0029] The map DB 30 acquires and stores the latest map information, for example, by communicating with an external center via a V2X type communication system 20. Here, the map information is converted into two-dimensional or three-dimensional data as information representing the driving environment of the autonomous vehicle 1. In particular, it is preferable to use digital data of high-precision maps as the three-dimensional map data.

[0030] The map information includes location-related information relating to the location of automatic doors AD in the service area. Here, automatic doors AD are doors that are controlled to open when a moving object is detected approaching and controlled to close when it is detected that the moving object has left. The location-related information is information including the location of the automatic doors AD or information associated with the location. For example, the location-related information includes an identification ID assigned to each automatic door AD, associated with the location of the automatic doors AD.

[0031] The map information may include road information that indicates at least one of the following: the position, shape, and road surface condition of the road itself. The map information may include sign information that indicates at least one of the following: the position and shape of signs and lane markings attached to the road. The map information may include structure information that indicates at least one of the following: the position and shape of buildings and traffic lights facing the road.

[0032] The information presentation system 40 presents alarm information to people nearby the autonomous vehicle 1. The information presentation system 40 may include a visual presentation unit that presents alarm information by stimulating the vision of people nearby. The visual presentation unit may include at least one type of device, for example, a monitor device that stimulates the vision by displaying a video or image, and a light-emitting unit that stimulates the vision by emitting a lamp. The information presentation system 40 may include an auditory presentation unit that presents alarm information by stimulating the hearing of the occupant. The auditory presentation unit may be at least one type of device, for example, a speaker, a buzzer, a vibration unit, etc.

[0033] The motor control unit 50 is a control unit that controls the drive motors that rotate the running wheels 3. The motor control unit 50 is provided for at least one pair of left and right running wheels 3, and controls the supply of electricity to the drive motors based on a control command (current command value) from the autonomous running control system 100.

[0034] The autonomous driving control system 100 is connected to the on-board components of the autonomous driving vehicle via at least one of a LAN (Local Area Network) line, a wire harness, an internal bus, a wireless communication line, etc. The autonomous driving control system 100 is configured to include at least one dedicated computer.

[0035] The dedicated computer that constitutes the cruise control system 100 may be a planning ECU (Electronic Control Unit) that plans a target trajectory for the autonomous vehicle 1 to travel. The dedicated computer that constitutes the cruise control system 100 may be a trajectory control ECU that causes an actual trajectory to follow a target trajectory for the autonomous vehicle 1. The dedicated computer that constitutes the cruise control system 100 may be an actuator ECU that controls each electric actuator of the autonomous vehicle 1.

[0036] The dedicated computer constituting the cruise control system 100 may be a sensing ECU that controls the sensor system 10 of the autonomous vehicle 1. The dedicated computer constituting the cruise control system 100 may be a locator ECU that estimates the autonomous vehicle 1's state quantities, including its own position, based on a map database. The dedicated computer constituting the cruise control system 100 may be an information presentation ECU that controls the information presentation system 40 of the autonomous vehicle 1. The dedicated computer constituting the cruise control system 100 may be a computer (such as a center) outside the vehicle body 2 that constitutes, for example, a center or mobile terminal that can communicate via the communication system 20.

[0037] The dedicated computer constituting the cruise control system 100 has at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs, data, and the like. Here, "storage" may refer to accumulation in which data is retained even when the autonomous vehicle 1 is turned off, or temporary storage in which data is erased when the autonomous vehicle 1 is turned off. The processor 102 includes at least one type of core selected from a central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a data flow processor (DFP), and a graph streaming processor (GSP).

[0038] In the cruise control system 100, the processor 102 executes a plurality of instructions included in a cruise control program stored in the memory 101 in order to control the cruise of the autonomous vehicle 1. In this way, the cruise control system 100 constructs a plurality of functional blocks for controlling the cruise of the autonomous vehicle 1. The functional blocks constructed in the cruise control system 100 include a recognition block 110, a cruise block 120, a data processing block 130, and a learning block 140, as shown in FIG. 3 .

[0039] The cruise control method in which cruise control system 100 controls the cruise of autonomous vehicle 1 through the cooperation of these blocks 100, 120, 130, and 140 is executed according to the cruise control flow shown in Figures 6 and 7. This cruise control flow will be described below in accordance with Figures 6 and 7, with reference to Figures 4 and 5. This cruise control flow is executed repeatedly while autonomous vehicle 1 is running, particularly while traveling to a destination. Note that each "S" in this cruise control flow represents multiple steps executed by multiple commands included in the cruise control program.

[0040] First, in S10 of Fig. 6, the recognition block 110 determines whether or not it has recognized the automatic door AD that is the target of passage. For example, the recognition block 110 may determine whether or not it has recognized the automatic door AD based on external information from the external sensor 11. The process of S10 is repeated while the autonomous vehicle 1 is traveling at normal speed V until the automatic door AD is recognized. Note that the recognizable distance of the automatic door AD by the external sensor 11 is assumed to be greater than the moving object detection distance of a typical automatic door AD.

[0041] Once an automatic door AD is recognized, the flow proceeds to S20. In S20, the learning block 140 determines whether the automatic door AD is an unlearned automatic door AD for which door map data has not been learned. For example, if there is no door map data whose position information substantially matches that of the automatic door AD, the learning block 140 may determine that the automatic door AD is unlearned.

[0042] If it is determined that the recognized automatic door AD has been learned rather than unlearned, the flow proceeds to S30, where the learning block 140 determines whether the update condition for updating the door map data for the automatic door AD is met.

[0043] The update condition is, for example, a condition that is met when the margin of safety at the time of past passage based on the door map data at the time of previous learning exceeds a threshold. The margin of safety is a parameter that correlates with the distance between the automatic door AD and the autonomous vehicle 1 at the time of passage. The larger the distance, the greater the margin of safety.

[0044] Alternatively, the update condition may be satisfied when the number of failed passes based on the door map data at the time of previous learning exceeds an allowable number. Alternatively, the update condition may be satisfied when the difference between the door opening time at the time of previous learning and the door opening time T1 recognized at the time of previous passing after the previous learning is outside an allowable range. Alternatively, the update condition may be satisfied when one or more of the above-described multiple conditions are satisfied as sub-conditions.

[0045] If it is determined that the update condition is met, the flow proceeds to S70, which will be described later. On the other hand, if it is determined that the update condition is not met, the flow proceeds to S40. In S40, the travel block 120 sets an upper limit speed V2 for passing through the automatic door AD based on the door map data from the previous learning.

[0046] More specifically, the traveling block 120 sets an upper limit speed V2 that correlates with the door opening distance D1 and the door opening time T1 in the door map data. For example, the traveling block 120 may set the upper limit speed V2 to a value obtained by dividing the door opening distance D1 by the door opening time T1, as shown in Equation (1). Note that the upper limit speed V2 may be a value obtained by multiplying the value obtained by dividing the door opening distance D1 by the door opening time T1 by a coefficient less than 1 as a safety factor.

[0047]

number

[0048] Then, in S45, the traveling block 120 performs traveling through the automatic door AD based on the upper limit speed V2. The traveling block 120 determines a passing speed V3 based on the upper limit speed V2 and the detection results of pedestrians and the like in the vicinity, and performs traveling through at the determined passing speed V3. For example, if no moving object is detected in the vicinity, the traveling block 120 sets the passing speed V3 to the upper limit speed V2, and if a moving object is detected, the traveling block 120 sets the passing speed V3 to a speed lower than the upper limit speed V2.

[0049] In the next step S50, the traveling block 120 determines whether or not the autonomous vehicle 1 will be able to pass through the automatic door AD at the passing speed V3. If the traveling block 120 determines, based on external information from the external sensor 11 or the like, that the automatic door AD will open to an opening width that will allow the autonomous vehicle 1 to pass through before passing through the automatic door AD, it determines that the autonomous vehicle 1 will have passed successfully and continues traveling. As an example, the traveling block 120 determines that the autonomous vehicle 1 will have failed to pass if the following mathematical formula (1) is satisfied:

[0050]

number

[0051] If it is determined that the passage has failed, the flow proceeds to S60. In S60, the traveling block 120 stops within the door opening distance D1, waits until the opening width of the automatic door AD exceeds the width of the moving body, and then performs passing travel.

[0052] Thereafter, in S65, the traveling block 120 reduces the passing speed V3 for the next passage. The traveling block 120 stores and holds this reduced passing speed V3 in a storage medium such as the memory 101. When the passage is completed, this flow ends, and normal traveling control continues.

[0053] On the other hand, if the learning block 140 determines in S20 that the automatic door AD is an unlearned one for which door map data has not been learned, the flow proceeds to S70. In S70, the traveling block 120 stops the traveling of the autonomous vehicle 1. That is, through the series of processes of S10, S20, and S70, the autonomous vehicle 1 will temporarily stop when it approaches the unlearned automatic door AD to a distance where it can be recognized.

[0054] In the next step S80, the recognition block 110 calculates the distance from the autonomous vehicle 1 to the automatic door AD based on the external environment information as an initial distance D0. The recognition block 110 stores the calculated initial distance D0 in the memory 101.

[0055] Then, in S90, the recognition block 110 determines whether or not a moving obstacle MO is detected around the autonomous vehicle 1 and the automatic door AD based on external information, etc. The moving obstacle MO is a moving object such as a pedestrian or another autonomous vehicle 1. If it is determined that a moving obstacle MO has been detected, the recognition block 110 waits until the moving obstacle MO moves away from the periphery of the autonomous vehicle 1 and the automatic door AD and is no longer detected. If it is determined that a moving obstacle MO has not been detected, the flow proceeds to S100.

[0056] In S100, the recognition block 110 determines whether the automatic door AD is closed based on the external environment information. If it is determined that the automatic door AD is not closed, the recognition block 110 waits until the automatic door AD is closed. If it is determined that the automatic door AD is closed, the flow proceeds to S110.

[0057] If the automatic door AD does not close after waiting for a predetermined period of time, the recognition block 110 may determine that the autonomous vehicle 1 has already entered the moving object detection range of the automatic door AD, and the travel block 120 may execute a process to retreat until the automatic door AD closes. Alternatively, if the automatic door AD does not close after waiting for a predetermined period of time, the travel block 120 may execute a process to pass through the automatic door AD at a predetermined speed.

[0058] In S110, the travel block 120 starts travel of the autonomous vehicle 1 toward the closed automatic door AD. At this time, the travel block 120 performs travel control at a learning speed V1. The learning speed V1 is a travel speed during learning that is pre-stored in the memory 101 or the like. The learning speed V1 is set to a speed equal to or lower than the average human walking speed (e.g., approximately 1 km / h). For example, the average human walking speed is set to 4.4 km / h, which is the average of walking speeds by gender and age described in "The Chemistry of Walking" by Kunio Akutsu. Alternatively, the average human walking speed may be set to 5.8 km / h, which is defined as the human walking speed in JIS B9715:2013 or ISO 13855:2010. Alternatively, the learning speed V1 may be set to a speed equal to or lower than the average walking speed of pedestrians around the automatic door AD detected by the external sensor 11.

[0059] 7, the recognition block 110 determines when the automatic door AD starts to open. That is, the recognition block 110 repeatedly detects the opening operation of the automatic door AD in a predetermined detection cycle, and when it detects an opening operation, it sets the detection timing as the opening start timing. When the opening start timing is detected, the flow proceeds to S130.

[0060] In S130, the recognition block 110 determines whether a target has been detected in the detection determination area A1 between the automatic door AD and the autonomous vehicle 1. Specifically, the recognition block 110 determines whether a moving obstacle MO has been detected in the direction of the automatic door AD based on the detection determination area A1. The recognition block 110 determines a moving object entering the detection determination area A1 set between the autonomous vehicle 1 and the automatic door AD as shown in FIG. 5 as a moving obstacle MO in the direction of the automatic door AD. Note that although the detection determination area A1 in FIG. 5 is set in front of the autonomous vehicle 1, the detection determination area A1 may also be set to include the sides and rear of the autonomous vehicle 1. Furthermore, if a moving object behind the automatic door AD can be detected, the detection determination area A1 may also be set to include the area behind the automatic door AD.

[0061] If it is determined that a moving obstacle MO has been detected, the flow proceeds to S140. In S140, the traveling block 120 stops the autonomous vehicle 1. In the following S150, the traveling block 120 causes the autonomous vehicle 1 to back up to a point that is an initial distance D0 from the automatic door AD. After S150, the flow returns to S90 in FIG. 6.

[0062] On the other hand, if it is determined in S130 that a moving obstacle MO has not been detected, the flow proceeds to S160. In S160, the traveling block 120 stops the autonomous vehicle 1. Through the series of processes in S120, S130, and S160, the autonomous vehicle 1 is stopped at substantially the same timing as the automatic door AD begins to open upon detection of the autonomous vehicle 1 by the automatic door AD.

[0063] In the next step S170, the learning block 140 associates the door opening distance D1, which is the distance from the stop position to the automatic door AD, with the identification ID of the automatic door AD and stores the same in the memory 101. Alternatively, or in addition, the learning block 140 may associate the door opening distance D1 with the identification ID and transmit it to the center. The door opening distance D1 is detected as a sensing result by the external sensor 11, for example.

[0064] In the next step S180, the learning block 140 counts up a timer for measuring the door open time T1 as a sensing result. After the count-up, in step S190, the recognition block 110 determines whether the timing has come for the autonomous vehicle 1 to pass through the automatic door AD. For example, the recognition block 110 determines that the timing has come when the opening width of the automatic door AD falls within the allowable passage range. The allowable passage range is the range in which the opening width is equal to or greater than a threshold value.

[0065] This threshold value may be determined according to the width of the opening when the automatic door AD is opened to a position where it does not come into contact with the autonomous vehicle 1. Such a threshold value may be determined according to the structure of the automatic door AD, and the route R and dimensions of the autonomous vehicle 1. To elaborate on the dimensions, if the automatic door AD is a door that opens horizontally, the threshold value is determined according to the width dimension of the autonomous vehicle 1. Alternatively, if the automatic door AD is a door that opens vertically, the threshold value is determined according to the height dimension of the autonomous vehicle 1.

[0066] For example, if the automatic door AD is a sliding door on both sides as shown in Figures 4 and 5 and the route R is set to pass through the center between the doors, the threshold value may be determined according to the vehicle width as described above. On the other hand, if the route R is set to pass through a position offset from the center between the doors, the threshold value may be determined according to the amount of offset from the center in addition to the vehicle width.

[0067] Alternatively, this threshold value may be set to the opening width (full opening width) when the automatic door AD is fully opened.

[0068] If it is determined in S190 that it is not the timing for passage, the flow returns to S180 and the timer continues counting up.

[0069] On the other hand, if it is determined that the passage timing has arrived, the flow proceeds to S200. In S200, the learning block 140 associates the door open time T1, which is the time from the timing at which the door starts to open until the passage timing, with the identification ID of the automatic door AD and stores the associated time in the memory 101. Alternatively, or in addition, the learning block 140 may associate the door open time T1 with the identification ID and transmit it to the center.

[0070] Then, in S210, learning block 140 initializes the timer. Then, in S220, traveling block 120 controls the traveling of autonomous vehicle 1 so that it passes through automatic door AD, which has already reached the passing timing, at initial passing speed V0. Initial passing speed V0 is set to, for example, a speed equal to or greater than learning speed V1. After S220, this flow ends and transitions to normal traveling control.

[0071] According to the first embodiment described above, door map data that associates the sensing results of the door opening distance D1 and door opening time T1 of the automatic door AD with the position-related information of the automatic door AD is learned as the autonomous vehicle 1 travels. Therefore, it may be possible to control passing travel based on the door map data for each automatic door AD. Because this learning is possible through control on the autonomous vehicle 1 side, it may not be necessary to install a device on the automatic door AD side to perform control in response to signals from the autonomous vehicle 1. This may improve versatility.

[0072] (Other embodiments) Although one embodiment has been described above, the present disclosure should not be construed as being limited to the embodiment described above, and can be applied to various embodiments within the scope that does not deviate from the gist of the present disclosure.

[0073] In a modified example, the dedicated computer constituting cruise control system 100 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of the following: an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a system on a chip (SOC), a programmable gate array (PGA), and a complex programmable logic device (CPLD). Such a digital circuit may also have a memory that stores a program.

[0074] In addition to the forms described so far, the above-mentioned embodiments and variations may be implemented in the form of a processing circuit (e.g., a processing ECU, etc.) or a semiconductor device (e.g., a semiconductor chip, etc.) as a control device configured to be mountable on a host mobile body and having at least one processor 102 and one memory 101.

[0075] (Addendum) This specification discloses the following technical ideas and combinations thereof.

[0076] (Technical thought 1) A driving control system having a processor (102) for controlling driving of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The processor: driving the autonomous vehicle toward the automatic door in a closed state; learning door map data that associates the sensing results of a door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and a door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with position-related information of the automatic door; a cruise control system configured to perform the above steps.

[0077] (Technical thought 2) Learning the door map data includes: The driving control system according to Technical Idea 1 includes storing the door map data in a storage medium (101).

[0078] (Technical Thought 3) Learning the door map data includes: The driving control system according to Technical Idea 1 or Technical Idea 2 includes transmitting the door map data to a center outside the autonomous vehicle.

[0079] (Technical Thought 4) Driving the autonomous vehicle includes: driving the automatic door for which the door map data has not been learned; driving the automatic door, for which the door map data has been learned, at a speed that correlates with the door opening distance and the door opening time represented by the door map data; A driving control system according to any one of Technical Ideas 1 to 3, including:

[0080] (Technical Thought 5) Driving the autonomous vehicle includes: A driving control system according to any one of Technical Ideas 1 to 4, which includes stopping driving in accordance with the timing at which the automatic door for which the door map data has not yet been learned starts to open.

[0081] (Technical Thought 6) Driving the autonomous vehicle includes: When a target is detected in a detection determination area (A1) between the automatic door for which the door map data has not been learned and the autonomous vehicle, the autonomous vehicle is moved backward to a closed position where the automatic door is in the closed state. Re-running the automatic door from the closed position; Including, Learning the door map data includes: interrupting learning of the door map data upon detection of the target; Resuming the learning by re-driving; A cruise control system according to any one of Technical Ideas 1 to 5, including:

[0082] (Technical Thought 7) Driving the autonomous vehicle includes: A driving control system according to any one of Technical Ideas 1 to 6, which includes driving the automatic door for which the door map data has not been learned at a speed equal to or slower than an average human walking speed.

[0083] (Technical Thought 8) A driving control system having a processor (102) for controlling driving of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The processor: storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information about the automatic door; driving the automatic door in a closed state at a speed correlated with the door opening distance and the door opening time represented by the door map data; a cruise control system configured to perform the above steps.

[0084] (Technical Thought 9) A travel control device having a processor (102), configured to be mountable on an autonomous vehicle (1), and configured to control travel of the autonomous vehicle passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The processor: driving the autonomous vehicle toward the automatic door in a closed state; learning door map data that associates the sensing results of a door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and a door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with position-related information of the automatic door; A cruise control device configured to perform the above.

[0085] (Technical Thought 10) A travel control device having a processor (102), configured to be mountable on an autonomous vehicle (1), and configured to control travel of the autonomous vehicle passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The processor: storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information about the automatic door; driving the automatic door in a closed state at a speed correlated with the door opening distance and the door opening time represented by the door map data; A cruise control device configured to perform the above.

[0086] (Technical Thought 11) An autonomous vehicle having a processor (102) and passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The processor: Traveling toward the automatic door in a closed state; learning door map data that associates the sensing results of a door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and a door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with position-related information of the automatic door; 1. An autonomous vehicle configured to perform the

[0087] (Technical Thought 12) An autonomous vehicle having a processor (102) and passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The processor: storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information about the automatic door; Traveling at a speed correlated with the door opening distance and the door opening time represented by the door map data with respect to the automatic door in a closed state; 1. An autonomous vehicle configured to perform the

[0088] (Technical Thought 13) A driving control method executed by a processor (102) for controlling driving of an autonomous vehicle (1) through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, comprising: driving the autonomous vehicle toward the automatic door in a closed state; learning door map data that associates the sensing results of a door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and a door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with position-related information of the automatic door; A driving control method including:

[0089] (Technical Thought 14) A driving control method executed by a processor (102) for controlling driving of an autonomous vehicle (1) through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, comprising: storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information about the automatic door; driving the automatic door in a closed state at a speed correlated with the door opening distance and the door opening time represented by the door map data; A driving control method including:

[0090] (Technical Thought 15) A travel control program stored in a storage medium (101) and including instructions to be executed by a processor (102) for controlling travel of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The instruction: driving the autonomous vehicle toward the automatic door in a closed state; learning door map data that associates the sensing results of a door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and a door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with position-related information of the automatic door; A driving control program including:

[0091] (Technical Thought 16) A travel control program stored in a storage medium (101) and including instructions to be executed by a processor (102) for controlling travel of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The instruction: storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information about the automatic door; driving the automatic door in a closed state at a speed correlated with the door opening distance and the door opening time represented by the door map data; A driving control program including: [Explanation of symbols]

[0092] 1: Autonomous vehicle, 100: Driving control system, 101: Memory (storage medium), 102: Processor, AD: Automatic door, A1: Detection judgment area, C: Center, D1: Door opening distance, T1: Door opening time

Claims

1. A driving control system having a processor (102) for controlling driving of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The processor: driving the autonomous vehicle toward the automatic door in a closed state; learning door map data that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information of the automatic door; a cruise control system configured to perform the above steps.

2. Learning the door map data includes:

2. The cruise control system of claim 1, further comprising storing the door map data in a storage medium (101).

3. Learning the door map data includes: The cruise control system according to claim 1 , further comprising transmitting the door map data to a center outside the autonomous vehicle.

4. Driving the autonomous vehicle includes: driving the automatic door for which the door map data has not been learned; driving the automatic door, for which the door map data has been learned, at a speed that correlates with the door opening distance and the door opening time represented by the door map data; The cruise control system of claim 1 , comprising:

5. Driving the autonomous vehicle includes:

2. The driving control system according to claim 1, further comprising: stopping driving of the automatic door in accordance with the timing at which the automatic door for which the door map data has not yet been learned starts to open.

6. Driving the autonomous vehicle includes: When a target is detected in a detection determination area (A1) between the automatic door for which the door map data has not been learned and the autonomous vehicle, the autonomous vehicle is moved backward to a closed position where the automatic door is in the closed state. Re-running the automatic door from the closed position; Including, Learning the door map data includes: interrupting learning of the door map data upon detection of the target; Resuming the learning by re-driving; The cruise control system of claim 1 , comprising:

7. Driving the autonomous vehicle includes:

2. The driving control system according to claim 1, further comprising causing the vehicle to travel at a speed equal to or slower than an average human walking speed in relation to the automatic door for which the door map data has not yet been learned.

8. A driving control system having a processor (102) for controlling driving of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The processor: storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information of the automatic door; driving the automatic door in a closed state at a speed correlated with the door opening distance and the door opening time represented by the door map data; a cruise control system configured to perform the above steps.

9. A driving control device having a processor (102), configured to be mountable on an autonomous vehicle (1), and configured to control driving of the autonomous vehicle passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The processor: driving the autonomous vehicle toward the automatic door in a closed state; learning door map data that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information of the automatic door; A cruise control device configured to perform the above.

10. A driving control device having a processor (102), configured to be mountable on an autonomous vehicle (1), and configured to control driving of the autonomous vehicle passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The processor: storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information of the automatic door; driving the automatic door in a closed state at a speed correlated with the door opening distance and the door opening time represented by the door map data; A cruise control device configured to perform the above.

11. An autonomous vehicle having a processor (102) that passes through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The processor: Traveling toward the automatic door in a closed state; learning door map data that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information of the automatic door; 1. An autonomous vehicle configured to perform the

12. An autonomous vehicle having a processor (102) that passes through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The processor: storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information of the automatic door; Traveling at a speed correlated with the door opening distance and the door opening time represented by the door map data with respect to the automatic door in a closed state; 1. An autonomous vehicle configured to perform the

13. A driving control method executed by a processor (102) for controlling driving of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, comprising: driving the autonomous vehicle toward the automatic door in a closed state; learning door map data that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information of the automatic door; A driving control method including:

14. A driving control method executed by a processor (102) for controlling driving of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, comprising: storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information of the automatic door; driving the automatic door in a closed state at a speed correlated with the door opening distance and the door opening time represented by the door map data; A driving control method including:

15. A travel control program stored in a storage medium (101) and including instructions to be executed by a processor (102) for controlling travel of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The instruction: driving the autonomous vehicle toward the automatic door in a closed state; learning door map data that associates the sensing results of a door opening distance (D1), which is the distance to the automatic door when the automatic door starts to open, and a door opening time (T1), which is the time from the opening start time to the passable time when the autonomous vehicle can pass, with position-related information of the automatic door; A driving control program including:

16. A travel control program stored in a storage medium (101) and including instructions to be executed by a processor (102) for controlling travel of an autonomous vehicle (1) passing through an automatic door (AD) that is controlled from a closed state to an open state in response to the approach of a moving object, The instruction: storing door map data in a storage medium (101) that associates sensing results of a door opening distance (D1), which is the distance to the automatic door at the timing when the automatic door starts to open, and a door opening time (T1), which is the time from the timing when the automatic door starts to open until the timing when the autonomous vehicle can pass, with position-related information about the automatic door; driving the automatic door in a closed state at a speed correlated with the door opening distance and the door opening time represented by the door map data; A driving control program including:

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