Routing Device

Abstract

To set a scheduled travel route that makes it possible to avoid an area where a condition of a road surface is bad.SOLUTION: In a route setting device of the present invention, a scheduled travel route of a second moving body that is a moving body traveling following a first moving body is set based on a travel condition of the first moving body that is a moving body having traveled previously. More particularly, when it is acquired that a condition of a road surface along a scheduled travel route of the first moving body is worse than a set condition based on the travel condition of the first moving body, the scheduled travel route of the second moving body that is the moving body traveling following the first moving body is set to a route other than the scheduled travel route of the first moving body. As a result, the second moving body can travel while avoiding an area where the condition of the road surface is bad.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a route setting device that sets a planned travel route for at least one of a plurality of moving bodies. [Background technology]

[0002] In the route setting device described in Patent Document 1, when a second moving body, which is an automatically driven moving body, approaches a first moving body, which is a stopped moving body, the first moving body creates a travel route that allows it to avoid itself and transmits it to the second moving body. The second moving body can travel along the route that allows it to avoid the first moving body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2020-126433 Summary of the Invention [Problem to be solved by the invention]

[0004] The object of the present invention is to set a planned driving route that can avoid sections of road that are in poor condition.

[0005] In a route setting device according to the present invention, a planned travel route of a second moving body that will travel after the first moving body is set based on the travel state of a first moving body that has traveled first. Specifically, when it is acquired based on the travel state of the first moving body that the condition of the road surface along the planned travel route of the first moving body is worse than the set condition, the planned travel route of the second moving body that will travel after the first moving body is set to a route different from the planned travel route of the first moving body. As a result, the second moving body can travel while avoiding portions of the road surface that are in poor condition. [Brief explanation of the drawings]

[0006] [Figure 1] 1 is a diagram conceptually illustrating a work system including a route setting device according to an embodiment of the present invention; [Figure 2] 5 is a flowchart showing a planned travel route setting program stored in a storage unit of a control ECU of a control device that is an embodiment of the route setting device. [Figure 3] 10 is a flowchart showing a mobile body information creation program stored in a storage unit of a mobile body ECU of a mobile body that is a component of the above-mentioned working system. [Figure 4] 10 is a flowchart showing a planned travel route storage program stored in a storage unit of the mobile object ECU. [Figure 5] FIG. 2 is a diagram conceptually showing a route along which the moving body travels. [Figure 6] FIG. 10 is a diagram conceptually showing a route traveled by a moving body other than the moving body. [Figure 7] 7A is a diagram showing a map stored in the memory unit of the control ECU and used when determining the degree of alternative route setting request based on the absolute value of the difference between a value representing the actual turning state of the moving body and a value representing the target turning state. (7B) is a diagram showing a map used when determining the degree of alternative route setting request based on the absolute value of the difference between a value representing the actual steering operation state of the moving body and a value representing the target steering operation state. (7C) is a diagram showing a map used to determine the degree of alternative route setting request based on a value representing the state of vibration in the vertical direction of the moving body. DETAILED DESCRIPTION OF THE INVENTION

[0007] Hereinafter, a working system including a route setting device according to an embodiment of the present invention will be described with reference to the drawings. [Example]

[0008] A work system including a route setting device according to this embodiment includes, for example, a plurality of mobile objects V performing work in a mine or the like, a control device C capable of communicating with each of the plurality of mobile objects V, an antenna A, etc. Wireless communication is performed between the control device C and the plurality of mobile objects V directly or via the antenna A.

[0009] The multiple moving bodies V include, for example, manually driven moving bodies Vm that can travel by operating the driving operation members by the driver, and automatically driven moving bodies Va that can travel without the driver's operation. The automatically driven moving bodies Va are moving bodies that can travel based on at least one of information about the surroundings of the moving body V acquired by a camera, a lidar, etc., and a travel command from a control device C. Hereinafter, when there is no need to distinguish between the manually driven moving bodies Vm and the automatically driven moving bodies Va, or when referring to them collectively, they will simply be referred to as the moving body V.

[0010] Each of these mobile bodies V includes a driving device D that drives the mobile body V, a braking device B that brakes the mobile body V, a steering device T that steers the steering wheels of the mobile body V, a GPS (Global Positioning System) receiver 10 as a GNSS (Global Navigation Satellite System) receiver, a surrounding information acquisition device 12, a mobile body communication device 14 that transmits and receives wireless information, an inertial measurement unit 16, a mobile body ECU 20 that is mainly a computer, and the like.

[0011] The drive device D may include, for example, an electric motor as a drive source connected to a plurality of drive wheels among the plurality of wheels 30 of the moving body V, and a drive circuit that controls the electric motor. The electric motor is controlled by controlling the drive circuit, which controls the drive force applied to the drive wheels, thereby controlling the traveling speed and acceleration of the moving body V.

[0012] The braking device B may include, for example, a friction brake provided for each of the plurality of wheels 30, which suppresses rotation of the wheels 30 by pressing a friction engagement member against a brake rotor that rotates integrally with the wheels 30, and a pressing force control actuator that can control the pressing force of each of the plurality of friction brakes. If the friction brake is a fluid pressure brake that can be actuated by fluid pressure as the pressing force, the pressing force control actuator may be a fluid pressure control actuator. By controlling the pressing force control actuator, the pressing force of the friction brake provided for each of the plurality of wheels 30 is controlled, and the braking force applied to each of the plurality of wheels 30 is controlled.

[0013] The steering device T steers the left wheel 30L and the right wheel 30R, which are steered wheels among the plurality of wheels 30. The steering device T may include, for example, a pair of tie rods connecting the left wheel 30L and the right wheel 30R, a steering rod connecting the pair of tie rods, a steering actuator provided on the steering rod, etc. The steering actuator moves the steering rod in the width direction of the moving body V, thereby steering the left wheel 30 and the right wheel 30R.

[0014] The GPS receiver 10 receives GPS signals and acquires the position of the mobile unit itself based on the GPS signals. The peripheral information acquisition device 12 includes a camera, a lidar, etc., and recognizes objects, etc. around the mobile body on which the peripheral information acquisition device 12 is installed, and acquires the relative positional relationship between the objects, etc. and the mobile body itself.

[0015] The inertial measurement unit (IMU) 16 detects the acceleration in the forward / backward, lateral, and vertical directions of the moving body on which the IMU 16 is mounted, as well as the angular velocity around the forward / backward, lateral, and vertical axes. In other words, the IMU 16 detects the acceleration in the forward / backward, lateral, and vertical directions of the moving body V, as well as the roll rate, pitch rate, yaw rate, etc.

[0016] The mobile communication device 14 wirelessly transmits mobile information created in the mobile ECU 20 and receives control information, which is information transmitted wirelessly from the control device C.

[0017] The manually driven vehicle Vm also includes driving operation members such as a steering operation member 22. The steering operation member 22 is operated when changing the direction of the vehicle V. The manually driven vehicle Vm also includes a driving operation state detection unit such as a steering operation state detection unit 26 that detects the amount of operation of the steering operation member 22, the direction of operation, etc. These driving operation members, driving operation state detection units, etc. may also be provided in the automatically driven vehicle Va.

[0018] Furthermore, the manually driven vehicle Vm is often provided with a display 32. The display 32 can be configured to display a planned driving route, etc. The driver operates the driving operation members while viewing the planned driving route displayed on the display 32 to move the manually driven vehicle Vm.

[0019] Connected to mobile body ECU 20 are the drive circuit of drive device D, the pressing force control actuator of braking device B, the steering actuator of steering device T, GPS receiver 10, peripheral information acquisition device 12, mobile body communication device 14, inertial measurement unit 16, steering operation state detection unit 26, display 32, etc. Mobile body ECU 20 also includes a travel route etc. storage unit 42, travel state acquisition unit 43, mobile body information creation unit 44, travel control unit 46, etc.

[0020] The travel route etc. storage unit 42 stores information etc. related to the planned travel route set in the moving body itself. In a manually driven moving body Vm, the travel route etc. storage unit 42 is not essential, but it is possible to display the planned travel route on the display 32, allowing the driver to drive according to the display.

[0021] Information regarding the planned travel route of each moving body V is supplied from the control device C and stored before departure, but may be changed and set after departure. Information regarding the changed and set planned travel route is transmitted from the control device C to the moving body V, stored in the travel route etc. storage unit 42, and updated.

[0022] The running state acquisition unit 43 acquires the running state of the moving body V and can be called a moving body running state acquisition unit. If the moving body is a manually driven moving body, the running state includes an actual turning state, which is an actual turning state, an operation state of the driving operation members, a state of vibration in the vertical direction, etc. If the moving body is an automatically driven moving body, the running state includes a state of vibration in the vertical direction, etc.

[0023] For example, the actual turning state of the manually driven moving body Vm can be expressed by lateral displacement, turning radius, yaw rate, etc. The lateral displacement, turning radius, etc. can be obtained based on the lateral acceleration, yaw rate, etc., which are detected values ​​by the inertial measurement unit 16 of the manually driven moving body Vm. Furthermore, the operation state (which can be expressed as an operation amount, an operation force, etc.) of the steering operation member 22, which serves as a driving operation member of the manually driven mobile body Vm, can be detected by the steering operation state detection unit 26. Note that, since the manually driven mobile body Vm turns in response to the operation of the steering operation member 22, the actual turning state can be acquired based on the steering operation state of the steering operation member 22 detected by the steering operation state detection unit 26. In this sense, the steering amount, operation force, etc. of the steering operation member 22 detected by the steering operation state detection unit 26 can also be considered to be values ​​that represent the actual turning state.

[0024] The vertical vibration state of the automatically driven mobile body Va and the manually driven mobile body Vm can be expressed by the difference in vertical displacement (amplitude of vertical vibration), vertical acceleration, etc. The amplitude of the vertical vibration, vertical acceleration, etc. can be obtained based on the vertical acceleration, etc. detected by the inertial measurement unit 16.

[0025] The mobile object information creating unit 44 creates mobile object information, which is information wirelessly transmitted from the mobile object V. The mobile object information includes mobile object traveling state information, mobile object position information, identification information, and the like.

[0026] The moving body running state information is information representing the running state of the moving body V acquired by the running state acquisition unit 42, and the moving body running state information includes one or more of actual turning state information which is information representing the above-mentioned actual turning state, steering operation state information which is information representing the steering operation state, up-and-down vibration state information which is information representing the up-and-down vibration state, etc.

[0027] The mobile object position information is information indicating the position of the mobile object V obtained based on the GPS signal received by the GPS receiver 10. The identification information is information that identifies each mobile object V, and is set and stored in advance in correspondence with each mobile object V. The created mobile object information is output to the mobile object communication device 14. The mobile object communication device 14 transmits the mobile object information wirelessly.

[0028] The mobile object information creation program shown in FIG. 3 is executed at predetermined set times by the mobile object information creation unit 44 of each of the multiple mobile objects V. In step 51 (hereinafter abbreviated as S51, the same applies to the other steps), mobile object traveling state information is acquired. In S52, mobile object position information is acquired. In S53, identification information is read. Then, in S54, mobile object information including the identification information, mobile object position information, mobile object traveling state information, etc. is created. The mobile object information is output to the mobile object communication device 14 and transmitted.

[0029] The traveling control unit 46 controls the traveling of the moving body V by controlling the driving device D, the braking device B, the steering device T, and the like. In the automatically driving mobile body Va, the travel control unit 46 controls the drive device D, the braking device B, the steering device T, etc. so that the mobile body V travels along the planned travel route stored in the travel route etc. storage unit 42. For example, these drive device D, braking device B, steering device T, etc. are controlled based on at least one of a travel command included in the control information received by the mobile body communication device 14 and the relative positional relationship between the mobile body V and objects etc. around the mobile body V acquired by the surrounding information acquisition device 12.

[0030] In the manually driven vehicle Vm, the travel control unit 46 controls the drive device D, the braking device B, the turning device T, etc. based on the operation state of the steering operation member 22 and other driving operation members.

[0031] The control device C includes a control ECU 50, which is mainly a computer, and a control communication device 52 connected to the control ECU 50. The control ECU 50 includes a control information creation unit 54, a work plan information storage unit 56, a mobile object information storage unit 58, a road surface condition acquisition unit 60, a driving route setting unit 62, etc.

[0032] The control communication device 52 wirelessly transmits the control information created by the control information creation unit 54, and receives mobile object information wirelessly transmitted from the mobile object communication device 14 of the mobile object V.

[0033] The control information creation unit 54 creates control information including a travel command, travel route information representing a planned travel route, and identification information of the mobile unit.

[0034] The work plan information storage unit 56 stores information related to the work plan for each of the moving bodies V. The work plan information storage unit 56 includes a travel route information storage unit 56a that stores information related to the planned travel route for each of the moving bodies V. The work plan information storage unit 56 also stores the travel order of each of the multiple moving bodies V, etc.

[0035] For example, as shown in FIGS. 5 and 6, in a mine, the roads are wide, so the planned travel route R0 is usually set so that the moving body V travels in a substantially straight line. Also, when the starting point and destination are the same, the same planned travel route R0 is usually set for each of multiple moving bodies V. In this embodiment, the planned travel route for the first moving body V1, which is the moving body V that travels first, and the planned travel route for the second moving body V2, which is the moving body that travels after, are set to the same planned travel route R0. Then, the travel route information storage unit 56a stores information related to the planned travel route R0, for example, as indicated by a solid thin line.

[0036] The mobile object information storage unit 58 stores mobile object position information, mobile object running state information (information indicating the actual turning state, driving operation state, vertical vibration state, etc.), etc., included in the mobile object information received by the control communication device 52. This information is not limited to the information received this time, but also information received in the past is stored.

[0037] The road surface condition acquisition unit 60 acquires whether the condition of the road surface along the planned travel route is worse than the set condition based on the travel condition represented by the mobile object travel condition information included in the mobile object information. Furthermore, the road surface condition is primarily considered to be the condition of unevenness. For example, if the difference between the unevenness of the road surface is large or the slope of the unevenness is steep, the road surface condition is acquired to be worse than the set condition.

[0038] Specifically, the road surface condition acquisition unit 60 acquires an alternative route setting request level A, which is the magnitude of the request to set a planned travel route for a second moving body V2, which is scheduled to travel later, as a route different from the planned travel route for the first moving body V1, based on the travel state of the first moving body V1 that traveled earlier. Then, when the alternative route setting request level A is greater than the setting request level Ath or when the alternative route setting request level A becomes greater than the setting request level difference ΔAth, it is acquired that the road surface condition is worse than the set state.

[0039] The phrase "the alternative route setting request level has increased beyond the setting request level difference ΔAth" means that the control communication device 52 has detected an alternative route setting request level A, which is acquired based on the traveling state of the mobile object represented by the traveling state information of the mobile object included in the currently received mobile object information, for the road surface at the same position on the planned traveling route. (n) The alternative route setting request level A obtained based on the traveling state of the mobile object indicated by the traveling state of the mobile object included in the mobile object information previously received from (n-1) The difference between the set required degree difference ΔAth is larger than the set required degree difference ΔAth. A (n) -A (n-1) >Ath In other words, the alternative route setting request degree A is obtained based on the traveling state of the mobile object included in the mobile object information transmitted from the mobile object V traveling in front of the two mobile objects traveling on the same planned traveling route. (n-1) The alternative route setting request level A obtained based on the moving object travel state included in the moving object information transmitted from the moving object V traveling later than (n) is larger than the setting requirement difference ΔAth.

[0040] When the alternative route setting request level A is greater than the setting request level Ath, the alternative route setting request level A often becomes greater than the setting request level difference ΔAth. Furthermore, when the same planned travel route is set for the first moving body V1 and the second moving body V2, the alternative route setting request degree A can also be considered as a route change request degree, which is the magnitude of the request to change the planned travel route R0 that was previously set for the second moving body V2.

[0041] For example, if the first moving body V1 is a manually driven moving body Vm and the manually driven moving body Vm deviates from the planned driving route, it is assumed that the driver has determined that the road surface condition along the planned driving route is poor and should be avoided, and the alternative route setting request level A is acquired to be greater than the setting request level Ath.

[0042] Specifically, as shown in Fig. 7A, the alternative route setting request degree A can be acquired (determined) to be a larger value when the absolute value of the difference between a value Mr representing the actual turning state of the manually driven mobile body Vm (one or more of lateral displacement, lateral acceleration, turning radius, etc.) and a value Mt representing the target turning state (one or more of target lateral displacement, target lateral acceleration, target turning radius, etc.) is larger than a first set value Mth, which is a set value. If the absolute value of the difference between the value Mr representing the actual turning state and the value Mt representing the target turning state is larger than the first set value Mth, it is acquired that the manually driven mobile body Vm has deviated from the planned driving route, and the alternative route setting request degree A is acquired to be larger than the setting request degree Ath.

[0043] 7B, the alternative route setting request level A can be set to a larger value when the absolute value of the difference between a value Sr representing the actual steering operation state of the manually driven mobile body Vm (for example, one or more of the operation amount, operation force, etc. of the steering operation member 22) and a value St representing the target steering operation state (one or more of the target operation amount, target operation force, etc.) is larger than a second set value Sth. When the absolute value of this difference is larger than the second set value Sth, it is determined that the manually driven mobile body Vm has deviated from the planned traveling route, and the alternative route setting request level A is determined to be larger than the setting request level Ath.

[0044] The values ​​representing the target turning state and the target steering operation state are stored in the driving route information storage unit 56a as information regarding the planned driving route, but if the planned driving route is a route that is close to a straight line, these values ​​representing the target turning state, the values ​​representing the target steering operation state, etc. are close to 0.

[0045] 7C, when a value H representing the state of vertical vibration of the automatically driven mobile body Va or the manually driven mobile body Vm (e.g., the amplitude of the vertical vibration, the vertical acceleration, etc.) is greater than a third set value (set amplitude, set acceleration, etc.) Hth, the alternative route setting request level A can be determined to be a higher value than when it is smaller. When the value representing the state of vertical vibration is greater than the third set value, it can be determined that the road surface is highly uneven and that the alternative route setting request level A is greater than the setting request level Ath.

[0046] When the road surface condition acquisition unit 60 acquires that the road surface condition is worse than the set condition, the driving route setting unit 62 sets the planned driving route for the second moving body V2 to a route different from the planned driving route for the first moving body V1, in other words, changes and sets the planned driving route that was previously set for the second moving body V2.

[0047] The travel route setting unit 62 may include a learning unit 64 and the like. The learning unit 64 determines the optimal planned driving route for the second moving body V2 by learning the relationship between the current and past driving conditions (vertical vibration state, slip state, driving speed) of each of the multiple moving bodies V represented by the information stored in the moving body information storage unit 58 and the current and past driving routes of each of the multiple moving bodies V (planned driving routes of one or more first moving bodies V represented by the information stored in the driving route information storage unit 56a, driving routes previously set by the driving route setting unit 62).The optimal planned driving route can be, for example, a route that avoids sections where the road surface condition is worse than the set state and is as short as possible. The learning unit 64 can determine the optimal travel route using AI (Artificial Intelligence).

[0048] For example, as shown in Fig. 5, if the planned travel route R0 includes a portion P where the road surface is highly uneven, and an automatically driven mobile body Va serving as a first mobile body V1 travels along the planned travel route R0, and if the value H representing the state of vertical vibration of the first mobile body V1 is greater than a third set value Hth, the alternative route setting request level A is acquired to be greater than the setting request level Ath, as shown in Fig. 7C. Then, if the road surface condition acquisition unit 60 acquires that the condition of the road surface along the planned travel route R0 is worse than the set condition, the planned travel route for the second mobile body V2 can be set to a planned travel route Ra1, which is a route different from the planned travel route R0.

[0049] Furthermore, when the second moving body V2 travels along the planned travel route Ra1, the value H representing the state of up and down vibration of the second moving body V2 may become larger than the third set value Hth. In that case, the planned travel route for the moving body (second moving body V2) traveling after the moving body (first moving body V1) that traveled along the planned travel route Ra1 is further changed from the planned travel route Ra1 to the planned travel route Ra2 (a planned travel route different from the planned travel route Ra1) and set. Furthermore, when the first moving body V1 is an automatically driven moving body Va, the learning unit 64 can be configured to set a planned travel route for the second moving body V2.

[0050] When the alternative route setting request level A is high, the alternative planned travel route can be set to a route that is farther away from the planned travel route R0 than when the alternative route setting request level A is low. This is because when the road surface is highly uneven, the area with large unevenness is often large.

[0051] 6, when a manually driven moving body Vm serving as a first moving body V1 travels along a route Rm deviating from the planned traveling route R0, and the absolute value of the difference between the value Mr representing the actual turning state and the value Mt representing the target turning state is greater than a first set value Mth, the alternative route setting request level A for the road surface along the planned traveling route R0 is acquired to be greater than the setting request level Ath, as shown in FIG. 7A. When the road surface condition acquisition unit 60 acquires that the condition of the road surface along the planned traveling route R0 is worse than the set condition, the planned traveling route for the second moving body V2 is set to the route Rm traveled by the manually driven moving body Vm.

[0052] In the control ECU 50, a travel route determination program shown in the flowchart of FIG. 2 is executed at predetermined intervals. In S1, the control communication device 52 determines whether or not it has received moving body information. If the determination is YES, in S2, the position of the first moving body V1, which is a moving body, is obtained from the moving body position information included in the moving body information, the traveling state of the first moving body V1 is obtained from the moving body traveling state information, and the alternative route setting request level A for the road surface at that position is obtained. In S3, the current alternative route setting request level A (n) is the previous alternative route setting request level A (n-1) The difference in the setting requirement has exceeded ΔAth, A (n) -A (n-1) =ΔA ΔA>ΔAth Alternate route setting request level A (n) is greater than the set required level Ath A (n) >Ath If the determination is YES, then in S4 it is determined whether the first moving object V1 that transmitted the moving object information is a manually driven moving object Vm.

[0053] If the determination is YES, in S5, it is determined whether or not at least one of the following is true: the absolute value of the difference between the value Mr representing the actual turning state of the manually driven mobile body Vm and the value Mt representing the target turning state is greater than a first set value Mth; and the absolute value of the difference between the value Sr representing the actual steering operation state and the value St representing the target steering operation state is greater than a second set value Sth. If the determination is YES in S5, in S6, the planned driving route for the second mobile body V2 is set to the route Rm traveled by the manually driven mobile body Vm, as shown by the dashed dotted line in Figure 6.

[0054] There are cases where the manually driven moving body Vm is traveling on a road surface whose condition is worse than the set condition, and the determination in S3 is YES because the value H representing the state of vertical vibration of the manually driven moving body Vm is greater than the third set value Hth. Therefore, when the determination in S4 is YES, it is not desirable to always set the planned traveling route of the second moving body V2 as the actual traveling route of the manually driven moving body Vm, which is the first moving body V1. Furthermore, if the difference between the actual driving route and the planned driving route of the manually driven moving body Vm is small, it is considered that there is little need to change the planned driving route for the second moving body V2 to the actual driving route of the manually driven moving body Vm. Based on the above circumstances, the S5 step was established.

[0055] If the determination in S4 or S5 is NO, in S7, a route is set that avoids the road surface traveled by the first moving body (which may be an automatically driven moving body Va or a manually driven moving body Vm). For example, the planned driving route for the second moving body V2 is set to the planned changed route Ra1 or Ra2, which is the route indicated by the dashed line or the dashed-dotted line shown in FIG. 5. Then, in S8, control information is created that includes set driving route information, which is information representing the planned driving route set in S6 or S7, and identification information of the second moving body V2 (which may be, for example, all moving bodies that will travel after the first moving body V1), and is output to the control communication device 52. The control communication device 52 transmits the control information.

[0056] In each of the moving bodies, a planned travel route storage program shown in the flowchart of FIG. 4 is executed at predetermined intervals. In S31, it is determined whether or not control information has been received by the mobile communication device 14, and in S32, it is determined whether or not the identification information included in the control information matches the identification information representing the device itself. If the determination is YES, in S33, the set travel route information included in the control information is read, and the set planned travel route is stored in the travel route etc. storage unit 42.

[0057] When the moving body V reaches a location on the set planned travel route, it travels along the set planned travel route. In the manually driven moving body Vm, the set planned travel route is displayed on the display 32, so the driver operates the steering operation member 22 etc. while watching the display 32. In the automatically driven moving body Va, the driving device D, braking device B, steering device T etc. are controlled by the travel control unit 46.

[0058] As described above, in this embodiment, the road surface condition along the planned travel route is acquired based on the travel state of the moving body that has traveled previously, and the planned travel route for the moving body that will travel later is changed and set. As a result, the planned travel route for the moving body that will travel later can be quickly and easily changed and set, thereby improving the travel stability of the moving body and work efficiency. Furthermore, although the road surface condition changes as the moving body V travels and over time, in this embodiment, the road surface condition is acquired based on the travel state of the preceding moving body V and can be reflected in the travel route of the moving body V that will travel later, and a travel route that corresponds to the actual road surface condition can be set.

[0059] As described above, in this embodiment, the control device C corresponds to the route setting device, and the road surface condition acquisition unit is made up of the part of the control ECU 50 that stores the map of Figure 7, the part that stores S1-3 of the flowchart of Figure 2, the part that executes them, etc., and the driving route setting unit is made up of the part that stores S6 and S7, the part that executes them, etc.

[0060] The road surface condition can be acquired based on the slip state as the traveling condition of the moving body V. In this embodiment, if the friction coefficient μ of the road surface along the planned traveling route is low, the road surface condition is acquired as being worse than the set state, and the planned traveling route is changed. For example, when the first moving body V1 travels along the planned traveling route R0, if the absolute value of the slip ratio of the wheels 30 is greater than the set slip ratio, the road surface condition is acquired as being worse than the set state, and the planned traveling route R0 can be changed and set. Also, if the first moving body V1 is an autonomously driven moving body Va, if the absolute value of the difference between the value Mr representing the actual turning state and the value Mt representing the target turning state is greater than the slip determination threshold, the road surface friction coefficient μ can be acquired as being low and the road surface condition can be acquired as being worse than the set state.

[0061] Furthermore, the road surface condition acquisition unit 60 can be provided in the moving body V. In this embodiment, a value representing a target turning state and a value representing a target steering operation state can be stored in the travel route etc. storage unit 42 of the moving body ECU 20. Furthermore, information representing the road surface condition acquired in the moving body can be included in the moving body information and transmitted to the control device C.

[0062] Furthermore, the travel route setting unit 62 can also be provided in the moving body V. In that case, the planned change route information acquired in each of the multiple moving bodies V can be transmitted to a second moving body V2, which is a moving body traveling after the first moving body V1, which is the moving body.

[0063] Furthermore, the planned travel route for the second moving body V2 does not necessarily need to be set in advance, but can be set each time based on the travel state of the first moving body V1. The planned travel route for the second moving body V2 may be set to the same route as the planned travel route for the first moving body V1, or may be set to a different route.

[0064] 7A-7C, the alternative route setting request degree A is acquired. However, the present invention is not limited to this. For example, the alternative route setting request degree may be acquired as a value that increases stepwise as the absolute value of the difference between the value representing the actual turning state and the value representing the target turning state, the absolute value of the difference between the value representing the actual steering operation state and the value representing the target steering operation state, or the value representing the up-and-down vibration increases.

[0065] In the above embodiment, the route setting device is applied to a work system and used in mining work, but the present invention is not limited to this. For example, the present invention can be used in a variety of work applications, not limited to mining work. Furthermore, the present invention can be applied to a travel control system that controls the travel status of multiple mobile objects, a management system that manages multiple mobile objects, and the like, in addition to work systems.

[0066] Furthermore, there is no restriction on the structures of the drive device D, the braking device B, and the steering device T. Furthermore, the learning unit 64 is not essential, and the present invention can be embodied in various forms with various modifications and improvements based on the knowledge of those skilled in the art. [Explanation of symbols]

[0067] 14: Mobile communication device 26: Steering operation state detection unit 32: Display 42: Travel route etc. storage unit 43: Travel state acquisition unit 44: Mobile body information creation unit 46: Travel control unit 50: Control ECU 52: Control communication device 54: Control information creation unit 56: Work plan information storage unit 56a: Travel route information storage unit 58: Mobile body information storage unit 60: Road surface state acquisition unit 62: Travel route setting unit Patentable invention

[0068] The following paragraphs describe patentable inventions: (1) A route setting device that sets a planned driving route for at least one of a plurality of moving bodies, A route setting device including a travel route setting unit that sets a planned travel route for a second moving body, which is at least one moving body, based on the travel state of each of the first moving bodies, which is one or more moving bodies traveling in front of the at least one moving body among the plurality of moving bodies.

[0069] "One or more first moving bodies traveling in front of at least one moving body" may refer to one or more moving bodies including a moving body traveling immediately in front of at least one moving body, or may refer to a moving body traveling several bodies in front of at least one moving body and one or more moving bodies traveling in front of that moving body.

[0070] "Setting a planned travel route for the second moving body" includes cases where a new planned travel route for the second moving body is set, and cases where a planned travel route for the second moving body that is similar to the planned travel route for the first moving body has been set in advance, and the planned travel route for the second moving body is changed to a route different from the planned travel route for the first moving body and set.

[0071] (2) The route setting device includes a road surface condition acquisition unit that acquires a condition of a road surface along a planned travel route of the first moving body based on a travel state of the first moving body, The route setting device described in (1) is configured such that, when the road surface condition acquisition unit acquires that the road surface condition along the planned driving route of the first moving body is worse than the set condition, the driving route setting unit sets the planned driving route for the at least one moving body, that is, a second moving body, to a route different from the planned driving route of the first moving body.

[0072] The first moving body may or may not travel on a road surface along the planned traveling route. When the first moving body travels along the planned traveling route, for example, the actual condition of the road surface along the planned traveling route of the first moving body can be acquired based on the traveling state of the first moving body (e.g., a state of vertical vibration, a state of slippage, etc.). When the first moving body does not travel on the road surface along the planned traveling route, it is estimated that the road surface along the planned traveling route of the first moving body is poor and should be avoided, and therefore the condition of the road surface along the planned traveling route of the first moving body can be acquired as being worse than the set state.

[0073] (3) The route setting device described in (2) is configured such that the road surface condition acquisition unit acquires an alternative route setting request degree representing the magnitude of the request to set the planned driving route for the second moving body to a route different from the planned driving route for the first moving body based on the driving state of each of the first moving bodies, and acquires that the condition of the road surface along the planned driving route of the first moving body is worse than the set state when at least one of the acquired alternative route setting request degree is greater than the set request degree or when the alternative route setting request degree becomes greater than or equal to the set request degree difference.

[0074] (4) A route setting device as described in (2) or (3), wherein the road surface condition acquisition unit acquires the condition of the road surface along the planned driving route of the first moving body based on one or more of the following as the driving condition of the first moving body: the vertical vibration state of the first moving body, the turning state of the first moving body, the operation state of a driving operation member included in the first moving body, and the slip state of the first moving body.

[0075] (5) The first moving body includes an autonomously driven moving body, A route setting device described in any one of items (2) to (4), wherein the driving route setting unit sets the planned driving route for the second moving body to a route that avoids the road surface on which the automatically driven moving body has traveled when the road surface condition acquisition unit acquires, based on the driving state of the automatically driven moving body, that the road surface condition along the planned driving route of the automatically driven moving body is worse than the set condition.

[0076] (6) A route setting device described in any one of (1) to (5), wherein the driving route setting unit includes a learning type driving route setting unit that sets a planned driving route for the second moving body based on the relationship between the driving route and driving state of each of the multiple moving bodies.

[0077] The plurality of moving bodies includes both the second moving body and the first moving body. Based on the relationship between the travel path and the travel state of each of the plurality of moving bodies, an optimal planned travel path for the second moving body can be set.

[0078] (7) The first moving body includes a manually operated moving body, A route setting device described in any one of items (1) to (6), wherein the driving route setting unit sets the planned driving route for the second moving body to the route traveled by the manually driven moving body when the absolute value of the difference between a value representing the actual turning state, which is the turning state of the manually driven moving body, and a value representing the target turning state, which is the turning state along the planned driving route for the manually driven moving body, is greater than a set value.

[0079] The second moving object traveling behind the manually driven moving object may be an automatically driven moving object or a manually driven moving object.

[0080] Furthermore, even if the first moving body is an autonomously driving moving body, if it has a surrounding information acquisition device that can recognize the condition of the road surface ahead, the planned driving route for the second moving body can be set to the route that the first moving body actually drove.

[0081] (8) The route setting device includes a road surface condition acquisition unit that acquires that the condition of the road surface along the planned driving route is worse than the set condition when the absolute value of the difference between a value representing an actual turning state, which is the turning state of the manually driven moving body, and a value representing a target turning state, which is the turning state along the planned driving route for the manually driven moving body, is greater than a set value; The route setting device described in (7) above is configured such that, when the road surface condition acquisition unit acquires that the road surface condition is worse than the set condition based on the driving state of the manually driven moving body, the planned driving route for the second moving body is set to the route traveled by the manually driven moving body.

[0082] (9) The route setting device according to any one of (1) to (8), wherein each of the plurality of moving bodies includes a travel route storage unit that stores the planned travel route set by the travel route setting unit.

[0083] In the above embodiment, the travel route etc. storage unit 42 corresponds to the travel route storage unit.

[0084] (10) The route setting device includes a control device capable of communicating with each of the plurality of moving bodies, Each of the plurality of moving bodies includes a running state acquisition unit that acquires a running state of the moving body, and a mobile body communication device that is capable of transmitting moving body running state information that is information representing the running state acquired by the running state acquisition unit, the control device includes a control communication device capable of receiving the moving object traveling state information, the travel route setting unit is provided in the control device, and sets a planned travel route for the second moving body based on the travel state of the first moving body acquired based on the moving body travel state information received by the control communication device, The route setting device according to any one of items (1) to (9), wherein the control communication device transmits set driving route information, which is information representing the planned driving route set by the driving route setting unit.

[0085] (11) Each of the plurality of moving bodies includes a running state acquisition unit that acquires a running state of the moving body, and a mobile communication device that transmits moving body running state information that is information representing the running state acquired by the running state acquisition unit, the travel route setting unit is provided in each of the plurality of moving bodies, and sets a planned travel route for the second moving body based on at least one of a travel state of the moving body acquired by the travel state acquisition unit and a travel state represented by the moving body travel state information received by the mobile body communication device, The route setting device according to any one of (1) to (9), wherein the mobile communication device transmits and receives set travel route information representing a planned change route set by the travel route setting unit.

Claims

1. A route setting device that sets a planned driving route for at least one of a plurality of moving bodies, a travel path setting unit that sets a planned travel path for a second moving body, which is one or more moving bodies traveling ahead of the at least one moving body among the plurality of moving bodies, to a path traveled by the first moving body when an absolute value of a difference between a value representing an actual turning state, which is a turning state of the first moving body, and a value representing a target turning state, which is a turning state along a planned travel path for the first moving body, is greater than a set value; A route setting device in which the value representing the turning state is one or more of the lateral displacement, lateral acceleration, and turning radius of the first moving body.

2. The route setting device includes a road surface condition acquisition unit that acquires the condition of the road surface along the planned driving route of the first moving body based on the driving state of each of the first moving bodies; 2. The route setting device according to claim 1, wherein the driving route setting unit sets a planned driving route for the second moving body to a route different from the planned driving route of the first moving body when the road surface condition acquisition unit acquires that the road surface condition is worse than a set condition based on the driving state of the first moving body.

3. 3. The route setting device according to claim 2, wherein the road surface condition acquisition unit acquires an alternative route setting request degree representing a magnitude of a request to set the planned travel route for the second moving body to a route different from the planned travel route for the first moving body, based on the travel state of each of the first moving bodies, and acquires that the condition of the road surface along the planned travel route of the first moving body is worse than the set state in at least one of the cases where the acquired alternative route setting request degree is greater than the set request degree or where the alternative route setting request degree becomes greater than or equal to a setting request degree difference.

4. The route setting device of claim 2 or 3, wherein the road surface condition acquisition unit acquires the condition of the road surface along the planned driving route of the first moving body based on one or more of the following as the driving condition of the first moving body: the vertical vibration state of the first moving body, the turning state of the first moving body, the operation state of a driving operation member included in the first moving body, and the slip state of the first moving body.

5. the first moving body includes an autonomously driven moving body, The route setting device described in claim 2 or 3, wherein the driving route setting unit sets the planned driving route for the second moving body to a route that avoids the road surface on which the automatically driven moving body has traveled when the road surface condition acquisition unit acquires that the road surface condition is worse than the set condition based on the driving state of the automatically driven moving body.

6. 4. The route setting device according to claim 1, wherein the first moving body is a manually operated moving body.

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