Autonomous driving device and method for controlling the autonomous driving device

Abstract

To provide an autonomous traveling device that can enter under a conveyance object using information from a two-dimensional sensor.SOLUTION: An autonomous traveling device includes: a two-dimensional sensor that detects two-dimensional outlines of obstacles that impede traveling; an outline extraction unit that extracts, out of two-dimensional outlines detected by the two-dimensional sensor, outline portions extending in a direction along a front-back direction at a stopping posture of a target; a target calculation unit that calculates a stopping position of the target that has a relative positional relation with the outline portions; and a traveling unit that makes the autonomous traveling device travel on an arc-shaped path toward the stop position of the target.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to an autonomous driving device and a control method for an autonomous driving device. [Background technology]

[0002] Conventionally, automated guided vehicles (AGVs) and autonomous mobile robots (AMRs) are known as autonomous driving devices that travel autonomously while detecting obstacles around them using sensors, etc. There is also a demand for autonomous driving devices to automate loading (and unloading) by entering underneath transported items such as pallets and packing boxes to hold and transport the items.

[0003] For example, Patent Document 1 discloses an autonomous mobile device that, based on information received from a 3D camera, enters a shelf on which a pallet is placed and transports the pallet. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] European Patent Application Publication No. 3656702 Summary of the Invention [Problem to be solved by the invention]

[0005] However, since the installation of a 3D camera increases the cost of the autonomous driving device, technology is needed to enable a model equipped with a two-dimensional sensor, such as a 2D laser sensor, to enter under the transported object. Therefore, an object of the present invention is to provide an autonomous mobile device that can enter under a transported object using information from a two-dimensional sensor. [Means for solving the problem]

[0006] One aspect of the autonomous driving device of the present invention comprises a two-dimensional sensor that detects the two-dimensional outline of an obstacle that obstructs driving, an outline extraction unit that extracts an outline portion of the two-dimensional outline detected by the two-dimensional sensor that extends in a direction along the fore-and-aft direction in the target's stopped posture, a target calculation unit that calculates the target's stopping position that has a relative positional relationship with the outline portion, and a driving unit that drives the device in an arc-shaped course toward the target's stopping position.

[0007] Furthermore, one aspect of the control method for an autonomous driving device according to the present invention includes a contour extraction process for extracting a contour portion extending in a direction along the fore-and-aft direction in the target's stopping posture from a two-dimensional contour detected by a two-dimensional sensor that detects the two-dimensional contour of an obstacle that obstructs driving; a target calculation process for calculating a target stopping position that has a relative positional relationship with the contour portion; and a driving process for driving the autonomous driving device along an arc-shaped path toward the target stopping position. [Effects of the Invention]

[0008] According to the present invention, it is possible to enter under the transported object based on information from the two-dimensional sensor. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a side view showing the appearance of the autonomous mobile device of this embodiment. [Figure 2] FIG. 2 is a front view showing the appearance of the autonomous mobile device of this embodiment. [Figure 3] FIG. 3 is a top view showing the appearance of the autonomous mobile device of this embodiment. [Figure 4] FIG. 4 is a side view showing a modified example of the autonomous mobile device. [Figure 5] FIG. 5 is a front view showing a modified example of the autonomous mobile device. [Figure 6] FIG. 6 is a diagram showing the detection range of a two-dimensional sensor. [Figure 7] FIG. 7 is a functional block diagram showing the functional configuration of the autonomous driving device of this embodiment. [Figure 8] FIG. 8 is a diagram showing the approach position. [Figure 9] FIG. 9 is a diagram showing the autonomous mobile device that has reached the entry position. [Figure 10] FIG. 10 is a diagram showing an example of obstacle detection. [Figure 11] FIG. 11 is a diagram showing the extraction of outline line segments by the outline extraction unit. [Figure 12] FIG. 12 is a diagram showing an example of narrowing down based on the direction of the outline line segments. [Figure 13] FIG. 13 is a diagram showing an example of narrowing down based on the positions of the outline lines. [Figure 14] FIG. 14 is a diagram showing left and right outline line segments selected from the outline line segments that have been narrowed down. [Figure 15] FIG. 15 is a diagram showing an example of calculation of a stop position of a new target. [Figure 16] FIG. 16 is a diagram showing an example of a travel route. [Figure 17] FIG. 17 is a diagram showing an example of contact confirmation. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of an autonomous driving device and a control method for an autonomous driving device according to the present disclosure will be described in detail with reference to the accompanying drawings. However, to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art, more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. Furthermore, elements shown in previously described figures may be appropriately referenced in the description of subsequent figures.

[0011] 1 to 3 are diagrams showing the appearance of the autonomous mobile device of this embodiment, with Fig. 1 showing a side view, Fig. 2 showing a front view, and Fig. 3 showing a top view. The autonomous mobile device 100 of this embodiment is a device called an AMR (Autonomous Mobile Robot) that transports transported objects such as materials in a factory, etc. The autonomous mobile device 100 enters under the transported object while avoiding shelves or the like that support the transported object, and transports the object by holding it from below.

[0012] The autonomous mobile device 100 includes a main body 101 , a platform 102 , wheels 103 , casters 104 , and a two-dimensional sensor 105 . The main body 101 houses a control computer, a driving power supply, and the like. When viewed from above and below, the main body 101 has a rectangular shape. The term "rectangular shape" includes a rectangle, a rectangle with chamfered corners, and a rectangle with rounded corners. Hereinafter, the position of the two-dimensional sensor 105 may be illustrated as a marker for the front and rear of the autonomous mobile device 100.

[0013] The loading platform 102 has a function of lifting the transported object, such as materials, in order to hold the transported object from below. As an example, the wheels 103 are provided at two locations, one on the left and one on the right side of the main body 101, and are driven to rotate by a motor inside the main body 101. The left and right wheels 103 can be driven independently, and the autonomous mobile device 100 can move forward, backward, turn in place, and turn (movement that draws an arc-shaped curve) by driving the left and right wheels 103.

[0014] As an example, the casters 104 are provided at each of the four corners of the main body 101, and support the main body 101 so as not to tilt. The casters 104 do not have a driving force, and roll in accordance with the movement of the main body 101, and their direction also changes in accordance with the movement of the main body 101. The two-dimensional sensor 105 detects obstacles and the like in a wide range in front of and to the left and right of the main body 101. As the two-dimensional sensor 105, for example, a 2D-LiDAR or the like is used. The autonomous mobile device 100 may include an infrared sensor that detects obstacles behind the main body 101.

[0015] 4 and 5 are diagrams showing modified examples of the autonomous mobile device 100. In FIG. A side view is shown in FIG. 4 and a front view is shown in FIG. The autonomous mobile device 100 of the modified example includes a main body 101, a platform 102, wheels 103, casters 104, and a two-dimensional sensor 105, similar to the autonomous mobile device 100 of the above embodiment. In autonomous mobile device 100 of the modified example, two-dimensional sensors 105 are provided at the corners of main body 101. Two-dimensional sensors 105 in the modified example may be provided at two corners of main body 101 or at all four corners. The present invention is applicable to both the autonomous mobile device 100 of the embodiment shown in Figures 1 to 3 and the autonomous mobile device 100 of the modified example shown in Figures 4 and 5. The following description will be given using the autonomous mobile device 100 of the embodiment shown in Figures 1 to 3 as an example.

[0016] FIG. 6 is a diagram showing the detection range of two-dimensional sensor 105. Two-dimensional sensor 105 emits laser light L radially toward a wide range that spreads left and right from the front side of autonomous mobile device 100 (i.e., the right side in FIG. 6). The detection range of two-dimensional sensor 105 is a range of, for example, approximately 270 degrees with two-dimensional sensor 105 as the center.

[0017] FIG. 7 is a functional block diagram showing the functional configuration of the autonomous mobile device 100 of this embodiment. The autonomous mobile device 100 includes a control unit 110 , a storage unit 120 , a driving unit 130 , and a measurement unit 140 . The control unit 110 is a function carried out by a computer built into the main body unit 101 , and controls the entire autonomous mobile device 100 .

[0018] The storage unit 120 stores map information of the area in which the autonomous mobile device 100 travels and the route to travel in that area. The driving unit 130 has a function realized by a power source and a motor built into the main body 101 and the wheels 103. The driving unit 130 is driven under the control of the control unit 110, causing the autonomous mobile device 100 to move.

[0019] The measurement unit 140 is a function carried out by the two-dimensional sensor 105, and measures obstacles and the like. The control unit 110 includes an approach position determination unit 111 , an outline extraction unit 112 , a target calculation unit 113 , a travel unit 114 , and a contact confirmation unit 115 . The approach position determination unit 111 determines, based on the map information stored in the memory unit 120, an approach position that serves as a starting point for safely approaching a target stopping position set below the transported item in the map information.

[0020] Outline extraction unit 112 extracts the linear outline of the obstacle based on the detection signal from two-dimensional sensor 105. Details of the extraction will be described later. The target calculation unit 113 calculates a new target stop position to replace the initial value of the target stop position set in the map information, based on the linear outer shape portion extracted by the outer shape extraction unit 112. Details regarding the calculation of the target stop position will also be described later.

[0021] The traveling unit 114 controls the driving unit 130 by autonomous navigation based on map information, detection signals from the two-dimensional sensor 105, and the like, thereby realizing movement to an entry position and movement to a target stopping position. The contact confirmation unit 115 predictively confirms whether the autonomous mobile device 100 will come into contact with an obstacle when moving from the entry position to the target stopping position.

[0022] FIG. 8 is a diagram showing the approach position. FIG. 8 shows multiple obstacles 200, and the target stopping position is indicated by point D that exists between the obstacles 200. The arrow attached to point D indicates the stopping posture of the target. The target stopping position indicated by point D is, for example, a position set in map information, and is a position given as an initial value (approximate) of the target stopping position. The target stopping position indicated by point D may be given to the autonomous mobile device 100 by external input.

[0023] There is a no-travel area 201 around each obstacle 200, and if the center of the autonomous mobile device 100 is outside this no-travel area 201, the autonomous mobile device 100 can rotate freely. The approach position for the target stopping position is indicated by point A, which is located in a direction retreating from point D while maintaining the target stopping posture, and is outside the travel-restricted area 201. By having autonomous mobile device 100 head toward the target stopping position using this approach position as its initial position, autonomous mobile device 100 can enter under the transported object more safely than when heading toward the target stopping position from another position. In other words, safe approach is possible by heading toward the target stopping position from an initial position where autonomous mobile device 100 is free to rotate, which is located in a direction retreating from the target stopping position while maintaining the target stopping posture.

[0024] In this embodiment, autonomous mobile device 100 travels toward the entry position by autonomous navigation that combines a self-position estimation method, a route planning method, a route tracking method, and an obstacle avoidance method using map information and two-dimensional sensor 105. In other words, autonomous mobile device 100 moves to the entry position, which is its initial position, by autonomous navigation based on given map information and detection of obstacle 200 by two-dimensional sensor 105.

[0025] On the other hand, the position indicated by point B in Figure 8 is located in the direction forward from point D while maintaining a stopped posture. Therefore, when the autonomous mobile device 100 moves from the position indicated by point B toward the target stopping position, the posture of the autonomous mobile device 100 will be opposite to the target stopping posture. Therefore, the position indicated by point B is an unsuitable position for an entry position. Before heading toward the target stopping position, the autonomous mobile device 100 first heads toward the entry position indicated by point A. The entry position determination unit of the autonomous mobile device 100 is also responsible for calculating the route toward the entry position.

[0026] FIG. 9 is a diagram showing the autonomous mobile device 100 that has reached the entry position. When the autonomous mobile device 100 reaches the entry position, it turns around in place and faces the direction of the target stopping position 301. As a result, the attitude of the autonomous mobile device 100 naturally becomes approximately the same as the target stopping attitude 300. Thereafter, the autonomous mobile device 100 moves toward a target stopping position while detecting obstacles 200 in the vicinity of the autonomous mobile device 100 using the two-dimensional sensor 105, and updates the target stopping position based on the detection signal of the obstacles 200.

[0027] FIG. 10 is a diagram showing an example of detection of an obstacle 200. In FIG. The autonomous mobile device 100 emits laser light L from the two-dimensional sensor 105 into the surrounding area, and obtains point cloud information that represents the positions of the points where each laser light L hits the obstacle 200. The point cloud information is information that represents the outer shape of the obstacle 200. In other words, the two-dimensional sensor 105 detects the two-dimensional outer shape of the obstacle that is an obstacle to traveling. The point cloud information may be obtained by obtaining the direction and distance of each point starting from the position of the two-dimensional sensor 105. Alternatively, the point cloud information may be obtained by measuring only within a limited range that is set shorter than the measurable distance of the two-dimensional sensor 105. By limiting the measurement range, the amount of information in the point cloud information is limited, thereby reducing the amount of calculation processing.

[0028] FIG. 11 is a diagram showing the extraction of the outline line segments 210 by the outline extraction unit 112. As shown in FIG. The contour extraction unit 112 of the autonomous mobile device 100 extracts a contour segment 210 extending in a straight line of the obstacle 200 from the point cloud information using any known technique, such as Random Sample Consensus (RANSAC). Extracting the contour segment 210 makes it possible to efficiently find a shelf or the like that supports a transported item. The contour extraction unit 112 narrows down the extracted contour line segments 210 .

[0029] 12 and 13 are diagrams showing examples of narrowing down the outline segments 210. FIG. 12, the outline line segment 210 shown in FIG. 11 is narrowed down to an outline line segment 211 extending along the front-to-back direction of the target stopping posture 300. In other words, the outline extraction unit 112 extracts, from the two-dimensional outline detected by the two-dimensional sensor 105, an outline portion extending in the direction along the front-to-back direction of the target stopping posture 300. The extension direction of the outline line segment 211 may be slightly different from the front-to-back direction of the target stopping posture 300. A difference in the extension direction is within an acceptable range if it is equivalent to, for example, a measurement error of the two-dimensional sensor 105. 13, the outline line segment 211 shown in FIG. 12 is narrowed down to the outline line segment 212 that reaches within a predetermined distance range 310 centered on the target stopping position 301. In other words, the outline extraction unit 112 extracts the outline line segment 212 within the predetermined range 310 starting from the target stopping position 301.

[0030] FIG. 14 is a diagram showing left and right outline segments 213 and 214 selected from the outline segment 212 that has been narrowed down. From the outline line segments 212 narrowed down in FIGS. 12 and 13, the outline extraction unit 112 selects an outline line segment 213 located on the left side of the autonomous mobile device 100 and an outline line segment 214 located on the right side of the autonomous mobile device 100. The outline extraction unit 112 extracts outline line segments 213, 214 for each of the left and right sides of the traveling direction. These outline line segments 213, 214 correspond to a pair of opposing surfaces that face each other with the target stopping position 301 in between. The autonomous mobile device 100 will enter and stop between this pair of opposing surfaces.

[0031] The target calculation unit 113 of the autonomous mobile device 100 converts the target stop position 301 set as an initial value in the map information into a relative position with respect to the autonomous mobile device 100, and approaches the target stop position 301. However, an error occurs in the self-position estimation of the autonomous mobile device 100 for the area indicated by the map information, and an error also occurs in the approach position of the autonomous mobile device 100. For this reason, the target calculation unit 113 of the autonomous mobile device 100 calculates a new target stop position to replace the initial target stop position 301, for example, from the outline segments 213 and 214 shown in FIG. 14 .

[0032] FIG. 15 is a diagram showing an example of calculation of a stop position of a new target. 15(A), the target calculation unit 113 calculates, as a new target stop position 320, a position that is equidistant Le from the left and right outline segments 213, 214 and a predetermined setback distance Lb behind the innermost position 215 of the outline segments 213, 214. In other words, the target calculation unit 113 calculates the target stop position 320 having a relative positional relationship with respect to the outline segments 213, 214. More specifically, the target calculation unit 113 calculates the target stop position 320 in a relative relationship based on the innermost position 215 of the outline segments 213, 214.

[0033] This is because the measurement range of two-dimensional sensor 105 is narrow on the rear side, and therefore the near side of outline segments 213 and 214 may fall outside the measurement range as autonomous mobile device 100 moves forward and approaches stop position 320. In contrast, innermost position 215 is expected to remain within the measurement range of two-dimensional sensor 105 until stop position 320 is reached, making it possible to calculate stop position 320 with high accuracy.

[0034] The autonomous mobile device 100 does not travel with the calculated target stop position 320 as its destination. The autonomous mobile device 100 travels toward a position that is the average of the most recently calculated target stop position 320 and the target stop positions 320 that have been calculated up to that point. The target calculation unit 113 also performs this averaging process. In the averaging process, the relative position of the autonomous mobile device 100 with respect to the calculated target stop position 320 is corrected based on the amount of movement of the autonomous mobile device 100.

[0035] The positions of the left and right outline segments 213, 214 include measurement errors from the two-dimensional sensor, and averaging cancels out these errors, improving the accuracy of the target stop position 320. Note that the autonomous mobile device 100 may travel toward a position indicated by a statistical representative value (for example, a median) other than the average value of the target stop position 320.

[0036] In other words, the target calculation unit 113 calculates the target stopping position 320 at each of multiple points in time while traveling toward the target stopping position 320, and calculates a statistical value as the latest target stopping position 320, which includes the target stopping position 320 having a relative positional relationship with the latest extracted outline segments 213, 214 and the calculated target stopping position 320. As shown in Figure 15(B), when the positions of the left and right outline segments 213, 214 are different from each other in the front and back, the innermost position 215 of the one extending toward the back (in the example of Figure 15(B), the right outline segment 214) is used as the innermost position 215.

[0037] As shown in FIG. 15(C), when only one of the left and right outline segments 213, 214 (the left outline segment 213 in the example of FIG. 15(C)) is detected, the distance from that one is the predetermined distance Lh, and a position that is a predetermined retreat distance Lb behind the innermost position 215 is calculated as the target stop position 320. As the predetermined distance Lh, for example, half of the gap between the left and right obstacles 200 sandwiching the target stop position 301 set in the map information is used. Alternatively, as the predetermined distance Lh, for example, a set value input from outside may be used.

[0038] As shown in FIG. 15(D), even when the extension directions of the left and right outline segments 213, 214 are slightly different, the target calculation unit 113 calculates a new target stop position 320 that is equidistant Le from the left and right outline segments 213, 214 and a predetermined retreat distance Lb behind the innermost position 215 of the outline segments 213, 214.

[0039] Once the target calculation unit 113 calculates and averages a new target stop position 320, the driving unit 114 causes the autonomous mobile device 100 to travel along an arc-shaped path toward the position represented by the average value of the target stop position 320. The term "arc-shaped" is not limited to a circular arc, and may be, for example, a part of a spiral or a part of an ellipse. In other words, the driving unit 114 causes the autonomous mobile device 100 to travel along an arc-shaped path toward the target stop position 320.

[0040] FIG. 16 is a diagram showing an example of a travel route. The arc-shaped path 400 traveled by the autonomous mobile device 100 passes through a stop position 302 represented by the average value of the target stop positions 320, and extends in the forward and backward directions at the stop position 302 relative to the target stopping posture 300. Note that although the path 400 as a whole is arc-shaped, the portion shown in FIG. 16 is the final part of the path 400 and therefore has a substantially straight line shape.

[0041] 16(A), when the left and right outline segments 213, 214 extend in the same direction, the path 400 traveled by the autonomous mobile device 100 extends parallel to the left and right outline segments 213, 214 above the stopping position 302 and passes through approximately the center between the left and right outline segments 213, 214. Therefore, the autonomous mobile device 100 traveling on the path 400 can safely reach the stopping position 302 while maintaining a distance from the obstacle 200.

[0042] The same applies to the case where the front-to-back positions of the left and right outline line segments 213 and 214 are different from each other, as shown in FIG. 16(B). As shown in Figure 16(C), when only one of the left and right outline segments 213, 214 (in the example of Figure 16(C), the left outline segment 213) is detected, the route 400 is set at an appropriate distance from the one of the outline segments. This makes it possible to maintain a distance from the obstacle 200 for which no outline segment was detected. As shown in Figure 16 (D), when the extension directions of the left and right outline lines 213, 214 are slightly different, the path 400 traveled by the autonomous mobile device 100 remains approximately equidistant from the left and right outline lines 213, 214 and passes through approximately the center of the left and right outline lines 213, 214.

[0043] In this way, autonomous mobile device 100 can safely reach stopping position 302 while maintaining a distance from obstacle 200, and can safely enter underneath the transported object. To further ensure safety, autonomous mobile device 100 of this embodiment travels while checking the possibility of contact between autonomous mobile device 100 and obstacle 200 using contact confirmation unit 115.

[0044] FIG. 17 is a diagram showing an example of contact confirmation. The contact confirmation unit 115 virtually moves the shape of the main body 101 of the autonomous mobile device 100 on the path 400 along which the autonomous mobile device 100 travels, and confirms whether or not there is contact between the main body 101 and the left and right outline lines 213, 214. 17(A), when the extension directions of the left and right outline segments 213, 214 are the same, the shape of the main body 101 moves approximately in the center of the left and right outline segments 213, 214. Therefore, the distance between the main body 101 and the left and right outline segments 213, 214 is secured, and no contact occurs.

[0045] The same applies to the case where the front-to-back positions of the left and right outline line segments 213 and 214 are different from each other, as shown in FIG. 17(B). As shown in Fig. 17(C), when only one of the left and right outline segments 213, 214 (the left outline segment 213 in the example of Fig. 16(C)) is detected, the path 400 may be slightly tilted relative to that one. Therefore, when only one of the left and right outline segments 213, 214 is detected, there is a higher risk of contact than when both are detected. As shown in Figure 17(D), if the extension directions of the left and right outline lines 213, 214 are slightly different, there is an increased risk of contact between the main body 101 and the outline lines 213, 214 where the distance between the outline lines 213, 214 is narrow.

[0046] If the contact confirmation unit 115 determines that contact will occur between the main body 101 and the left and right outline segments 213, 214, travel toward the stop position 302 is halted, and the autonomous mobile device 100 returns to the approach position described above. Then, the autonomous mobile device 100 resumes approaching the target stop posture 300 from the approach position, thereby ensuring the safety of the travel of the autonomous mobile device 100. In other words, if contact between the autonomous mobile device 100 and the outline segments 213, 214 is predicted, the autonomous mobile device 100 returns to the approach position, which is the initial position described above, and restarts travel toward the target stop position 302.

[0047] After autonomous mobile device 100 enters under the transported object and stops at stop position 302, autonomous mobile device 100 holds the transported object on loading platform 102 and transports the object. When autonomous mobile device 100 leaves stop position 302, it travels on route 400 along outline segments 213 and 214 toward the aforementioned entry position. Thereafter, autonomous mobile device 100 autonomously travels to a desired destination.

[0048] Here, AMR is given as an example of application of the autonomous driving device and control method for an autonomous driving device of the present invention, but the application of the autonomous driving device and control method for an autonomous driving device of the present invention is not limited to the above and can be used in a wide range of applications, such as AGVs (Automatic Guided Vehicles) and self-driving cars. The above-described embodiments should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above-described embodiments, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0049] 100: Autonomous driving device 101: Main body 102: Cargo bed 103: Wheel 104: Caster 105: 2D sensor 110: Control unit 111: Approach position determination unit 112: External shape extraction part 113: Target calculation unit 114: Running part 115: Contact confirmation unit 120: Storage section 130: Drive unit 140: Measurement section 200: Obstacle 201: No driving zone 210, 211, 212, 213, 214: Outline segments 300: Target stopping position 301, 320: Target stop position 302: Stop position 400: Route

Claims

1. a two-dimensional sensor that detects the two-dimensional outline of an obstacle that hinders travel; an outline extraction unit that extracts an outline portion extending in a direction along the front-to-rear direction in a stopped posture of the target from the two-dimensional outline detected by the two-dimensional sensor; a target calculation unit that calculates a stop position of a target having a relative positional relationship with the outer shape part; a traveling unit that causes the device to travel along an arc-shaped path toward the target stopping position; An autonomous driving device comprising:

2. The autonomous mobile device according to claim 1 , which moves toward the target stopping position from an initial position where it can freely rotate and which is located in a direction retreating from the target stopping position in the target stopping posture.

3. 3. The autonomous mobile device according to claim 2, wherein the autonomous mobile device moves to the initial position by autonomous navigation based on pre-given map information and obstacle detection by the two-dimensional sensor.

4. The autonomous driving device according to claim 2 or 3, wherein, when contact between the external portion and the device itself is predicted, the autonomous driving device returns to the initial position and restarts traveling toward the target stopping position.

5. 5. The autonomous driving device according to claim 1, wherein the target calculation unit calculates the stopping position of the target at each of a plurality of points in time while traveling toward the stopping position of the target, and calculates a statistical value including the stopping position of the target having a relative positional relationship with the most recently extracted outer shape portion and the calculated stopping position of the target as the latest stopping position of the target.

6. The autonomous driving device according to claim 1 , wherein the target calculation unit calculates the stop position of the target relative to a deepest position of the outer shape portion.

7. The autonomous driving device according to claim 1 , wherein the contour extraction unit extracts the contour within a predetermined range starting from a stopping position of the target.

8. The autonomous driving device according to claim 1 , wherein the contour extraction unit extracts the contour parts on both the left and right sides of the traveling direction.

9. a contour extraction process for extracting a contour portion extending in a direction along the front-to-rear direction in a stopped posture of the target from a two-dimensional contour detected by a two-dimensional sensor that detects the two-dimensional contour of an obstacle that obstructs travel; a target calculation step of calculating a stop position of a target having a relative positional relationship with the outer shape part; a driving step of driving the autonomous mobile device along an arc-shaped path toward the target stopping position; A control method for an autonomous driving device having the above structure.

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