Control system, control method, and control program

Abstract

To provide a control system, a control method, and a control program capable of efficiently performing travel arbitration while ensuring safety even in a human mixed environment in which manned vehicles and people coexist.SOLUTION: In a control system 0 including a mobile object (in-vehicle device 1, mobile object 3) and a control device 2, the control device 2 comprises a blockage candidate calculation unit 21 that calculates a blockage region 202 based on a position, a movement plan, and a speed of a specific mobile object (in-vehicle device 1) and calculates a warning region 203 based on the blockage region 202, a braking time of the specific mobile object, and peripheral information, a safety instruction generation unit 22 that selects a safety action instruction based on the type of the region calculated by the blockage candidate calculation unit 21 and the type of an intrusion mobile object (mobile object 3) entering the region, and a safety notification unit 23 that notifies the specific mobile object of the safety action instruction. The specific mobile object performs an action based on the safety action instruction.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a control system, a control method, and a control program. [Background technology]

[0002] An existing technology for controlling interference between manned and unmanned vehicles is described in Japanese Patent Application Laid-Open No. 2021-162976 (Patent Document 1). This publication describes a traffic control server and a traffic control system that improve safety by braking an unmanned vehicle when an uncontrollable manned vehicle (moving body) overlaps with a blocked area, as well as a display device capable of wireless communication with the traffic control server. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2021-162976 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in Patent Document 1, a fixed area is assumed, and therefore collisions cannot be prevented when manned vehicles (moving bodies) are traveling. Therefore, the challenge is to ensure safety in an environment where manned vehicles and people are mixed.

[0005] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide a control system, a control method, and a control program that are capable of efficient driving coordination while ensuring safety even in a crowded environment. [Means for solving the problem]

[0006] In order to solve the above problem, the control system of the present invention is a control system consisting of a mobile body and a control device, wherein the control device is equipped with a blockage candidate calculation unit that calculates a blockage area for a specific mobile body based on the position, movement plan, and speed of the specific mobile body, and calculates a warning area based on the blockage area, the braking time of the specific mobile body, and surrounding information, a safety instruction generation unit that generates a safe action instruction based on the type of area calculated by the blockage candidate calculation unit and the type of invading mobile body invading the area, and a safety notification unit that notifies the specific mobile body of the safe action instruction, and the specific mobile body carries out an action based on the safe action instruction notified by the safety notification unit. [Effects of the Invention]

[0007] According to the present invention, efficient travel coordination is possible while ensuring safety even in a crowded environment.

[0008] Problems, configurations, and effects other than those described above will become clear from the following description of the embodiments. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram showing a configuration of a control system 0 in a first embodiment. [Figure 2] 1 is a diagram showing a functional block configuration and an overview of the overall operation flow of a control system 0 according to a first embodiment. FIG. [Figure 3] FIG. 2 is a diagram showing an example of mobile object information 201. [Figure 4] 1 is a diagram showing an example of a blocked area 202 and a security area 203. FIG. [Figure 5] FIG. 10 is a diagram showing another example of the blocked area 202 and the alert area 203. [Figure 6] FIG. 2 is a diagram showing an example of safety instruction information 204. [Figure 7] FIG. 10 is a diagram showing a processing flow of the blockage candidate calculation unit 21. [Figure 8] FIG. 10 is a diagram showing a specific example for calculating a closed area 202. [Figure 9] FIG. 10 is a diagram showing another example of the processing flow for calculating the closed area 202. [Figure 10] FIG. 10 is a diagram showing a specific example of calculating the closed area 202 in the processing flow shown in FIG. [Figure 11] FIG. 10 is a diagram showing a processing flow of a safety instruction generating unit 22. [Figure 12] FIG. 10 is a diagram showing a processing flow of a safety instruction generating unit 22 in the second embodiment. [Figure 13] FIG. 10 is a diagram illustrating an example of rule information 205 in the second embodiment. [Figure 14] FIG. 11 is a diagram showing a processing flow of a safety instruction generating unit 22 in the third embodiment. [Figure 15] FIG. 11 is a diagram showing an example of rule information 205 in the third embodiment. [Figure 16] FIG. 10 is a diagram showing a functional block configuration and an overview of the overall operation flow of a control system 0 according to a fourth embodiment. [Figure 17] FIG. 10 is a diagram showing a processing flow of a speed adjusting unit 24 in the fourth embodiment. [Figure 18] FIG. 10 is a diagram showing a blocked area and a warning area when traveling at the current speed. [Figure 19] 10A and 10B are diagrams showing a blocked area and a warning area when the speed is adjusted. [Figure 20] FIG. 10 is a diagram showing a functional block configuration and an overview of the overall operation flow of a control system 0 in a fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] This embodiment relates to a control system 0, an in-vehicle device 1, and a control device 2.

[0011] Preferred embodiments (examples) of the present invention will be described below with reference to the drawings.

[0012] [Example 1] <Control system configuration> FIG. 1 is a diagram showing the configuration of a control system 0 according to the first embodiment.

[0013] The control system 0 comprises an in-vehicle device 1, a control device 2, and a mobile object 3. The in-vehicle device 1 is equipped with a vehicle driving function and performs automatic driving by receiving information to assist vehicle control from the control device 2 as needed. In other words, the in-vehicle device 1 constitutes an automatically driven vehicle, which is a vehicle (mobile object) capable of automatic driving. The control device 2 receives mobile object information 201 (Fig. 2) such as position, speed, and movement plan from the in-vehicle device 1 and the mobile object 3, performs blockage control for any area, and issues instructions to the in-vehicle device 1 and the mobile object 3. The mobile object 3 is a manned vehicle (non-automatically driven vehicle) or a person (pedestrian) that may be present in the vicinity of the in-vehicle device 1.

[0014] <Configuration of control device and on-board device> FIG. 2 is a diagram showing a functional block configuration and an outline of the overall operation flow of the control system 0 in the first embodiment.

[0015] The in-vehicle device 1 has an automatic driving unit 11, an output arbitration unit 12, and a vehicle control unit 13.

[0016] The control device 2 has a blockage candidate calculation unit 21, a safety instruction generation unit 22, and a safety notification unit 23.

[0017] The automatic driving unit 11 calculates a control command value for the vehicle based on sensors mounted on the vehicle, and controls the vehicle.

[0018] The output arbitration unit 12 arbitrates the control command value based on the output of the automatic driving unit 11 and the output of the safety notification unit 23 and inputs the result to the vehicle control unit 13.

[0019] The vehicle control unit 13 controls the vehicle based on the control command value after the arbitration.

[0020] The blockage candidate calculation unit 21 calculates a blockage area 202 and a warning area 203 based on mobile object information 201 such as the position, speed, and movement plan received from the in-vehicle device 1 and the mobile object 3 .

[0021] The safety instruction generating unit 22 performs blockage control based on the blockage area 202, the alert area 203, and the moving object information 201, and generates safety instruction information 204.

[0022] The safety notification unit 23 notifies the safety instruction information 204 to the in-vehicle device 1 (the output arbitration unit 12 thereof).

[0023] <Mobile information> FIG. 3 is a diagram showing an example of the mobile object information 201 in this embodiment.

[0024] The mobile object information 201 manages the position, speed, type, and route (movement plan) of each mobile object (the in-vehicle device 1, the mobile object 3) existing in the assumed environment of this embodiment by assigning an ID to each of them. This information may be notified to the control device 2 by each mobile object (the in-vehicle device 1, the mobile object 3), or may be detected using an infrastructure sensor or the like. In this embodiment, the type of each mobile object is classified into at least a mobile object whose behavior can be controlled (e.g., an unmanned vehicle) and a mobile object whose behavior cannot be controlled (e.g., a manned vehicle or a person). In other words, in this embodiment, the type of each mobile object is classified into an autonomous vehicle (e.g., an unmanned vehicle), a non-autonomous vehicle (e.g., a manned vehicle), and a person (pedestrian). For example, since a manned vehicle is driven by a person, it may have current speed information but not information on the route it will travel. On the other hand, even a manned vehicle may have a destination and a route to that destination may be determined. The same is true for pedestrians; however, pedestrians may easily change their direction of travel and speed and therefore may not have speed information.

[0025] <Closed area and alert area> 4 and 5 are diagrams showing examples of the blocked area 202 and the alert area 203 in this embodiment.

[0026] The blocked area 202 is the area indicated by diagonal lines in Figures 4 and 5. The alert area 203 is an area that exists outside the blocked area 202.

[0027] The blocked area 202 is an area in which a specific moving body (vehicle-mounted device 1) travels until it brakes and stops.

[0028] The alert area 203 is an area necessary to prevent collisions even when the moving object 3 moves.

[0029] As shown in Figure 4, the vehicle may be traveling on a straight road (going straight), or may be traveling around a curve, as shown in Figure 5. Although not shown, the area is determined according to various driving patterns, such as turning right or left.

[0030] <Safety instruction information> FIG. 6 is a diagram showing an example of the safety instruction information 204 in this embodiment.

[0031] As shown in Figure 6, a safety instruction such as slowing down is issued to the target vehicle.

[0032] <Occupation candidate calculation unit> FIG. 7 is a diagram showing a processing flow of the blockage candidate calculation unit 21 in this embodiment.

[0033] As shown in step S211, the following assumptions are made: Coordinate system: Vehicle coordinate system (Vehicle coordinate system and world coordinate system can be converted.) Current location:(0,0) Vehicle trajectory: y=f(x) Current speed (m / s):V0 Deceleration (m / s^2):-A

[0034] In step S212, the braking time T_stop is calculated as T_stop=V0 / A.

[0035] In step S213, the braking distance D_stop is calculated as follows: D_stop=V0*T_stop+(-A*T_stop^2) / 2.

[0036] In step S214, the stop position of the host vehicle is set to (X_stop, Y_stop), and the stop position X_stop satisfies the following (Equation 1). (Number 1) TIFF0007794714000001.tif1575

[0037] In step S215, the closed area 202 is calculated.

[0038] In step S216, the alert area 203 is calculated.

[0039] <Calculation of occlusion area> FIG. 8 is a diagram showing a specific example for calculating the closed area 202. In FIG.

[0040] The occlusion area 202 is determined from the vehicle width, vehicle length, trajectory (movement plan), position, speed, and acceleration (deceleration). An example will be described below.

[0041] When calculating the occlusion area 202, the trajectory on the left side of the vehicle is expressed as y=g(x), and the area on the right side of the vehicle is expressed as y=h(x).

[0042] Consider an arbitrary point (a, f(a)) on the orbit.

[0043] Since the slope of the tangent at any point is f'(a), we can see that the slope of the normal is -1 / f'(a). (The slope of the tangent multiplied by the slope of the normal is -1, which means they are perpendicular.)

[0044] Also, since the normal passes through any point (a, f(a)), the normal can be expressed as y = -1 / f'(a)*x + a / f'(a) + f(a).

[0045] Next, consider the functions for the left and right sides of the vehicle. Let the intersection points with the normal be (c, d).

[0046] Since (c,d) passes through the normal, d = (ac) / f'(a) + f(a).

[0047] Since the vehicle size is constant, the distance D_vehicle width margin between any point and the intersection point (c, d) is always constant. In other words, (ac)^2 + (f(a)-d)^2 = D_vehicle width margin^2.

[0048] By substituting d from these, the following equation (Equation 2) is obtained. (Number 2) (ac)^2 + (f(a) - (ac) / f'(a) + f(a))^2 = D_vehicle width margin^2 ⇔(f'(a)^2+1) * (ca)^2 = (f'(a)*D_vehicle width margin)^2 ⇔c = a ± f'(a)*D_vehicle width margin

[0049] And since the range of a is 0≦a≦X_stop, the left side is -D_vehicle width margin ≦ x ≦X_stop - f'(X_stop)*D_vehicle width margin, and the right side is D_vehicle width margin ≦ x ≦X_stop + f'(X_stop)*D_vehicle width margin.

[0050] Based on the obtained c, the left side is in the negative x direction and the right side is in the positive x direction, so the following equation (Equation 3) is obtained. (Number 3) g(x) d = g(c) = (a - (a - f'(a)*D_vehicle width margin)) / f'(a) + f(a) ⇔d = f(a) + D_vehicle width margin ⇔y = f(x) + D_vehicle width margin, -D_vehicle width margin ≦ x ≦ X_stop - f'(X_stop)*D_vehicle width margin h(x) d = h(c) = (a - (a + f'(a)*D_vehicle width margin)) / f'(a) + f(a) ⇔d = f(a) - D_vehicle width margin ⇔y = f(x) - D_vehicle width margin, D_vehicle width margin ≦ x ≦ X_stop + f'(X_stop)*D_vehicle width margin

[0051] The closed area 202 is an area obtained by expanding g(x) and h(x) by a vehicle length margin, as shown in FIG.

[0052] Furthermore, if there is a section in which the trajectory cannot be expressed by y=f(x), x=(any constant), and therefore the occluded area 202 can be determined as in the following (Equation 4). (Number 4) -D_vehicle width margin≦x≦D_vehicle width margin, -D_vehicle length margin≦y≦D_stop+vehicle length margin

[0053] <Another example of calculating the occlusion area> 9 is a diagram showing another example of the processing flow for calculating the closed area 202. FIG. 10 is a diagram showing a specific example of calculating the closed area 202 using the processing flow shown in FIG.

[0054] In step S2151, i and D_sum are initialized to 0.

[0055] In step S2152, it is determined whether or not a waypoint (WP) exists, and if a waypoint exists, the process proceeds to step S2153, and if not, the process ends.

[0056] In step S2153, the distance between the waypoints to be processed is calculated.

[0057] In step S2154, it is determined whether the sum of the distances up to now (D_sum) and the sum of the distances between the waypoints being processed (D_i) exceeds the braking distance (D_stop).If it exceeds the braking distance, proceed to step S2157; if not, proceed to step S2155.

[0058] In step S2155, the distance between the waypoints being processed is added to the total distance up to now.

[0059] In step S2156, the occlusion area is calculated for the line segment of the waypoint being processed, taking into account the vehicle length and width, and the process moves to the next waypoint.

[0060] The areas are as shown in WP_1 and WP_2 in Figure 10.

[0061] In step S2157, a stop position is calculated such that the distance between WP_i and the stop position (WP_stop) is the difference between the braking distance (D_stop) and the total distance up to now (D_sum).

[0062] In step S2158, a blockage area is calculated for the line segment between WP_i and the stop position (WP_stop) taking into account the vehicle length and width. This results in an area like WP_3 and the stop position (X_stop, Y_stop) in Figure 10. For example, in the case of Figure 10, (distance between WP_1 and WP_2) + (distance between WP_2 and WP_3) + (distance between WP_3 and the stop position) = D_stop.

[0063] The occluded area is calculated in this manner.

[0064] That is, in this embodiment, the blockage candidate calculation unit 21 calculates a blockage area for the in-vehicle device 1, which is a specific moving body, based on the position, movement plan, and speed of the in-vehicle device 1. In detail, the blockage candidate calculation unit 21 calculates a braking distance and braking time for the in-vehicle device 1, which is a specific moving body, based on the position, movement plan, and speed of the in-vehicle device 1, and calculates an area based on the movement plan and braking distance as a blockage area.

[0065] <Calculation of warning area> The alert area 203 is an area in which the specific moving body 3 can move before braking and stopping, and is determined from the braking time and trajectory of the specific moving body (vehicle-mounted device 1) and the speed (current speed or expected maximum speed) of the moving body 3. An example is shown below.

[0066] Assume that the trajectory of the vehicle can be expressed as x = f_x(t) and y = f_y(t) using a parameter t (t represents time, 0≦t≦T_stop).

[0067] The alert area 203 can be calculated as shown in the following equation (Equation 5). (Number 5) (x - f_x(t))^2 + (y - f_y(t))^2 ≦(V_other * t)^2 , 0≦t≦T_stop

[0068] V_other is the speed of the moving body 3, and the current speed may be referenced from the moving body information 201, or the maximum expected speed of the moving body 3 may be referenced.

[0069] That is, in this embodiment, the blockage candidate calculation unit 21 calculates a warning area outside the blockage area of ​​the in-vehicle device 1, which is a specific moving body, based on the blockage area, the braking time of the in-vehicle device 1, and surrounding information (such as the speed of the moving body 3 (current speed or expected maximum speed)). In detail, the blockage candidate calculation unit 21 calculates, as the warning area, an area outside the blockage area into which the moving body 3 can move during the braking time, based on the blockage area and braking time of the in-vehicle device 1, and the speed of the moving body 3 or the expected maximum speed of the moving body 3. In other words, the blockage candidate calculation unit 21 calculates, as the warning area, an area outside the blockage area into which the moving body 3 will travel during the braking time, based on the position and movement plan of the moving body 3, and the speed of the moving body 3 or the expected maximum speed of the moving body 3.

[0070] <Safety instruction generation section> FIG. 11 is a diagram showing a processing flow of the safety instruction generating unit 22.

[0071] In step S221, it is determined whether or not a moving object 3 (another moving object) exists in the blocked area 202. If it exists, the process proceeds to step S226, and if it does not exist, the process proceeds to step S222.

[0072] In step S222, it is determined whether or not a moving object 3 exists in the security area 203. If it exists, the process proceeds to step S223, and if it does not exist, the process ends.

[0073] In step S223, it is determined whether or not the moving body 3 is an unmanned vehicle. If it is an unmanned vehicle, the process proceeds to step S224, and if it is not an unmanned vehicle, the process proceeds to step S226.

[0074] In step S224, it is determined whether the movement plan is a plan that does not enter the blocked area 202, and if the plan is a plan that does not enter the blocked area 202, the processing is terminated, and if the plan is a plan that does enter the blocked area 202, the processing proceeds to step S225.

[0075] In step S225, it is determined whether the own vehicle has priority, and if the own vehicle has priority, the process ends, and if the own vehicle does not have priority, the process proceeds to step S226.

[0076] In step S226, the safety instruction information 204 (FIG. 6) is generated.

[0077] In this manner, the safety instruction generating unit 22 determines the instructions to be given to the vehicle.

[0078] That is, the safety instruction generation unit 22 generates safety action instructions (safety instruction information 204) based on the type of area (blocked area, alert area) calculated by the blockage candidate calculation unit 21 and the type of moving body 3 (other moving body) entering that area (unmanned vehicle, manned vehicle, etc.).

[0079] <Safety notification section> The safety notification unit 23 notifies the safe action instruction (safety instruction information 204) generated by the safety instruction generation unit 22 to the in-vehicle device 1 (the output arbitration unit 12 thereof).

[0080] According to the control system 0, the in-vehicle device 1, and the control device 2 in the first embodiment, it is possible to prevent a collision with the moving object 3 by calculating the blocked area 202 and the alert area 203 and braking when the moving object 3 enters the blocked area 202 or the alert area 203. In addition, it is possible to improve the driving efficiency by permitting the moving object 3 to enter depending on the type of moving object 3.

[0081] [Example 2] A control system 0 according to a second embodiment of the present invention will be described.

[0082] The difference from Example 1 is that by adding rule information 205, moving body 3 is permitted to enter the alert area 203, making it possible to improve driving efficiency while ensuring safety if the rules are followed.

[0083] The same components as those in the first embodiment are denoted by the same reference numerals and the description thereof will be omitted.

[0084] <Safety instruction generation section> FIG. 12 is a diagram showing a processing flow of the safety instruction generating unit 22 in the second embodiment.

[0085] In step S227, rule information is obtained.

[0086] In step S221, it is determined whether or not a moving object 3 (another moving object) exists in the blocked area 202. If it exists, the process proceeds to step S226, and if it does not exist, the process proceeds to step S222.

[0087] In step S222, it is determined whether or not a moving object 3 exists in the security area 203. If it exists, the process proceeds to step S228, and if it does not exist, the process ends.

[0088] In step S228, the rule information 205 is referenced to determine whether or not to permit entry of the moving object 3 present in the security area 203. If permitted, the process ends, and if not permitted, the process proceeds to step S226.

[0089] In step S226, the safety instruction information 204 (FIG. 6) is generated.

[0090] In this manner, the safety instruction generating unit 22 determines the instructions to be given to the vehicle.

[0091] That is, the safety instruction generation unit 22 generates safety action instructions (safety instruction information 204) based on the type of area (blocked area, alert area) calculated by the blockage candidate calculation unit 21 and the type of moving body 3 (other moving body) entering the area (unmanned vehicle, manned vehicle, etc.) in addition to the rules.

[0092] <Rule information> FIG. 13 is a diagram showing an example of the rule information 205 in the second embodiment.

[0093] For example, if the moving object 3 that has entered the security area 203 is an unmanned vehicle (controllable), control (continue driving / deceleration) is performed according to the priority.

[0094] When a manned vehicle (uncontrollable) or a pedestrian (worker / outside worker) is present in the alert area 203, processing is determined on a rule basis.

[0095] On the sidewalk, pedestrians (workers) strictly adhere to the rules, so it is possible to determine that they will not run out onto the roadway, and they can be permitted to enter the sidewalk area within the alert area 203. On the other hand, it is difficult for pedestrians (outside workers) to strictly adhere to the rules, so they are not permitted to enter the sidewalk area.

[0096] If there is a median strip on the roadway, it can be determined that there is no possibility of an oncoming vehicle entering the driving lane, and therefore the moving object 3 can be permitted to enter the roadway area.

[0097] In the case of a crosswalk, do not allow intrusion into the crosswalk area as pedestrians may cross.

[0098] When there are multiple lanes, a manned vehicle is not permitted to enter the area of ​​the lane because there is a risk of a collision if the manned vehicle makes a sudden lane change. On the other hand, in a no-lane-change zone, a manned vehicle is permitted to enter the area of ​​the lane because it cannot change lanes.

[0099] For example, if an object such as a container is placed on the road or if an object can be moved by equipment such as a crane, the range of movement is determined to be a potential collision area, and the vehicle equipped with the on-vehicle device 1 is not permitted to enter the work area. In other words, if there is interference with the area, the vehicle equipped with the on-vehicle device 1 will slow down / stop.

[0100] In this way, the safety instruction generating unit 22 generates safe behavior instructions (safety instruction information 204) based on rules configured with road information such as sidewalks, medians, crosswalks, multiple lanes, and work areas.

[0101] According to the control system 0, the in-vehicle device 1, and the control device 2 in Example 2, by adding rule information 205, it is possible to allow the moving body 3 to enter the alert area 203, thereby improving driving efficiency while ensuring safety when the rules are complied with.

[0102] [Example 3] A control system 0 according to a third embodiment of the present invention will be described.

[0103] The difference from the first and second embodiments is that safety instructions for an invading mobile object are defined in the rule information 205, and a warning is issued to the invading mobile object 3, thereby making it possible to improve safety.

[0104] The same components as those in the first and second embodiments are denoted by the same reference numerals and the description thereof will be omitted.

[0105] <Safety instruction generation section> FIG. 14 is a diagram showing a processing flow of the safety instruction generating unit 22 in the third embodiment.

[0106] In step S227, the rule information 205 is acquired.

[0107] In step S221, it is determined whether or not a moving object 3 (another moving object) exists in the blocked area 202. If it exists, the process proceeds to step S226, and if it does not exist, the process proceeds to step S222.

[0108] In step S222, it is determined whether or not a moving object 3 exists in the security area 203. If it exists, the process proceeds to step S228, and if it does not exist, the process ends.

[0109] In step S228, the rule information 205 is referenced to determine whether or not to permit entry of the moving object 3 present in the security area 203. If permitted, the process ends, and if not permitted, the process proceeds to step S226.

[0110] In step S226, the safety instruction information 204 (FIG. 6) is generated.

[0111] In step S229, intruding moving object notification information is generated. The moving object (manned vehicle, pedestrian) is assumed to possess a device that has the function of notifying the intruding moving object notification information notified from the control device 2 by at least one of sound, light, vibration, and image. The moving object (manned vehicle, pedestrian) that has been notified of this information is warned by at least one of sound, light, vibration, and image on the device that it possesses.

[0112] In this manner, the safety instruction generating unit 22 determines the instructions to be given to the vehicle.

[0113] <Rule information> FIG. 15 is a diagram showing an example of the rule information 205 in the third embodiment.

[0114] As shown in FIG. 15, when a manned vehicle or pedestrian enters a blocked area 202, the control device 2 sends intruding mobile object notification information, and the manned vehicle or pedestrian is warned via a device carried by the manned vehicle or pedestrian.

[0115] In addition, when a manned vehicle or pedestrian enters the alert area 203, if the intrusion is not permitted, the control device 2 sends intruding mobile object notification information, and the manned vehicle or pedestrian is warned via a device carried by the manned vehicle or pedestrian.

[0116] According to the control system 0, the in-vehicle device 1, and the control device 2 in Example 3, safety can be improved by defining safety instructions for the invading moving body in the rule information 205, and issuing a warning to the invading moving body 3.

[0117] [Example 4] A control system 0 according to a fourth embodiment of the present invention will be described.

[0118] The difference from the first, second and third embodiments is that when interference is expected, the speed of a specific moving body (vehicle-mounted device 1) is adjusted to reduce the number of accelerations and decelerations, thereby enabling stable driving.

[0119] The same components as those in the first, second and third embodiments are denoted by the same reference numerals and the description thereof will be omitted.

[0120] <Configuration of control device and on-board device> FIG. 16 is a diagram showing a functional block configuration and an outline of the overall operation flow of the control system 0 in the fourth embodiment.

[0121] In addition to the configuration of Example 1, the control device 2 has a speed adjustment unit 24 that calculates speed information 206 based on moving body information 201, and a speed notification unit 25 that transmits (notifies) the speed information 206 to the vehicle-mounted device 1 (output arbitration unit 12).

[0122] <Speed ​​adjustment section> FIG. 17 is a diagram showing the processing flow of the speed adjusting unit 24 in this embodiment.

[0123] In step S241, the intersection of the track and the pedestrian crossing is calculated. Since the pedestrian crossing can be expressed as a function, the intersection with the track (X_pedestrian crossing, Y_pedestrian crossing) can be calculated.

[0124] In step S242, the distance between the moving object 3 and the crosswalk is calculated. An example will be explained using the pedestrian (X3, Y3) in Figure 3. The distance D_crosswalk can be calculated as √((X3-X_crosswalk)^2+(Y3-Y_crosswalk)^2).

[0125] In step S243, the adjusted speed V_adjust is calculated. The adjusted speed V_adjust can be calculated as V_adjust=(A / V_other)*(D_crosswalk-D_pedestrian margin).

[0126] In step S244, it is determined whether (X_crosswalk-X_stop)^2+(Y_crosswalk-Y_stop)^2 is smaller than (V_other*T_stop)^2, and if it is smaller, the process proceeds to step S245; if not, the process ends.

[0127] In step S245, it is determined whether V0 is greater than V_adjust, and if it is greater, the process proceeds to step S246, and if not, the process ends.

[0128] In step S246, the V_adjustment is output as the speed information 206 to the in-vehicle device 1 (the output arbitration unit 12) (speed notification unit 25).

[0129] In this manner, the speed adjuster 24 calculates the speed (V_adjustment) for preventing interference, and notifies the in-vehicle device 1 (the output arbitration unit 12) of V_adjustment if the current speed is greater than V_adjustment.

[0130] That is, in this embodiment, the speed adjustment unit 24 of the control device 2 outputs a speed instruction (speed information 206) (for speed adjustment) to the vehicle-mounted device 1 when the position of the vehicle 3 after an arbitrary time on the route on which the specific vehicle (vehicle-mounted device 1) is moving is located within the blocked area or alert area of ​​the vehicle-mounted device 1.

[0131] Fig. 18 is a diagram showing the blocked area and the alert area when traveling at the current speed. Fig. 19 is a diagram showing the blocked area and the alert area when the speed is adjusted. A specific example will be explained using Fig. 18 and Fig. 19.

[0132] As shown in Fig. 18, when traveling at the current speed, it is possible that, for example, a pedestrian (moving object 3) may enter the security area 203. In the case of Fig. 18, the pedestrian is near a crosswalk, and therefore entry into the security area 203 is not permitted, so a deceleration instruction is sent to the in-vehicle device 1. However, because deceleration reduces the size of the security area 203, the intrusion state is resolved and the vehicle accelerates again to the target speed.

[0133] Therefore, as shown in Figure 19, by determining the speed taking into account a margin and setting the warning area 203 (small), it is possible to ensure safety, prevent frequent acceleration and deceleration, and achieve stable driving.

[0134] According to the control system 0, the vehicle-mounted device 1, and the control device 2 in Example 4, when interference is expected, the speed of a specific moving body (the vehicle-mounted device 1) can be adjusted to reduce the number of accelerations and decelerations, thereby achieving stable driving.

[0135] [Example 5] A control system 0 according to a fifth embodiment of the present invention will be described.

[0136] The difference from Examples 1, 2, 3, and 4 is that by transmitting information on the moving body 201, the blocked area 202, and the alert area 203 to the in-vehicle device 1, the automatic driving unit 11 can calculate a trajectory that avoids the areas, making it possible to travel without causing interference.

[0137] The same components as those in the first, second, third and fourth embodiments are denoted by the same reference numerals and the description thereof will be omitted.

[0138] <Configuration of control device and on-board device> FIG. 20 is a diagram showing a functional block configuration and an outline of the overall operation flow of the control system 0 in the fifth embodiment.

[0139] In addition to the configuration of the first embodiment, the control device 2 has a blockage instruction unit 26 that transmits (notifies) information on the moving object information 201, the blockage area 202, and the alert area 203 to the in-vehicle device 1 (the automatic driving unit 11 thereof).

[0140] Furthermore, the automatic driving unit 11 can calculate a trajectory that avoids the blocked area 202 and the alert area 203 using a known path planning method.

[0141] That is, the in-vehicle device 1 is equipped with a blockage control linked automatic driving unit 11 that does not drive outside of the blockage area 202 notified by the control device 2. In addition, in this embodiment, the in-vehicle device 1 (the automatic driving unit 11) can calculate an avoidance trajectory that avoids the blockage area 202 and the warning area 203 based on the moving object information, the blockage area information, and the warning area information.

[0142] According to the control system 0, the vehicle-mounted device 1, and the control device 2 in Example 5, by transmitting information on the blocked area 202 and the alert area 203 to the vehicle-mounted device 1, the automatic driving unit 11 can calculate a trajectory that avoids the areas, making it possible to travel without causing interference.

[0143] [Summary of Examples 1 to 5] As described above, the control system 0 of this embodiment is a control system 0 consisting of moving bodies (vehicle-mounted device 1, moving body 3) and a control device 2, and the control device 2 is equipped with a blockage candidate calculation unit 21 that calculates a blockage area 202 for a specific moving body (vehicle-mounted device 1) based on the position, movement plan, and speed of the specific moving body, and calculates a warning area 203 (outside the blockage area 202) based on the blockage area 202 and the braking time of the specific moving body and surrounding information (such as the speed of the moving body 3 (current speed or expected maximum speed)), a safety instruction generation unit 22 that generates a safe action instruction based on the type of area (blockage area 202, warning area 203) calculated by the blockage candidate calculation unit 21 and the type (unmanned vehicle, manned vehicle) of the invading moving body (moving body 3) that invades the area (around the specific moving body), and a safety notification unit 23 that notifies the specific moving body of the safe action instruction, and the specific moving body performs an action based on the safe action instruction notified by the safety notification unit 23.

[0144] In addition, the intruding moving body (moving body 3) in the safety instruction generation unit 22 means a moving body that has invaded the blocked area 202 or the alert area 203 of the specific moving body, and the specific moving body (vehicle-mounted device 1) in the safety instruction generation unit 22 means a moving body that has invaded the blocked area 202 or the alert area 203 by the intruding moving body.

[0145] According to this embodiment, a blocked area 202 and a warning area 203 are calculated, and moving objects are not allowed to enter the blocked area 202, while moving objects are allowed to enter the warning area 203 depending on the type of moving object, thereby enabling efficient driving coordination while ensuring safety even in a crowded environment.

[0146] The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations.

[0147] Furthermore, the above-described configurations, functions, processing units, processing means, etc. may be partially or entirely implemented in hardware, for example, by designing them as integrated circuits. The above-described configurations, functions, etc. may also be implemented in software, with a processor interpreting and executing a program that implements each function. Information such as the programs, tables, and files that implement each function can be stored in a memory, a storage device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

[0148] In addition, the control lines and information lines shown are those that are considered necessary for the explanation, and do not necessarily show all the control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected. [Explanation of symbols]

[0149] 0 Control System 1. In-vehicle devices (specific moving objects) 11 Autonomous Driving Department 12 Output arbitration unit 13 Vehicle control unit 2 Control device 21 Blockage candidate calculation unit 22 Safety instruction generation section 23 Safety Notification Department 24 Speed ​​adjustment section 25 Speed ​​notification section 26 Blockage indicator 201 Mobile Information 202 Occlusion area 203 Warning area 204 Safety instruction information 205 Rules Information 206 Speed ​​information 3. Mobile object (invading mobile object)

Claims

1. In a control system consisting of a mobile object and a control device, The control device a blockage candidate calculation unit that calculates, for a specific moving body, a blockage area that is an area through which the specific moving body will travel before braking and stopping, based on the position, movement plan, and speed of the specific moving body, and calculates, based on the blockage area, the braking time of the specific moving body, and surrounding information, a warning area that is located outside the blockage area and is an area necessary to prevent a collision even if moving bodies around the specific moving body move; a safety instruction generation unit that generates a safety action instruction based on the type of area calculated by the blockage candidate calculation unit and the type of invading moving object invading the area; a safety notification unit that notifies the specific moving body of the safe behavior instruction; the specific moving body performs an action based on the safety action instruction notified by the safety notification unit; A control system characterized in that the type of moving object is classified into an autonomous vehicle, a non-autonomous vehicle, or a pedestrian.

2. 2. The control system of claim 1, A control system characterized in that the control device is equipped with a blockage instruction unit that notifies the specific moving body of information about the blockage area, information about the warning area, and information about the moving body.

3. 2. The control system of claim 1, The control system is characterized in that the control device is equipped with a speed adjustment unit that outputs a speed instruction to the specific moving body when the position of the invading moving body after an arbitrary time on the route traveled by the specific moving body is located within the blocked area or the alert area of ​​the specific moving body.

4. 2. The control system of claim 1, The blockage candidate calculation unit For the specific moving body, a braking distance and a braking time are calculated based on the position, movement plan, and speed of the specific moving body, and an area defined by the movement plan and the braking distance is calculated as the blocked area; A control system characterized by calculating the warning area as an area outside the blocked area into which the invading moving object can move during the braking time based on the blocked area, the braking time, and the speed of the invading moving object or the expected maximum speed of the invading moving object.

5. 2. The control system of claim 1, The blockage candidate calculation unit For the specific moving body, a braking distance and a braking time are calculated based on the position, movement plan, and speed of the specific moving body, and an area defined by the movement plan and the braking distance is calculated as the blocked area; A control system characterized by calculating the area outside the blocked area in which the invading moving body will travel during the braking time as the alert area based on the position and movement plan of the invading moving body, and the speed of the invading moving body or the expected maximum speed of the invading moving body.

6. 2. The control system of claim 1, A control system characterized in that the safety instruction generation unit generates safety action instructions based on rules in addition to the type of area calculated by the blockage candidate calculation unit and the type of invading moving body invading the area.

7. 2. The control system of claim 1, A control system characterized in that the types of the moving objects are classified into at least moving objects whose behavior can be controlled and moving objects whose behavior cannot be controlled.

8. 7. The control system of claim 6, A control system characterized in that the rules are composed of road information including at least one of sidewalks, median strips, crosswalks, multiple lanes, and work areas.

9. 2. The control system of claim 1, A control system characterized in that the intruding moving body in the safety instruction generation unit means a moving body that has invaded the blocked area or the alert area of ​​the specific moving body, and the specific moving body in the safety instruction generation unit means a moving body that has invaded the blocked area or the alert area by the intruding moving body.

10. 2. The control system of claim 1, A control system characterized in that the pedestrian or manned vehicle carries a device that has the function of notifying the intruding moving object notification information notified by the control device using at least one of sound, light, vibration, or image.

11. 2. The control system of claim 1, A control system characterized in that the specific mobile body is equipped with a blockage control-linked automatic driving unit that does not drive outside the blockage area notified by the control device.

12. 2. The control system of claim 1, A control system characterized in that the specific moving body calculates an avoidance trajectory based on information about the moving body, information about the blocked area, and information about the alert area.

13. a blockage candidate calculation step for calculating, for a specific moving body, a blockage area which is an area through which the specific moving body will travel before braking and stopping, based on the position, movement plan, and speed of the specific moving body, and calculating, based on the blockage area, the braking time of the specific moving body, and surrounding information, a warning area which is an area outside the blockage area and is necessary to prevent a collision even if moving bodies around the specific moving body move; a safety instruction generation step of generating a safety action instruction based on the type of area calculated in the blockage candidate calculation step and the type of invading moving object invading the area; a safety notification step of notifying the specific moving body of the safety action instruction; A control method characterized in that the type of moving object is classified into an autonomous vehicle, a non-autonomous vehicle, or a pedestrian.

14. a blockage candidate calculation procedure for calculating, for a specific moving body, a blockage area, which is an area through which the specific moving body will travel before braking and stopping, based on the position, movement plan, and speed of the specific moving body, and calculating, based on the blockage area, the braking time of the specific moving body, and surrounding information, a warning area, which is an area outside the blockage area and is necessary to prevent a collision even if moving bodies around the specific moving body move; a safety instruction generation step of generating a safety action instruction based on the type of area calculated by the blockage candidate calculation step and the type of invading moving object invading the area; a safety notification procedure for notifying the specific moving body of the safety action instruction, A control program in which the type of moving object is classified into an autonomous vehicle, a non-autonomous vehicle, or a pedestrian.

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