Design support method, design support system, and program

Abstract

To provide a design supporting system capable of designing an ODD (Operational Design Domain) for suppressing development cost increase of automatic driving services and enhancing an important performance evaluation index of an entrepreneur.SOLUTION: A design support system comprises: an automatic driving control function database; an area environment data generation unit; an automatic driving ODD automatic definition unit for generating and outputting an operational design domain to be an environment constraint condition; an ODD adjustment unit which changes the operational design domain based on an evaluation result of an automatic driving control function specification; an automatic driving control system evaluation unit which evaluates the operational design domain on the basis of a client request; and a KPI evaluation unit which generates a client request evaluation expression for evaluating an important performance evaluation index of a client and outputs the operational design domain and the important performance evaluation index of the client. The ODD adjustment unit adds a change to the operational design domain so as to improve it more than a value of the client request evaluation expression, and the KPI evaluation unit outputs an enhanced value of the important performance evaluation index of the client on the basis of the changed operational design domain.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a design support method, a design support system, and a program for the operational design domain (ODD) of a control system for automatically driving a transport robot, an automobile, or other work vehicle. [Background technology]

[0002] In recent years, control systems have been developed to realize automated driving of automobiles and the operation of various industrial vehicles such as transport robots and construction machinery. The automation of industrial vehicles is expected to reduce costs by unmanning the site and improve work efficiency by standardizing work efficiency. Furthermore, automated driving of automobiles is expected to improve traffic congestion and reduce accidents.

[0003] The configuration and specifications of control systems that achieve automation vary widely depending on the target vehicle and the operating environment, and their design requires a significant amount of man-hours as it requires know-how such as adjusting the vehicle's control characteristics and its performance to suit the environment.

[0004] In particular, to align the vehicle's control characteristics with its environmental applicability, it is necessary to define the ODD, which is the environmental condition that guarantees the operation of the autonomous driving control system. However, it is also costly for the development engineers to investigate the environment in which the autonomous vehicle will be introduced and confirm its compatibility with the specifications of the autonomous driving control system.

[0005] A design support system described in Patent Document 1 is known as a method for defining and updating an ODD. Patent Document 1 describes a technology for creating a data set from an environmental map and defining an ODD for a condition space through a safety evaluation of an autonomous driving control system. The defined ODD can also be updated when additional data is received. This type of design support system makes it possible to automatically define an ODD from an environmental map without relying on individual know-how, thereby reducing the number of people required for development and lowering development costs. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] WO2021147301A1 publication Summary of the Invention [Problem to be solved by the invention]

[0007] According to the design support system described in Patent Document 1, which defines ODD based on reliability evaluation (such as availability) from environmental data sets, the ODD that matches the environment in which the autonomous driving service is provided requires an autonomous driving control system with high functionality, which may not satisfy the key performance indicators indicated by the operator of the autonomous driving service. For example, this may result in increased development costs or a decrease in availability.

[0008] Therefore, the present invention aims to provide a design support method, design support system, and program that can design an ODD that suppresses increases in development costs for autonomous driving services and improves business owners' key performance indicators. [Means for solving the problem]

[0009] In light of the above, the present invention provides a design support system that receives environmental data from an environmental measurement device that measures the environment of a service provision area managed by a customer and customer requests and outputs an improvement value of the customer's key performance indicators, the system comprising: an automatic driving control function database that stores a program for automatic driving control of vehicles traveling in the service provision area; an area environmental data generation unit that includes an area digital map generation unit that generates a digital map of the service provision area using the environmental data; an automatic driving ODD automatic definition unit that generates and outputs an operation design domain that is an environmental constraint condition for operating an automatic driving service from information on the digital map; and an automatic driving ODD automatic definition unit that generates and outputs an operation design domain that is an environmental constraint condition for operating an automatic driving service, the automatic driving ODD automatic definition unit that generates and outputs an automatic driving control program corresponding to the operation design domain output from the automatic driving ODD automatic definition unit. The design support system is characterized in that it comprises an ODD adjustment unit that evaluates the fulfillment of the operation control function specifications and changes the operation design domain based on the evaluation results, an automated driving control system evaluation unit that evaluates the operation design domain based on customer requirements, and a KPI evaluation unit that generates a customer requirement evaluation formula that evaluates the customer's key performance indicators based on the customer requirements, calculates the customer requirement evaluation formula based on the value output from the automated driving control system evaluation unit, and outputs the operation design domain and the customer's key performance indicators, wherein the ODD adjustment unit changes the operation design domain so that it is improved over the previous value of the customer requirement evaluation formula based on the value of the customer requirement evaluation formula calculated and output by the KPI evaluation unit, and the KPI evaluation unit outputs the improved value of the customer's key performance indicators based on the changed operation design domain.

[0010] Furthermore, in the present invention, "a design support method is provided that receives environmental data from an environmental measurement device that measures the environment of a service provision area managed by a customer, and customer requirements, and outputs an improvement value of the customer's key performance indicators using a computer device, the method comprising: an automatic driving control function database that stores an automatic driving control program for controlling the automatic driving of vehicles traveling in the service provision area; a calculation unit of the computer device uses the environmental data to generate a digital map of the service provision area; generates an operation design domain that is an environmental constraint condition for operating an automatic driving service from the information on the digital map; and applies the automatic driving control program to the operation design domain. a design support method for evaluating the fulfillment of automatic driving control function specifications stored in pairs, modifying an operation design domain based on the evaluation results, evaluating the operation design domain based on customer requirements, generating a customer requirements evaluation formula for evaluating the customer's key performance indicators based on the customer requirements, calculating the customer requirements evaluation formula based on values ​​output from the automatic driving control system evaluation unit, obtaining the operation design domain and the customer's key performance indicators, modifying the operation design domain so that it is improved over the value of the previous customer requirements evaluation formula based on the value of the customer requirements evaluation formula, and obtaining an improved value of the customer's key performance indicator based on the modified operation design domain.

[0011] Furthermore, the present invention provides a design support program for outputting an improvement value of a customer's key performance indicators by receiving environmental data from an environmental measurement device that measures the environment of a service provision area managed by a customer and customer requirements, the program comprising: an automatic driving control function program that is an automatic driving control program for automatically controlling the driving of vehicles traveling in the service provision area; an area environmental data generation program having an area digital map generation unit that generates a digital map of the service provision area using the environmental data; an automatic driving ODD automatic definition program that generates and outputs an operation design domain that is an environmental constraint condition for operating an automatic driving service from information on the digital map; and a program that evaluates the satisfaction of the automatic driving control function specifications stored in the automatic driving control program in pairs with respect to the operation design domain and outputs an evaluation result. an ODD adjustment program that modifies the operation design domain based on the results of the customer requirements, an automated driving control system evaluation program that evaluates the operation design domain based on the customer requirements, and a KPI evaluation program that generates a customer requirements evaluation formula that evaluates the customer's key performance indicators based on the customer requirements, calculates the customer requirements evaluation formula based on the values ​​output from the automated driving control system evaluation program, and outputs the operation design domain and the customer's key performance indicators, wherein the ODD adjustment program modifies the operation design domain so that it is better than the previous value of the customer requirements evaluation formula based on the value of the customer requirements evaluation formula calculated and output by the KPI evaluation program, and the KPI evaluation program outputs the improved values ​​of the customer's key performance indicators based on the modified operation design domain. [Effects of the Invention]

[0012] While conventionally, automated driving has only been provided under ODD based on the environment in which the automated driving service is provided, this invention provides a design support system that can automatically design ODD that can improve the business owner's key performance indicators, thereby enabling the provision of an automated driving service that improves the business owner's key performance indicators. [Brief explanation of the drawings]

[0013] [Figure 1]FIG. 1 is a diagram showing an example of the configuration of a design support system according to a first embodiment of the present invention. [Figure 2] FIG. 1 is a diagram showing an example of an automated transport area where cargo transport services are provided. [Figure 3] FIG. 10 is a diagram showing an example of a shape digital map. [Figure 4] FIG. 2 is a diagram showing an example of the data structure of an automatic driving control function database. [Figure 5] FIG. 10 is a diagram showing an example of a traceability table showing the relationship between autonomous driving control function data, ODD items, and KPI values. [Figure 6] FIG. 2 is a flowchart showing a design support method according to the first embodiment of the present invention. [Figure 7] FIG. 10 is a diagram showing an example of using the output of the design support system 1. [Figure 8] FIG. 1 illustrates an example of a work site providing freight transportation services. [Figure 9] FIG. 10 is a diagram showing an example of a work site after an environmental change. [Figure 10] 1 illustrates an example of a public highway environment in which freight transportation services are provided. [Figure 11] FIG. 10 is a diagram showing an example of a traceability table. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, the design support method, design support system, and program according to the embodiments of the present invention will be described using a design example of an automated cargo transport service in a logistics warehouse using automated guided vehicles.

[0015] The present invention can be applied to the design of general services related to machines capable of autonomous driving in specific environments, and the application of the present invention is not limited to automated guided vehicle services.

[0016] Below, in Example 1, we will explain the basic configuration of a design support method and a design support system according to an embodiment of the present invention, in Example 2 we will explain the case where the service provision area is a work site, in Example 3 we will explain the case where the service provision area is a public road, and in Example 4 we will explain the program of the design support system. [Example]

[0017] 1 is a diagram showing an example of the configuration of a design support system 1 according to an embodiment of the present invention. In the first embodiment, a design support system 1 applied to the establishment of an automatic cargo transport service in a logistics warehouse (area) 10 using automatic transport vehicles will be described.

[0018] The design support system 1 in Figure 1 includes an area environment data generation unit 3, an automatic driving control function database DB, an automatic driving control system evaluation unit 5, a customer information input unit 6, an automatic automatic driving ODD definition unit 7, an ODD adjustment unit 8, and a KPI evaluation unit 9, and provides design support by incorporating the output of an environmental measurement device 2 from an external logistics warehouse (area) 10 and customer requirements.

[0019] The design support system 1, which is configured by a computer device, stores a design support program for automatically designing an ODD for an autonomous driving vehicle in an internal ROM, and the system realizes the design support method by executing processing according to the program in a CPU. The program will be described in Example 5.

[0020] The configuration shown in FIG. 1 will be described in detail below. Since there are parts of the present invention shown in bold lines and parts of existing technology shown in thin lines, the parts of existing technology shown in thin lines will be described first.

[0021] The design support system 1 is connected to the environmental measuring device 2 via a signal line, and acquires environmental information D1 of the area 10 for which the design support system 1 provides services. The area 10 for which the services are provided is, for example, the automated transport area for which cargo transportation services are provided, as shown in FIG. 2. Trucks 18 enter and exit the automated transport area 10 from outside, and cargo is carried in and out between the trucks 18 and a cargo storage area 16 by forklifts 17. Furthermore, the cargo in the cargo storage area 16 is transported to an appropriate storage location by an automated transport vehicle 11, traveling along a route that avoids obstacles such as shelves 12 within the automated transport service provision area 15.

[0022] The automated guided vehicle 11 is equipped with a camera or LiDAR as an environmental measurement device 2B, and cameras or LiDAR are placed at appropriate locations within the area 10 as fixed environmental measurement devices 2A, using these to grasp the environment within the area. Environmental information D1 measured by these environmental measurement devices 2A and 2B is transmitted to the design support system 1.

[0023] In this way, the environmental measuring device 2 may acquire environmental information of the automatic transport area 10 by having the automatic transport vehicle 11 travel along a route specified by the area data collection unit 3a described later, or the environmental measuring device 2 may be installed at any location within the automatic transport area 10 to collect environmental information of the automatic transport area 10.

[0024] Here, the environmental information D1 includes the position and shape of the road surface and structures on which the automated guided vehicle 11 travels, the brightness of lighting in the travel area, and the availability of infrastructure such as Wi-Fi. Therefore, the environmental measuring device 2 is not limited to cameras and LiDAR, but also includes devices for measuring radio waves and the brightness of lighting. Furthermore, the environmental measuring device 2 may be installed on either the vehicle or the facility side, and the signal line between the environmental measuring device 2 and the design support system 1 may be wired or wireless.

[0025] Environmental information D1 measured by the environmental measuring device 2 is input to the area environmental data generation unit 3. The area environmental data generation unit 3 is made up of an area data collection unit 3a, an area digital map generation unit 3b, and a service provision area identification unit 3c. The service provision area identification unit 3c, which is involved in the present invention, will be described later.

[0026] Of these, the area data collection unit 3a collects environmental information D1 of the automatic transport area 10 from an environmental measurement device 2B mounted on an automatic transport vehicle 11 traveling within the automatic transport area 10 that provides cargo transportation services, for example, as shown in Figure 2. The environmental measurement device 2B may acquire the environmental information D1 of the automatic transport area 10 by having the automatic transport vehicle 11 travel along a route specified by the area data collection unit 3a, or the environmental measurement device 2 may be installed at an arbitrary location within the automatic transport area 10 to collect the environmental information D1 of the automatic transport area 10. Note that Figure 2 also shows on-site reference coordinates 19 for defining positions within the area.

[0027] The area digital map generation unit 3b aggregates the environmental information D1 collected by the area data collection unit 3a and constructs a shape digital map in which obstacles such as shelves 12 installed in the automatic transport area 10 are represented, for example, by a collection of three-dimensional points.

[0028] As an example of a shape digital map, FIG. 3 shows shape data of a shelf 12 generated based on an image acquired by an image sensor or the like mounted on an automated guided vehicle 11. This data is obtained by extracting an outline 13 from the image of the shelf 12, and includes data such as the external dimensions of the shelf 12, Data for aisle width 20 These are treated as shape digital maps.

[0029] It is advisable to store and manage the information acquired by the environmental measuring device 2 in a digital map, for example, to manage the environmental information related to radio waves such as Wi-Fi in the automatic transport area 10 by area based on whether or not wireless infrastructure is available. For example, a Wi-Fi antenna 21 is installed in the shooting area in Figure 3, and it is advisable to also manage the environmental information related to radio waves in this location.

[0030] The automatic driving control function database DB in Fig. 1 stores automatic driving control function data D2. As shown in Fig. 4 as an example of the automatic driving control function data D2, the automatic driving control function ID (D21), function name D22, function specifications D23, automatic driving control program D24 for the function, sensors D25 required to realize the function, KPIs (D26, D27), etc. are stored in a format similar to a relational database. The automatic driving control function is, for example, a function to acquire the position of the vehicle in the automatic transport area 10, or control the automatic transport vehicle 11 to acquire luggage from the shelf 12.

[0031] The automatic driving control system evaluation unit 5 in Fig. 1 includes an operation evaluation unit 5a, and has a function of evaluating the automatic driving performance in the automatic transport area 10 when some of the automatic driving control functions as automatic driving control programs registered in the automatic driving control function database DB are installed on an automatic transport vehicle 11. The operation evaluation unit 5a may be configured, for example, as a vehicle motion simulator capable of simulation on a computer, or may be a computing unit that performs evaluation based on the functional specifications of the automatic driving control functions registered in the automatic driving control function database DB.

[0032] The components indicated by the thin lines above are the parts related to the existing technology. Based on this premise, the parts of the present invention will be explained in detail below. First, the customer information input unit 6 sets key performance indicators (hereinafter referred to as KPIs) as variables based on request input from the customer to whom the service is provided. Examples of KPIs include the introduction cost and running cost of the service, safety, availability rate, and number of cargo shipments per unit time. The customer information input unit 6 also defines a formula for calculating the KPIs.

[0033] Furthermore, the customer information input unit 6 identifies the service provision area based on the input service request and outputs the information on the service provision area to the service provision area identification unit 3c. For example, the customer information input unit 6 may be provided with a system that identifies the area using a graphical user interface (GUI), such as by specifying a rectangle on a map. In this case, the area 10 in FIG. 2 is identified as the service provision area.

[0034] 2 is the service provision area, the customer may use the GUI to specify the automated transport service provision area 15 and the cargo storage area 16. In this case, the forklift 17 is only allowed to enter the cargo storage area 16 within the automated transport service provision area 15. Furthermore, the customer can specify that the forklift 17 is to be manually operated and that the forklift 17 will transport cargo from the cargo storage area 16 to a truck 18.

[0035] As a result, the service provision area identification unit 3c in Fig. 1 receives information about the service area 10 and identifies the area. For example, the area is identified by specifying a certain area based on the location and size of the area using latitude and longitude coordinates from a position on a map specified using the GUI provided in the customer information input unit 6, or by specifying a route using the latitude and longitude coordinates of multiple points. In Fig. 2, as an example, site reference coordinates 19 are set in the automated delivery service provision area 15, and the coordinates of the four corners of the automated delivery service provision area 15 are specified by the site reference coordinates 19.

[0036] The identified area information is provided to the area data collection unit 3a, which then collects environmental information within the area.The area information is also provided to the area digital map generation unit 3b, which then specifies the range within which the area digital map generation unit 3b will generate a digital map.

[0037] As a result, the area environment data generation unit 3 will organize, together with the requested items, information on the current area configuration (area digital map, obstacles, etc.) and in-area environmental information of the area 10 for which the service is provided, as well as what (where) and how the driving environment is required to be changed from this state based on customer requests, and pass this information to the next processing stage, the automatic driving ODD definition unit 7.

[0038] The autonomous driving ODD automatic definition unit 7 in Fig. 1 includes an operation environment characteristic extraction unit 7a and an operation environment change unit 7b. The operation environment characteristic extraction unit 7a defines the ODD based on the digital map generated by the area digital map generation unit 3b and environmental information D1. Examples of ODD items include the minimum width 20 of the passageway through which the autonomous guided vehicle 11 travels in Fig. 3, the presence or absence of infrastructure equipment such as a WiFi antenna 21 required for the autonomous guided vehicle 11 to use WiFi, the presence or absence of workers in the autonomous guided vehicle service provision area 15 in Fig. 2, and the maximum vehicle speed defined by the safety rules for the autonomous guided vehicle area 10.

[0039] The operation environment change unit 7b has a function of outputting a change related to an ODD item in the automatic transport area 10 to the operation environment characteristic extraction unit 7a. For example, if there is a change in the layout of the shelves 12 in the automatic transport area 10 and the minimum value of the aisle width 20 in FIG. 3 is changed, the operation environment change unit 7b outputs that minimum value. In addition, when a change is made to the automatic transport area 10, such as installing a fixed monitoring camera 2A in the automatic transport area 10 in FIG. 2, the operation environment change unit 7b extracts the change. The installation of the fixed monitoring camera 2A means that an ODD item, such as infrastructure sensor support, is available, i.e., the automatic driving of the automatic transport vehicle 11, can utilize infrastructure sensor support, and this change is defined as the presence or absence of infrastructure sensor support for the ODD item via the operation environment characteristic extraction unit 7a.

[0040] Furthermore, the operation environment change unit 7b also has a function to calculate, based on the digital map, candidate installation locations for infrastructure sensors such as the surveillance cameras 2A that provide infrastructure sensor support in the automatic transport area 10. For example, based on the digital map, if there is an area within the automatic transport service provision area 15 where multiple automatic transport vehicles 11 have difficulty detecting each other due to blind spots caused by shelves 12, the operation environment change unit 7b outputs candidate types and installation locations for sensors such as the surveillance cameras 2A that should be placed to eliminate those blind spots. The types of sensors that can be used for infrastructure sensor support and their use are stored in the automatic driving control function database DB.

[0041] The ODD adjustment unit 8 in Fig. 1 has a function to adjust and determine the ODD items D3 of the automated guided vehicles 11 in the service to be provided and the automated driving control function data D2 of the automated driving control function to be installed in the automated guided vehicles 11, based on the ODD items D3 from the operation environment characteristics extraction unit 7a and the automated driving control function data D2 from the automated driving control function database DB. The adjustment is made so as to improve the customer KPI evaluation value from the KPI evaluation unit 9, which will be described later.

[0042] The adjustment method is performed, for example, based on the processing shown in traceability tables 23a and 23b which show the relationship between the automatic driving control function data D2, ODD item D3, and KPI values ​​D26 and D27 shown in FIG.

[0043] The traceability table 23a lists multiple automatic driving control functions (IDs 1, 2, and 3) referenced from the automatic driving control function database DB on the vertical axis, and lists the ID (D21), function name D22, and KPI values ​​D26 and D27 of the corresponding automatic driving control function data D2 on the horizontal axis. KPI values ​​for each automatic driving control function D26 D27 is the KPI value that will be generated by installing the function. For example, KPI1 of D26 is the cost of installing the function (k yen), and KPI2 of D27 is the impact on power consumption and service operating time (h).

[0044] In the example shown, whether the ID (D21) of the autonomous driving control function data D2 is 1, 2, or 3, the impact KPI2 on power consumption and service operating time (h) is 0, and the impact KPI on the cost of installing the function (k￥) is -4, -3, or -8.

[0045] Traceability table 23a also shows a list of ODD items D3 (ODD items 1, 2, 3) for multiple automatic driving control functions (IDs 1, 2, 3) on the horizontal axis, and for the ODD items, shows the correspondence between the presence or absence of an ODD item and the impact of the numerical value on the automatic driving control function on the vertical axis. This example shows a case where ODD items 1 and 3 are applied to automatic driving control functions 1 and 2, and ODD item 2 is applied to automatic driving control function 3.

[0046] Furthermore, the traceability table 23a includes, for ODD item D3, KPI values ​​(customer KPI evaluation values ​​13) that will likely arise as a result of a change to ODD item D3. In this example, the KPI for the impact on the cost (k yen) of installing the function after changing ODD item D3 is 0 for all of ODD items 1, 2, and 3, meaning that no cost increase will occur due to the change. In contrast, the KPI2 for the impact on power consumption and service operating time (h) after changing ODD item D3 is +12, +4, and +12 for ODD items 1, 2, and 3, respectively.

[0047] According to the KPI value (customer KPI evaluation value 13) after applying the ODD items in traceability table 23a in Figure 5, the improvement effect of ODD item 2 is not that great, but the improvement effects of ODD items 1 and 3 are significant. Ultimately, based on these evaluation results, traceability table 23b shows that the application of ODD item 2 to autonomous driving control function 2 has been excluded. The newly applied KPI value at this time is shown as customer KPI evaluation value 17.

[0048] The KPIs for each item in the traceability table 23a are set by transmitting the KPIs set in the customer information input unit 6 to the ODD adjustment unit 8 via the KPI evaluation unit 9 and the automatic driving control function database DB.

[0049] Flowchart 24 in Figure 6 shows an example of a process performed by the ODD adjustment unit 8, the automatic driving control system evaluation unit 5, and the KPI evaluation unit 9 to determine a combination of ODD items and automatic driving control functions to improve the customer KPI evaluation value.

[0050] The flowchart 24 consists of steps S100 to S107, and steps S100, S101, S102, S105, S106, and S107 are processed by the ODD adjustment unit 8. Step S103 is a process within the automatic driving control system evaluation unit 5, and step S104 is a process within the KPI evaluation unit 9.

[0051] This series of processes begins at step S100, and in step S101, the temporary storage variable Ep for the KPI evaluation value is initialized to 0. In step S102, the combination of automatic driving control functions and ODD items on the vertical and horizontal axes of the traceability table 23 is changed. In step S103, the automatic driving control system evaluation unit 5 evaluates the selected ODD item D3 and automatic driving control function D2. In step S104, the KPI evaluation unit 9 calculates the customer KPI evaluation value from the evaluation result of the automatic driving control system evaluation unit 5 and assigns it to the variable E. An example of the formula for calculating the customer KPI evaluation value E is as follows: [Number 1] E=Σwi·Ki(i∈1…L) (1) Here, Ki is each KPI value, and wi is a weight for each KPI calculated by the customer information input unit 6 based on the information entered by the customer in the customer information input unit 6, and is set based on, for example, the importance or priority of the customer. The weight wi may also be used as a parameter for normalizing KPI values ​​having different units. L is the number of KPIs.

[0052] In step S105, it is determined whether the customer KPI evaluation value has improved and has sufficiently converged, and if the condition is true, it is determined that the customer KPI has been improved to the maximum extent, and the combination of ODD item D3 and automatic driving control function D2 at that time is output, and the process ends in step S108. If the conditional expression in step S105 is false, the process proceeds to step S107, where the calculated customer KPI evaluation value E is substituted for the temporary saved variable Ep, and the process returns to step S102, and a combination that will improve the customer KPI evaluation value D2 is searched for again.

[0053] In the above explanation, the combination of both the ODD item D2 and the automatic driving control function D3 is adjusted, but the customer KPI evaluation value E may be improved by changing only the ODD item D2.

[0054] Returning to Figure 1, the flow of Figure 6 will be explained in more detail. The automatic driving control system evaluation unit 5 shown in Figure 1 includes an operation scenario generation unit 5b, which automatically creates a test scenario for evaluation by the operation evaluation unit 5a based on the ODD item D2 received from the ODD adjustment unit 8, and transmits the test scenario to the operation evaluation unit 5a.

[0055] For example, the number of vehicles in operation in the test scenario is set depending on the number of vehicles in operation of the ODD. In addition, in the case of an ODD defined such that workers may be present in the automated transport service provision area 15, the test scenario describes and evaluates whether the automated transport vehicle 11 can be safely controlled when workers are walking in various places.

[0056] The KPI evaluation unit 9 collects the results of the operation evaluation unit 5a, calculates each KPI value, and calculates the customer KPI evaluation value E using, for example, equation (1). Furthermore, if the ODD adjustment unit 8 determines that the customer KPI evaluation value E has been sufficiently improved, the KPI evaluation unit 9 outputs the ODD, the automatic driving control function, and the customer KPI evaluation value as the calculation results of the design support system 1.

[0057] The ODD, autonomous driving control function, and customer KPI evaluation value finally obtained in this way are shown in traceability table 23b in Figure 5, which presents another case as the final proposal, excluding the application of ODD item 2 to autonomous driving control function 2.

[0058] The effects of the present invention employing the above-described series of processes will now be described. As a specific example of the effects, assume that an automated guided vehicle 11 is newly introduced to the work site shown in FIG. 2, and an automated cargo transport service is provided within the automated guided vehicle area 10. In this assumed example, it is unclear whether the automated guided vehicle area 10 has environmental conditions that fully satisfy the driving performance of the automated guided vehicle 11, and therefore there is a problem that the introduction requires labor and increases costs. Furthermore, even if an automated cargo transport service is introduced at such an introduction cost, it is unclear whether the service will perform to meet the KPI values ​​desired by the customer until it is introduced and operational, and adjustments to improve the KPI values ​​also incur costs.

[0059] However, in this embodiment, by using the design support system 1 shown in Figure 1, it is possible to determine whether the environmental conditions of the automatic transport area 10 are sufficient to satisfy the driving performance of the automatic transport vehicle 11 before introducing the automatic transport vehicle 11 into the automatic transport area 10, and it is also possible to estimate the performance of the automatic cargo transport service that will maximize the KPI values ​​required by the customer, thereby reducing the labor and costs that would have been incurred in adjustments after introduction.

[0060] In the design support system 1, the customer first inputs KPIs and services they wish to introduce into the customer information input unit 6, and the area environment data generation unit 3 then collects and analyzes environmental information in advance. Based on this environmental information, the ODD can be automatically defined by the ODD automatic definition unit 7. The performance fulfillment relationship between the ODD defined by the ODD adjustment unit 8 and the functions that can be installed on the automated guided vehicle 11, which are stored in the automatic driving control function database DB, is evaluated, and based on the customer KPI evaluation values ​​estimated through the automatic driving control system evaluation unit 5 and the KPI evaluation unit 9, a combination of ODD and automatic driving control functions that maximizes the satisfaction of the customer KPI evaluation values ​​can be automatically designed.

[0061] An example of calculating a combination that improves the customer KPI evaluation value is shown below using the traceability tables 23a and 23b in Figure 5. The vertical axis of traceability table 23a lists three types of autonomous driving control functions (ID: 1, 2, 3). For each autonomous driving control function, the KPI values ​​for the KPIs indicated by the customer, namely installation cost (KPI1) and service provision time (KPI2), are set. The horizontal axis lists ODD items 1 to 3 and the KPI values ​​that are determined by whether or not each ODD item is considered. The orthogonal table of the vertical and horizontal axes shows the correspondence. In equation (1), if all weights are set to 1, the customer KPI evaluation value of traceability table 23a is calculated to be 13.

[0062] Based on this customer KPI evaluation value, by improving the customer KPI evaluation value according to flowchart 24 in Figure 6, it is possible to calculate a combination like that shown in traceability table 23b. As an example, traceability table 23b focuses on ODD item 2. When comparing the KPI2 value for ODD item 2 with the KPI1 value of the autonomous driving control function CCC required to respond to ODD item 2, it is found that the value for improving the customer KPI evaluation value is negative.

[0063] Therefore, according to the flowchart 24 in Figure 6, as an automated freight transport service that does not take ODD item 2 into consideration as in the traceability table 23b in Figure 5, by not equipping the automated transport vehicle 11 with the automatic driving control function CCC, the service provision time of KPI2 will decrease, but if the customer KPI evaluation value of the traceability table 23b is calculated by setting all weights to 1 in equation (1), the result is 17, and a design solution is obtained that is an improved value compared to the traceability table 23a.

[0064] In this way, by launching an automated freight transport service based on a combination of ODD and automated driving control functions, which are the output of the design support system 1, the customer can minimize the post-implementation adjustments that have occurred up until now, and can quickly launch a service that satisfies the customer's KPI to the greatest extent possible. For example, if the KPI is cost, a design solution can be obtained before actual operation that alleviates ODD by excluding pedestrians within the automated transport area 10 from the area using rules, while minimizing the development of additional functions and performance improvements to the automated driving control function.

[0065] 1, various types of improvement information related to area environment improvement are presented from the design support system 1. Of this, the improvement information provided by the KPI evaluation unit 9 is improvement information D4 related to the autonomous driving control function, improvement information D5 related to ODD, and customer KPI (D6), while the improvement information provided by the autonomous driving control system evaluation unit 5 is infrastructure sensor information D7 related to sensor placement and sensor type.

[0066] FIG. 7 is a diagram showing an example of utilization of the output of the design support system 1. The improvement information D4 on the automatic driving control function in the upper part of FIG. Automated guided vehicles 11 or indirectly via the control system 30 Automated guided vehicles Given to 11.

[0067] The automatic driving control function D4 includes the control software and the necessary sensor specifications. Automated guided vehicles The control software is newly added to the 11. Automated guided vehicles 11 is mounted on a computing device 11a (controller, etc.) and is Automated guided vehicles 11 is equipped with a sensor 11b.

[0068] In response to this Automated guided vehicles 11, the calculation device 11a calculates a control command value for controlling the automatic driving of the vehicle, sends the control command value to the control device 11a, and transmits a control signal to the actuator (not shown) of the vehicle to drive the actuator (tire rotation speed and steering angle).

[0069] In the case of indirect use via the control system 30, the arithmetic unit 31 and the control unit 11a may be provided in separate devices. Automated guided vehicles The control system 30 may be provided in a separate location from the control system 11. Automated guided vehicles 11 can exchange signals via wireless communication, etc.

[0070] In this case, the control software for the automatic driving control function D4 is implemented in the arithmetic unit 31 of the control system 30, and the Automated guided vehicles The control command value for automatic driving control calculated by the arithmetic unit 31 of the control system 30 is transmitted via wireless communication. Automated guided vehicles Send to 11, Automated guided vehicles The control device 11a of the control system 30 transmits a control signal to the actuator of the vehicle based on the control command value. The sensor signal is transmitted to the calculation device 31 of the control system 30 via wireless communication and is used for calculation of the automatic driving control.

[0071] The second row from the top of Figure 7 shows an example of the use of improvement information D5 related to ODD. Automated guided vehicles 11 or indirectly via the control system 30 Automated guided vehicles Given to 11.

[0072] In the case of indirect use, the improvement information D5 regarding the ODD is used in the control system 30, and the ODD deviation determination unit 32 provided in the control system 30 determines, based on the improvement information D5 regarding the ODD and various environmental information, Automated guided vehicles The ODD improvement information D5 determines whether the environment in which the vehicle 11 travels (service area) satisfies the travelable environment conditions defined in the ODD improvement information D5.

[0073] Control system 30 Automated guided vehicles The ODD deviation determination unit 32 can exchange signals with the control unit 11a of the vehicle 11 via wireless communication, and does not send any signal to the control unit when the driving conditions are met, but when the driving conditions are not met (when the vehicle deviates from the ODD), Automated guided vehicles11, transmits an ODD deviation signal to the control device 11a.

[0074] Automated guided vehicles When the control device 11a of 11 receives the ODD deviation signal, it notifies the driver, who is present, that the vehicle will be switched to manual driving in order to cancel the autonomous driving state, or generates a control signal to transition from the autonomous driving state to an emergency stop state and automatically stop the vehicle safely, and transmits the generated signal to the actuator. The ODD deviation determination unit may also be installed in the autonomous driving vehicle. The various environmental information includes weather, time, GNSS radio wave conditions, road shape and condition, and the presence or absence of unintended pedestrians.

[0075] The third row from the top of Figure 7 shows an example of using the customer KPI (D6). The customer KPI evaluation D6 (e.g., the numerical value of the evaluation result) is used to notify the customer of the customer KPI evaluation result via the display device 40. If the customer accepts the evaluation result notified on the display device, the customer may issue an instruction to start the downstream process of the automatic excavation control function, ODD, or infrastructure sensor, for example. If the customer does not accept the evaluation result, the customer request in Figure 1 is changed and the design support system 1 is executed again.

[0076] From the top of Figure 7 4th row shows an example of how infrastructure sensor information D7 is used. Based on the infrastructure sensor information D7, a design firm or the like performs a detailed design 50 (design of the poles on which the sensors are to be mounted, etc.) for installing infrastructure sensors in the service provision area, which is the subsequent process, and creates a detailed drawing 51. After that, a construction firm installs the infrastructure sensors 52 in the service provision area based on the detailed drawing 51.

[0077] In the first embodiment, the ODD conditions are set according to the customer's wishes, but this may be a proposal to change the service conditions. Also, if the ODD is exceeded during implementation, it is advisable to stop the vehicle or stop automatic driving and transfer driving authority to the driver.

[0078] According to the present invention described above, it is possible to provide a design support system that can automatically design an ODD, which is an operation design domain adjusted to simultaneously maximize the business operator's key performance indicators and ensure reliability, thereby providing an automated driving service that improves the business operator's key performance indicators. [Example]

[0079] In the second embodiment, the service provision location is assumed to be the location shown in Figure 8. At a work site 25 such as that shown in Figure 8, an excavator 27 excavates earth and sand 26 every day, and the earth and sand is loaded onto a dump truck 28 for transport, resulting in frequent changes in environmental information. When the excavator 27 and the dump truck 28 are made autonomous, the design support system 1 supports the design before implementation as a service related to autonomous driving, but it is desirable to redefine the ODD to respond to environmental changes after the start of operation and maintain or improve the customer KPI evaluation value.

[0080] In order to solve the above problems, differences from the first embodiment and the configuration will be described with reference to Figures 1, 8 and 9. First, in the second embodiment, a new environmental change detection unit 3d is provided within the area data collection unit 3a in Figure 1. The environmental change detection unit 3d means that when a change occurs in the environment of the area in which the service is provided, the area data collection unit 3a collects data again, the area digital map generation unit 3b generates a digital map again, and the design support system 1 is provided with a function to re-execute the series of processes.

[0081] According to this, when an autonomously operated excavator 27 digs up soil 26 at work site 25 in Figure 8, an area in Figure 9 where the soil 26 disappears and there is residual soil on the road surface will appear. As a result, the road surface in area 29 may be more uneven than other areas. By redefining the state where such an uneven road surface exists within the autonomous driving service provision area as ODD, it will be possible to consider whether an autonomously driven dump truck 28 can normally drive through area 29, and it will be necessary to quickly verify whether the functionality of the dump truck 28 needs to be improved in order to drive, or whether area 29 should be leveled to the same level as other areas to alleviate ODD.

[0082] Therefore, for example, when the environmental change detection unit 3d of the design support system 1 detects that the area 29 at the work site 25 has changed based on the environmental information D2 from the environmental measurement device 2 mounted on the dump truck 28, it re-executes the area environmental data generation unit 3, the ODD automatic definition unit 7, the ODD adjustment unit 8, the automatic driving control system evaluation unit 5, and the KPI evaluation unit 9, and redesigns and outputs the ODD and automatic driving control function that maintains or improves the customer KPI evaluation value.

[0083] This allows design policies to be obtained that respond to daily environmental changes, such as leveling area 29 to the same level as other areas to mitigate ODD, and customer KPIs such as costs can be maintained at a level that satisfies them. [Example]

[0084] In the third embodiment, the service providing location is assumed to be the location shown in FIG. 10. 40 So, self-driving cars 41 is a traffic light 42 The traffic rules, like the driving environment, are defined as ODDs, and autonomous vehicles must follow these rules to drive. 41 is a general public road environment 40 It is necessary to equip the vehicle with an autonomous driving control function that satisfies the ODD provided by the vehicle.

[0085] Such a general public road environment 40 Self-driving cars 41 In order to operate a vehicle, it is necessary to deal with not only a wide variety of traffic rules but also many ODD items such as weather and pedestrians, so the number of autonomous driving control functions installed will increase. 41 When considering the automatic driving control function to be installed in the vehicle, it is necessary to consider design such as whether to develop a new one or to adopt an already developed automatic driving control function. However, in the design support system 1 of the first embodiment, it is only possible to consider functions registered in the automatic driving control function database DB, so it is difficult to design a general public road environment where there is no design experience. 40 Self-driving cars 41However, there is a problem in that the design support system 1 does not output an appropriate design and is unable to obtain a design solution that satisfies the customer's KPI.

[0086] In order to solve the above problems, differences and configurations from the first embodiment will be explained using Fig. 1. In the third embodiment, in Fig. 1 of the first embodiment, the KPI evaluation unit 9 in Fig. 1 has a function of adding an autonomous driving control program with modified function specifications or an autonomous driving control program with a newly added function to the autonomous driving control function database DB.

[0087] General public road environment in Figure 10 40 is a traffic light 42 Therefore, the ODD defines it as an environment with traffic lights. 41 is a traffic light 42 The ability to recognize the signs is required.

[0088] Self-driving cars 41 Traffic lights with in-vehicle cameras 42 To recognize the sign, it may be a costly feature to install depending on the conditions of other ODD items such as weather and lighting. 43 Build a supportive environment for recognition by providing ODD with infrastructure support.

[0089] ODD item 4 shown in the traceability table 34 in Figure 11 is 42 When ODD is defined as the infrastructure support that can share information with other ODDs, the autonomous driving control function DDD35 corresponding to ODD item 4 is defined as the autonomous driving vehicle. 41 In this case, the traceability table 34 in FIG. 11 is the design solution as a result of improving the customer KPI evaluation value according to the flowchart 24 in FIG. 6. If the automatic driving control function DDD 35 is a newly added function, the KPI evaluation unit 9 in FIG. 1 registers the automatic driving control function DDD 35 in the automatic driving control function database DB. This allows the automatic driving control function DDD 35 to be used in the general public road environment. 40When providing another automated driving service in an environment similar to the above, when using the design support system 1, it becomes possible to select the use of the automated driving control function DDD35, so that it is possible to provide an automated driving service without incurring new function development costs. 41 The design support system 1 provides this, allowing design solutions that satisfy customer KPIs to be obtained quickly.

[0090] In the above embodiments, examples have been given in which the present invention is applied to automated guided vehicles, construction vehicles, and automated driving automobiles, but the present invention can also be applied to other automated driving vehicles, such as agricultural vehicles and autonomous work robots. [Example]

[0091] In Example 4, the program of the design support system will be described. The program of the design support system is stored in the ROM of the computer device, and some of these programs execute the processes of the ODD adjustment unit 8, the automatic driving control system evaluation unit 5, and the KPI evaluation unit 9 shown in Figure 6. As for the other programs, although not shown, it is preferable to configure the programs in units of the calculation functions of the units in Figure 1.

[0092] For example, it is advisable to create a program that treats the area environment data generation unit 3 as a single unit, and realize the functions of the area data collection unit 3a, area digital map generation unit 3b, and service provision area identification unit 3c as subprograms within this program. This concept can also be applied to the calculation functions of the other units.

[0093] Specifically, for example, it is preferable to have an autonomous driving control function program, which is a program for controlling the autonomous driving of vehicles traveling in the service provision area; an area environmental data generation program having an area digital map generation unit that uses environmental data to generate a digital map of the service provision area; an autonomous driving ODD automatic definition program that generates and outputs an operation design area that serves as an environmental constraint for operating the autonomous driving service from digital map information; an ODD adjustment program that evaluates the satisfaction of the autonomous driving control function specifications stored in the autonomous driving control program in pairs for the operation design area and changes the operation design area based on the evaluation results; an autonomous driving control system evaluation program that evaluates the operation design area based on customer requirements; and a KPI evaluation program that generates a customer requirement evaluation formula that evaluates customer key performance indicators based on customer requirements, calculates the customer requirement evaluation formula based on the values ​​output from the autonomous driving control system evaluation program, and outputs the operation design area and the customer's key performance indicators. [Explanation of symbols]

[0094] 1: Design support system 2: Environmental measurement equipment 3: Area environment data generation section 3a: Area data collection unit 3b: Area digital map generation unit 3c: Service area identification section 3d: Environmental change detection section 4:Autonomous driving control function database 5: Autonomous Driving Control System Evaluation Department 5a: Operation evaluation section 5b: Operation scenario generation unit 6: Customer information input section 7:ODD automatic definition part 8: ODD adjustment section 9: KPI Evaluation Department 10: Automatic transport area 11:Automated guided vehicle 12: Shelf 13: Visible lines 15:Automated transport service area 16: Cargo storage area 17: Forklift 18: Truck 19: Site reference coordinates 20: Passage width 21: WiFi antenna 22: Surveillance camera 23a, 23b: Traceability table 24: Flowchart 25:Worksite 26: Earth and sand 27: Shovel 28: Dump truck 29: Area 34: Traceability table 35: Automatic driving control function DDD S100~S108: Step 40:General public road environment 41: Self-driving cars 42: Traffic light 43: Infrastructure facilities

Claims

1. A design support system that receives environmental data from an environmental measurement device that measures the environment of a service provision area managed by a customer and customer requests and outputs improvement values ​​of key performance indicators of the customer, an automatic driving control function database storing an automatic driving control program for automatically controlling the driving of vehicles traveling in the service provision area; an area environmental data generation unit including an area digital map generation unit that generates a digital map of the service provision area using the environmental data; an automatic definition unit for automatic driving ODD that generates and outputs an operation design domain that is an environmental constraint condition for operating an automatic driving service from the information of the digital map; An ODD adjustment unit that evaluates the fulfillment of the automatic driving control function specifications stored in the automatic driving control program in pairs for the operation design domain output from the automatic driving ODD definition unit, and changes the operation design domain based on the evaluation results; an automatic driving control system evaluation unit that evaluates the operation design domain based on the customer requirements; a KPI evaluation unit that generates a customer requirement evaluation formula for evaluating a customer's key performance indicators based on the customer requirements, calculates the customer requirement evaluation formula based on values ​​output from the automatic driving control system evaluation unit, and outputs the operation design domain and the customer's key performance indicators; The ODD adjustment unit makes a change to the operation design domain based on the value of the customer requirement evaluation formula calculated and output by the KPI evaluation unit so as to improve the value of the customer requirement evaluation formula from the previous value, The design support system is characterized in that the KPI evaluation unit outputs an improvement value of the customer's key performance indicators based on the changed operation design area.

2. 2. The design support system according to claim 1, A design support system characterized in that the autonomous driving ODD automatic definition unit generates and outputs an autonomous driving control function of the vehicle, the autonomous driving control system evaluation unit evaluates the autonomous driving control function of the vehicle based on the customer requirements, and the KPI evaluation unit outputs the autonomous driving control function and the customer's key performance indicators.

3. 2. The design support system according to claim 1, A design support system characterized in that the autonomous driving control system evaluation unit presents environmental improvements in the service provision area.

4. 2. The design support system according to claim 1, The ODD adjustment unit makes changes to the operation design area and the automatic driving control program based on the value of the customer request evaluation formula calculated and output by the KPI evaluation unit so as to improve the value of the customer request evaluation formula from the previous value, A design support system characterized in that the KPI evaluation unit outputs improvement values ​​of the customer's key performance indicators based on the changed operation design area and the automatic driving control program.

5. 2. The design support system according to claim 1, A design support system characterized in that the autonomous driving control system evaluation unit uses the autonomous driving control program stored in the autonomous driving control function database and the generated digital map to perform autonomous driving in a virtual environment based on the operation design domain, the autonomous driving control program, and the digital map, and evaluates the autonomous driving control system and the operation design domain.

6. 2. The design support system according to claim 1, A design support system characterized in that the automatic driving control system evaluation unit includes an operation scenario generation unit that generates an operation scenario to be evaluated from the operation design domain output from the ODD adjustment unit.

7. 2. The design support system according to claim 1, A design support system characterized in that the autonomous driving ODD automatic definition unit is equipped with an operating environment change unit that outputs design information for at least one infrastructure sensor that is installed in the environment to collect environmental information from information on the digital map and the autonomous driving control program.

8. 8. The design support system according to claim 7, The design support system is characterized by including an infrastructure sensor system that aggregates information collected by all of the infrastructure sensors and shares the information with the vehicle.

9. 2. The design support system according to claim 1, A design support system characterized by comprising an environmental change detection unit that causes the area environmental data generation unit to collect data again when there is a change in the environment of the area where the service is provided, causes the area digital map generation unit to generate a new digital map, and re-executes a series of processes of the design support system.

10. 2. The design support system according to claim 1, A design support system characterized in that the KPI evaluation unit has a function of adding the modified autonomous driving control program to the autonomous driving control function database.

11. A design support method for obtaining environmental data from an environmental measurement device that measures the environment of a service provision area managed by a customer and customer requirements, and outputting an improvement value of a customer's key performance indicator using a computer device, comprising: an automatic driving control function database storing an automatic driving control program for controlling the automatic driving of vehicles traveling in the service provision area; The calculation unit of the computer device uses the environmental data to generate a digital map of the service provision area, generates an operation design domain from information on the digital map that serves as an environmental constraint condition for operating an autonomous driving service, evaluates the operation design domain for fulfillment of the autonomous driving control function specifications stored in pairs in the autonomous driving control program, and changes the operation design domain based on the evaluation results, evaluates the operation design domain based on the customer requirements, generates a customer requirement evaluation formula that evaluates customer key performance indicators based on the customer requirements, calculates the customer requirement evaluation formula based on the evaluation value of the autonomous driving control system, obtains the operation design domain and the customer key performance indicators, and A design support method characterized by modifying the operation design area based on the value of the customer requirement evaluation formula so as to improve the value from the previous value of the customer requirement evaluation formula, and obtaining an improved value of the customer's key performance indicator based on the modified operation design area.

12. A design support program for obtaining environmental data from an environmental measurement device that measures the environment of a service provision area managed by a customer and customer requirements, and outputting an improvement value of a customer's key performance indicators, an automatic driving control function program that is an automatic driving control program for automatically controlling the driving of a vehicle traveling in the service provision area; an area environmental data generation program including an area digital map generation unit that generates a digital map of the service provision area using the environmental data; an automatic definition program for an autonomous driving ODD that generates and outputs an operation design domain that is an environmental constraint condition for operating an autonomous driving service from the information of the digital map; an ODD adjustment program that evaluates the fulfillment of the automatic driving control function specifications stored in the automatic driving control program in pairs for the operation design domain and changes the operation design domain based on the evaluation results; an automated driving control system evaluation program for evaluating the operation design domain based on the customer requirements; a KPI evaluation program that generates a customer requirement evaluation formula for evaluating a customer's key performance indicators based on the customer requirements, calculates the customer requirement evaluation formula based on values ​​output from the automatic driving control system evaluation program, and outputs the operation design domain and the customer's key performance indicators; The ODD adjustment program modifies the operation design domain based on the value of the customer requirement evaluation formula calculated and output by the KPI evaluation program so as to improve the value of the customer requirement evaluation formula from the previous value, The KPI evaluation program is a design support program characterized by outputting an improvement value of a customer's key performance indicator based on the changed operation design area.

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