Automated driving control system for vehicles

Abstract

To provide an automatic driving control device of a vehicle that realizes driving as intended while transporting cargo.SOLUTION: An automatic driving control device (100) of the vehicle acquires the loading information of the luggage loaded on the vehicle by a loading information acquisition unit (101), and selects to acquire a route for the vehicle to travel to a destination by a driving route acquisition unit (102), based on cargo information acquired by the loading information acquisition unit (101) and a travel route acquired by a travel route acquisition unit (102), an automatic driving control parameter calculation unit (103) calculates the automatic driving control parameters for each section of the acquired driving route, and is configured to control automatic driving of the vehicle by an automatic driving control unit (104) based on the calculated automatic driving control parameters.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This application relates to an automatic driving control device for vehicles.

Background Art

[0002] In recent years, as a driving mode of vehicles, vehicles equipped with a driving support function for assisting the driving operation of passengers and an automatic driving function for automatically performing driving control by the system without depending on the driving operation of passengers have been developed, and it is considered that the sophistication of the control device of vehicles equipped with the automatic driving function will progress in the future. In vehicles such as trucks for transporting goods or towing vehicles towing a cargo bed loaded with goods, it is considered that the installation of the automatic driving function will progress for the purpose of improving work efficiency and reducing costs by eliminating the need for a driver.

[0003] Conventionally, various technologies related to the automatic driving of vehicles for loading and transporting goods have been disclosed. For example, in Patent Document 1, appropriate determination of the driving information during the driving of a vehicle for loading goods and the loading state of the goods in the loading section, and notification of an abnormality in the loading state of the goods to the automatic driving device of the vehicle to prevent the collapse of the goods are disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, when applying the conventional technology disclosed in Patent Document 1 to the automatic driving device of a vehicle, for example, due to the control state of the vehicle when an abnormality in the loading state of the goods is notified, the control delay after the notification of the abnormality in the loading state, etc., the speed of the vehicle cannot be sufficiently reduced, and there is a risk of the collapse of the goods or damage to the goods.

[0006] This application discloses technology to solve the above-mentioned problems and aims to provide an autonomous driving control device for a vehicle that enables the smooth operation of an autonomous vehicle while transporting cargo. [Means for solving the problem]

[0007] The vehicle automatic driving control device disclosed herein is An automatic driving control device mounted on a vehicle and controlling the automatic driving of the said vehicle, A loading information acquisition unit that acquires loading information of cargo loaded onto the aforementioned vehicle, The aforementioned vehicle travels to its destination. Driving A driving route acquisition unit that selects and obtains a route, Loading information of cargo acquired by the aforementioned loading information acquisition unit The condition of the loaded cargo included The driving route acquired by the aforementioned driving route acquisition unit Corresponding to the degree of steepness of each section and the degree of curvature of each section in the said travel route, the maximum speed and maximum acceleration / deceleration of the vehicle for each section that allows the cargo loaded on the vehicle to travel without shifting is determined. The automatic driving control parameter calculation unit calculates the parameters, Each section of the aforementioned route The calculated maximum speed and the maximum acceleration / deceleration Based 、 An automatic driving control unit that controls the automatic driving of the vehicle, Equipped with, It is characterized by the following: [Effects of the Invention]

[0008] The vehicle automatic driving control device disclosed herein provides a vehicle automatic driving control device that enables the smooth operation of an autonomous vehicle while transporting cargo. [Brief explanation of the drawing]

[0009] [Figure 1] This is a functional block diagram showing the configuration of the vehicle's automatic driving control device according to Embodiment 1. [Figure 2] This is an explanatory diagram showing the parameter calculation table for automatic driving control in the vehicle automatic driving control device according to Embodiment 1. [Figure 3]This flowchart shows the operation of the vehicle's automatic driving control device according to Embodiment 1. [Figure 4] This is a functional block diagram showing the configuration of the vehicle's automatic driving control device according to Embodiment 2. [Figure 5] This is a flowchart showing the operation of the vehicle's automatic driving control device according to Embodiment 2. [Modes for carrying out the invention]

[0010] The following describes the vehicle automatic driving control device according to Embodiment 1 of the present application with reference to the figures. Embodiment 1. Figure 1 is a functional block diagram showing the configuration of an automated driving control device for a vehicle according to Embodiment 1. In Figure 1, the automated driving control device for a vehicle (hereinafter simply referred to as the automated driving control device) 100 is a device that controls the automated driving of a vehicle that transports cargo. Here, the vehicle may take any form, such as a truck, a passenger car, a towing trolley that pulls a cargo bed, or an automated guided vehicle (AGV). The automated driving control device 100 includes a load information acquisition unit 101, a driving route acquisition unit 102, an automated driving control parameter calculation unit 103, and an automated driving control unit 104 that controls a control target 130 located outside the automated driving control device 100.

[0011] The automatic driving control device 100 is composed of, for example, an ECU (Electronic Control Unit) and consists of a processor and a memory device. The memory device comprises a volatile memory device such as random access memory and a non-volatile auxiliary memory device such as flash memory. The processor executes a program input from the memory device. In this case, the program is input from the auxiliary memory device to the processor via the volatile memory device. The processor may also output data such as calculation results to the volatile memory device of the memory device, or it may save the data to the auxiliary memory device via the volatile memory device.

[0012] The controlled object 130 can be, for example, an ECU that individually has functions such as an engine control device of a vehicle, a control device of a rotating electric machine for vehicle drive, a brake control device of a vehicle, or a steering control device of a vehicle, or that has these functions in combination. Here, the ECU in the controlled object 130 may be configured separately from the ECU in the automatic driving control device 100 or may be integrally configured.

[0013] The imaging device 110 provided outside the automatic driving control device 100 is mounted on the vehicle, images a location where luggage such as the luggage compartment or trunk of the vehicle is loaded, and inputs a signal A including imaging information consisting of at least one of an image and video of the luggage loading state to the loading information acquisition unit 101. The loading information acquisition unit 101 analyzes the imaging information included in the signal A input from the imaging device 110 and acquires the luggage loading state such as the arrangement, width, and height of the luggage.

[0014] In addition, when the imaging device 110 is configured to be able to analyze the imaging information of the imaged luggage by itself and obtain the luggage loading state such as the arrangement, width, and height of the luggage, the signal A output from the imaging device 110 will include the luggage loading state such as the arrangement, width, and height of the luggage, and the loading information acquisition unit 101 can directly acquire the luggage loading state such as the arrangement, width, and height of the luggage from the signal A input from the imaging device 110.

[0015] In addition to the configured form mounted on the vehicle or the luggage compartment of the vehicle, the imaging device 110 may be in a configured form installed on the surrounding roads or buildings through which the vehicle passes. In any configured form, it is configured to image the luggage compartment or trunk of the vehicle, etc. When the imaging device 110 is in a configured form installed on the surrounding roads or buildings, the loading information acquisition unit 101 is configured to receive the signal A from the imaging device 110 via communication means such as wireless communication.

[0016] Furthermore, the loading information acquisition unit 101 may be configured to acquire the weight of the loaded luggage by a weight sensor installed on the vehicle.

[0017] A map data storage device 120, located outside the automatic driving control device 100, stores map data including the vehicle's driving route and inputs a signal B containing information about the driving route the vehicle will take to the driving route acquisition unit 102. The driving route acquisition unit 102 acquires the driving route the vehicle will take based on the signal B input from the map data storage device 120.

[0018] More specifically, the route acquisition unit 102 acquires multiple route candidates from the map data storage device 120 via signal B, based on information about the vehicle's current position and the destination. The route acquisition unit 102 also refers to the cargo loading status acquired by the cargo information acquisition unit 101 and selects a route with a low risk of cargo shifting or other issues. For example, if the height of the cargo exceeds a predetermined value, it selects a route in which the curve curvature, gradient, etc., on the route do not exceed predetermined values.

[0019] The automatic driving control parameter calculation unit 103 calculates automatic driving control parameters for each section of the driving route acquired by the driving route acquisition unit 102, based on the cargo loading information acquired by the cargo loading information acquisition unit 101. For example, the automatic driving control device 100 maintains an automatic driving control parameter calculation table, described later, as a table for calculating the maximum speed and maximum acceleration at which the vehicle can travel without cargo shifting, based on the cargo conditions such as cargo height and arrangement, the gradient of the section of the driving route, and the curvature of the curves. The automatic driving control parameter calculation unit 103 determines the automatic driving control parameters for each section of the driving route, such as the maximum speed and maximum acceleration, by referring to the automatic driving control parameter calculation table.

[0020] Figure 2 is an explanatory diagram showing the parameter calculation table for automatic driving control in the automatic driving control device for a vehicle according to Embodiment 1. As shown in Figure 2, the parameter calculation table 140 for automatic driving control includes a column F1 for "Load Condition" indicating the load loading conditions S1, S2, S3, etc., such as the height and arrangement of the load; a column F2 for "Gradient [0 / 00]" indicating the degree of steepness of uphill or downhill sections G1, G2, G3, etc., in the driving route ([0 / 00] indicates that it is expressed as, for example, [1 / 100]); a column F3 for "Curvature [1 / m]" indicating the degree of curvature C1, C2, C3, etc., in the driving section; a column F4 for "Maximum Speed ​​[m / s]" indicating the limit speeds V1, V2, V3, etc., at which the vehicle can travel without the load collapsing; and a column F4 for "Maximum Acceleration / Deceleration [m / s]" indicating the limit acceleration or limit deceleration A1, A2, A3, etc., at which the vehicle can travel without the load collapsing. 2 It has column F5 of ] and

[0021] For example, if the cargo condition is S2, the gradient of the section in the travel route is G2, and the curve curvature is C2, the automatic driving control parameter calculation unit 103 can determine from the automatic driving control parameter calculation table 140 that the maximum speed at which the vehicle can travel without cargo collapse is V2, and the maximum acceleration / deceleration speed at which the vehicle can travel without cargo collapse is A2.

[0022] In the example of the automatic driving control parameter calculation table 140 shown in Figure 2, the values ​​in columns F1 to F3 consist of a single value. However, the values ​​in each row of columns F1 to F3 may be set to have a certain range. That is, for example, the curvature C1 in column F3 may be set to a range such as "X[1 / m] to Y[1 / m]". The same applies to columns F1 and F2. By setting the automatic driving control parameter calculation table 140 in this way, the automatic driving control parameter calculation unit 103 can refer to the automatic driving control parameter calculation table 140 and determine a maximum speed and maximum acceleration that are more in line with reality.

[0023] Alternatively, each row in columns F1 to F3 of the automatic driving control parameter calculation table 140 may be set to have multiple values. That is, for example, as the curvature C1 in column F3, multiple values ​​may be set such as "A[1 / m], B[1 / m], C[1 / m], ...". The same applies to columns F1 and F2. By setting the automatic driving control parameter calculation table 140 in this way, the automatic driving control parameter calculation unit 103 can refer to the automatic driving control parameter calculation table 140 and determine a maximum speed and maximum acceleration that are more in line with reality.

[0024] Next, the operation of the vehicle automatic driving control device according to Embodiment 1 will be described. Figure 3 is a flowchart showing the operation of the vehicle automatic driving control device according to Embodiment 1. In Figure 3, if the loading of luggage into the vehicle's cargo bed or trunk is completed before the vehicle starts moving, in step S101, the camera 110 photographs the luggage loaded in the cargo bed or trunk and inputs a signal A, which includes photographic information consisting of at least one of an image or video of the luggage, to the loading information acquisition unit 101.

[0025] Furthermore, as mentioned above, if the camera 110 is configured to analyze the photographic information of the captured luggage itself and acquire the luggage's arrangement, width, height, and other loading conditions, then the signal A output from the camera 110 will include the luggage's arrangement, width, height, and other loading conditions.

[0026] As the system moves from step S101 to step S102, the loading information acquisition unit 101 acquires loading information such as the arrangement, width, and height of the cargo based on signal A input from the camera 110. Next, as the system moves to step S103, the travel route acquisition unit 102 refers to the loading information acquired by the loading information acquisition unit 101 as described above and acquires a travel route with a low risk of cargo shifting or other problems.

[0027] Next, in step S104, the automatic driving control parameter calculation unit 103 calculates parameters for automatic driving control for each section of the driving route acquired by the driving route acquisition unit 102, based on the loading status of the cargo acquired by the loading information acquisition unit 101, by referring to the automatic driving control parameter calculation table 140.

[0028] Once the driving route is determined and the parameters for automatic driving control are decided, in step S105, the automatic driving control device 100 controls the vehicle to be controlled 130 with the automatic driving control unit 104 and starts the vehicle to drive automatically.

[0029] Next, in step S106, the automatic driving control device 100 periodically obtains the vehicle's current position from the controlled vehicle 130, checks whether the vehicle has arrived at its destination, and terminates the process if the vehicle has arrived at its destination (Y).

[0030] On the other hand, if the confirmation in step S106 indicates that the vehicle has not arrived at its destination (N), the process proceeds to step S107, where the automatic driving control unit 104 obtains the vehicle's current position from the controlled object 130, recognizes the section being traveled, obtains automatic driving parameters for the section being traveled from the automatic driving control parameters calculated by the automatic driving control parameter calculation unit 103, and proceeds to step S108.

[0031] When the process proceeds to step S108, the automatic driving control unit 104 controls the controlled object 130 based on the automatic driving control parameters acquired in step S107, executes the vehicle's automatic driving, returns to step S106, and repeats the process from step S106 onward.

[0032] As described above, according to the vehicle automatic driving control device of Embodiment 1, based on the loading information of the cargo captured by the camera, a driving route is selected that allows for safe driving with minimal risk of cargo shifting from the vehicle's current position to its destination. Automatic driving control parameters are calculated for each section of the driving route to control the automatic driving, thereby preventing cargo shifting due to excessive speed and ensuring safe automatic driving of the vehicle.

[0033] Embodiment 2. Next, an automated driving control device for a vehicle according to Embodiment 2 will be described. Figure 4 is a functional block diagram showing the configuration of the automated driving control device for a vehicle according to Embodiment 2. In Figure 4, the automated driving control device for a vehicle (hereinafter simply referred to as the automated driving control device) 200 is a device that controls the automated driving of a vehicle that transports cargo.

[0034] Here, the vehicle may take any form, such as a truck, a passenger car, a towing trailer that pulls a cargo bed, or an automated guided vehicle (AGV). The automated driving control device 200 includes a load information acquisition unit 201, a driving route acquisition unit 202, an automated driving control parameter calculation unit 203, and an automated driving control unit 204 that controls a control target 130 located outside the automated driving control device 200. The automated driving control device 200 is configured, for example, by an ECU, similar to the automated driving control device for a vehicle according to Embodiment 1.

[0035] The worker terminal 210, located outside the automatic driving control device 200, is configured for workers loading cargo onto the vehicle to input cargo loading information such as the type of cargo (fragile, food, etc.), weight, width, length, and height.

[0036] The loading information acquisition unit 201 receives a signal C containing loading information of cargo, which is input by the worker terminal 210, via wireless communication or the like, and acquires the loading information of cargo contained in the input signal C. Alternatively, the loading information acquisition unit 201 may acquire loading information of cargo loaded onto the vehicle from a logistics system that manages the logistics of cargo, instead of the worker terminal 210.

[0037] A map data storage device 120, located outside the automatic driving control device 200, stores map data including the vehicle's driving route and inputs a signal B containing information about the driving route the vehicle will take to the driving route acquisition unit 202. The driving route acquisition unit 202 acquires the driving route the vehicle will take based on the signal B input from the map data storage device 120.

[0038] In other words, the route acquisition unit 202 acquires multiple candidate routes from the map data storage device 120 via signal B, based on information about the vehicle's current position and the location of the destination. The route acquisition unit 202 also refers to the cargo loading information acquired by the cargo loading information acquisition unit 201 and selects a route with a low risk of cargo shifting or other problems. For example, if the height of the cargo exceeds a predetermined value, it selects a route in which the curve curvature, gradient, etc., on the route do not exceed predetermined values.

[0039] The automatic driving control parameter calculation unit 203 calculates automatic driving control parameters for each section of the driving route acquired by the driving route acquisition unit 202, based on the cargo loading information acquired by the cargo loading information acquisition unit 201. For example, the automatic driving control parameter calculation table 140 shown in Figure 2 above is stored in the automatic driving control device 200 as a table for calculating the maximum speed and maximum acceleration at which the vehicle can travel without cargo shifting, based on the cargo conditions such as cargo height and arrangement, as well as the gradient and curve curvature of the driving section.

[0040] The automatic driving control parameter calculation unit 203 determines the automatic driving control parameters for each section of the driving route, such as maximum speed and maximum acceleration, by referring to the automatic driving control parameter calculation table described above.

[0041] The automatic driving control unit 204 controls the controlled object 130 based on the automatic driving control parameters calculated by the automatic driving control parameter calculation unit 203 to realize automatic driving of the vehicle.

[0042] Next, the operation of the vehicle automatic driving control device according to Embodiment 2 will be described. Figure 5 is a flowchart showing the operation of the vehicle automatic driving control device according to Embodiment 2. In Figure 5, in step S201, the worker loading cargo onto the vehicle inputs loading information of the loaded cargo using the worker terminal 210 once the work is completed. The loading information of the cargo includes the type of cargo (fragile items, food, etc.), weight, width, and height.

[0043] When the process proceeds from step S201 to step S202, the loading information acquisition unit 201 acquires loading information of the cargo, such as the loading status of the cargo, based on the signal C input from the worker terminal 210. As mentioned above, the loading information acquisition unit 201 may acquire loading information of the cargo to be loaded onto the vehicle from a logistics system that manages the logistics of cargo, instead of the worker terminal 210.

[0044] Next, in step S203, the route acquisition unit 202 refers to the cargo loading information acquired by the loading information acquisition unit 201 and selects a route that minimizes the risk of cargo shifting or other problems.

[0045] When the process proceeds to step S204, the automatic driving control parameter calculation unit 203 calculates parameters for automatic driving control for each section of the driving route acquired by the driving route acquisition unit 202, based on the cargo loading information acquired by the cargo loading information acquisition unit 201, by referring to the automatic driving control parameter calculation table 140.

[0046] Once the driving route is determined and the parameters for automatic driving control are decided as described above, in step S205, the automatic driving control device 200 controls the controlled vehicle 130 with the automatic driving control unit 204 and starts the vehicle driving under automatic driving conditions.

[0047] Next, in step S206, the automatic driving control device 200 periodically obtains the vehicle's current position from the controlled vehicle 130, checks whether the vehicle has arrived at its destination, and terminates the process if the vehicle has arrived at its destination (Y).

[0048] On the other hand, if the confirmation in step S206 indicates that the vehicle has not arrived at its destination (N), the process proceeds to step S207, where the automatic driving control unit 204 obtains the vehicle's current position from the controlled object 130, recognizes the section being traveled, obtains automatic driving parameters for the section being traveled from the automatic driving control parameters calculated by the automatic driving control parameter calculation unit 203, and proceeds to step S208.

[0049] When the process proceeds to step S208, the automatic driving control unit 204 controls the controlled object 130 based on the automatic driving control parameters acquired in step S207, executes automatic driving of the vehicle, returns to step S206, and repeats the process from step S206 onward.

[0050] As described above, the vehicle automatic driving control device according to Embodiment 2 selects a safe driving route with minimal risk of cargo collapse from the vehicle's current location to its destination based on cargo loading information acquired from a worker terminal or logistics system, calculates automatic driving control parameters for each section of the driving route, and controls the automatic driving, thereby preventing cargo collapse due to excessive speed and enabling the vehicle to drive safely under automatic driving conditions.

[0051] While this application describes exemplary embodiments, the various features, aspects, and functions described in Embodiments 1 and 2 are not limited to the application of any particular embodiment, but are applicable individually or in various combinations to the embodiments. Therefore, countless variations not illustrated are conceivable within the scope of the art disclosed herein. These include, for example, modifying, adding, or omitting at least one component, or even extracting at least one component and combining it with components from other embodiments.

[0052] Next, the embodiments of the vehicle's automatic driving control device disclosed in this application are described below as an appendix. (Note 1) An automatic driving control device mounted on a vehicle and controlling the automatic driving of the said vehicle, A loading information acquisition unit that acquires loading information of cargo loaded onto the aforementioned vehicle, A route acquisition unit that selects and acquires a route for the vehicle to travel to its destination, An automatic driving control parameter calculation unit calculates automatic driving control parameters for each section of the acquired driving route based on the cargo information acquired by the loading information acquisition unit and the driving route acquired by the driving route acquisition unit. For each section of the aforementioned driving route, an automatic driving control unit controls the automatic driving of the vehicle based on the automatic driving control parameters, Equipped with, An automated driving control device for vehicles, characterized by the following features. (Note 2) The aforementioned route acquisition unit is configured to select and acquire the aforementioned route based on the loading information acquired by the loading information acquisition unit. An automatic driving control device for a vehicle as described in Appendix 1, characterized in that it is a vehicle automatic driving control device as described in Appendix 1. (Note 3) The aforementioned loading information acquisition unit is configured to acquire loading information of the cargo based on photographic information obtained by a camera mounted on the vehicle, which photographs the cargo loaded on the vehicle. An automatic driving control device for a vehicle as described in Appendix 1 or 2, characterized by the above. (Note 4) The aforementioned loading information acquisition unit is configured to acquire loading information of the cargo based on photographic information obtained by photographing the cargo loaded on the vehicle using a camera installed on a road or building through which the vehicle travels. An automatic driving control device for a vehicle as described in Appendix 1 or 2, characterized by the above. (Note 5) The loading information acquisition unit is configured to acquire loading information for the cargo based on information about the cargo entered by a worker terminal operated by a worker involved in loading cargo onto the vehicle. An automatic driving control device for a vehicle as described in Appendix 1 or 2, characterized by the above. (Note 6) The loading information acquisition unit is configured to acquire loading information of the cargo from a logistics system that manages the distribution of the cargo. An automatic driving control device for a vehicle as described in Appendix 1 or 2, characterized by the above. (Note 7) The loading information of the cargo includes at least one of the following: the location where the cargo is placed, the type of cargo, the dimensions of the cargo, and the weight of the loaded cargo. An automatic driving control device for a vehicle as described in Appendix 1 or 2, characterized by the above. (Note 8) The weight information of the aforementioned cargo is acquired by a weight sensor installed in the vehicle. An automatic driving control device for a vehicle as described in Appendix 7, characterized by the features described herein. (Note 9) The system includes a parameter calculation table for calculating the maximum speed and maximum acceleration at which the vehicle can travel without the cargo shifting, based on the condition of the cargo, the gradient of the travel section, and the curvature of the curves. The automatic driving control parameter calculation unit is configured to calculate parameters for automatic driving control by referring to the parameter calculation table. An automatic driving control device for a vehicle as described in any one of the appendices 1 to 8, characterized by the above. [Explanation of Symbols]

[0053] 100, 200 Automatic driving control device for vehicles, 101, 201 Load information acquisition unit, 102, 202 Driving route acquisition unit, 103, 203 Automatic driving control parameter calculation unit, 104, 204 Automatic driving control unit, 110 Imaging device, 120 Map data storage device, 130 Controlled object, 140 Parameter calculation table for automatic driving control, 210 Worker terminal, A, B, C signals

Claims

1. An automatic driving control device mounted on a vehicle and controlling the automatic driving of the said vehicle, A loading information acquisition unit that acquires loading information of cargo loaded onto the aforementioned vehicle, A route acquisition unit that selects and acquires a route for the vehicle to travel to its destination, An automatic driving control parameter calculation unit calculates the maximum speed and maximum acceleration / deceleration of the vehicle for each section that allows the vehicle to travel without the cargo shifting, corresponding to the state of the loaded cargo included in the cargo loading information acquired by the cargo loading information acquisition unit, the degree of steepness of each section in the travel route acquired by the travel route acquisition unit, and the degree of curvature of each section in the travel route. An automatic driving control unit controls the automatic driving of the vehicle based on the maximum speed and the maximum acceleration / deceleration calculated for each section of the aforementioned driving route, Equipped with, An automated driving control device for vehicles, characterized by the following features.

2. The aforementioned route acquisition unit is configured to select and acquire the aforementioned route based on the loading information acquired by the loading information acquisition unit. The automatic driving control device for a vehicle according to feature 1.

3. The aforementioned loading information acquisition unit is configured to acquire loading information of the cargo based on photographic information obtained by a camera mounted on the vehicle, which photographs the cargo loaded on the vehicle. An automatic driving control device for a vehicle according to claim 1 or 2.

4. The aforementioned loading information acquisition unit is configured to acquire loading information of the cargo based on photographic information obtained by photographing the cargo loaded on the vehicle using a camera installed on a road or building through which the vehicle travels. An automatic driving control device for a vehicle according to claim 1 or 2.

5. The loading information acquisition unit is configured to acquire loading information for the cargo based on information about the cargo entered by a worker terminal operated by a worker involved in loading cargo onto the vehicle. An automatic driving control device for a vehicle according to claim 1 or 2.

6. The loading information acquisition unit is configured to acquire loading information of the cargo from a logistics system that manages the distribution of the cargo. An automatic driving control device for a vehicle according to claim 1 or 2.

7. The loading information of the cargo includes at least one of the following: the location where the cargo is placed, the type of cargo, the dimensions of the cargo, and the weight of the loaded cargo. An automatic driving control device for a vehicle according to claim 1 or 2.

8. The weight information of the aforementioned cargo is acquired by a weight sensor installed in the vehicle. The automatic driving control device for a vehicle according to feature 7.

9. The system includes a parameter calculation table for calculating the maximum speed and maximum acceleration at which the vehicle can travel without the cargo shifting, based on the condition of the cargo, the gradient of the travel section, and the curvature of the curves. The automatic driving control parameter calculation unit is configured to calculate parameters for automatic driving control by referring to the parameter calculation table. An automatic driving control device for a vehicle according to claim 1 or 2.

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