Control device, control method, and control program

Abstract

The control device (102) includes a map update unit (80). When a value indicating that it is another area is set for each area in the update target map indicating the classification target area as a reliability which is an index corresponding to the possibility of being a drivable area, the map update unit (80) updates the reliability corresponding to the other area existing between the target classified area and the target point to a target update value. The target classified area is each area discovered based on the result of measurement of the periphery of the second autonomous vehicle by a second sensor provided in the second autonomous vehicle when the second autonomous vehicle is traveling at a target point on the second travel trajectory, and is each area classified into either a drivable area or a driving prohibited area in the update target map. The target update value is a value corresponding to the distance between the other area and the target classified area, and is a value corresponding to whether the target classified area is a drivable area or a driving prohibited area.

Description

Technical Field

[0001] The present disclosure relates to a control device, a control method, and a control program.

Background Art

[0002] Patent Document 1 discloses a technique for creating a map of an autonomous mobile robot. In this technique, a base map including position information of an object that becomes an obstacle during autonomous driving is created, and the autonomous mobile robot performs autonomous driving based on the created base map. The autonomous mobile robot detects an object that becomes an obstacle during autonomous driving using sensors mounted on the autonomous mobile robot during autonomous driving. The driving prohibited area corresponding to the detected object is reflected in the base map.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An autonomous mobile robot generally has a map for estimating its own position. In addition, by providing the autonomous mobile robot with a map showing an area where it can travel so as not to enter a prohibited entry area, an accidental accident can be prevented. The technique disclosed in Patent Document 1 is a technique for detecting an obstacle and setting a driving prohibited area without limiting the type of sensor. In this technique, there is a premise that an obstacle can be detected using a sensor. When detecting an obstacle using a sensor of a type that irradiates electromagnetic waves, which is a sensor commonly used in self-driving robots, it is conceivable to perform height determination based on the distance value measured by the sensor. However, when using the sensor outdoors, it is difficult to accurately distinguish between the drivable area and the no-driving area based only on the distance value. Therefore, the prior art has a problem that the no-driving area is set excessively. As a specific example, it is difficult to accurately classify an area composed of an asphalt road, a gravel road, and a lawn into a drivable area and a no-driving area based only on the distance value. The present disclosure aims to reduce the amount of the no-driving area set excessively by integrating a plurality of pieces of information to distinguish between a drivable area and a no-driving area in a technique of creating a map of a self-driving robot using a sensor of a type that irradiates electromagnetic waves.

Means for Solving the Problem

[0005] The control device according to the present disclosure is In an update target map indicating a classification target area, based on a first travel trajectory that is a travel trajectory when a first self-driving body travels within the classification target area and a result of measurement of the periphery of the first self-driving body by a first sensor provided in the first self-driving body when the first self-driving body travels along the first travel trajectory, when each area within a part of the areas within the classification target area is classified into either a drivable area or a no-driving area, and when each area within the areas within the classification target area that is not classified into either the drivable area or the no-driving area is defined as a first unclassified area, when a value indicating that it is neither the drivable area nor the no-driving area is set as a reliability, which is an index corresponding to the possibility that the first unclassified area is the drivable area, in the first unclassified area When the second autonomous vehicle travels on a second travel trajectory within the classification target area based on the map to be updated, each area discovered based on the result of measurement of the second sensor provided in the second autonomous vehicle when the second autonomous vehicle is traveling at a target point on the second travel trajectory, and is an area classified into either the passable area or the no-go area in the map to be updated, a target classified area, and each area existing between the target point and the target classified area, which is an area not classified into either the passable area or the no-go area in the map to be updated, a map update unit that updates the reliability corresponding to the second unclassified area to a target update value that is a value corresponding to the distance between the second unclassified area and the target classified area and is a value corresponding to whether the target classified area is the passable area or the no-go area is provided.

Advantages of the Invention

[0006] According to the present disclosure, based on the measurement result of the second sensor when the second autonomous vehicle is traveling at a target point on the second travel trajectory, the map update unit updates the reliability corresponding to each area between the target point and the classified area map according to the distance between each area and the target classified area. Here, the reliability is an index corresponding to the possibility of being a passable area. The second sensor may be a type of sensor that irradiates electromagnetic waves. Therefore, according to the present disclosure, in the technology of creating a map of an autonomous mobile robot using a sensor of a type that irradiates electromagnetic waves, by integrating a plurality of information and discriminating between a passable area and a no-go area, the amount of over-set no-go areas can be reduced.

Brief Description of the Drawings

[0007]

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Modes for Carrying Out the Invention

[0008] In the description of the embodiments and the drawings, the same elements and corresponding elements are denoted by the same reference numerals. The description of the elements denoted by the same reference numerals may be omitted or simplified as appropriate. The arrows in the drawings mainly indicate the flow of data or the flow of processing. Further, "section" may be appropriately read as "circuit", "step", "procedure", "process", or "circuitry".

[0009] Embodiment 1. Hereinafter, Embodiment 1 will be described with reference to the drawings. In Embodiment 1, each of a data collection phase, a map creation phase, and a map update phase is realized. ***Description of Configuration*** <Data Collection Phase> FIG. 1 is a block diagram corresponding to a configuration example of a map generation system 90 that realizes the data collection phase. In the data collection phase, the purpose is to save the data obtained from the sensor 200 while controlling the autonomous vehicle 1 by the controller 300 so as to pass through the drivable area. The drivable area is an area where the autonomous vehicle can travel. Each autonomous vehicle may be an autonomous mobile robot.

[0010] The autonomous vehicle 1 includes a housing 2, a control device 100, and a sensor 200. The autonomous vehicle 1 serves as a first autonomous vehicle and is controlled by the controller 300. Each control device serves as a map creation device.

[0011] The housing 2 includes drive wheels and power. As a specific example, the drive wheels are four wheels and the power is battery-driven power.

[0012] The control device 100 has a data collection function and includes a travel control unit 10, a manual control unit 20, a data acquisition unit 30, and a storage unit 40.

[0013] The travel control unit 10 controls the driving of the autonomous vehicle 1 in response to a signal sent from the manual control unit 20.

[0014] The manual control unit 20 monitors the signals sent from the controller 300, interprets how the autonomous vehicle 1 should move based on the monitoring results, and outputs the interpreted results to the travel control unit 10.

[0015] The data acquisition unit 30 interprets the signals sent from the sensor 200 to derive each of the distance value and the reflection intensity, and stores the information indicating each of the derived distance value and reflection intensity in the storage unit 40.

[0016] The storage unit 40 has a function of storing various information, and is realized by a storage device such as a hard disk. The storage unit 40 is mainly used for storing the distance value and the reflection intensity obtained from the sensor 200.

[0017] The sensor 200 has a function of acquiring the distance value and the reflection intensity corresponding to each region. The sensor 200 corresponds to the first sensor. The first sensor is a sensor that performs measurement by electromagnetic waves. The sensor 200 is, as a specific example, 3D-LiDAR (Light Detection and Ranging).

[0018] The controller 300 has a function of controlling the traveling direction of the autonomous vehicle 1 and the start and stop of the traveling of the autonomous vehicle 1, etc. The controller 300 is realized by, for example, a controller for radio control or a controller for a TV game, etc.

[0019] <Map creation phase> FIG. 2 is a block diagram corresponding to a configuration example of a map generation system 90 that realizes the map creation phase. In the map creation phase, the purpose is to newly create a map using the data collected in the data collection phase.

[0020] The control device 101 includes a map creation unit 50 and a storage unit 41. The control device 101 may be realized by the same computer as the computer that realizes the control device 100.

[0021] The map creation unit 50 creates a map for the autonomous vehicle based on the measurement data stored in the storage unit 41. The map is created by, for example, SLAM (Simultaneous Localization and Mapping) technology.

[0022] The storage unit 41 has a function of storing various information and is realized by a storage device such as a hard disk. The storage unit 41 is mainly used for storing the measurement data that is the basis of the map and the created map. The storage unit 41 may be realized by the storage device that realizes the storage unit 40.

[0023] <Map update phase> FIG. 3 is a block diagram corresponding to a configuration example of a map generation system 90 that realizes the map update phase. In the map update phase, the autonomous vehicle 3 travels in the environment while estimating its own position based on the created map, and updates the map when it is determined that the map needs to be updated.

[0024] The autonomous vehicle 3 includes a housing 4 equipped with drive wheels and power, a control device 102, and a sensor 201. The autonomous vehicle 3 corresponds to the second autonomous vehicle. The second autonomous vehicle may be the same as the first autonomous vehicle. The housing 4 may be realized by the same housing as the housing 2.

[0025] The sensor 201 has a function of acquiring the distance value and the reflection intensity corresponding to each region. The sensor 201 corresponds to the second sensor. The second sensor is a sensor that performs measurement by electromagnetic waves. The sensor 201 is, for example, a 3D-LiDAR and may be realized by the same sensor as the sensor 200.

[0026] The control device 102 includes a travel control unit 11, a task control unit 60, a self-position estimation unit 70, a map update unit 80, and a storage unit 42. The control device 102 may be realized by the same computer that realizes the control device 100.

[0027] The travel control unit 11 controls the driving of the autonomous vehicle 3 based on an instruction from the task control unit 60.

[0028] The task control unit 60 has a function of instructing how to move the autonomous vehicle 3. In the present embodiment, it is assumed that a task of autonomously traveling along a predefined route is defined.

[0029] The self-position estimation unit 70 has a function of comparing the information obtained from the sensor 201 with the map stored in the storage unit 42 and searching for the position of the autonomous vehicle 3 on the map.

[0030] The map update unit 80 has a function of updating the map stored in the storage unit 42. Specifically, when the second autonomous vehicle travels along a second travel trajectory within the classification target area based on the update target map, the map update unit 80 updates the reliability corresponding to the second unclassified area to the target update value. Here, in the update target map, based on the first travel trajectory and the result of measurement of the first sensor provided in the first autonomous vehicle when the first autonomous vehicle travels along the first travel trajectory, it is assumed that each area within a part of the classification target area is classified into either a travelable area or a travel prohibited area. Also, for the first unclassified area, as a reliability which is an index corresponding to the possibility that the first unclassified area is a travelable area, a value indicating that it is neither a travelable area nor a travel prohibited area is set. The travel prohibited area is an area where the travel of the autonomous vehicle is prohibited. Each area may be determined to be either a travelable area or a travel prohibited area based on the corresponding reliability. The update target map is a map showing the classification target area. The target update value is a value corresponding to the distance between the second unclassified area and the target classified area, and is a value corresponding to whether the target classified area is a travelable area or a travel prohibited area. The second unclassified area is each area existing between the target classified area and the target point, and is each area not classified as either a drivable area or a no-driving area in the map to be updated. The target classified area is each area discovered based on the result of measurement of the surroundings of the second autonomous vehicle by the second sensor provided in the second autonomous vehicle when the second autonomous vehicle is traveling to the target point, and is each area classified as either a drivable area or a no-driving area in the map to be updated. The distance from the target point to the target classified area may be within the measured distance. The measured distance may be set in any way. The target point is a point on the second travel trajectory. The target point may be a point within the drivable area or a point within other areas. Other areas are areas for which it has not been determined whether they are drivable areas or no-driving areas. The first travel trajectory is the travel trajectory when the first autonomous vehicle travels within the classification target area. The first unclassified area is each area within the classification target area that is not classified as either a drivable area or a no-driving area. When the value of the reliability already set for the second unclassified area is higher than the target update value, the map update unit 80 may not update the reliability corresponding to the second unclassified area. When the map update unit 80 discovers, based on the measurement result of the second sensor, each area where an obstacle exists within the classification target area, the map update unit 80 may classify each discovered area as a no-driving area in the map to be updated. In the map to be updated, each area for which the distance cannot be measured by the first sensor may be classified as a no-go area. When each area within the area to be classified is set as the measurement target area, if the height of the measurement target area measured by the first sensor is equal to or higher than the height threshold, the measurement target area may be classified as a no-go area in the map to be updated. If the reflection intensity corresponding to the measurement target area when the first sensor irradiates the measurement target area with electromagnetic waves is different from the reference reflection intensity, the measurement target area may be classified as a no-go area in the map to be updated. The reference reflection intensity is the reflection intensity corresponding to the first travel trajectory and is the reflection intensity corresponding to the electromagnetic waves irradiated by the first sensor.

[0031] The storage unit 42 has a function of storing various information and is realized by a storage device such as a hard disk. The storage unit 42 is mainly used for storing the map used by the self-position estimation unit 70 and the map update unit 80. The map is the map created by the map creation unit 50 or the map obtained by updating the map created by the map creation unit 50. The storage unit 42 may be realized by the same storage device that realizes the storage unit 40.

[0032] FIG. 4 shows an example of the hardware configuration of the control device 100 according to the present embodiment. The control device 100 is composed of a computer. The control device 100 may be composed of a plurality of computers.

[0033] As shown in this figure, the control device 100 is a computer including hardware such as a processor 91, a memory 92, an auxiliary storage device 93, an input / output IF (Interface) 94, and a communication device 95. These hardware components are appropriately connected via a signal line 99.

[0034] The processor 91 is an IC (Integrated Circuit) that performs arithmetic processing and controls the hardware of a computer. As a specific example, the processor 91 is a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a GPU (Graphics Processing Unit). The control device 100 may include a plurality of processors that replace the processor 91. The plurality of processors share the role of the processor 91.

[0035] The memory 92 is typically a volatile storage device and, as a specific example, is a RAM (Random Access Memory). The memory 92 is also called the main storage device or main memory. The data stored in the memory 92 is saved in the auxiliary storage device 93 as needed.

[0036] The auxiliary storage device 93 is typically a non-volatile storage device and, as specific examples, is a ROM (Read Only Memory), an HDD (Hard Disk Drive), or a flash memory. The data stored in the auxiliary storage device 93 is loaded into the memory 92 as needed. The memory 92 and the auxiliary storage device 93 may be integrally configured.

[0037] The input / output IF 94 is a port to which an input device and an output device are connected. As a specific example, the input / output IF 94 is a USB (Universal Serial Bus) terminal. As specific examples, the input device is a keyboard and a mouse. As a specific example, the output device is a display.

[0038] The communication device 95 is a receiver and a transmitter. As a specific example, the communication device 95 is a communication chip or a NIC (Network Interface Card).

[0039] When each part of the control device 100 communicates with other devices or the like, the input / output IF 94 and the communication device 95 may be used as appropriate.

[0040] The auxiliary storage device 93 stores a control program. The control program is a program that causes a computer to realize the functions of each part included in the control device 100. The control program is loaded into the memory 92 and executed by the processor 91. The functions of each part included in the control device 100 are realized by software.

[0041] Data used when executing the control program, data obtained by executing the control program, etc. are appropriately stored in the storage device. Each part of the control device 100 appropriately uses the storage device. The storage device consists of, as specific examples, at least one of the memory 92, the auxiliary storage device 93, the registers in the processor 91, and the cache memory in the processor 91. Note that the term "data" may have the same meaning as the term "information". The storage device may be independent of the computer. The functions of the memory 92 and the auxiliary storage device 93 may be realized by other storage devices.

[0042] The control program may be recorded on a computer-readable non-volatile recording medium. The non-volatile recording medium is, as a specific example, an optical disk or a flash memory. The control program may be provided as a program product. The hardware configuration of other control devices may be the same as that of the control device 100.

[0043] ***Description of Operations*** The operation procedures of each control device correspond to a control method. Also, a program that realizes the operation of each control device corresponds to a control program.

[0044] Hereinafter, the detailed operations in each phase will be described with specific examples.

[0045] <Data collection phase> FIG. 5 is a flowchart showing an example of the process performed in the data collection phase. This process will be described with reference to FIG. 5.

[0046] (Step S1) The data acquisition unit 30 stores the data measured by the sensor 200 in the storage unit 40.

[0047] (Step S2) In this step, it is determined whether the data collection phase can end. As a specific example, a person determines whether the environment that is the target for map creation in the data collection process by the sensor 200 has been covered. If it is determined that the environment has been covered, the data collection phase ends.

[0048] FIG. 6 shows a specific example of the range in which data is collected in the data collection phase. In this example, while moving the autonomous vehicle 1 along the arrow, data in the range is collected.

[0049] <Map creation phase> FIG. 7 is a flowchart showing an example of the process performed in the map creation phase. This process will be described with reference to FIG. 7.

[0050] (Step S3) The map creation unit 50 creates a map using the measurement data stored in the storage unit 41. Specifically, the map creation unit 50 creates a map using the SLAM technique with the distance values stored in the storage unit 41 as input data. The map created in this step is called a base map. The entire area shown by the base map is set as the classification target area. FIG. 8 shows a specific example of the map created in this step. At the end of this step, each area shown by the base map is not classified into either a drivable area or a no - driving area.

[0051] (Step S4) The map creation unit 50 performs a process of setting a drivable area on the base map. FIG. 9 is a flowchart showing an example of the process. This process will be described with reference to FIG. 9.

[0052] (Step S4-1) For each area shown in the base map, the map creation unit 50 determines whether it is an area on the driving track. The driving track is the track on which the autonomous vehicle 1 traveled during the data collection phase. That is, the process of this step is a process of identifying the area corresponding to the movement path of the autonomous vehicle 1 during the data collection phase on the base map. At this time, the map creation unit 50 may divide the area shown in the base map in any way to define each area to be determined. As a specific example, for each area shown in the base map, based on the distance value used when creating the base map, the map creation unit 50 estimates the self-position of the autonomous vehicle 1 at each time point when the autonomous vehicle 1 traveled in the area to be classified, and determines whether it is an area on the driving track.

[0053] (Step S4-2) For each area determined to be an area on the driving track among the areas to be classified, the map creation unit 50 assigns a value indicating that it is a drivable area. The drivable area, as a specific example, refers to an area to which a reliability of 100 is assigned. The reliability is an index corresponding to the possibility of being an actual drivable area, and is an index that takes a value in the range of 0 to 100 as a specific example. By the process of this step, each area is classified into a drivable area. As a specific example, the map creation unit 50 assigns a reliability of 100 to each location corresponding to the driving track among the areas to be classified. At this time, the map creation unit 50 may regard the entire area within a radius of X m from each point on the driving track as a drivable area. The value of X is determined based on the size of the autonomous vehicle 1 as a specific example.

[0054] (Step S4-3) The map creation unit 50 determines whether the area determination for each area on the driving track has been completed. If the area determination has not been completed, the map creation unit 50 returns to step S4-1. Otherwise, the map creation unit 50 ends the process of step S4.

[0055] (Step S5) The map creation unit 50 performs a process of setting a driving prohibited area for the map created by performing the process of step S4. FIG. 10 shows a flowchart illustrating an example of this process. This process will be described with reference to FIG. 10.

[0056] (Step S5-1) The map creation unit 50 determines whether there is a non-measurable area within the classification target area. A non-measurable area is an area for which a corresponding distance value could not be calculated due to the characteristics of the sensor 200. As a specific example, when using a 3D LiDAR as the sensor 200, for an area where an object with a low reflectivity exists, the distance to the area cannot be measured. Therefore, the probability that the area becomes a non-measurable area is high. If there is a non-measurable area within the classification target area, the map creation unit 50 performs the process of step S5-4.

[0057] (Step S5-2) The map creation unit 50 determines whether there is an obstacle candidate area within the classification target area. An obstacle candidate area is an area where the corresponding height is equal to or greater than a threshold value. The threshold value may be determined in any way. An area where the corresponding height is equal to or greater than a certain height is likely to be an area corresponding to an obstacle. Therefore, the process of this step is performed to make the obstacle candidate area a driving prohibited area. If there is an obstacle candidate area within the classification target area, the map creation unit 50 performs the process of step S5-4.

[0058] (Step S5-3) The map creation unit 50 determines whether there is a reflection difference region within the classification target area. The reflection difference region is a region having a reflection intensity different from that corresponding to the drivable region. The reflection intensity is an index indicating the ratio of the electromagnetic wave reflected back from an object when the object is irradiated with the electromagnetic wave. Therefore, the higher the value of the reflection intensity corresponding to the region where the object with a high reflectivity exists. The reflection intensity corresponding to the drivable region hits the reference reflection intensity. In the present embodiment, it is determined that there is a high possibility that the autonomous mobile body cannot travel in a region having a reflection intensity different from that corresponding to the drivable region. Note that the reflection intensity corresponding to the drivable region may mean the entire reflection intensity within a range determined according to the minimum value and the maximum value of the reflection intensity corresponding to each region within the drivable region. The minimum value of the range may be lower than the minimum value of the reflection intensity corresponding to each region within the drivable region. The maximum value of the range may be higher than the maximum value of the reflection intensity corresponding to each region within the drivable region. When the reflection intensity corresponding to the drivable region is the entire reflection intensity within a certain range, when the reflection intensity of a certain region is not included in the certain range, the certain region is determined to have a reflection intensity different from that corresponding to the drivable region. Further, the map creation unit 50 may determine the certain region as a reflection difference region when the difference between the reflection intensity corresponding to a certain region and the reflection intensity corresponding to the drivable region is equal to or more than a certain value. When there is a reflection difference region within the classification target area, the map creation unit 50 performs the process of step S5-4.

[0059] (Step S5-4) The map creation unit 50 sets each region corresponding to any one of the non-measurable region, the obstacle candidate region, and the reflection difference region within the classification target area as a travel prohibited region. At this time, as a specific example, the map creation unit 50 assigns a value indicating the travel prohibited region to each region. The travel prohibited region is, as a specific example, a region to which 0 is assigned as the reliability. By the process of this step, each region is classified into the travel prohibited region. As a specific example, the map creation unit 50 assigns a reliability of 0 to a location corresponding to any one of the non-measurable region, the obstacle candidate region, and the reflection difference region in the classification target area.

[0060] (Step S5-5) The map creation unit 50 determines whether or not the area determination of the prohibited driving area has been completed. If the area determination has not been completed, the map creation unit 50 returns to step S5-1. Otherwise, the map creation unit 50 ends the process of step S5.

[0061] (Step S6) The map creation unit 50 assigns a reliability to each area within the classification target area for which the reliability has not been assigned. At this time, the map creation unit 50 assigns a value that does not correspond to either the drivable area or the prohibited driving area as the reliability to each area. That is, the map creation unit 50 assigns a provisional reliability corresponding to the other area to each area. As a specific example, the map creation unit 50 assigns a reliability of 50 to each area. FIG. 11 shows a specific example of a map created by executing the process of the map creation phase.

[0062] <Map update phase> When the autonomous vehicle 3 uses the map created in the map creation phase, it can only move in a very limited area, the drivable area. Here, the prohibited driving area is an area where the autonomous vehicle 3 surely cannot drive. The other areas are areas where the autonomous vehicle 3 may be able to drive. Therefore, in the phase of actually using the map, the autonomous vehicle 3 expands the drivable area within the classification target area by performing a process of updating the map when driving in the other areas. Specifically, the autonomous vehicle 3 reduces its speed when driving in the other areas and updates the map by executing the process shown in FIG. 12.

[0063] FIG. 12 is a flowchart showing an example of the process in the map update phase. In the map update phase, it is assumed that the autonomous vehicle 3 updates the map to be updated while performing the actual task. The actual task is, as a specific example, the task of carrying objects. The map to be updated is a general term for the map created in the map creation phase and the map updated in the map update phase. Each time the autonomous vehicle 3 travels according to the instruction of the task control unit 60, the process in the map update phase is carried out, so that it becomes clear whether each area classified as another area is a drivable area. The process in the map update phase will be described with reference to FIG. 12.

[0064] (Step S7) The map update unit 80 determines each area to be updated among the areas within the classification target area. FIGS. 13 and 14 show specific examples of the determination process. According to these figures, each time the autonomous vehicle 3 passes through an area with a corresponding reliability of 100, the map update unit 80 searches for an area with a corresponding reliability of 0 and an area other than the area where the autonomous vehicle 3 is traveling and with a corresponding reliability of 100. When the map update unit 80 discovers an area with a corresponding reliability of 0 or 100, it proceeds to step S8. Each discovered area corresponds to the target classified area. Note that each area to be searched may be limited to an area existing within a radius of X m from the target point. The value of X may be set in any way.

[0065] (Step S8) The self-position estimation unit 70 estimates the position of the autonomous vehicle 3 based on the map to be updated and the measurement result of the sensor 201. The map update unit 80 updates the reliability corresponding to each area classified as another area based on the estimated position of the autonomous vehicle 3 and each discovered area. The estimated position of the autonomous vehicle 3 corresponds to the target point. As a specific example, as shown in FIG. 13, the map update unit 80 sets, for each region existing between the position of the autonomous driving vehicle 3 and the region with a corresponding reliability of 0, the values of the corresponding reliability for each region corresponding to the other regions to be higher the closer they are to the region with a corresponding reliability of 100 and lower the closer they are to the region with a corresponding reliability of 0. At this time, as shown in FIG. 14, the map update unit 80 does not update the reliability of a certain region when the reliability already assigned to the certain region is higher than the reliability to be assigned to the certain region. Each region for which the corresponding reliability is a target for update corresponds to a second unclassified region. Also, as shown in FIGS. 15 and 16, when an obstacle appears in a region classified as another region, the map update unit 80 appropriately sets each region classified as another region as a driving prohibited region according to the appearance position of the obstacle.

[0066] (Step S9) The map update unit 80 determines the end of the process in the map update phase. As a specific example, the map update unit 80 ends the process in the map update phase when the driving of the autonomous driving vehicle 3 ends.

[0067] ***Description of the effects of Embodiment 1*** As described above, according to the present embodiment, by using the acquired distance value and reflection intensity and the fact that the autonomous driving vehicle has traveled only in places where it can travel at the time of acquisition of the measurement data, the drivable region and the driving prohibited region can be discriminated with relatively high accuracy. Therefore, according to the present embodiment, the amount of the driving prohibited region set excessively can be reduced. Also, according to the present embodiment, since the reliability of each region on the map is appropriately updated each time the autonomous driving vehicle travels, it is possible to respond to changes in the environment.

[0068] ***Other configurations*** <Modification 1> FIG. 17 shows a hardware configuration example of the control device 100 according to this modification. The control device 100 includes a processing circuit 98 instead of the processor 91, the processor 91 and the memory 92, the processor 91 and the auxiliary storage device 93, or the processor 91, the memory 92, and the auxiliary storage device 93. The processing circuit 98 is hardware that realizes at least a part of each part included in the control device 100. The processing circuit 98 may be dedicated hardware, or may be a processor that executes a program stored in the memory 92.

[0069] When the processing circuit 98 is dedicated hardware, as a specific example, the processing circuit 98 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The control device 100 may include a plurality of processing circuits that replace the processing circuit 98. The plurality of processing circuits share the role of the processing circuit 98.

[0070] In the control device 100, some functions may be realized by dedicated hardware, and the remaining functions may be realized by software or firmware.

[0071] As a specific example, the processing circuit 98 is realized by hardware, software, firmware, or a combination thereof. The processor 91, the memory 92, the auxiliary storage device 93, and the processing circuit 98 are collectively referred to as the "processing circuitry". That is, the functions of each functional component of the control device 100 are realized by the processing circuitry. The hardware configuration of other control devices may be the same as that of this modification example.

[0072] ***Other embodiments*** Although the first embodiment has been described, a plurality of parts of the present embodiment may be combined and implemented. Alternatively, the present embodiment may be partially implemented. In addition, the present embodiment may be variously modified as necessary, and may be implemented in any combination, either as a whole or partially. Note that the above-described embodiments are essentially preferred examples, and are not intended to limit the present disclosure, its applications, and the scope of use. The procedures described using flowcharts and the like may be changed as appropriate.

Explanation of Reference Numerals

[0073] 1,3 Autonomous vehicle, 2,4 Housing, 10,11 Travel control unit, 20 Manual control unit, 30 Data acquisition unit, 40,41,42 Storage unit, 50 Map creation unit, 60 Task control unit, 70 Self-position estimation unit, 80 Map update unit, 90 Map generation system, 91 Processor, 92 Memory, 93 Auxiliary storage device, 94 Input / output IF, 95 Communication device, 98 Processing circuit, 99 Signal line, 100,101,102 Control device, 200,201 Sensor, 300 Controller.

Claims

1. In an update target map showing a classification target area, when each area within a portion of the classification target area is classified as either a drivable area or a prohibited area based on a first driving trajectory, which is the driving trajectory when a first autonomous vehicle drives within the classification target area, and a result of measurement of the periphery of the first autonomous vehicle by a first sensor equipped on the first autonomous vehicle when the first autonomous vehicle drives along the first driving trajectory, and when each area within the classification target area that is not classified as either the drivable area or the prohibited area is designated as a first unclassified area, a value indicating that the first unclassified area is neither the drivable area nor the prohibited area is set as a reliability, which is an index corresponding to the possibility that the first unclassified area is the drivable area, a map updating unit that, when a second autonomous vehicle travels on a second travel path within the classification target area based on the update target map, updates reliability corresponding to target classified areas, which are areas that are discovered based on a result of measurement of the periphery of the second autonomous vehicle by a second sensor included in the second autonomous vehicle when the second autonomous vehicle is traveling at a target point on the second travel path and are classified as either the drivable area or the travel-prohibited area in the update target map, and second unclassified areas, which are areas that exist between the target point and are not classified as either the drivable area or the travel-prohibited area in the update target map, to a target update value that is a value according to the distance between the second unclassified area and the target classified area and is a value according to whether the target classified area is the drivable area or the travel-prohibited area. A control device comprising:

2. 2. The control device according to claim 1, wherein the map update unit does not update the reliability corresponding to the second unclassified area when a reliability value already set for the second unclassified area is higher than the target update value.

3. 3. The control device according to claim 1, wherein when the map update unit detects an area in which an obstacle exists within the classification target area based on the measurement results of the second sensor, the map update unit classifies the detected area as the no-travel area in the update target map.

4. 3. The control device according to claim 1, wherein each area in the map to be updated for which the first sensor is unable to measure the corresponding distance is classified as the no-travel area.

5. 3. The control device according to claim 1, wherein when each area within the classification target area is a measurement target area, if the height of the measurement target area measured by the first sensor is equal to or greater than a height threshold, the measurement target area is classified as the no-travel area in the update target map.

6. each of the first sensor and the second sensor is a sensor that performs measurement using electromagnetic waves, 3. The control device according to claim 1, wherein when each area within the classification target area is a measurement target area, if the reflection intensity corresponding to the measurement target area when the first sensor irradiates the measurement target area with electromagnetic waves is different from a reference reflection intensity, which is the reflection intensity corresponding to the first driving track and is the reflection intensity corresponding to the electromagnetic waves irradiated by the first sensor, the measurement target area is classified as the no-travel area in the update target map.

7. The control device according to claim 6, wherein each of the first sensor and the second sensor is a 3D-LiDAR (Light Detection and Ranging) sensor.

8. The control device according to claim 1 or 2, wherein the distance from the target point to the target classified area is within a measurement distance.

9. In an update target map showing a classification target area, when each area within a portion of the classification target area is classified as either a drivable area or a prohibited area based on a first driving trajectory, which is the driving trajectory when a first autonomous vehicle drives within the classification target area, and a result of measurement of the periphery of the first autonomous vehicle by a first sensor equipped on the first autonomous vehicle when the first autonomous vehicle drives along the first driving trajectory, and when each area within the classification target area that is not classified as either the drivable area or the prohibited area is designated as a first unclassified area, a value indicating that the first unclassified area is neither the drivable area nor the prohibited area is set as a reliability, which is an index corresponding to the possibility that the first unclassified area is the drivable area, A control method in which a computer updates the reliability corresponding to target classified areas, which are areas that are discovered based on the results of measurements of the surroundings of a second autonomous vehicle by a second sensor equipped on the second autonomous vehicle when the second autonomous vehicle is traveling at a target point on the second traveling path based on the update target map, and which are areas that are classified as either the drivable area or the prohibited traveling area in the update target map and which exist between the target point and second unclassified areas, to a target update value that is a value corresponding to the distance between the second unclassified area and the target classified area and is a value corresponding to whether the target classified area is the drivable area or the prohibited traveling area.

10. In an update target map showing a classification target area, when each area within a portion of the classification target area is classified as either a drivable area or a prohibited area based on a first driving trajectory, which is the driving trajectory when a first autonomous vehicle drives within the classification target area, and a result of measurement of the periphery of the first autonomous vehicle by a first sensor equipped on the first autonomous vehicle when the first autonomous vehicle drives along the first driving trajectory, and when each area within the classification target area that is not classified as either the drivable area or the prohibited area is designated as a first unclassified area, a value indicating that the first unclassified area is neither the drivable area nor the prohibited area is set as a reliability, which is an index corresponding to the possibility that the first unclassified area is the drivable area, a map update process for updating, when a second autonomous vehicle travels on a second travel path within the classification target area based on the update target map, reliability levels corresponding to target classified areas, which are areas that are discovered based on results of measurements of the periphery of the second autonomous vehicle by a second sensor provided in the second autonomous vehicle when the second autonomous vehicle is traveling at a target point on the second travel path and are classified as either the drivable area or the travel-prohibited area in the update target map, and second unclassified areas, which are areas that exist between the target point and are not classified as either the drivable area or the travel-prohibited area in the update target map, to a target update value that is a value according to the distance between the second unclassified area and the target classified area and that is a value according to whether the target classified area is the drivable area or the travel-prohibited area A control program that causes a control device, which is a computer, to execute the above.

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