Information processing method, information processing device, information processing program, and storage medium

Abstract

This information processing method is executed by a processor in order to control display related to a target route traced by an autonomous towing device for towing a trailer by autonomous traveling of a tractor. The information processing method includes receiving an input of a target route targeted between nodes as a passing point of the autonomous towing device. The information processing method includes displaying, in association with the target route, a predicted travel region through which the autonomous towing device is predicted to pass. The predicted travel region is a region that correlates with a trace error with respect to a target route of the tractor that traces the target route inputted between the nodes and a trace error of the trailer towed by the tractor.

Description

Information processing method, information processing device, information processing program, and storage medium CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on Patent Application No. 2023-101822 filed in Japan on June 21, 2023, and the contents of the original application are incorporated by reference in their entirety.

[0002] The present disclosure relates to information processing techniques for controlling the display of route data defining a target route to be traced by an autonomous towed device.

[0003] Patent Literature 1 discloses a route search system that searches for a travel route for a towing vehicle that tows a cart. This route search system sets multiple travel routes from a current position to a destination and a route cost for each travel route. If the travel route includes a towing travel route section along which the cart can travel without interfering with obstacles when towing, and an independent travel route section when the towing vehicle is traveling alone, the route search system sets route costs for towing and independent travel for each route section, respectively. The route search system uses the route costs for the towing travel route section and the independent travel route section according to the traveling state of the towing vehicle to search for a travel route with the minimum cost.

[0004] Japanese Patent Application Laid-Open No. 2022-114188

[0005] The technology of Patent Document 1 searches for a route from the current position, which may result in a large tracking delay with respect to the target route at the travel position immediately after the search. Even if the starting position for route search is a predetermined position, if the towing vehicle is made to follow the target route, a tracking error of the towing vehicle with respect to the target route may occur, which may result in a further tracking error with respect to the target route in the non-towing bogie due to the difference in inner wheels with the towing vehicle. Because the technology of Patent Document 1 does not take into account the above-mentioned tracking delay and tracking error, it may be impossible to confirm in advance the possibility of interference with surrounding objects when traveling along the target route.

[0006] An object of the present disclosure is to provide an information processing method capable of checking in advance the possibility of interference with a peripheral object. Another object of the present disclosure is to provide an information processing device capable of checking in advance the possibility of interference with a peripheral object. Yet another object of the present disclosure is to provide an information processing program capable of checking in advance the possibility of interference with a peripheral object. Yet another object of the present disclosure is to provide a storage medium capable of checking in advance the possibility of interference with a peripheral object.

[0007] The technical means of the present disclosure for solving the problems will be described below. Note that the reference numerals in parentheses in the claims indicate the correspondence with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0008] A first aspect of the present disclosure is an information processing method executed by a processor to control a display related to a target route traced by an autonomous towing device that tows a trailer by autonomous driving of a tractor, the method including: accepting input of a target route to be targeted for each node as a passing point of the autonomous towing device; and displaying, in association with the target route, an area through which the autonomous towing device is predicted to pass as a predicted driving area that correlates with the tracing error of the tractor tracing the target route input for each node and the tracing error of the trailer towed by the tractor.

[0009] A second aspect of the present disclosure is an information processing device that includes a processor and controls a display related to a target route traced by an autonomous towing device that tows a trailer by autonomous driving of a tractor, wherein the processor is configured to: accept input of a target route to be targeted for each node as a passing point of the autonomous towing device; and display, in association with the target route, an area through which the autonomous towing device is predicted to pass as a predicted driving area that correlates with the tracing error of the tractor tracing the target route input for each node and the tracing error of the trailer towed by the tractor.

[0010] A third aspect of the present disclosure is an information processing program stored in a storage medium and including instructions to be executed by a processor for controlling a display related to a target route traced by an autonomous towing device that tows a trailer by autonomous driving of a tractor, the instructions including: accepting input of a target route to be targeted for each node as a passing point of the autonomous towing device; and displaying, in association with the target route, an area through which the autonomous towing device is predicted to pass as a predicted driving area correlated with the tracing error of the tractor tracing the target route input for each node and the tracing error of the trailer towed by the tractor.

[0011] A fourth aspect of the present disclosure is a storage medium storing an information processing program including instructions to be executed by a processor to control a display related to a target route traced by an autonomous towing device that tows a trailer by autonomous driving of a tractor, the instructions including: accepting input of a target route to be targeted for each node as a passing point of the autonomous towing device; and displaying, in association with the target route, an area through which the autonomous towing device is predicted to pass as a predicted driving area correlated with the tracing error of the tractor tracing the target route input for each node and the tracing error of the trailer towed by the tractor.

[0012] According to the first to fourth aspects, a predicted driving area that correlates with the tractor's tracing error and the trailer's tracing error relative to the target route is displayed in association with the target route. Therefore, by inputting the target route in advance, the user can check the possibility of interference between the autonomous towing device and surrounding objects, taking into account the tractor and trailer's tracing errors, by viewing the display of the predicted driving area. Therefore, it may be possible to check the possibility of interference with surrounding objects in advance.

[0013] FIG. 1 is a schematic diagram showing an autonomous towing device of a first embodiment. FIG. 2 is a block diagram showing the configuration of an entire system including an information processing device of the first embodiment. FIG. 3 is a schematic diagram showing the initial state of the autonomous towing device in a simulation. FIG. 4 is a block diagram showing the functional configuration of an information processing device according to the first embodiment. FIG. 5 is a flowchart showing an information processing method according to the first embodiment. FIG. 6 is a flowchart showing detailed processing of the simulation in FIG. 5. FIG. 7 is a schematic diagram showing the geometric relationship of the autonomous towing device during turning. FIG. 8 is a schematic diagram showing an overview of simulation processing. FIG. 9 is a schematic diagram showing an example of a display screen when accepting correction input. FIG. 10 is a schematic diagram showing an example of a final display screen. FIG. 11 is a flowchart showing an information processing method according to a second embodiment. FIG. 12 is a block diagram showing the configuration of an entire system including an information processing device of a third embodiment. FIG. 13 is a flowchart showing an information processing method according to the third embodiment.

[0014] Hereinafter, multiple embodiments of the present disclosure will be described with reference to the drawings. Note that corresponding components in each embodiment are designated by the same reference numerals, and redundant description may be omitted. Furthermore, when only a portion of the configuration is described in each embodiment, the configuration of another previously described embodiment may be applied to the remaining portions of the configuration. Furthermore, in addition to the combinations of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments may be partially combined together even if not explicitly stated, provided that there is no particular problem with the combination.

[0015] First Embodiment An information processing device 100 of the first embodiment controls a display related to a target path P of the autonomous towing device 1 shown in FIG. 1. The autonomous towing device 1 is an autonomous robot that can travel autonomously in any direction, including forward, backward, left, and right. Note that the autonomous towing device 1 as an autonomous device in the first embodiment can also be referred to as an autonomous vehicle.

[0016] The autonomous towing device 1 includes a tractor 2 and a trailer 3. The tractor 2 has a vehicle body 20 provided with a drive source 21, a control unit 22, wheels 23, axles 24, and a coupling 25. The drive source 21 is, for example, an electric motor, and the tractor 2 is a powered vehicle that is driven to travel by the drive source.

[0017] The control unit 22 is a control device that executes autonomous driving control of the tractor 2, and is an ECU (Electronic Control Unit) that includes at least one dedicated computer. The control unit 22 autonomously executes acceleration / deceleration control and steering control of the tractor 2, thereby causing the tractor 2 to self-propel. The control unit 22 controls the autonomous driving of the tractor 2 so as to trace the target route P in accordance with route data related to the target route P.

[0018] The wheels 23 include a pair of front wheels 23a provided at the front of the vehicle body 20 and a pair of rear wheels 23b provided at the rear. The axle 24 includes a front axle 24a having the pair of front wheels 23a rotatably fixed to both ends thereof, and a rear axle 24b having the pair of rear wheels 23b rotatably fixed to both ends thereof.

[0019] The coupling portion 25 is provided so as to extend rearward from the rear end of the vehicle body 20. For example, at the rear end of the coupling portion 25, a joint portion 26 is provided to which the coupling portion 33 on the trailer 3 side is attached. The joint portion 26 may be, for example, a hole through which a mounting fixture such as a pin is inserted, or may be a structure formed in a hook shape or a hook receiver shape. By attaching the joint portion 26 to the joint portion 34 on the coupling portion 33 side, the tractor 2 functions as a towing vehicle that tows the trailer 3 while allowing rotation about the joint portion 26 relative to the trailer 3.

[0020] The trailer 3 is configured to include a vehicle body 30, and wheels 31, axles 32, and a coupling portion 33 provided on the vehicle body 30. The vehicle body 30 is provided with a loading space S for loading cargo. The loading space S is formed, for example, as a space that opens upward, by being partitioned into front, rear, left, and right by parts of the vehicle body 30. The loading space S may be formed, for example, as a space that opens to the side of the vehicle body 30, or may simply be a space above the upper surface of the vehicle body 30 as a loading surface.

[0021] The wheels 31 and axles 32 include front wheels 31a, rear wheels 31b, front axles 32a, and rear axles 32b, similar to those of the tractor 2. Coupling portions 33 are provided at the front and rear ends of the vehicle body 30, respectively. Each coupling portion 33 has a joint portion 34 at the end opposite the vehicle body 30, similar to the coupling portion 25 of the tractor 2. Therefore, multiple trailers 3 can be coupled front to back. The trailer 3 is, for example, a non-powered vehicle that does not have a driving source for traveling. The trailer 3 functions as a towed vehicle that is towed by the tractor 2.

[0022] The autonomous towing device 1 achieves autonomous driving by traveling so as to trace a predetermined target route P from a starting point to a destination point. The information processing device 100 executes a display for the user of the autonomous towing device 1 to determine the target route P in advance before the autonomous towing device 1 departs. Specifically, the information processing device 100 displays to the user the possibility of interference with surrounding objects for the autonomous towing device 1 tracing the target route P input by the user.

[0023] As shown in FIG. 2, the information processing device 100 is connected to an input system 4, a map database (DB) 5, a vehicle DB 6, and a display system 7 via at least one of, for example, a local area network (LAN) line, a wire harness, an internal bus, and a wireless communication line.

[0024] The input system 4 accepts input operations by the user. The input system 4 is, for example, at least one of a mouse, a trackball, a keyboard, a touch panel, etc. The input system 4 may also include a device that accepts voice command input, such as a microphone.

[0025] The map DB 5 stores map information that can be used by the information processing device 100. The map DB 5 is configured to include at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium. The map DB 5 may be a database of a locator that estimates the autonomous towing device 1's own state quantities, including its own position. The map DB 5 may be a database of a navigation unit that navigates the autonomous towing device 1's travel route. The map DB 5 may be configured by combining multiple types of these databases.

[0026] The map information in the map DB 5 includes at least two-dimensional horizontal position information regarding surrounding objects O, which are installed in the facility area and may become obstacles when the autonomous towing device 1 travels. For example, the map information may be point cloud data including a group of reflection points of the surrounding objects O acquired by an external sensor such as LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging). In this case, each reflection point has position information. Alternatively, the map information may be image data obtained by imaging the group of reflection points projected onto a bird's-eye view plane. Note that the map information may also include three-dimensional position information including height information of the surrounding objects O.

[0027] The vehicle DB 6 stores information (vehicle information) relating to the autonomous towing device 1 that can be used by the information processing device 100. The vehicle DB 6 is configured to include at least one type of non-transient physical storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium. The vehicle information in the vehicle DB includes information about the autonomous towing device 1 that is necessary for displaying the predicted driving area R (described later). For example, the vehicle information includes dimensional information about the tractor 2 and trailer 3 of the autonomous towing device 1. The dimensional information includes the base length B of each vehicle shown in FIG. ｉ , total body length L ｉ , overall vehicle width W ｉ , and rear shaft connection distance d ｉThe subscript i in each parameter indicates the order from the front of the vehicle. In this embodiment, the leading tractor 2 is designated as i=0.

[0028] Overall length of vehicle body in dimension information L ｉ is the length in the front-rear direction of the vehicle bodies 20, 30 excluding the connecting portions 25, 33, and the overall vehicle body width W ｉ is the length in the width direction (left and right direction) of the vehicle body 20, 30. ｉ In the case of the tractor 2, the base length B is the length from the front axle 24a to the rear axle 24b. ｉ is the distance from the front joint 34 to the rear axle 32b, i.e., the wheelbase length plus the length from the front axle 24a to the front joint 34. ｉ is the length from the rear axle 24b, 32b to the rear joint portion 26, 34.

[0029] The vehicle DB 6 stores this dimensional information in association with the identification information of the tractor 2 and the trailer 3. Here, the identification information is information indicating the vehicle type of each of the tractor 2 and the trailer 3, such as the product name, model number, or model name. In other words, the vehicle DB 6 stores various information so that when the vehicle type of the tractor 2 or trailer 3 is specified, the dimensional information corresponding to that vehicle type can be matched.

[0030] The display system 7 displays information to the user. Specifically, the display system 7 displays a target route P and a predicted driving area R (described later) together with map information of the target area. The display system 7 is, for example, at least one type of display, such as a liquid crystal panel or an organic EL panel.

[0031] The information processing device 100 is a computer including at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. Here, "storage" may refer to accumulation in which data is retained even when the computer is turned off, or temporary storage in which data is erased when the computer is turned off. The processor 102 includes at least one type of core, such as a central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a data flow processor (DFP), or a graph streaming processor (GSP).

[0032] In the information processing device 100, the processor 102 executes a plurality of instructions included in an information processing program stored in the memory 101 to control the display of route data defining the target route P to be traced by the autonomous towing device 1. In this way, the information processing device 100 constructs a plurality of functional blocks for controlling the display of route data defining the target route P to be traced by the autonomous towing device. The plurality of functional blocks constructed in the information processing device 100 include an acquisition block 110 and an output block 120, as shown in FIG. 4 .

[0033] The flow of an information processing method in which the information processing device 100 controls the display of route data defining the target route P to be traced by the autonomous towing device 1 through the cooperation of these blocks 110 and 120 will be described below with reference to FIG. 5. Hereinafter, this processing flow may be referred to as an information processing flow. This processing flow is repeatedly executed while the computer of the information processing device 100 is running. Note that each "S" in this processing flow represents multiple steps executed by multiple commands included in the information processing program.

[0034] First, in S10, the acquisition block 110 acquires map information about the facility area in which the autonomous towing device 1 will be used from the map DB 5. Subsequently, in S20, the acquisition block 110 acquires vehicle information for the autonomous towing device 1. Specifically, the acquisition block 110 accepts input of user identification information via the input system 4. The acquisition block 110 then reads vehicle information for the autonomous towing device 1 corresponding to the identification information from the vehicle DB 6. Subsequently, in S30, the acquisition block 110 acquires a following error Et related to the tractor 2 in the autonomous towing device 1. The following error Et is the amount of error in the lateral direction, i.e., the normal direction, relative to the target path P, which is assumed when the tractor 2 traces the target path P and travels autonomously. The following error Et is an example of a "tracing error." The acquisition block 110 acquires the following error Et, for example, by accepting input of the following error Et via the input system 4. Alternatively, the acquisition block 110 may acquire the tracking error amount Et corresponding to the identification information by reading it from a storage medium such as the memory 101 .

[0035] In the next S40, the output block 120 creates an image of the acquired map information and displays it on the display system 7 as a map of the facility area. This facility map displays at least surrounding objects O that could become obstacles when the autonomous towing device 1 travels. The facility map may also display road markings and the like. Then, in S50, the acquisition block 110 receives input of a target route P and a target speed V by the user via the input system 4.

[0036] Specifically, the acquisition block 110 acquires input information for a target route P that is input so as to be superimposed on a facility map displayed on the display system 7. For example, the target route P defined by the user is defined by a start point SP, an end point EP, and a route line PL. More specifically, by defining the start point SP and the end point EP on the displayed facility map by clicking a mouse or inputting coordinates, the route line PL connecting the points SP and EP is also defined on the facility map. The route line PL is displayed as an image object in vector format with at least the start point SP and the end point EP as vertices.

[0037] Therefore, the user can change the position of these vertices and the direction and magnitude of the vectors from the vertices to change the shape of the route line PL as desired. The direction and magnitude of the vectors from the vertices can be changed, for example, by manipulating linear handles (not shown) extending from these vertices with a mouse or the like. Note that the user may arbitrarily add vertices that define the shape of the route line PL in addition to the start point SP and the end point EP. The start point SP and the end point EP are examples of "nodes," which are points through which the autonomous towing device 1 passes on the target route P. The target speed V is the target traveling speed of the autonomous towing device 1 from the start point SP to the end point EP. Note that the target speed V may be set uniformly from the start point SP to the end point EP, or may be set for each of multiple sections obtained by further dividing the route line PL from the start point SP to the end point EP.

[0038] In the next S60, the output block 120 executes a simulation of the path that the autonomous towing device 1 will take in accordance with the amount of following error Et for the tractor 2 and trailer 3 when the autonomous towing device 1 traces the input target path P. The output block 120 executes the simulation by modeling, for example, the tractor 2 and trailer 3 of the autonomous towing device 1 using a two-wheel model. As a result, the output block 120 simulates the amount of following error Et predicted for the trailer 3 in accordance with the amount of following error Et for the tractor 2 given as an input.

[0039] The detailed processing of the simulation in S60 will be described according to the flow in Fig. 6. Note that, although the following description will be given using as an example an autonomous towing device 1 in which one trailer 3 is coupled to a tractor 2, a similar simulation process can also be performed for an autonomous towing device 1 in which two or more trailers 3 are coupled.

[0040] First, in S61, the output block 120 sets the initial position and initial attitude (azimuth angle) of the autonomous towing device 1. The initial position of the tractor 2 is set to a position offset from the start point SP of the target route P by the amount of tracking error Et of the tractor 2 in the normal direction of the target route P. This position is a representative position coordinate of the tractor 2, for example, the center position coordinate of the vehicle body 20. The coordinate system here is a Cartesian coordinate system fixed with respect to the road surface. As will be described later, this simulation process is executed for two sets, one when the tracking error occurs on the right side of the target route P and one when it occurs on the left side. Therefore, the offset direction in S61 is determined depending on whether this step is the first set or the second set. In the following description, left and right refer to left and right when facing the traveling direction of the autonomous towing device 1.

[0041] The initial attitude of the tractor 2 is set to the azimuth angle in the tangential direction of the start point SP. The initial position and attitude of the trailer 3 are set to a position and attitude in which the joint angle of the coupling part 33 is zero, i.e., the trailer 3 is linearly coupled to the tractor 2, with the tractor 2 set to the initial position and attitude described above.

[0042] In the next step S62, the output block 120 defines the position coordinates of the four corners of the vehicle bodies 20, 30 when viewed from above for each of the tractor 2 and trailer 3, assuming that each vehicle body 20, 30 has a substantially rectangular shape. ｉ , total body length L ｉ , and overall vehicle width W ｉ The position coordinates of each of the four corners can be calculated from the above. The positions of the four corners of each vehicle body 20, 30 are candidate positions that can be located at the outermost left and right ends of the outer periphery of the vehicle body 20, 30 when the vehicle is running. Note that multiple position coordinates may be defined as candidate positions that are considered to be closer to the actual shape of the vehicle body 20, 30.

[0043] Then, in S63, the output block 120 outputs the steering angle δ when the tractor 2 follows the target path P while maintaining the tracking error amount Et. ０For example, the output block 120 defines the steering angle δ when it is assumed that tracking control is performed using PID control. ０ In this case, the steering angle δ ０ is the proportional gain k ｐ , differential gain k ｄ , integral gain k ｉ , and corresponds to a parameter expressed by the following equation (1) using a deviation e from the target path P obtained by subtracting the tracking error Et as a target value from the offset amount in the simulation.

[0044] Furthermore, in S64, the output block 120 outputs the steering angle δ corresponding to the turning operation of the trailer 3. ｉ Here, the turning movement of the trailer 3 occurs when the front wheels of the trailer 3 rotate in response to the towing by the tractor 2, and the front wheels of the trailer 3 are not directly steered by steering control. Therefore, the steering angle δ corresponding to the turning movement is ｉ is the pseudo steering angle (hereinafter referred to as pseudo steering angle) δ generated by the towing of the tractor 2 ｉ The output block 120 outputs the pseudo steering angle δ of the i-th trailer 3. ｉ is the base length B of the vehicle immediately preceding the trailer 3 shown in FIG. ｉ－１ , rear shaft connection distance d ｉ－１ , and joint angle Δθ ｉ－１ In this embodiment, the preceding vehicle is the tractor 2.

[0045] In the next step S65, the output block 120 updates the simulated positions of the tractor 2 and trailer 3 after Δt seconds. The updated positions are calculated based on the target speed V and steering angle δ in the simulation. ｉ Specifically, the updated position x ｉ＿ｎｅｗ , y ｉ＿ｎｅｗ corresponds to the values ​​expressed by the following equations (2) and (3) using the above parameters.

[0046] Furthermore, the updated posture θ ｉ＿ｎｅｗ is the target speed V and the steering angle δ ｉ In addition, base length B ｉSpecifically, the updated posture corresponds to a value expressed by the following equation (4) using the above parameters.

[0047] Then, in S66, the output block 120 determines whether the updated position of the tractor 2 has reached the end point EP of the target route P. If it is determined that the end point EP has not been reached, the flow returns to S62, and the updated position x ｉ＿ｎｅｗ , y ｉ＿ｎｅｗ and attitude θ ｉ＿ｎｅｗ the new current position x ｉ , y ｉ and attitude θ ｉ After replacing it with the above, the series of processes from S62 to S65 is executed.

[0048] On the other hand, if it is determined in S66 that the updated position of the tractor 2 has reached the end point EP, the flow proceeds to S67. In S67, the output block 120 determines whether or not the simulations performed through the series of processes in S61 to S63 have been completed for both the case where the tractor 2 travels to the left of the target route P while maintaining the tracking error amount Et, and the case where the tractor 2 travels to the right of the target route P while maintaining the tracking error amount Et. If it is determined that the simulations are incomplete, the flow returns to S61, and a simulation is performed for the case where the tractor 2 travels to the incomplete direction while maintaining the tracking error amount Et.

[0049] 5 , in S70, the output block 120 defines the predicted driving region R by linking it to the target route P according to the results of the simulation process. Specifically, the output block 120 searches for the nearest point in the trajectory coordinates of the coordinates of the four corners for all vehicles of the autonomous towing device 1 for each position on the target route P. The output block 120 sets the size of the time step Δt so that the interval between the trajectory coordinates is sufficiently small, and therefore the distance from a point on the target route P to the nearest point is the offset amount in the normal direction to the target route P.

[0050] The output block 120 acquires an offset amount for each of the four corner trajectories of all vehicles of the autonomous towing device 1. The output block 120 extracts the maximum offset amount for each of multiple positions on the target route P. The output block 120 defines this maximum offset amount as the left width of the predicted driving region R from each specific position on the target route P. In the example shown in FIG. 8 , for a certain position Pj in a left-curve portion of the target route P, the offset amount to the trajectory of the left rear end of the trailer 3, which is the maximum offset amount, is defined as the left width of the predicted driving region R. The output block 120 similarly defines the right width of the predicted driving region R. As a result, the predicted driving region R is defined as a region linked to the target route P that correlates with the tracking error Et of the tractor 2 and trailer 3 relative to the target route P.

[0051] In the next step S80, the output block 120 displays the predicted driving area R simulated by the above processing on the display system 7. Specifically, the output block 120 reconverts the left and right widths of the predicted driving area R for each point on the target route P into left and right coordinates in the normal direction, and converts these into image coordinates using pixel resolution, etc. The output block 120 generates an object that connects the position coordinates of the left and right widths in the predicted driving area R, and displays it superimposed on the facility map. Note that the object may connect the position coordinates in a straight line or a curved line. The object may be, for example, a polygon that covers the target route P in a tube shape.

[0052] Then, in S90, the acquisition block 110 determines whether or not the target route P has been confirmed. For example, the acquisition block 110 determines that the target route P has been confirmed when the user inputs, via the input system 4, that the target route P has been confirmed. If it is determined that the target route P has not been confirmed, the flow proceeds to S100.

[0053] In S100, the acquisition block 110 accepts a correction input for the target route P. The acquisition block 110 accepts the correction input, for example, by acquiring input information via the input system 4 from a user to change any of the start point, end point EP, or route line PL of the target route P on the display. In the example shown in FIG. 9 , the predicted traveling area R interferes with a surrounding object O, so the target route P is corrected by moving the end point EP. When the correction input is accepted, the flow returns to S60, and the predicted traveling area R for the corrected target route P is generated.

[0054] On the other hand, if it is determined in S90 that the target route P has been confirmed, the flow proceeds to S110. In S110, route data related to the confirmed target route P is output. The route data is output by, for example, storing it in a storage medium such as the memory 101 or an external memory, or by transmitting the route data to the autonomous towing device 1. As shown in FIG. 10 , the information processing device 100 repeats the above processing until the user sets the target route P to the final destination point of the autonomous towing device 1.

[0055] According to the first embodiment described above, the predicted traveling area R, which correlates with the amount of tracking error Et of the tractor 2 and the amount of tracking error Et of the trailer 3 relative to the target route P, is displayed in association with the target route P. Therefore, by inputting the target route P in advance, the user can check the possibility of interference between the autonomous towing device 1 and a peripheral object O, taking into account the amount of tracking error Et of the tractor 2 and the trailer 3, from the display of the predicted traveling area R. Therefore, it may be possible to check the possibility of interference with a peripheral object O in advance.

[0056] Second Embodiment As shown in Figure 11, the second embodiment is a modified example of the first embodiment. In the second embodiment, the information processing device 100 defines and displays the predicted traveling area R as an area that also correlates with the weight of the autonomous towing device 1.

[0057] In the second embodiment, the vehicle DB 6 stores the vehicle weights Mb of the tractor 2 and the trailer 3 as vehicle information. ｉ The vehicle body weight Mb stored in the vehicle DB 6 is further stored. ｉ is the weight of the vehicle when no cargo is loaded.ｉ are stored in association with the identification information of the tractor 2 and the trailer 3.

[0058] 11, the information processing flow in the second embodiment proceeds to S25 after S20. In S25, the acquisition block 110 acquires the load weight Ml of the load on the trailer 3. ｉ When multiple trailers 3 are towed, the acquisition block 110 receives input for the load weight Ml of each trailer 3. ｉ Accepts input.

[0059] Furthermore, in the update process of S65 in this flow, the output block 120 outputs the updated attitude θ ｉ＿ｎｅｗ , the vehicle weight Mb ｉ and loading weight Ml ｉ Specifically, the updated posture θ ｉ＿ｎｅｗ is the vehicle weight Mb ｉ and loading weight Ml ｉ The total weight is Mg ｉ This corresponds to the value according to the following equation (5):

[0060] In addition, the function A(M ｉ ) is the stability factor. The stability factor is a parameter that indicates the ease of turning of the vehicle, and the total weight Mg ｉ and the coefficient of friction between the wheel and the road surface.

[0061] According to the second embodiment described above, the information processing device 100 can display a planned travel area that corresponds to changes in the travel characteristics of the autonomous towing device 1 due to weight.

[0062] 12 and 13, the third embodiment is a modification of the first embodiment. In the second embodiment, the information processing device 100 defines a predicted traveling region R for a target route P according to information obtained by simulating a plurality of types of virtual routes assumed for the target route P in advance.

[0063] The area DB 8 stores information about the predicted traveling area R that can be used by the information processing device 100. The area DB 8 is configured to include at least one type of non-transient physical storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium. The area information in the area DB 8 includes at least information about the left and right width of the predicted traveling area R as a result of simulations performed in advance for multiple types of virtual routes assumed as the target route P for each vehicle type, for example, at multiple levels of target speed V. The multiple types of virtual routes are virtual routes in which the route curvature and the amount of tracking error Et of the tractor 2 are changed in multiple levels.

[0064] The region information is stored in the form of a lookup table that can output the right width and left width of the predicted traveling region R in response to input of the curvature of the target path P, the target speed V, and the tracking error amount Et. This region information is stored for each identification information of the autonomous towing device 1.

[0065] In the information processing flow of the third embodiment, as shown in Fig. 13, the process proceeds to S75 after S50. In S75, the output block 120 identifies a virtual route that matches the input target route P from the region DB 8 and defines the predicted traveling region R by reading the left-right width of the predicted traveling region R corresponding to the identified virtual route. A virtual route that matches the target route P is identified as a virtual route whose difference in curvature from the curvature of the target route P falls within a predetermined difference range, for example. Note that virtual routes that match each section obtained by further dividing the target route P may also be identified.

[0066] (Other Embodiments) Although multiple embodiments have been described above, the present disclosure should not be construed as being limited to those embodiments, and can be applied to various embodiments and combinations within the scope that does not deviate from the gist of the present disclosure.

[0067] In a modified example, the output block 120 may execute simulation processing of the tractor 2 and the trailer 3 using a vehicle model other than the two-wheel model.

[0068] In a modified example, at least one of the tractor 2 and the trailer 3 may have an axle independently fixed for each wheel, instead of a pair of wheels fixed to both ends of the axle.

[0069] In a modified example, the computer constituting the information processing device 100 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of the following: an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a system-on-a-chip (SOC), a programmable gate array (PGA), and a complex programmable logic device (CPLD). Such a digital circuit may also have a memory that stores a program.

[0070] In a modified example, the memory 101 storing the information processing program may be a portable storage medium that is removable from the information processing device 100. In this case, the memory 101 may be a storage medium in which the information processing program is stored so as to be readable by the information processing device 100 as a computer, and which is used to carry the program to be installed in the information processing device 100. Alternatively, the memory 101 may be a storage medium of a server device that distributes the information processing program to the user's information processing device 100.

[0071] In a modified example, the host mobile body to which the information processing device 100 is applied may be, for example, an autonomous robot capable of autonomously or remotely traveling to transport luggage or collect information, etc. In addition to the forms described so far, the above-described embodiment and modified example may be implemented in the form of a processing circuit (e.g., a processing ECU, etc.) or a semiconductor device (e.g., a semiconductor chip, etc.) as a control device that is configured to be mountable on a host mobile body and has at least one processor 102 and one memory 101.

[0072] (Disclosure of Technical Ideas) This specification discloses multiple technical ideas described in the following multiple clauses. Some clauses may be described in a multiple dependent form, with the subsequent clause alternatively referring to the preceding clause. Furthermore, some clauses may be described in a multiple dependent form, with the subsequent clause referring to another multiple dependent clause. These multiple dependent clauses define multiple technical ideas.

[0073] (Technical Idea 1) An information processing method executed by a processor (102) to control a display related to a target route (P) traced by an autonomous towing device (1) that tows a trailer (3) by autonomous driving of a tractor (2), the information processing method including: accepting input of the target route as a target for each node as a pass-through point of the autonomous towing device; and displaying, in association with the target route, an area through which the autonomous towing device is predicted to pass as a predicted driving area (R) that correlates with a tracing error of the tractor tracing the target route input for each node and the tracing error of the trailer towed by the tractor.

[0074] (Technical Idea 2) An information processing method according to Technical Idea 1, in which accepting input of the target route includes accepting input of a target speed for each node, and the predicted driving area is correlated with the tracing error of the trailer relative to passing through the target route at the target speed.

[0075] (Technical Idea 3) An information processing method described in Technical Idea 1 or Technical Idea 2, in which accepting input of the target route includes accepting input of identification information that identifies the autonomous towing device, and the predicted driving area correlates, as the tracing error with respect to the target route, to the tracing error predicted for the trailer in the autonomous towing device identified by the identification information.

[0076] (Technical Idea 4) The information processing method described in any one of Technical Ideas 1 to 3, wherein displaying the predicted driving area in association with the target route includes simulating and displaying the predicted driving area for the input target route in response to input of the target route.

[0077] (Technical Idea 5) The information processing method described in any one of Technical Ideas 1 to 3, wherein displaying the predicted driving area in association with the target route includes: storing the predicted driving area simulated for multiple types of virtual routes assumed for the target route in a database; and reading out and displaying the predicted driving area for the virtual route that matches the target route from the database in response to input of the target route.

[0078] (Technical Idea 6) An information processing method described in any one of Technical Ideas 1 to 5, wherein accepting input of the target route further includes accepting input of a correction to the target route displayed in association with the predicted driving area.

[0079] (Technical Idea 7) The information processing method according to any one of Technical Ideas 1 to 6, wherein displaying the predicted driving area in association with the target route includes generating route data that defines the target route.

[0080] (Technical Idea 8) In the information processing method according to Technical Idea 7, displaying the predicted travel area in association with the target route includes outputting the generated route data.

[0081] The above technical ideas 1 to 8 may be implemented in the form of an information processing device 100, an information processing program, and a storage medium.

Claims

1. An information processing method executed by a processor (102) to control a display related to a target route (P) traced by an autonomous towing device (1) that tows a trailer (3) by the autonomous driving of a tractor (2), the information processing method including: accepting input of the target route as a pass-through point for each node between the autonomous towing device; and displaying, in association with the target route, an area through which the autonomous towing device is predicted to pass as a predicted driving area (R) that correlates with the tracing error of the tractor tracing the target route input for each node between the nodes, and the tracing error of the trailer towed by the tractor.

2. The information processing method of claim 1, wherein accepting input of the target route includes accepting input of a target speed for each node, and the predicted driving area is correlated to the tracing error of the trailer relative to passing through the target route at the target speed.

3. The information processing method of claim 1, wherein accepting input of the target route includes accepting input of identification information that identifies the autonomous towing device, and the predicted driving area is correlated to the trace error predicted for the trailer in the autonomous towing device identified by the identification information as the trace error with respect to the target route.

4. The information processing method according to claim 1, wherein displaying the predicted driving area in association with the target route includes simulating and displaying the predicted driving area for the input target route in response to input of the target route.

5. The information processing method of claim 1, wherein displaying the predicted driving area in association with the target route includes: reading out area information corresponding to the virtual route that matches the input target route from a database in which area information regarding the predicted driving area simulated for multiple types of virtual routes assumed in the target route is stored; and displaying the predicted driving area according to the read area information.

6. The information processing method according to claim 1, wherein accepting input of the target route further includes accepting input of a correction to the target route displayed in association with the predicted driving area.

7. The information processing method according to claim 1, wherein displaying the predicted driving area in association with the target route includes generating route data that defines the target route.

8. The information processing method according to claim 7, wherein displaying the predicted driving area in association with the target route includes outputting the generated route data.

9. An information processing device having a processor (102) and controlling a display related to a target route (P) traced by an autonomous towing device (1) that tows a trailer (3) by the autonomous driving of a tractor (2), wherein the processor is configured to execute the following: accept input of the target route as a pass-through point for each node between the autonomous towing device; and display, in association with the target route, an area through which the autonomous towing device is predicted to pass as a predicted driving area (R) that correlates with the tracing error of the tractor tracing the target route input for each node between the nodes and the tracing error of the trailer towed by the tractor.

10. An information processing program stored in a storage medium (101) and including instructions to be executed by a processor (102) for controlling a display related to a target route (P) traced by an autonomous towing device (1) that tows a trailer (3) by the autonomous driving of a tractor (2), the instructions including: accepting input of the target route as a pass-through point for each node between the autonomous towing device; and displaying, in association with the target route, an area through which the autonomous towing device is predicted to pass as a predicted driving area (R) that correlates with the tracing error of the tractor tracing the target route input for each node between the nodes and the tracing error of the trailer towed by the tractor.

11. A storage medium storing an information processing program including instructions to be executed by a processor (102) to control a display related to a target route (P) traced by an autonomous towing device (1) that tows a trailer (3) by the autonomous driving of a tractor (2), the instructions including: accepting input of the target route as a pass-through point for each node between the autonomous towing device; and displaying, in association with the target route, an area through which the autonomous towing device is predicted to pass as a predicted driving area (R) that correlates with the tracing error of the tractor tracing the target route input for each node between the nodes and the tracing error of the trailer towed by the tractor.

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