Trailer travel route output device

Abstract

This trailer travel route output device outputs a target travel route corresponding to the situation around a tractor and a trailer.　The present invention is characterized by comprising a trailer travel route generator (20) that generates and outputs a target travel route, and is also characterized in that the trailer travel route generator (20) generates and outputs a parking target travel route as the target travel route when a travel mode is a parking mode for parking a trailer (3), the parking target travel route is a first target route in which the route for reversing of the trailer (3) is a straight line when a parking space front distance is equal to or greater than a predetermined distance threshold value, and the parking target travel route is a second target route in which the route for reversing of the trailer (3) includes a clothoid curve when the parking space front distance is less than the distance threshold value.

Description

Trailer driving route output device

[0001] The present disclosure relates to a trailer travel path output device.

[0002] Cargo transportation by trailers towed by tractors accounts for an important portion of global commerce. In this disclosure, a trailer refers to the cargo vehicle portion carrying cargo, a tractor refers to the vehicle towing the trailer, and a combination vehicle includes a tractor and a trailer. Recently, demand for businesses such as e-commerce (electronic commerce), which involves buying and selling goods or services, such as home appliances or food, over the Internet, has been rapidly expanding. Meanwhile, driver shortages and an aging driver workforce have become problems in trailer cargo transportation. Automated driving of tractors in logistics facilities has attracted attention as a solution to the driver shortage and the need to reduce driver overtime. Here, automated driving refers to the automatic operation of steering, driving, braking, and shifting.

[0003] In order to control an autonomous vehicle, it is necessary to manage the autonomous driving mode and control the vehicle according to the autonomous driving mode. The autonomous driving modes include, for example, a manual mode in which the driver performs driving operations, a standby mode in which the vehicle is in a standby state before autonomous driving begins, a traveling mode in which the trailer travels around a circular course within a logistics facility, a parking mode in which the trailer towed by a tractor is parked in a target parking location, a docking mode in which the trailer is connected to a loading bay door of a logistics facility, and a hitching mode in which the tractor and trailer are coupled together.

[0004] One proposed trailer driving path output device, in parking mode, stores multiple reverse path profiles according to the trailer wheelbase, based on the trailer's rear axle, and selects a path with a small tractor driving curvature based on the parking start position, the parking target position, and information about the tractor and trailer (see, for example, Patent Document 1). This technology is characterized by high reproducibility and a low computational load because it uses a predetermined reverse path profile.

[0005] JP 2023-44216 A

[0006] The trailer driving route output device shown in Patent Document 1 stores multiple reverse route profiles in advance, and selects one reverse route from among the multiple reverse route profiles.However, depending on the logistics facility, or during busy periods or snowy periods, the passable areas around the tractor and trailer may differ, and there may not be a reverse route that corresponds to each situation.In such cases, there is a problem that a target driving route cannot be generated.

[0007] The present disclosure discloses a technology for solving the above-mentioned problems, and aims to provide a trailer driving path output device that outputs a target driving path that corresponds to the conditions around the tractor and trailer.

[0008] The trailer travel path output device of the present disclosure is a trailer travel path output device that generates and outputs a target travel path for moving a trailer coupled to a tractor, and includes a locator that outputs tractor position, which is tractor position information, tractor attitude angle, which is tractor attitude angle, and tractor surroundings map information, which is information on a map of the tractor's surroundings; a trailer detection sensor that outputs a tractor-trailer relative angle, which is the relative angle between the tractor and the trailer, and a tractor-trailer distance, which is the distance between the tractor and the trailer; and a tractor-side sensor that outputs a target parking width, which is the width of the target parking space, and a parking space forward distance, which is the distance in the forward direction from the front end of the target parking space to the non-travelable area. and a trailer driving path generator that generates and outputs a target driving path for a trailer rear end center point that is located at the center of the trailer rear end from the outputs of the locator, trailer detection sensor, and tractor side detection sensor, wherein the trailer driving path generator generates and outputs a parking target driving path as the target driving path when the driving mode is a parking mode in which the trailer is parked, and the parking target driving path is a first target path that is a straight line when the parking space front distance is equal to or greater than a predetermined distance threshold, and a second target path that is a clothoid curve when the trailer backs up when the parking space front distance is less than the distance threshold.

[0009] The trailer travel path output device of the present disclosure is a trailer travel path output device that generates and outputs a target travel path for moving a trailer coupled to a tractor, and includes a locator that outputs tractor position, which is tractor position information, tractor attitude angle, which is tractor attitude angle, and tractor surroundings map information, which is information on a map of the tractor's surroundings; a trailer detection sensor that outputs tractor-trailer relative angle, which is the relative angle between the tractor and the trailer, and tractor-trailer distance, which is the distance between the tractor and the trailer; a tractor side detection sensor that outputs target parking width, which is the width of the target parking space, and parking space front distance, which is the distance in the forward direction from the front end of the target parking space to the no-travel area; and and a trailer driving path generator that generates and outputs a target driving path for the trailer rear end center point, which is located at the trailer rear end center position in the center of the trailer's rear end, from the outputs of the detection sensor and the tractor side detection sensor, and the trailer driving path generator generates and outputs a parking target driving path as the target driving path when the driving mode is a parking mode in which the trailer is parked, and the parking target driving path is a first target path which is a straight line when the parking space front distance is equal to or greater than a predetermined distance threshold, and a second target path which is a clothoid curve when the parking space front distance is less than the distance threshold, so that it is possible to output a target driving path that corresponds to the situation around the tractor and trailer.

[0010] FIG. 1 is a schematic diagram of a combination vehicle equipped with a trailer travel path output device according to embodiment 1. FIG. 2 is a block diagram showing the configuration of the trailer travel path output device according to embodiment 1. FIG. 3 is a flowchart explaining the operation of the trailer travel path output device according to embodiment 1. FIG. 4 is a block diagram showing the configuration of a trailer travel path generator according to embodiment 1. FIG. 5 is a flowchart explaining the operation of the trailer travel path generator according to embodiment 1. FIG. 6 is a block diagram showing the configuration of a trailer rear end position estimating unit according to embodiment 1. FIG. 7 is a flowchart explaining the operation of the trailer rear end position estimating unit according to embodiment 1. FIG. 8 is a diagram explaining an example of the trailer rear end center position according to embodiment 1. FIG. 9 is a diagram explaining another example of the trailer rear end center position according to embodiment 1. FIG. 10 is a block diagram showing the configuration of a target travel path generating unit according to embodiment 1. FIG. 11 is a flowchart explaining the operation of a traveling mode determining unit and a target travel path switching unit according to embodiment 1. FIG. 12 is a diagram showing an example of a normal target travel path according to embodiment 1. FIG. 13 is a block diagram showing the configuration of a parking target path generating unit according to embodiment 1. FIG. 14 is a flowchart explaining the operation of a parking space front distance determining unit and a parking target path switching unit according to embodiment 1. FIG. 15 is a diagram showing an example of a first target path according to embodiment 1. FIG. 16 is a diagram showing an example of a second target path according to embodiment 1. 1 is a schematic diagram showing an example of a hardware configuration of a trailer driving path generator in Embodiment 1. FIG. 2 is a schematic diagram showing another example of a hardware configuration of a trailer driving path generator in Embodiment 1. FIG.

[0011] Hereinafter, a trailer travel path output device according to an embodiment will be described in detail with reference to the drawings. Note that the same reference numerals in the various drawings indicate the same or corresponding parts.

[0012] Embodiment 1. Figure 1 is a schematic diagram of a combination vehicle equipped with a trailer travel path output device according to embodiment 1. The combination vehicle 4 comprises a tractor 1 and a trailer 3 connected to the tractor 1 by a coupler 2. The tractor 1 comprises a locator 11, a trailer detection sensor 12, a tractor side detection sensor 13, and a GNSS (Global Navigation Satellite System) antenna 14.

[0013] One or more tractor side detection sensors 13 are installed on each of the left and right sides of the tractor 1, and may be, for example, surround-view cameras or wide-angle cameras. The tractor side detection sensors 13 measure at least a target parking width, which is the width of the target parking space, and a parking space front distance, which is the distance in the forward direction from the front edge of the target parking space to the no-travel area, and output these values. Measurement of the target parking width and the parking space front distance using the tractor side detection sensors 13 is achieved using known technology. The tractor side detection sensors 13 may also be infrared cameras, depending on the environment of the logistics facility where the combination vehicle 4 travels or the environment around the tractor 1. The tractor side detection sensors 13 may also determine the target parking width and the parking space front distance by processing image information acquired from the cameras in an ECU (Electronic Control Unit).

[0014] The trailer detection sensor 12 is installed behind the tractor 1 in a direction that allows it to detect the trailer 3. The trailer detection sensor 12 measures at least the tractor-trailer relative angle, which is the relative angle between the tractor 1 and the trailer 3, and the tractor-trailer distance, which is the distance between the tractor 1 and the trailer 3, and outputs the respective values. The trailer detection sensor 12 is realized, for example, by LiDAR (Light Detection and Ranging) and may further include a camera for recognizing the trailer 3. Note that the measurement of the relative angle between the tractor 1 and the trailer 3 and the measurement of the distance between the tractor 1 and the trailer 3 are not limited to LiDAR and a camera, and millimeter wave radar may also be used.

[0015] The locator 11 outputs at least the tractor position, which is position information of the tractor 1, the tractor attitude angle, which is the attitude angle of the tractor 1, and tractor surroundings map information, which is information on a map of the area around the tractor 1. The locator 11 is, for example, an HD-Locator (High Definition-Locator), and uses information from GNSS satellites received by the GNSS antenna 14 and augmentation information from quasi-zenith satellites to output highly accurate position information with centimeter-level position accuracy. The locator 11 includes a GNSS receiver, an IMU (Inertial Measurement Unit) sensor, and a high-precision map database. The GNSS antenna 14 is connected to the GNSS receiver, and the GNSS antenna 14 is installed outside the tractor 1, while the locator 11 is installed inside the tractor 1. Here, the GNSS receiver outputs UTC (Coordinated Universal Time), latitude, longitude, azimuth angle, satellite positioning status, etc. The IMU sensor outputs triaxial acceleration information, triaxial angular acceleration information, etc.

[0016] The locator 11 retrieves map information about the area around the tractor 1 from the high-precision map database and outputs it as tractor area map information. The high-precision map information stored in the high-precision map database includes information about the entire area of ​​the logistics facility through which the articulated vehicle 4 travels, including map information about the circuit course that circles the logistics facility and map information about all parking spaces within the logistics facility. The map information about the circuit course is, for example, point cloud information, and the map information about the parking spaces is, for example, point cloud information. The point cloud information about the circuit course includes, for example, information about the latitude, longitude, azimuth, and recommended vehicle speed of multiple circuit course points that are points on the circuit course, and the point cloud information about the parking spaces includes, for example, information about the latitude and longitude of the parking space and the azimuth of the parking direction, which is the forward direction when parking in the parking space.

[0017] 2 is a block diagram showing the configuration of the trailer driving path output device 100 according to the first embodiment. The trailer driving path output device 100 according to the first embodiment includes a locator 11, a trailer detection sensor 12, a tractor side detection sensor 13, and a trailer driving path generator 20. The trailer driving path generator 20 is realized by, for example, an AD-ECU (Autonomous Driving - Electronic Control Unit) or an ADAS-ECU (Advanced Driver Assistance System - Electronic Control Unit). Note that the trailer driving path output device 100 may also be realized by an industrial PC.

[0018] 3 is a flowchart for explaining the operation of the trailer driving path output device 100 according to embodiment 1. Step S01 is a locator output step, step S02 is a trailer detection sensor output step, step S03 is a tractor side detection sensor output step, and step S04 is a target driving path output step.

[0019] In step S01, the locator 11 outputs the tractor position, tractor attitude angle, and tractor surroundings map information, and then proceeds to step S02. The tractor position includes information on the latitude and longitude of the position of the tractor 1, such as the latitude and longitude of the position of the GNSS antenna 14 installed on the tractor 1. The tractor attitude angle includes information on the tractor azimuth angle, which is the angle of the forward direction of the tractor 1 with north as the reference azimuth.

[0020] In step S02, the trailer detection sensor 12 outputs the tractor-trailer relative angle and the tractor-trailer distance, and the process proceeds to step S03. In the example shown in Fig. 1, the trailer detection sensor 12 measures and outputs the distance from each of the right, center, and left extreme points at the rear end of the tractor 1 to the trailer 3. In addition, the trailer detection sensor 12 determines and outputs the tractor-trailer relative angle, which is the angle between the fore-and-aft direction of the tractor 1 and the fore-and-aft direction of the trailer 3, from the distance from each of the right, center, and left extreme points at the rear end to the trailer 3.

[0021] In step S03, the tractor side detection sensor 13 measures the target parking width, which is the width of the target parking space, and the parking space front distance, which is the distance in the forward direction from the front edge of the target parking space to the no-travel area, and outputs each value, and then proceeds to step S04. In step S04, the trailer travel path output device 100 outputs the target travel path for the trailer rear end center point, the speed profile corresponding to the target travel path, and the trailer rear end center position, and then ends the process. The speed profile is array information used to control the vehicle speed when the tractor 1 travels along the target travel path.

[0022] 4 is a block diagram showing the configuration of the trailer driving path generator 20 in embodiment 1. The trailer driving path generator 20 includes a destination instruction output unit 21, a driving mode output unit 22, an articulated vehicle length information output unit 23, a trailer rear end position estimation unit 24, and a target driving path generation unit 25.

[0023] Figure 5 is a flowchart for explaining the operation of trailer driving path generator 20 in embodiment 1, and is a flowchart for explaining the details of the processing of the target driving path output step of step S04 in Figure 3. Step S11 is a destination instruction output step, step S12 is a driving mode output step, step S13 is a combined vehicle length information output step, step S14 is a trailer rear end position estimation step, and step S15 is a target driving path generation step.

[0024] In step S11, the destination instruction output unit 21 outputs the destination position, which is the position information of the destination, and then proceeds to step S12. The destination position includes, for example, information on the latitude and longitude of the destination. When the driving mode is parking mode or docking mode, the destination position is the target parking position, and when the driving mode is traveling mode, the destination position is the normal target position. The destination position is, for example, the longitude of the destination set by the occupant of the tractor 1 and information on the longitude of the destination. Alternatively, if there is a control system external to the trailer driving path output device 100, the destination position may be the longitude of the destination and information on the longitude of the destination obtained from the control system via a network, for example, via LTE (Long Term Evolution) or 5G (5th Generation Mobile Communication System).

[0025] In step S12, the driving mode output unit 22 outputs the driving mode, and the process proceeds to step S13. The driving mode is, for example, one of a standby mode indicating a standby state before the start of autonomous driving, a traveling mode in which the trailer 3 travels around a circular course within the logistics facility, a parking mode in which the trailer 3 is parked in a target parking space, a docking mode in which the trailer 3 is connected to a door at the loading entrance of the logistics facility, and a hitching mode in which the vehicle is moved to a position where the tractor 1 and the trailer 3 are coupled. The driving mode is set, for example, by the driver of the tractor 1. Alternatively, if there is a control system external to the trailer driving path output device 100, the driving mode is set by the control system via a network, for example, via LTE (Long Term Evolution) or 5G (5th Generation Mobile Communication System).

[0026] In step S13, the articulated vehicle length information output unit 23 outputs information on the tractor length, which is the overall length of the tractor 1, and the trailer length, which is the overall length of the trailer 3, and the process proceeds to step S14. The information on the tractor length and trailer length is stored in advance in the articulated vehicle length information output unit 23. The articulated vehicle length information output unit 23 may also output information on the tractor length, which is the overall length of the tractor 1, the trailer length, which is the overall length of the trailer 3, and the trailer width, which is the overall width of the trailer 3. In this case, the information on the tractor length, trailer length, and trailer width is stored in the articulated vehicle length information output unit 23 in advance.

[0027] In step S14, the trailer rear end position estimator 24 acquires information on the tractor position, tractor attitude angle, tractor-trailer relative angle, tractor-trailer distance, tractor length, and trailer length, calculates the trailer rear end center position from these values, outputs this information, and proceeds to step S15. The trailer rear end center position is the position of the trailer rear end center point located in the center of the rear end of the trailer 3, and is expressed by latitude and longitude, for example. Therefore, the trailer rear end center point is a point located in the center of the rear end of the trailer 3 at the trailer rear end center position. The trailer rear end center position output by the trailer rear end position estimator 24 is also output to the outside of the trailer travel path generator 20.

[0028] In step S15, the target driving route generation unit 25 acquires information on the destination position, map information around the tractor, driving mode, center position of the rear end of the trailer, distance ahead of the parking space, and target parking width, and generates and outputs a target driving route and a speed profile corresponding to the target driving route from these values, and then ends the processing.

[0029] 6 is a block diagram showing the configuration of the trailer rear end position estimating unit 24 in embodiment 1. The trailer rear end position estimating unit 24 includes a tractor rear end center position output unit 241, a trailer front end center position output unit 242, and a trailer rear end center position output unit 243.

[0030] Fig. 7 is a flowchart for explaining the operation of the trailer rear end position estimating unit 24 in the first embodiment, and is a flowchart for explaining the details of the processing of the trailer rear end position estimating step in step S14 in Fig. 5. Step S21 is a step for outputting the center position of the rear end of the tractor, step S22 is a step for outputting the center position of the front end of the trailer, and step S23 is a step for outputting the center position of the rear end of the trailer.

[0031] In step S21, the tractor rear end center position output unit 241 acquires information on the tractor position, tractor length, and tractor attitude angle, calculates the tractor rear end center position from these values, outputs the tractor rear end center position and tractor attitude angle information, and proceeds to step S22. The tractor rear end center position is the position of the tractor rear end center point, which is the center point of the rear end of the tractor 1, and is expressed by, for example, latitude and longitude.

[0032] In step S22, the trailer front end center position output unit 242 acquires information on the tractor rear end center position, tractor attitude angle, tractor-trailer distance, and tractor-trailer relative angle, calculates the trailer front end center position from these values, outputs information on the trailer front end center position and tractor attitude angle, and proceeds to step S23. The trailer front end center position is the position of the trailer front end center point, which is the center point of the front end of the trailer 3, and is expressed by latitude and longitude, for example.

[0033] In step S23, the trailer rear end center position output unit 243 acquires information on the trailer front end center position, tractor attitude angle, tractor-trailer relative angle, and trailer length, calculates the trailer rear end center position from these values, outputs this information, and ends the processing. The trailer rear end center position is the position of the trailer rear end center point, which is the center point of the rear end of the trailer 3, and is expressed by latitude and longitude, for example.

[0034] In the above explanation, the trailer rear end position estimation unit 24 determines the center position of the tractor rear end, the center position of the trailer front end, and the center position of the trailer rear end in that order, but the trailer rear end center position may also be determined from the tractor position, tractor length, tractor attitude angle, tractor-trailer distance, tractor-trailer relative angle, and trailer length.

[0035] FIG. 8 is a diagram for explaining an example of the center position of the rear end of the trailer in the first embodiment, and shows the case where the tractor 1 and trailer 3 are aligned in a straight line, i.e., the case where the tractor-trailer relative angle is zero degrees. In FIG. 8, the rearward direction of the tractor 1 is the positive direction of the x-axis, the rightward direction of the tractor 1 is the positive direction of the y-axis, and the installation position of the GNSS antenna 14 is the origin (0,0). The trailer width is D. In the example shown in FIG. 8, the GNSS antenna 14 is installed in the center of the tractor 1. The tractor length is L. ｔｒａｃｔｏｒ When the coordinates of the rear end center position of the tractor, which is the position of the rear end center point 31 of the tractor, on the xy plane (x １ , y １ ) can be calculated by the following formula (1). Furthermore, the coordinate (x １ , y １ ), the latitude and longitude of the center position of the rear end of the tractor may be calculated from the tractor position and tractor attitude angle.

[0036]

[0037] When the tractor-trailer distance, which is the distance from the tractor rear end center point 31 to the trailer front end center point 32, is Ltrailer_detection_result, the coordinates (x ２ , y ２ ) can be calculated by the following equation (2): ２ , y ２ The latitude and longitude of the center position of the front end of the trailer may be calculated from the tractor position and tractor attitude angle. Alternatively, the latitude and longitude of the center position of the rear end of the tractor may be calculated from the latitude and longitude of the center position of the rear end of the tractor, the tractor attitude angle, and the tractor-trailer distance.

[0038]

[0039] The trailer length, which is the distance from the trailer front end center point 32 to the trailer rear end center point 33, is L. ｔｒａｉｌｅｒ When this is done, the coordinates of the rear end center position of the trailer on the xy plane (x３ , y ３ ) can be calculated by the following equation (3): ３ , y ３ The latitude and longitude of the center position of the rear end of the trailer may be calculated from the tractor position and tractor attitude angle, or the latitude and longitude of the center position of the rear end of the trailer may be calculated from the latitude and longitude of the center position of the front end of the trailer, the tractor attitude angle, and the trailer length.

[0040]

[0041] FIG. 9 is a diagram for explaining another example of the trailer rear end center position in the first embodiment, and shows the case where the front-to-rear direction of the trailer 3 is tilted counterclockwise by θ degrees with respect to the front-to-rear direction of the tractor 1, that is, the case where the tractor-trailer relative angle is θ degrees. Although FIG. 9 shows a case where the value of θ is positive, in the equations shown below, the value of θ may be positive, negative, or zero. Furthermore, the trailer 3 and the coupler 2 are fixedly connected, and the tractor 1 and the coupler 2 are connected rotatably at the tractor rear end center point 31. In FIG. 9, the coordinates (x y ) of the tractor rear end center position on the xy plane are １ , y １ ) is as shown in equation (1), but the coordinates (x ２ , y ２ ) can be calculated by the following equation (4): ２ , y ２ The latitude and longitude of the center position of the front end of the trailer may be calculated from the tractor position and tractor attitude angle. Alternatively, the latitude and longitude of the center position of the rear end of the tractor may be calculated from the latitude and longitude of the center position of the rear end of the tractor, the tractor attitude angle, the tractor-trailer distance, and the tractor-trailer relative angle.

[0042]

[0043] The coordinates of the center position of the rear end of the trailer on the xy plane (x ３ , y ３) can be calculated by the following equation (5): ３ , y ３ The latitude and longitude of the center position of the rear end of the trailer may be calculated from the tractor position and tractor attitude angle. Alternatively, the latitude and longitude of the center position of the rear end of the trailer may be calculated from the latitude and longitude of the center position of the front end of the trailer, the tractor attitude angle, the tractor-trailer relative angle, and the trailer length.

[0044]

[0045] The trailer rear end position estimation unit 24 uses equation (5) to calculate the coordinates (x y ) of the center position of the trailer rear end on the xy plane from the tractor length, the tractor-trailer distance, the tractor-trailer relative angle, and the trailer length. ３ , y ３ ) is calculated, and the coordinates (x ３ , y ３ ) the latitude and longitude of the center position of the rear end of the trailer may be obtained.

[0046] 10 is a block diagram showing the configuration of the target driving route generating unit 25 in Embodiment 1. The target driving route generating unit 25 includes a driving mode determining unit 251, a normal driving target route generating unit 252, a parking target route generating unit 253, and a target driving route switching unit 254.

[0047] 11 is a flowchart for explaining the operation of the target driving path generating unit 25 in the first embodiment, and is a flowchart for explaining the details of the processing of the target driving path generating step of step S15 in FIG. 5. Step S31 is a driving mode determining step, step S32 is a normal driving target path generating step, step S33 is a normal target driving path output step, step S34 is a parking target path generating step, and step S35 is a parking target driving path output step. The block diagram shown in FIG. 10 and the flowchart shown in FIG. 11 show the processing when the driving mode output unit 22 shown in FIG. 4 outputs any one of the driving modes: a traveling mode in which the trailer 3 travels around a circular course within the logistics facility, a parking mode in which the trailer 3 is parked in a target parking space, or a docking mode in which the trailer 3 is docked at the door of the baggage entrance of the logistics facility.

[0048] In step S31, the traveling mode determination unit 251 determines whether the traveling mode is traveling mode, and if the traveling mode is traveling mode, outputs a traveling instruction and proceeds to step S32, whereas if the traveling mode is not traveling mode, outputs a parking instruction and proceeds to step S34. In step S32, the normal traveling target route generation unit 252, which has received the traveling instruction, acquires information on the destination position, tractor surrounding map information, and trailer rear end center position, generates a normal target traveling route and a speed profile corresponding to the normal target traveling route from this information, outputs this information, and proceeds to step S33. In step S33, the target traveling route switching unit 254, which has received the traveling instruction, acquires the normal target traveling route for causing the trailer 3 to travel in a circle and the speed profile corresponding to the normal target traveling route from the normal traveling target route generation unit 252, outputs these, and ends the processing.

[0049] In step S34, the parking target path generating unit 253 that has received the parking instruction acquires the destination position, tractor surrounding map information, the trailer rear end center position, the parking space front distance, and the target parking width, generates a parking target traveling path and a speed profile corresponding to the parking target traveling path from this information, outputs this information, and proceeds to step S35. In step S35, the target traveling path switching unit 254 that has received the parking instruction acquires the parking target traveling path toward the parking target position, which is the destination position in the parking mode and the docking mode, and the speed profile corresponding to the parking target traveling path from the parking target path generating unit 253, outputs these, and ends the processing.

[0050] FIG. 12 is a diagram showing an example of a normal target traveling route in the first embodiment. FIG. 12 shows a state in which the normal target traveling route 5 is arranged above a plurality of circuit course points 6. The tractor surroundings map information output from the locator 11 includes point cloud information of a circuit course for traveling around a logistics facility, and the circuit course points 6 shown in FIG. 12 are part of the circuit course points included in the point cloud information of the circuit course. The normal traveling target traveling route generating unit 252 generates a normal target traveling route 5 that passes over the circuit course points 6. The circuit course points 6 used when generating the normal target traveling route 5 are included in a predetermined data acquisition range in the fore-and-aft direction of the trailer 3 based on the center position of the rear end of the trailer. As a result, within the predetermined data acquisition range in the fore-and-aft direction of the trailer 3 based on the center position of the rear end of the trailer, the normal target traveling route 5 coincides with the circuit course. The data acquisition range may be a fixed range or may be a range that varies depending on the surrounding environment of the tractor 1 or the vehicle speed of the tractor 1. For example, the data acquisition range may be widened when the tractor 1 is located on a straight road, and narrowed when the tractor 1 is located on a curve. The normal driving target route generation unit 252 may further generate a normal target driving route that deviates from the circular course and moves the trailer rear end center point 33 to the normal target position when the distance from the trailer rear end center point 33 to the normal target position becomes smaller than a predetermined target distance.

[0051] 13 is a block diagram showing the configuration of the parking target route generating unit 253 in Embodiment 1. The parking target route generating unit 253 includes a parking space front distance determining unit 255, a first target route generating unit 256, a second target route generating unit 257, and a parking target route switching unit 258.

[0052] Fig. 14 is a flowchart for explaining the operation of the parking target route generating unit 253 in the first embodiment, and is a flowchart for explaining the details of the processing of the parking target route generating step of step S34 in Fig. 11. Step S41 is a parking space front distance determining step, step S42 is a first target route generating step, step S43 is a first target route outputting step, step S44 is a second target route generating step, and step S45 is a second target route outputting step.

[0053] In step S41, if the parking space front distance is equal to or greater than a predetermined distance threshold, the parking space front distance determination unit 255 outputs a first instruction and proceeds to step S42, and if the parking space front distance is smaller than the predetermined distance threshold, it outputs a second instruction and proceeds to step S44. The parking space front distance is measured by the tractor side detection sensor 13. The distance threshold is set, for example, according to the minimum turning radius of the tractor 1, the trailer length, or the trailer width. The same distance threshold may be used for all tractors 1 and trailers 3.

[0054] In step S42, the first target path generating unit 256, having received the first instruction, generates a first target path, which is a straight path when the trailer 3 is reversing, and a first speed profile corresponding to the first target path, outputs these, and proceeds to step S43. In step S43, the parking target path switching unit 258, having received the first instruction, acquires the first target path and the first speed profile corresponding to the first target path from the first target path generating unit 256, outputs these, and ends the processing. In step S44, the second target path generating unit 257, having received the second instruction, generates a second target path, which is a path when the trailer 3 is reversing that includes a clothoid curve, and a second speed profile corresponding to the second target path, outputs these, and proceeds to step S45. In step S45, the parking target path switching unit 258, having received the second instruction, acquires the second target path and the second speed profile corresponding to the second target path from the second target path generating unit 257, outputs these, and ends the processing.

[0055] FIG. 15 is a diagram showing an example of a first target path in the first embodiment. FIG. 15 illustrates a state in which the tractor 1 and trailer 3 enter a target parking space 41 from the side and park at a parking standby position. First, the tractor side detection sensor 13 measures a target parking width 43, which is the width of the target parking space 41, and a parking space front distance 44a, which is the distance from the front edge of the target parking space 41 to an obstacle 45, which is a travel-prohibited area. If the parking space front distance 44a is equal to or greater than the distance threshold, a first target path 46 is generated. The first target path 46 is a parking target travel path in which the trailer rear end center point 33 advances from the parking standby position to a turn-around point 48a and then retreats from the turn-around point 48a to the target parking position 42. The first target path 46 is a target travel path from the point where control of the tractor 1 in the parking mode or docking mode is initiated to the target parking position 42. The first target path 46 is configured, for example, by a straight line, a clothoid curve, and a circular arc. The first target route 46 shown in FIG. 15 is an example, and the shape of the first target route 46 is not limited to that shown in FIG.

[0056] The first target route 46 is a target driving route for the trailer 3 to retract into the target parking space 41, and the route taken by the trailer 3 when retracting is a straight line. The distance threshold is a distance at which the first target route 46 for the trailer 3 to retract into the target parking space 41 can be generated, and at which the first target route 46 for the trailer 3 when retracting is a straight line can be generated. The distance threshold is, for example, the shortest distance at which the first target route 46 can be generated.

[0057] When controlling the tractor 1 in parking mode or docking mode, if an obstacle appears on the path of the first target route 46, or if the trailer 3 deviates from the first target route 46, the first target route generating unit 256 generates a new first target route 46 in the empty space in front of the target parking space 41, generates a first speed profile corresponding to the newly generated first target route 46, and outputs these.

[0058] The first target route 46 is a target driving route along which the trailer 3 will retract into the target parking space 41, and since the route along which the trailer 3 retracts is a straight line, it is possible to reduce the distance between the trailer 3 and other vehicles parked adjacent to it when parking it in the target parking space 41. In other words, it is possible to park more vehicles in a limited space.

[0059] FIG. 16 is a diagram showing an example of a second target route in the first embodiment. Similar to FIG. 15 , FIG. 16 shows a state in which the tractor 1 and trailer 3 enter the target parking space 41 from the side and park at a parking standby position. First, the tractor side detection sensor 13 measures the target parking width 43, which is the width of the target parking space 41, and the parking space front distance 44b, which is the distance from the front end of the target parking space 41 to another parking space that is a non-travelable area. If the parking space front distance 44b is smaller than the distance threshold, a first target route, which is a straight line for the trailer 3 when reversing, cannot be generated, and therefore a second target route 47 is generated. The second target route 47 is a parking target travel route in which the trailer rear end center point 33 advances from the parking standby position to a turn point 48b and then retracts from the turn point 48b to the target parking position 42. The second target route 47 is a target travel route from the point where control of the tractor 1 in the parking mode or docking mode is started to the target parking position 42, and is made up of, for example, straight lines, clothoid curves, and circular arcs. The second target route 47 shown in Fig. 16 is an example, and the shape of the second target route 47 is not limited to that shown in Fig. 16. The second target route 47 is a target travel route for the trailer 3 to enter the target parking space 41 by reversing, and the route taken by the trailer 3 when reversing includes a clothoid curve.

[0060] When controlling the tractor 1 in parking mode or docking mode, if an obstacle appears on the route of the second target route 47, or if the trailer 3 deviates from the second target route 47, the second target route generating unit 257 generates a new second target route 47 in the empty space in front of the target parking space 41, generates a second speed profile corresponding to the newly generated second target route 47, and outputs these.

[0061] As described above, the trailer travel path output device according to the first embodiment is a trailer travel path output device that generates and outputs a target travel path for moving the trailer 3 coupled to the tractor 1, and includes a locator 11 that outputs the tractor position, which is position information of the tractor 1, a tractor attitude angle, which is the attitude angle of the tractor 1, and tractor surroundings map information, which is information on a map of the periphery of the tractor 1; a trailer detection sensor 12 that outputs the tractor-trailer relative angle, which is the relative angle between the tractor 1 and the trailer 3, and the tractor-trailer distance, which is the distance between the tractor 1 and the trailer 3; a tractor side detection sensor 13 that outputs the target parking width 43, which is the width of the target parking space 41, and the parking space front distance, which is the distance in the forward direction from the front end of the target parking space 41 to the non-travelable area; and a trailer travel path generator 20 that generates and outputs a target travel path for a trailer rear end center point 33 located at the center of the rear end of the trailer 3 from the outputs of the trailer detection sensor 12 and the tractor side detection sensor 13. The trailer travel path generator 20 generates and outputs a parking target travel path as a target travel path when the travel mode is a parking mode in which the trailer 3 is parked. The parking target travel path is a first target route 46 that is a straight line when the trailer 3 is reversing when the distance ahead of the parking space is equal to or greater than a predetermined distance threshold, and a second target route 47 that includes a clothoid curve when the distance ahead of the parking space is less than the distance threshold. Therefore, a target travel path that corresponds to the situation around the tractor 1 and trailer 3 can be output. For example, even if there is a temporarily parked vehicle on the road or if traffic cones have been placed for the purpose of regulation or division, the trailer travel path output device according to the first embodiment can output a target travel path that corresponds to these obstacles.

[0062] FIG. 17 is a schematic diagram showing an example of the hardware configuration of the trailer driving path generator 20 in the first embodiment. The destination instruction output unit 21, the driving mode output unit 22, the articulated vehicle length information output unit 23, the trailer rear end position estimator 24, and the target driving path generator 25 are implemented by a processor 301, such as a CPU (Central Processing Unit), that executes programs stored in a memory 302. The memory 302 is also used as a temporary storage device for each process executed by the processor 301. The memory 302 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, or an EPROM, a magnetic disk, an optical disk, or a combination thereof. The processor 301 and the memory 302 are connected to a bus 303. The locator 11, the trailer detection sensor 12, and the tractor side detection sensor 13 are connected to the bus 303 via an input / output interface 304.

[0063] FIG. 18 is a schematic diagram showing another example of the hardware configuration of the trailer travel path generator 20 in the first embodiment. In FIG. 18 , the processing circuit 305 is connected to a bus 303, and the locator 11, the trailer detection sensor 12, and the tractor side detection sensor 13 are connected to the bus 303 via an input / output interface 304. When the processing circuit 305 is dedicated hardware, it may be, for example, a single circuit, a composite circuit, a programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Each of the functions of the trailer travel path generator 20 may be realized by the processing circuit 305, or the functions may be realized collectively by the processing circuit 305. Furthermore, some of the functions of the trailer travel path generator 20 may be realized by dedicated hardware, and other parts may be realized by software or firmware.

[0064] Although exemplary embodiments are described in the present disclosure, the various features, aspects, and functions described in the embodiments are not limited to the application of a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless variations not illustrated are anticipated within the scope of the technology disclosed in this specification. For example, variations in, addition to, or omission of at least one component are included.

[0065] The above describes in detail preferred embodiments, but the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the claims.

[0066] Various aspects of the present disclosure are summarized below as appendices.

[0067] (Supplementary Note 1) A trailer driving path output device that generates and outputs a target driving path for moving a trailer coupled to a tractor, comprising: a locator that outputs a tractor position, which is position information of the tractor, a tractor attitude angle, which is an attitude angle of the tractor, and tractor surroundings map information, which is information on a map of the tractor's surroundings; a trailer detection sensor that outputs a tractor-trailer relative angle, which is the relative angle between the tractor and the trailer, and a tractor-trailer distance, which is the distance between the tractor and the trailer; a tractor side detection sensor that outputs a target parking width, which is the width of a target parking space, and a parking space front distance, which is the distance in the forward direction from the front edge of the target parking space to a no-travel area; and a trailer driving path generator that generates and outputs a target driving path for a trailer rear end center point, which is located at the center of the trailer rear end, from the outputs of the locator, the trailer detection sensor, and the tractor side detection sensor, The trailer travel path output device according to Supplementary Note 1, characterized in that the trailer travel path generator generates and outputs a parking target travel path as the target travel path when the travel mode is a parking mode in which the trailer is parked, and the parking target travel path is a first target route in which the path when the trailer is reversing is a straight line when the distance in front of the parking space is equal to or greater than a predetermined distance threshold, and a second target route in which the path when the trailer is reversing includes a clothoid curve when the distance in front of the parking space is smaller than the distance threshold. (Supplementary Note 2) The trailer travel path output device according to Supplementary Note 1, characterized in that the trailer travel path generator outputs information of the trailer rear end center position which is position information of the trailer rear end center point, and when the parking target travel path is the first target route, outputs a first speed profile corresponding to the first target route, and when the parking target travel path is the second target route, outputs a second speed profile corresponding to the second target route.(Supplementary Note 3) The trailer travel path output device according to Supplementary Note 1 or 2, characterized in that the trailer travel path generator comprises: a destination instruction output unit that outputs a destination position, which is position information of the destination; a travel mode output unit that outputs the travel mode; a combination vehicle length information output unit that outputs information on the tractor length, which is the overall length of the tractor, and the trailer length, which is the overall length of the trailer; a trailer rear end position estimation unit that determines and outputs the center position of the rear end of the trailer from information on the tractor position, the tractor attitude angle, the tractor-trailer relative angle, the tractor-trailer distance, the tractor length, and the trailer length; and a target travel path generation unit that generates the target travel path from information on the destination position, tractor surroundings map information, the travel mode, the trailer rear end center position, the parking space front distance, and the target parking width, generates a speed profile corresponding to the target travel path, and outputs the target travel path and the speed profile. (Appendix 4) The trailer driving path output device described in any one of Appendices 1 to 3 is characterized in that the tractor surroundings map information includes information on a plurality of circuit course points which are points on a circuit course for circular driving, the trailer driving path generator generates and outputs a normal target driving path as the target driving path when the driving mode is a traveling mode in which the trailer is driven in a circular driving along the circuit course, and the normal target driving path is a path that passes over the circuit course points included in a predetermined data acquisition range in the fore-and-aft direction of the trailer based on the center point of the rear end of the trailer.

[0068] DESCRIPTION OF SYMBOLS 1 Tractor, 2 Coupler, 3 Trailer, 4 Articulated vehicle, 5 Normal target driving route, 6 Circuit course point, 11 Locator, 12 Trailer detection sensor, 13 Tractor side detection sensor, 14 GNSS antenna, 20 Trailer driving route generator, 21 Destination instruction output unit, 22 Driving mode output unit, 23 Articulated vehicle length information output unit, 24 Trailer rear end position estimation unit, 25 Target driving route generation unit, 31 Tractor rear end center point, 32 Trailer front end center point, 33 Trailer rear end center point, 41 Target parking space, 42 Target parking position, 43 Target parking width, 44a, 44b Parking space forward distance, 45 Obstacle, 46 First target route, 47 Second target route, 48a, 48b Turning point, 100 Trailer driving route output device, 241 Tractor rear end center position output unit, 242 Trailer front end center position output unit, 243 Trailer rear end center position output unit, 251 Traveling mode determination unit, 252 Normal travel target route generation unit, 253 Parking target route generation unit, 254 Target travel route switching unit, 255 Parking space front distance determination unit, 256 First target route generation unit, 257 Second target route generation unit, 258 Parking target route switching unit, 301 Processor, 302 Memory, 303 Bus, 304 Input / output interface, 305 Processing circuit.

Claims

1. A trailer driving path output device which generates and outputs a target driving path for moving a trailer coupled to a tractor, comprising: a locator which outputs a tractor position which is position information of the tractor, a tractor attitude angle which is the attitude angle of the tractor, and tractor surroundings map information which is information of a map around the tractor; a trailer detection sensor which outputs a tractor-trailer relative angle which is the relative angle between the tractor and the trailer, and a tractor-trailer distance which is the distance between the tractor and the trailer; a tractor side detection sensor which outputs a target parking width which is the width of a target parking space, and a parking space front distance which is the distance in the forward direction from the front end of the target parking space to a no-travel area; and a trailer driving path generator which generates and outputs a target driving path for a trailer rear end center point which is located at the trailer rear end center position in the center of the rear end of the trailer from the outputs of the locator, the trailer detection sensor, and the tractor side detection sensor, The trailer driving path generator generates and outputs a parking target driving path as the target driving path when the driving mode is a parking mode in which the trailer is parked, and the parking target driving path is a first target path in which the path when the trailer backs up is a straight line when the distance in front of the parking space is equal to or greater than a predetermined distance threshold, and is a second target path in which the path when the trailer backs up includes a clothoid curve when the distance in front of the parking space is smaller than the distance threshold.

2. The trailer driving path output device according to claim 1, characterized in that the trailer driving path generator outputs information of the trailer rear end center position, which is position information of the trailer rear end center point, outputs a first speed profile corresponding to the first target path when the parking target driving path is the first target path, and outputs a second speed profile corresponding to the second target path when the parking target driving path is the second target path.

3. The trailer driving path output device according to claim 1 or 2, characterized in that the trailer driving path generator comprises: a destination instruction output unit which outputs a destination position, which is position information of the destination; a driving mode output unit which outputs the driving mode; a combined vehicle length information output unit which outputs information of a tractor length, which is the overall length of the tractor, and a trailer length, which is the overall length of the trailer; a trailer rear end position estimation unit which determines and outputs the center position of the trailer rear end from information of the tractor position, the tractor attitude angle, the tractor-trailer relative angle, the tractor-trailer distance, the tractor length, and the trailer length; and a target driving path generation unit which generates the target driving path from information of the destination position, tractor surroundings map information, the driving mode, the trailer rear end center position, the parking space front distance, and the target parking width, generates a speed profile corresponding to the target driving path, and outputs the target driving path and the speed profile.

4. The trailer driving path output device according to any one of claims 1 to 3, characterized in that the tractor surroundings map information includes information on a plurality of circuit course points which are points on a circuit course for circular driving, and the trailer driving path generator generates and outputs a normal target driving path as the target driving path when the driving mode is a traveling mode in which the trailer is driven in a circular drive along the circuit course, and the normal target driving path is a path that passes over the circuit course points which are included in a predetermined data acquisition range in the fore-and-aft direction of the trailer based on the center point of the rear end of the trailer.

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