Autonomous travel device and autonomous travel device control method

Abstract

This autonomous travel device is provided with: an information addition unit that adds location information about a virtual obstacle to map information, the location information being obtained by extending the left and right of a straight path from a start point toward a target point along the straight path and closing at a destination beyond the target point; and a route search unit that searches for a travel route to the target point on the basis of the map information to which the location information about the virtual obstacle has been added.

Description

Autonomous driving device and method for controlling the autonomous driving device

[0001] The present invention relates to an autonomous driving device and a control method for an autonomous driving device.

[0002] Conventionally, automatic guided vehicles (AGVs) and autonomous mobile robots (AMRs) have been known as unmanned traveling devices for transporting cargo, etc. AGVs are devices that travel along fixed routes guided by inductive devices such as magnetic tape. On the other hand, AMRs are devices that travel autonomously by automatically calculating a route to reach a set destination.

[0003] When an AMR detects an obstacle such as a person, it can detour around the obstacle and head towards the destination. It has also been proposed to incorporate a function into AGVs that allows them to avoid obstacles on their route and return to the route. For example, Patent Literature 1 proposes a traveling vehicle that stores position information indicating the location of an obstacle and avoidance width information indicating the avoidance width in the left and right directions of the traveling vehicle in a first avoidance operation, and that performs a second avoidance operation using the avoidance width information when an obstacle is detected at the position indicated by the position information.

[0004] JP 2012-48508 A

[0005] The introduction of AMR is desirable because installing induction devices is time-consuming with AGVs, but it is difficult for users to know where the AMR will travel when avoiding obstacles. For this reason, there is a demand for an autonomous driving device that can avoid obstacles within the user's expected range, without exceeding it.

[0006] Therefore, an object of the present invention is to provide an autonomous driving device that is capable of autonomous driving within an expected range.

[0007] One aspect of the autonomous driving device disclosed herein includes an information addition unit that adds, to map information, position information of virtual obstacles that extend along a straight line path from a start point to a target point on both sides of the straight line path and close beyond the target point, as position information of the virtual obstacles; and a route search unit that searches for a driving route to the target point based on the map information to which the position information of the virtual obstacles has been added.

[0008] Furthermore, one aspect of the control method for an autonomous driving device disclosed herein includes an information addition process for adding, to map information, position information of virtual obstacles that extend along a straight line path from a starting point to a target point on both sides of the straight line path and close beyond the target point, as position information of the virtual obstacles; and a route search process for searching for a driving route to the target point based on the map information to which the position information of the virtual obstacles has been added.

[0009] According to the autonomous driving device of the present disclosure, autonomous driving is possible within an expected range.

[0010] FIG. 1A is a front view showing the appearance of an autonomous mobile device of this embodiment. FIG. 1B is a side view showing the appearance of the autonomous mobile device of this embodiment. FIG. 1C is a top view showing the appearance of the autonomous mobile device of this embodiment. FIG. 2A is a front view showing a modified example of the appearance of an autonomous mobile device. FIG. 2B is a side view showing a modified example of the appearance of an autonomous mobile device. FIG. 2C is a top view showing a modified example of the appearance of an autonomous mobile device. FIG. 3 is a block diagram showing the functional configuration of the autonomous mobile device of this embodiment. FIG. 4 is a diagram showing an example of map information. FIG. 5 is a diagram showing details of the map information. FIG. 6 is a diagram showing an example of a driving route. FIG. 7 is a diagram showing the concept of route search when an unexpected obstacle is detected. FIG. 8 is a diagram showing the concept of a virtual barrier. FIG. 9 is a flowchart showing the process of adding a virtual barrier. FIG. 10 is a diagram showing a state in which free route search is performed in a part of the section. FIG. 11 is a diagram schematically showing an example in which the distance to a side wall is different on the left and right. FIG. 12 is a diagram showing a case in which the autonomous mobile device heads straight towards a relay point. FIG. 13 is a diagram showing a case in which the autonomous mobile device deviates to the side of the relay point. Fig. 14 is a diagram showing a case where a large unexpected obstacle is present, Fig. 15 is a diagram showing a modified example of a virtual barrier, and Fig. 16 is a diagram showing an example of a travel cost added to the virtual barrier.

[0011] Hereinafter, embodiments of an autonomous driving device and a control method for an autonomous driving device according to the present disclosure will be described in detail with reference to the accompanying drawings. However, to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art, more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. Furthermore, elements shown in previously described figures may be appropriately referenced in the description of subsequent figures.

[0012] 1A to 1C are diagrams showing the appearance of an autonomous mobile device of this embodiment. Fig. 1A shows a front view, Fig. 1B shows a side view, and Fig. 1C shows a top view. The autonomous mobile device 100 of this embodiment is a device known as an AMR (Autonomous Mobile Robot) that transports materials and the like in factories, public places, etc.

[0013] The autonomous mobile device 100 includes a main body 101, a platform 102, wheels 103, casters 104, and a laser sensor 105. The main body 101 houses a control computer, a driving power supply, etc. The main body 101 has a rectangular shape when viewed from above, for example.

[0014] The loading platform 102 also serves as the upper surface of the main body 101, and materials and other cargo are loaded onto the loading platform 102. The size of the cargo may exceed the size of the loading platform 102 or the main body 101, but for the sake of convenience, the following description will be given assuming that the cargo fits within the size of the loading platform 102, unless otherwise specified.

[0015] As an example, the wheels 103 are provided at two locations, one on the left and one on the right side of the main body 101, and are driven to rotate by a motor inside the main body 101. The left and right wheels 103 can be driven independently, and the autonomous mobile device 100 can move forward, backward, turn in place, and turn by driving the left and right wheels 103. Turning is a movement in which the autonomous mobile device moves in a curved, arc-like manner.

[0016] As an example, the casters 104 are provided at each of the four corners of the main body 101 and support the main body 101 to prevent it from tilting. The casters 104 have no driving force and roll in accordance with the movement of the main body 101, and their direction also changes in accordance with the movement of the main body 101. The laser sensor 105 is an example of an optical sensor and is provided, for example, at the front left corner of the main body 101. As shown by dotted lines in the front view and side view, the laser sensor 105 may also be provided on the right side or rear of the main body 101.

[0017] For example, a 2D-LiDER (2-Dimensional-Light Detection And Ranging) sensor is used as the laser sensor 105. When the laser sensor 105 is provided on the front left of the main body 101, the laser sensor 105 irradiates a wide area in front and left of the main body 101 with laser light L to detect obstacles and the like.

[0018] 2A to 2C are diagrams showing modified examples of the appearance of the autonomous mobile device 100. FIG. 2A shows a front view, FIG. 2B shows a side view, and FIG. 2C shows a top view. In the modified autonomous mobile device 100 shown in FIG. 2, the laser sensor 105 is provided near the center of the main body 101. In the case of the modified autonomous mobile device 100, laser light L is irradiated over a wide area in front of and on both sides of the main body 101.

[0019] 3 is a block diagram showing the functional configuration of the autonomous mobile device 100 according to this embodiment. The autonomous mobile device 100 includes a control unit 110, a storage unit 120, a drive unit 130, and a measurement unit 140. The control unit 110 is a function performed by a computer built into the main body unit 101, and controls the entire autonomous mobile device 100.

[0020] The storage unit 120 stores map information of the area in which the autonomous mobile device 100 will travel, and the route to be taken in that area. The drive unit 130 is a function performed by the power supply, motor, and wheels 103 (FIGS. 1 and 2) built into the main body unit 101. The autonomous mobile device 100 travels when the drive unit 130 is driven under the control of the control unit 110.

[0021] The measurement unit 140 is a function performed by the laser sensor 105 (FIGS. 1 and 2), and measures the surroundings of the autonomous mobile device 100 to detect actual obstacles, etc. The control unit 110 includes a route search unit 111, a route travel unit 112, and a virtual barrier addition unit 113.

[0022] The route search unit 111 searches for and determines a route to the target point based on the map information stored in the storage unit 120, and stores the determined route in the storage unit 120. In this embodiment, the route search unit 111 searches for a route that can reach the target point while avoiding obstacles and the like shown in the map information, and determines the shortest route to reach the target point.

[0023] The path traveling unit 112 controls the drive unit 130 so that the autonomous mobile device 100 travels along the path stored in the storage unit 120. In this embodiment, the path traveling unit 112 also performs control to avoid obstacles measured by the measurement unit 140. The virtual barrier adding unit 113 temporarily adds virtual barriers to the map information stored in the storage unit 120 to limit to some extent the degree of freedom in route search by the path searching unit 111, thereby realizing a desired traveling state in the autonomous mobile device 100, i.e., traveling within an expected range. Details of the addition of virtual barriers by the virtual barrier adding unit 113 will be described later.

[0024] Fig. 4 is a diagram showing an example of map information, and Fig. 5 is a diagram showing details of the map information. Map information 121 shows information about walls 122 and shelves 123. The walls 122 and shelves 123 are objects that obstruct the travel of the autonomous mobile device 100, and hereinafter, the walls 122 and shelves 123 will be collectively referred to as obstacles 200.

[0025] 5, the map information 121 represents, as an example, a map as a set of unit sections 124, which are obtained by dividing the travel area of ​​the autonomous mobile device 100 into a grid pattern. A travel cost of "100", for example, is added to the unit section 124 of an obstacle 200 as information indicating that it is an obstacle 200, and a travel cost of less than 100 is added to each of the other unit sections 124.

[0026] The travel cost for each unit section 124 is added according to, for example, the distance from the obstacle 200. In the example shown in Fig. 5, a high travel cost is added to the unit sections 124 distributed around the obstacle 200, resulting in a high-cost area 210. On the other hand, a low travel cost is added to the unit sections 124 that are far from the obstacle 200, resulting in a low-cost area 220.

[0027] The travel cost in the high cost region 210 and the width of the high cost region 210 are arbitrarily determined based on the body size of the autonomous mobile device 100. The width of the high cost region 210 may be determined based on the width of the autonomous mobile device 100, for example. The route search unit 111 described above searches for travel routes within the map information 121 and determines a travel route with a low travel cost.

[0028] 6 is a diagram showing an example of a driving route. The route search unit 111 sets a unit section 124 on the map information 121 where the body center 100 a of the autonomous mobile device 100 is located as a starting point 127, and searches for a trajectory of the body center 100 a as a driving route 126 to a given destination point 125 (e.g., a destination of materials, etc.).

[0029] Furthermore, the route search unit 111 searches for and determines the driving route 126 so that the total driving cost added to each unit section 124 on the driving route 126 is small. As a result, a driving route 126 with a short driving distance is searched for and determined. Furthermore, by providing a high cost area 210 around the obstacle 200, the driving route 126 becomes a route that avoids the high cost area 210, and the autonomous mobile device 100 travels while maintaining a sufficient distance between the obstacle 200 and the vehicle body center 100 a.

[0030] The route search unit 111 in this embodiment searches for and determines a new driving route 126 even while the autonomous mobile device 100 is traveling along the driving route 126, and travels while continuing to update the driving route 126. In addition to the obstacles 200 shown in the map information 121, the space in which the autonomous mobile device 100 actually travels also contains obstacles not shown in the map information 121, such as people or temporarily placed luggage. In the following, to distinguish between these obstacles, the obstacles 200 shown in the map information 121 may be referred to as planned obstacles, and obstacles such as people may be referred to as unplanned obstacles.

[0031] The above-described laser sensor 105 and measurement unit 140 confirm the actual positions of planned obstacles 200 shown in the map information 121, and also detect unplanned obstacles such as people that are not shown in the map information 121. The route search unit 111 searches for and determines a route using information on unplanned obstacles in addition to the map information 121.

[0032] 7 is a diagram showing the concept of route search when an unplanned obstacle is detected. When an unplanned obstacle 300 is detected by the laser sensor 105 in a drivable area shown in the map information 121, a travel route 126 is determined that avoids the unplanned obstacle 300 and leads from a start point 127 to a destination point 125. However, which of the multiple travel routes 126 shown in FIG. 7 is determined depends on the timing at which the unplanned obstacle 300 is detected, the moving direction of the unplanned obstacle 300, and the like.

[0033] Therefore, if no restrictions are placed on the search for the travel route 126, the autonomous mobile device 100 may exceed the travel range envisioned by the user, even if a travel cost is set. Therefore, in the autonomous mobile device 100 of this embodiment, the virtual barrier adding unit 113 adds position information of the virtual barrier to the map information 121, thereby limiting the degree of freedom in route search to some extent.

[0034] 8 is a diagram illustrating the concept of a virtual barrier. The virtual barrier 310 corresponds to an example of a virtual obstacle referred to in the present invention, and surrounds a straight path 320 that extends from a start point 127 to a target point 125. That is, the virtual barrier 310 has side walls 311 and 312 that extend along the straight path 320 on both sides of the straight path 320, and a front wall 313 that closes the left and right side walls 311 and 312 beyond the target point 125 in the direction of travel of the straight path 320. In other words, the virtual barrier 310 extends along the straight path 320 on both sides of the straight path 320 and closes beyond the target point 125.

[0035] The virtual obstacle referred to in the present invention may be a wall-like obstacle, a block-like obstacle, a collection of multiple obstacles, etc. When the virtual barrier 310 is added to the map information 121, the route search unit 111 searches for a travel route 126 to the target point 125 based on the map information 121 to which the position information of the virtual barrier 310 has been added. As a result, the search for the travel route 126 is limited to the inside of the virtual barrier 310.

[0036] Therefore, even if an unexpected obstacle 300 is detected, the autonomous mobile device 100 avoids the unexpected obstacle 300 inside the virtual barrier 310 and heads toward the destination point 125. In other words, the travel path 126 of the autonomous mobile device 100 heading outside the assumed range in which the user envisions the autonomous mobile device 100 traveling is blocked by the virtual barrier 310, enabling autonomous traveling within the assumed range. The virtual barrier 310 may enclose the user's assumed range itself, or may enclose a narrower passage that is narrower than the user's assumed range.

[0037] The virtual barrier 310 is added to the map information 121 as a temporary obstacle. Therefore, to enable the virtual barrier 310 to be removed, the position information of the virtual barrier 310 is added separately from the information of the planned obstacles 200 shown in the map information 121. As the position information of the virtual barrier 310, for example, information indicating that travel is prohibited may be added to the unit section 124, or a travel cost of "100" may be added, as with the planned obstacles 200. Alternatively, as the position information of the virtual barrier 310, a travel cost less than "100" but high enough to make it impossible to pass through the virtual barrier 310 may be added.

[0038] The destination point 125 and the starting point 127 may be two adjacent intermediate points 330 among a plurality of set intermediate points 330. Here, intermediate points 330 refer to the points that the autonomous mobile device 100 follows in order, and include all points from the starting point, which is the first point on the route that the autonomous mobile device 100 follows, to the destination point, which is the last point on the route.

[0039] The setting unit that sets the relay points 330 may be included in the functions of the storage unit 120, for example. The relay points 330 include, for example, a first destination point and a second destination point that is reached after the first destination point. The autonomous mobile device 100 sequentially travels through the multiple relay points 330, and if a certain relay point 330 is the starting point 127, the next relay point 330 becomes the destination point 125. Each time the autonomous mobile device 100 passes through a relay point 330, the virtual barrier 310 is updated, as indicated by the dotted and solid lines in FIG. 8 . For example, when the autonomous mobile device 100 passes through the first destination point, the position information of the virtual barrier 310 is updated to the position information of the virtual barrier 310 based on the second destination point.

[0040] A plurality of relay points 330 are set, and the virtual barrier 310 is updated each time a relay point 330 is passed, so that the autonomous mobile device 100 travels along an assumed route that follows the plurality of relay points 330 .

[0041] 9 is a flowchart showing the process of adding a virtual barrier 310. The virtual barrier adding unit 113 repeatedly executes the process shown in FIG. 9 for each of the multiple relay points 330. First, in step S101, information on a new destination point 125 and the width of the passage formed by the virtual barrier 310 is set. The new destination point 125 is the next relay point 330 to be reached among the multiple relay points 330. The distances D1 and D2 between the straight path 320 and the left and right side walls 311 and 312 are set as the information on the passage width.

[0042] Next, in step S102, a straight line is drawn between the previous target point 125 or the current position of the autonomous mobile device 100 and the new target point 125. That is, a straight line path 320 leading to the new target point 125 is calculated. When passing the previous target point 125, as will be described later, the autonomous mobile device 100 may pass through a position that is shifted laterally from the target point 125.

[0043] For this reason, a straight-line path 320 connecting the current position of the autonomous mobile device 100 and the new target point 125 may be used as the straight-line path 320 heading toward the new target point 125. In other words, in this case, the current position of the autonomous mobile device 100 is used as the starting point 127 of the straight-line path 320, rather than the previous target point 125.

[0044] In step S103, the straight path 320 is expanded left and right based on the passage width information to generate a lane. Then, in step S104, a virtual barrier 310 that surrounds the lane and the target point 125 is added to the map information 121. In step S105, the route search unit 111 searches for a travel route 126 leading to the target point 125 based on the map information 121 to which the virtual barrier 310 has been added. Then, under the control of the route travel unit 112, the autonomous mobile device 100 travels on the searched travel route 126.

[0045] When the new destination point 125 is reached, in step S106, the virtual barrier adding unit 113 removes the enclosure of the virtual barrier 310. That is, every time a relay point 330 is passed, the virtual barrier adding unit 113 removes the virtual barrier 310 from the map information 121 and returns to the processing of step S101. As a result, the virtual barrier 310 is updated.

[0046] For the section from one relay point 330 to the next relay point 330, the virtual barrier 310 does not need to be added to the map information 121 for all sections between the relay points 330. In other words, whether or not to add the virtual barrier 310 is set for each section in advance, and a free route search without the virtual barrier 310 may be performed between some of the relay points 330.

[0047] 10 is a diagram schematically illustrating a state in which a free route search is performed in a portion of the route. A first relay point 331, a second relay point 332, and a third relay point 333 are shown in FIG. 10. A free route search is performed in the section from the first relay point 331 to the second relay point 332 without a virtual barrier 310, and a virtual barrier 310 is added in the section from the second relay point 332 to the third relay point 333.

[0048] In the section from the first relay point 331 to the second relay point 332, for example, the range in which the user will allow the autonomous mobile device 100 to travel is sufficiently wide, so the virtual barrier 310 is not added. Therefore, in the section from the first relay point 331 to the second relay point 332, the autonomous mobile device 100 can avoid the unplanned obstacle 300 by using a free travel path 126.

[0049] On the other hand, in the section from the second relay point 332 to the third relay point 333, the expected range in which the user will allow the autonomous mobile device 100 to travel is narrow, so a virtual barrier 310 is added. The autonomous mobile device 100 then travels along a travel path 126 that avoids the unexpected obstacle 300 by staying inside the virtual barrier 310.

[0050] For a section where a free route search is performed, for example, in step S101 of Fig. 9 , it is set that no virtual barrier 310 is added. The passage width information set in step S101 of Fig. 9 may be set such that the distance D1 from the straight path 320 to the right side wall 311 and the distance D2 to the left side wall 312 are different. In other words, the virtual barrier adding unit 113 may add to the map information 121 the position information of the virtual barrier 310 in which the distances D1 and D2 from the straight path 320 are different on the left and right.

[0051] 11 is a diagram schematically illustrating an example in which distances D1, D2 to the side walls 311, 312 are different on the left and right. The upper part of Fig. 11 illustrates a case in which distance D1 from the straight path 320 to the right side wall 311 is greater than distance D2 to the left side wall 312. The lower part of Fig. 11 illustrates a case in which distance D2 from the straight path 320 to the left side wall 312 is greater than distance D1 to the right side wall 311.

[0052] 11 , if the distances D1, D2 to the side walls 311, 312 differ significantly on the left and right, the travel path 126 that avoids the unexpected obstacle 300 will be biased to one side, left or right, with respect to the straight path 320. That is, in the case shown in the upper part of FIG. 11 , the travel path 126 will be "keep on the right," biased to the right of the straight path 320, and in the case shown in the lower part of FIG. 11 , the travel path 126 will be "keep on the left," biased to the left of the straight path 320. Such a biased travel pattern is suitable for passing each other without interfering with each other's travel paths 126, for example, when there is another autonomous mobile device 100 heading in the direction from the destination point 125 to the start point 127.

[0053] The criteria for determining whether or not the relay point 330 has been passed in step S106 of FIG. 9 should preferably take into consideration not only when the vehicle approaches the relay point 330 within a predetermined distance, but also when the vehicle passes by the side of the relay point 330.

[0054] Fig. 12 is a diagram showing a case where the autonomous mobile device 100 heads straight toward the relay point 330, and Fig. 13 is a diagram showing a case where the autonomous mobile device 100 deviates to the side of the relay point 330. In this embodiment, a first line L1 that surrounds the relay point 330 in an arc shape with a predetermined radius, and a second line L2 that passes through the relay point 330 and is perpendicular to the straight-line path 320, are used as criteria for determining whether the autonomous mobile device 100 has passed the relay point 330. In other words, it is determined that the autonomous mobile device 100 has passed the relay point 330 when it passes over at least one of the first line L1 and the second line L2.

[0055] 12 , when the autonomous mobile device 100 heads straight toward the relay point 330, it is determined that the autonomous mobile device 100 has passed the relay point 330 when it reaches the first line L1, and the virtual barrier 310 is updated in step S106 of FIG. 9 . The state in which the autonomous mobile device 100 has reached the first line L1 corresponds to the case in which the autonomous mobile device 100 has approached the relay point 330 to within a predetermined distance. In this case, the relay point 330 that the autonomous mobile device 100 has passed through is preferably used as the starting point 127 for generating a new virtual barrier 310.

[0056] 13 , if the autonomous mobile device 100 deviates to the side of the relay point 330 due to avoiding an unplanned obstacle 300, the autonomous mobile device 100 is determined to have passed the relay point 330 when it reaches the second line L2, and the virtual barrier 310 is updated. This is because it would be inefficient for the autonomous mobile device 100 to head toward the relay point 330 from a position where it has avoided the unplanned obstacle 300.

[0057] For example, in the case of the first and second target points described above, when the autonomous mobile device 100 reaches the second line L2 that passes through the first target point and is perpendicular to the straight-line path 320, the position information of the virtual barrier 310 is updated to position information of the virtual barrier 310 based on the second target point. In this case, the current position of the autonomous mobile device 100 is preferably used as the starting point 127 for generating the new virtual barrier 310.

[0058] In step S105 of FIG. 9 , the autonomous mobile device 100 travels within the virtual barrier 310 while avoiding the unplanned obstacle 300, but the unplanned obstacle 300 may be large. FIG. 14 is a diagram showing a case where a large unplanned obstacle 300 is present. If the unplanned obstacle 300 is large enough to block the width of the passage within the virtual barrier 310, the only travel path 126 within the virtual barrier 310 is one that cannot avoid the unplanned obstacle 300. In this case, in order to prevent the autonomous mobile device 100 from moving around unnecessarily within the virtual barrier 310, the path travel unit 112 stops the autonomous mobile device 100 and waits for the unplanned obstacle 300 to be removed.

[0059] That is, the path traveling unit 112 stops the traveling of the autonomous mobile device 100 when the path searching unit 111 cannot find a traveling path 126 that avoids the unexpected obstacle 300 between the left and right virtual barriers 310. As a result, the autonomous mobile device 100 can wait for the obstacle to be resolved without taking any unreasonable avoidance action, thereby reducing the risk of getting stuck or power consumption.

[0060] In step S104 of FIG. 9 , a virtual barrier according to a modified example, which will be described below, may be added. FIG. 15 is a diagram showing a virtual barrier according to a modified example. Similar to the virtual barrier 310 shown in FIG. 8 and other figures, the virtual barrier 350 according to the modified example has left and right side walls 311 and 312 and a front wall 313. The virtual barrier 350 according to the modified example further has a rear wall 314 that closes the left and right side walls 311 and 312 at a point beyond the start point 127 on the rear side in the traveling direction of the straight path 320. In other words, the virtual barrier adding unit 113 adds, to the map information 121, position information of the virtual barrier 350 that is closed even behind the autonomous mobile device 100.

[0061] When the virtual barrier 350 of the modified example is added, the travel path 126 that avoids the unexpected obstacle 300 is reliably restricted to within the virtual barrier 350, and there is no risk of the autonomous mobile device 100 straying from the starting point 127 and outside the virtual barrier 350. In addition, the travel path in which the autonomous mobile device 100 makes a wide detour to avoid the unexpected obstacle 300 from behind is suppressed.

[0062] When adding the virtual barrier 310 in step S104 of Fig. 9 , a travel cost may be added to the passage within the virtual barrier 310. Fig. 16 is a diagram showing an example of the travel cost added within the virtual barrier 310. When the travel cost is added within the virtual barrier 310, for example, band-shaped cost areas 361, 362, and 363 are set along the straight path 320, and a travel cost is added to each of the cost areas 361, 362, and 363.

[0063] It is desirable that the greater the distance from the straight-line route 320, the higher the driving cost that is added. In other words, it is desirable that the virtual barrier adding unit 113 not only adds the position information of the virtual barrier 310 to the map information 121, but also adds a driving cost that increases the further away from the straight-line route 320. As a result, the route searching unit 111 searches for a driving route 126 to the target point 125 based on the position information of the virtual barrier 310 and the map information 121 to which the driving cost has been added.

[0064] 16, a high first traveling cost is assigned to a first cost region 361, a second traveling cost lower than the first traveling cost is assigned to a second cost region 362, and a third traveling cost even lower than the second traveling cost is assigned to a third cost region 363.

[0065] The travel cost may be, for example, a travel cost that changes continuously depending on the distance from the straight-line path 320, or a travel cost that changes stepwise depending on the distance from the straight-line path 320. Focusing on the shape of the change in the travel cost, a cone-shaped travel cost with the straight-line path 320 at its center, a V-groove-shaped travel cost with the straight-line path 320 as its lowest point, or a stepped travel cost are possible. The greater the distance from the straight-line path 320, the higher the travel cost that is added, so that the travel path 126 of the autonomous mobile device 100 will quickly return to the straight-line path 320 even when it avoids the unexpected obstacle 300.

[0066] In the above description, AMR is given as an example of an application of the autonomous driving device and the control method for the autonomous driving device of the present invention, but the application of the autonomous driving device and the control method for the autonomous driving device of the present invention is not limited to the above and can be used in a wide range of applications, such as automatic vacuum cleaners and self-driving cars. The above-described embodiments should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims rather than the above-described embodiments, and is intended to include all modifications within the meaning and scope of the claims.

[0067] The present technology can be configured as follows: (1) An autonomous driving device including: an information addition unit that adds, to map information, position information of virtual obstacles that extend along a straight-line path from a start point to a target point on both sides of the straight-line path and close beyond the target point, as position information of the virtual obstacles; and a route search unit that searches for a driving route to the target point based on the map information to which the position information of the virtual obstacles has been added.

[0068] (2) The autonomous driving device according to (1), wherein the information adding unit adds position information of a virtual obstacle that is also closed behind the autonomous driving device as the position information of the virtual obstacle.

[0069] (3) The autonomous driving device according to (1) or (2), wherein the information adding unit adds, to the map information, position information of a virtual obstacle whose left and right sides have different distances from the straight-line path as the position information of the virtual obstacle.

[0070] (4) The autonomous driving device according to any one of (1) to (3), wherein the map information has a driving cost set for each position on the map, the information addition unit adds position information of the virtual obstacle to the map information and also adds a driving cost that increases the farther away from the straight-line route, and the route search unit searches for a driving route to the target point based on the map information to which the position information of the virtual obstacle and the driving cost have been added.

[0071] (5) An autonomous driving device according to any one of (1) to (4), further comprising a target setting unit that sets a plurality of target points to be traveled in sequence as the target points, wherein the plurality of target points include a first target point and a second target point to be traveled after the first target point, and wherein the information addition unit updates position information of the virtual obstacle to position information of the virtual obstacle based on the second target point when the autonomous driving device passes the first target point.

[0072] (6) The autonomous driving device according to (5), wherein the information addition unit updates the position information of the virtual obstacle to position information of the virtual obstacle based on the second target point when the autonomous driving device reaches a determination line that passes through the first target point and is perpendicular to the straight-line path.

[0073] (7) An autonomous driving device described in any one of (1) to (6), further comprising: a detection unit that detects an actual obstacle; and a stop unit that stops the driving of the device when a driving path that avoids the actual obstacle between the virtual obstacles on the left and right cannot be found.

[0074] (8) A control method for an autonomous driving device, comprising: an information addition process for adding, to map information, position information of virtual obstacles that extend along a straight line path from a starting point to a target point on both sides of the straight line path and close beyond the target point, as position information of the virtual obstacles; and a route search process for searching for a driving route to the target point based on the map information to which the position information of the virtual obstacles has been added.

[0075] DESCRIPTION OF SYMBOLS 100: Autonomous mobile device 100a: Vehicle body center 101: Main body 102: Loading platform 103: Wheels 104: Casters 105: Laser sensor 110: Control unit 111: Path search unit 112: Path traveling unit 113: Virtual barrier addition unit 120: Memory unit 121: Map information 122: Wall 123: Shelf 124: Unit section 125: Target point 126: Travel path 127: Start point 130: Driving unit 140: Measurement unit 200: Planned obstacle 210: High cost area 220: Low cost area 300: Unplanned obstacle 310, 350: Virtual barriers 311, 312: Side wall 313: Front wall 314: Rear wall 320: Straight path 330, 331, 332, 333: Relay point

Claims

1. An autonomous driving device comprising: an information addition unit that adds, to map information, position information of virtual obstacles that extend along a straight line path from a start point to a target point on both sides of the straight line path and close beyond the target point, as position information of the virtual obstacles; and a route search unit that searches for a driving route to the target point based on the map information to which the position information of the virtual obstacles has been added.

2. The autonomous driving device according to claim 1, wherein the information addition unit adds position information of a virtual obstacle that is also closed behind the autonomous driving device as the position information of the virtual obstacle.

3. The autonomous driving device according to claim 1, wherein the information addition unit adds, to the map information, position information of a virtual obstacle whose left and right sides have different distances from the straight-line path as position information of the virtual obstacle.

4. The autonomous driving device of claim 1, wherein the map information has a driving cost set for each position on the map, the information addition unit adds position information of the virtual obstacle to the map information and also adds a driving cost that increases the further away from the straight-line route, and the route search unit searches for a driving route to the target point based on the map information to which the position information of the virtual obstacle and the driving cost have been added.

5. An autonomous driving device as described in claim 1, further comprising a target setting unit that sets a plurality of target points to be visited in sequence as the target points, wherein the plurality of target points include a first target point and a second target point to be visited after the first target point, and wherein the information addition unit updates the position information of the virtual obstacle to position information of the virtual obstacle based on the second target point when the autonomous driving device passes the first target point.

6. An autonomous driving device as described in claim 5, wherein the information addition unit updates the position information of the virtual obstacle to position information of the virtual obstacle based on the second target point when the device reaches a judgment line that passes through the first target point and is perpendicular to the straight-line path.

7. An autonomous driving device as described in claim 1, further comprising: a detection unit that detects an actual obstacle; and a stopping unit that stops the driving of the device when a driving route that avoids the actual obstacle between the virtual obstacles on the left and right cannot be found.

8. A method for controlling an autonomous driving device, comprising: an information addition process for adding to map information, as position information of virtual obstacles, position information of virtual obstacles that extend along a straight line path from a starting point to a target point and close beyond the target point; and a route search process for searching for a driving route to the target point based on the map information to which the position information of the virtual obstacles has been added.

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