JP2017194830A - Automatic operation control system for moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To more accurately determine a movement unsuitability area, and to more appropriately produce a route of a moving body.SOLUTION: An automatic operation control system for a moving body comprises: an environment map storage device 6 for storing environment map information; and an electronic control unit 10. The environment map information includes location information and state quantity variability. The state quantity variability shows easiness in changes of state quantities of corresponding locations, with respect to time. Based on the state quantity variability, a movement unsuitability area is determined that is unsuitable for the moving body to move, the route of the moving body is produced so that a distance between the movement unsuitability area and the moving body becomes greater than a set distance, and the moving body is controlled so as to move along the route. The set distance is set to be smaller when the state quantity variability in the movement unsuitability area is small than when the state quantity variability in the movement unsuitability area is great.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic operation control system for a moving body.

  A mobile robot that moves in the room, has map information that contains information on the position and size of obstacles in the room such as furniture, and maps the movement route from the current location to the target while avoiding furniture A mobile robot is known which is determined using and moves along a movement path (see Patent Document 1).

JP 2003-345438 A

  If the obstacle in the room is a static obstacle that hardly changes its position, such as a bed, the mobile robot will be able to use the obstacle if the map information includes information on the position and size of the obstacle. You might be able to move around. However, if the obstacle is a static obstacle whose position changes relatively frequently, such as a chair or a trash can, even if there is a static obstacle at a certain time, At time, the static obstacle is unlikely to be present at the certain position, and is likely to be present at a position different from the certain position. If the obstacle is a dynamic obstacle such as a human or a pet, the possibility that the position has changed is even higher.

  The map of Patent Document 1 only has information on the position and size of the obstacle at the time when the map information was created. Therefore, in patent document 1, there exists a possibility that the position of the obstruction which changes with time, ie, the condition in a room, cannot be grasped correctly. In other words, if the information contained in the map information is only information on the position and size of the obstacle, it is difficult to accurately grasp the situation of the space in which the mobile robot moves.

  If an area of the space that is inappropriate for moving the moving body is referred to as a movement unsuitable area, an object of the present invention is to determine the movement unsuitable area more accurately and to generate a path of the moving body more appropriately. An object of the present invention is to provide an automatic driving control system for a moving body.

  According to the present invention, there is provided an automatic driving control system for a moving body comprising an environment map storage device storing environment map information and an electronic control unit, wherein the environment map information includes a plurality of information in space. Each of the plurality of positions, and the state quantity variability associated with the corresponding position information, and the state quantity The variability represents the ease of change of the state quantity of the corresponding position with respect to time, and the electronic control unit determines that the moving body moves based on the state quantity variability of the environmental map information. A movement improper area determination unit configured to determine an improper movement improper area, and a distance between the movement improper area determined by the movement improper area determination unit and the moving body is predetermined. A path generation unit configured to generate a path of the moving body so as to be larger than a constant distance, and the mobile body to move along the path generated by the path generation unit. A movement control unit configured to control, and when the state quantity variability of the movement inappropriate area is low, the path generation unit is high when the state quantity variability of the movement inappropriate area is high. In comparison, an automatic driving control system for a moving body configured to set the set distance small is provided.

  It is possible to more accurately determine the movement inappropriate area and more appropriately generate the path of the moving body.

It is a block diagram of the automatic driving | running control system of the moving body of the Example by this invention. It is the schematic explaining an external sensor. It is a block diagram of the automatic operation control part of the Example by this invention. It is a diagram explaining a course. It is the schematic which shows the environmental map information of the Example by this invention. It is a figure which shows an example of the change with respect to the time of a state quantity. It is a figure which shows another example of the change with respect to time of a state quantity. It is a figure which shows another example of the change with respect to the time of a state quantity. It is the schematic explaining the detection method of a positional information and a state quantity. It is a time chart explaining the example of calculation of state quantity changeability. It is a time chart explaining the example of calculation of state quantity changeability. It is a figure which shows an example of a movement unsuitable area | region. It is a figure which shows an example of a movement unsuitable area | region. It is a figure which shows an example of a movement unsuitable area | region. It is a figure which shows an example of a movement unsuitable area | region. It is a figure which shows an example of a movement unsuitable area | region. It is a figure which shows an example of the two-dimensional map of a movement unsuitable area | region and the movement suitable area | region SR. It is the schematic for demonstrating the creation example of the two-dimensional map of a movement unsuitable area | region and the movement suitable area | region SR. It is the schematic explaining the course P. It is a map which shows an example of setting distance SP1. It is a map which shows another example of setting distance SP1. It is a map which shows an example of the speed VESR of a vehicle. It is a map which shows another example of speed VESR of a vehicle. It is a flowchart which shows the automatic driving | operation control routine of the Example by this invention. It is the schematic which shows another example of environmental map information.

  FIG. 1 shows a block diagram of an automatic driving control system for a moving body according to an embodiment of the present invention. The moving body includes a vehicle and a mobile robot. Hereinafter, a case where the moving body is a vehicle will be described as an example. Referring to FIG. 1, an automatic driving control system for a vehicle includes an external sensor 1, a GPS receiver 2, an internal sensor 3, a map database 4, a storage device 5, an environmental map storage device 6, a navigation system 7, and an HMI (Human Machine Interface). 8. Various actuators 9 and an electronic control unit (ECU) 10 are provided.

  The external sensor 1 is a detection device for detecting information outside or around the host vehicle. The external sensor 1 includes at least one of a rider (LIDAR: Laser Imaging Detection and Ranging), a radar (Radar), and a camera. In an embodiment according to the invention, as shown in FIG. 2, the external sensor 1 comprises at least one rider SO1, at least one radar SO2, and at least one camera SO3.

  The rider SO1 is a device that detects an object outside the host vehicle V using laser light. In an embodiment according to the present invention, the object may be a static object (eg, a building or a road) that is an immovable object, a dynamic object (eg, another vehicle, a pedestrian, etc.) that is a movable object, Includes quasi-static objects (eg, standing signs, trash cans, tree branches, etc.) that are non-movable but easily movable objects. In the example shown in FIG. 2, a single rider SO <b> 1 is installed on the roof of the vehicle V. In another embodiment (not shown), for example, four riders are respectively attached to the bumpers at the four corners of the vehicle V. The rider SO1 sequentially irradiates laser light toward the entire periphery of the host vehicle V, and measures information related to the object from the reflected light. This object information includes the distance and direction from the rider SO1 to the object, that is, the relative position of the object with respect to the rider SO1. Object information detected by the rider SO1 is transmitted to the electronic control unit 10. On the other hand, the radar SO2 is a device that detects an object outside the host vehicle V using radio waves. In the example shown in FIG. 2, for example, four radars SO <b> 2 are attached to the bumpers at the four corners of the vehicle V, respectively. The radar SO2 emits radio waves from the radar SO2 around the host vehicle V, and measures information related to objects around the host vehicle V from the reflected waves. Object information detected by the radar SO2 is transmitted to the electronic control unit 10. In the example illustrated in FIG. 2, the camera SO3 includes a single stereo camera provided inside the windshield of the vehicle V. The stereo camera SO3 takes color or monochrome photography in front of the host vehicle V, and the color or monochrome photography information by the stereo camera SO3 is transmitted to the electronic control unit 10.

  Referring to FIG. 1 again, the GPS receiver 2 receives signals from three or more GPS satellites, and thereby determines the absolute position of the host vehicle or the external sensor 1 (for example, the latitude, longitude, and altitude of the host vehicle V). Detect information to represent. The absolute position information of the host vehicle detected by the GPS receiver 2 is transmitted to the electronic control unit 10.

  The internal sensor 3 is a detection device for detecting the traveling state of the host vehicle V. The traveling state of the host vehicle V is represented by at least one of the speed, acceleration, and posture of the host vehicle. The internal sensor 3 includes one or both of a vehicle speed sensor and an IMU (Internal Measurement Unit). In an embodiment according to the invention, the internal sensor 3 comprises a vehicle speed sensor and an IMU. The vehicle speed sensor detects the speed of the host vehicle V. The IMU includes, for example, a three-axis gyro and a three-direction acceleration sensor, detects the three-dimensional angular velocity and acceleration of the host vehicle V, and detects the acceleration and posture of the host vehicle V based on them. The traveling state information of the host vehicle V detected by the internal sensor 3 is transmitted to the electronic control unit 10.

  The map database 4 is a database related to map information. The map database 4 is stored in, for example, an HDD (Hard disk drive) mounted on the vehicle. The map information includes, for example, road position information, road shape information (for example, the types of curves and straight lines, the curvature of curves, the positions of intersections, junctions, and branch points).

  The storage device 5 stores a three-dimensional image of the object detected by the rider SO1 and a road map dedicated to automatic driving created based on the detection result of the rider SO1. The three-dimensional images and road maps of these objects are updated constantly or periodically.

  The environmental map storage device 6 stores environmental map information (described later).

  The navigation system 7 is a device that guides the host vehicle V to the destination set by the driver of the host vehicle V via the HMI 8. The navigation system 7 calculates a target route to the destination based on the current position information of the host vehicle V detected by the GPS receiver 2 and the map information in the map database 4. Information on the target route of the host vehicle V is transmitted to the electronic control unit 10.

  The HMI 8 is an interface for outputting and inputting information between the occupant of the host vehicle V and the automatic driving control system of the vehicle. In an embodiment according to the present invention, the HMI 8 includes a display that displays text or image information, a speaker that generates sound, and an operation button or a touch panel for an occupant to perform an input operation.

  The actuator 9 is a device for controlling the traveling operation of the host vehicle V in accordance with a control signal from the electronic control unit 10. Driving operation of the vehicle V includes driving, braking, and steering of the vehicle V. The actuator 9 includes at least one of a drive actuator, a brake actuator, and a steering actuator. The drive actuator controls the output of the engine or electric motor that provides the driving force of the vehicle V, thereby controlling the driving operation of the vehicle V. The braking actuator operates the braking device of the vehicle V, thereby controlling the braking operation of the vehicle V. The steering actuator operates the steering device of the vehicle V, thereby controlling the steering operation of the vehicle V.

  In the state where automatic driving is possible, when an input operation for starting automatic driving is performed by the occupant in the HMI 8, a signal is sent to the electronic control unit 10 to start automatic driving. That is, driving, braking, and steering, which are traveling operations of the vehicle V, are controlled by the actuator 9. On the other hand, when an input operation for stopping the automatic driving is performed by the occupant in the HMI 8, a signal is sent to the electronic control unit 10 to stop the automatic driving, and at least one of the driving operations of the vehicle V is performed by the driver. Is started. In other words, automatic operation can be switched to manual operation. It should be noted that when the driving operation of the vehicle V is performed by the driver during automatic driving, that is, when the driver operates the steering more than a predetermined threshold amount, or when the accelerator pedal is depressed more than a predetermined threshold amount, Alternatively, the automatic operation can be switched to the manual operation when the brake pedal is depressed more than a predetermined threshold amount. Further, when it is determined that automatic driving is difficult during automatic driving, the driver is requested to perform manual driving via the HMI 7.

  The electronic control unit 10 is a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like that are connected to each other via a bidirectional bus. As shown in FIG. 1, an electronic control unit 10 according to an embodiment of the present invention includes a storage unit 11 having a ROM and a RAM, an automatic operation control unit 12, and a movement inappropriate area determination unit 13.

  The automatic driving control unit 12 is configured to control the automatic driving of the vehicle V. On the other hand, the movement inappropriate area determination unit 13 is configured to determine a movement inappropriate area that is inappropriate for the vehicle V to move.

  In the embodiment according to the present invention, as shown in FIG. 3, the automatic operation control unit 12 includes a periphery recognition unit 12a, a self-position determination unit 12b, a course generation unit 12c, and a movement control unit 12d.

  The periphery recognition unit 12 a is configured to recognize the surrounding conditions of the host vehicle V using the external sensor 1. That is, the surrounding recognition unit 12a is based on the detection result of the external sensor 1 (for example, the three-dimensional image information of the object by the rider SO1, the object information by the radar SO2, the shooting information by the camera SO3, etc.) Recognize This external situation includes, for example, the position of the white line of the traveling lane with respect to the host vehicle V, the position of the lane center with respect to the vehicle V, the road width, the shape of the road (for example, the curvature of the traveling lane, the change in the slope of the road surface, etc.) (For example, information for distinguishing between a static object and a dynamic object, the position of the object with respect to the vehicle V, the moving direction of the object with respect to the vehicle V, the relative speed of the object with respect to the vehicle V, and the like).

  The self-position determining unit 12b is configured to determine the absolute position of the host vehicle V. That is, the self-position determining unit 12b is configured to determine the approximate position of the host vehicle V from the GPS receiving unit 2, the surrounding situation of the host vehicle V recognized by the periphery recognition unit 12a, and the object stored in the storage device 5. The absolute position of the host vehicle V is calculated based on the information on the vehicle and the road map dedicated to automatic driving.

  The course generation unit 12c is configured to generate a course of the vehicle V. In the embodiment according to the present invention, the route is information indicating the time t, information indicating the absolute position (x (t), y (t)) of the vehicle at the time t, and the traveling state of the vehicle at the time t ( For example, a combination (t, x (t), y (t), v (t), θ (t)) with information representing the speed v (t) and the traveling direction θ (t)) is included. Here, x (t) is represented by latitude, for example, and y (t) is represented by longitude, for example. For example, first, using the combination (0, x (0), y (0), v (0), θ (0)) at the current time (t = 0), the combination after the time Δt has elapsed (Δt , X (Δt), y (Δt), v (Δt), θ (Δt)) are calculated. Next, a combination (2Δt, x (2Δt), y (2Δt), v (2Δt), θ (2Δt)) after the time Δt has elapsed is calculated. Next, a combination (nΔt, x (nΔt), y (nΔt), v (nΔt), θ (nΔt)) after the time nΔ has elapsed is calculated. An example of these combinations is shown in FIG. That is, FIG. 4 shows the above-described combination (t, x (t), y (t), v in the three-dimensional space defined by the time t and the absolute position (x (t), y (t)) of the vehicle V. An example of (t), θ (t)) is plotted. As shown in FIG. 4, a curve obtained by sequentially connecting a plurality of combinations (t, x (t), y (t), v (t), θ (t)) is the course P.

  Furthermore, in the embodiment according to the present invention, the course generation unit 12 c generates the course P based on the movement inappropriate area determined by the movement inappropriate area determination unit 13.

  The movement control unit 12d is configured to perform movement control of the vehicle V. Specifically, the movement control unit 12d is configured to control the vehicle V so as to move along the route P generated by the route generation unit 12c. That is, the movement control unit 12d controls the actuator 9 so that the combination (t, x (t), y (t), v (t), θ (t)) that the course P has is realized, and the vehicle Controls driving, braking and steering of V.

  In the embodiment according to the present invention, the movement inappropriate area determination unit 13 is configured to determine the movement inappropriate area based on the environmental map information in the environmental map storage device 6. Next, environmental map information according to an embodiment of the present invention will be described.

  FIG. 5 schematically shows environmental map information M according to an embodiment of the present invention. As shown in FIG. 5, the environmental map information M according to the embodiment of the present invention corresponds to position information representing a plurality of positions in the space, and state quantity representative values associated with the corresponding position information, respectively. State quantity variability associated with the position information. In the embodiment according to the present invention, the above-mentioned space is a three-dimensional space. In another embodiment (not shown), the space is a two-dimensional space.

  The state quantity representative value and the state quantity changeability at a certain position are calculated based on the state quantity at the certain position. In the embodiment according to the present invention, the state quantity at a certain position is represented by the probability that an object exists at the certain position. In this case, the state quantity is calculated, for example, in the form of a continuous value from zero to one. In another embodiment (not shown), the state quantity is calculated in the form of discrete values.

  The state quantity representative value at a certain position is a numerical value that appropriately represents the state at the certain position. In the embodiment according to the present invention, the state quantity representative value is calculated in the form of a continuous value.

  On the other hand, the state quantity variability at a certain position is a numerical value representing the ease of change of the state quantity at a certain position with respect to time. In the embodiment according to the present invention, the state quantity variability is calculated in the form of continuous values. In another embodiment (not shown), the state quantity variability is calculated in the form of discrete values. Next, the state quantity variability will be further described with reference to FIGS. 6A, 6B, and 6C. In FIG. 6A, FIG. 6B, and FIG. 6C, the detected state quantities are plotted.

  The state quantity variability is represented by, for example, the frequency of change of the state quantity with respect to time and the degree of change. That is, the state quantity in the example shown in FIG. 6B has a higher frequency of change than the state quantity in the example shown in FIG. 6A and is likely to change with time. Therefore, the state quantity variability in the example shown in FIG. 6B is higher than the state quantity variability in the example shown in FIG. 6A. On the other hand, the state quantity in the example shown in FIG. 6C has a greater degree of change and is likely to change with time as compared to the state quantity in the example shown in FIG. 6A. Therefore, the state quantity variability in the example shown in FIG. 6C is higher than the state quantity variability in the example shown in FIG. 6A.

  Next, an example of creating the environmental map information M will be described. This creation example includes an environment detection device that detects position information indicating a position in space and a state quantity of the position, a storage device for an environment map, and an electronic control unit for creating an environment map, The electronic control unit for creation is configured to detect position information representing the position and a state quantity of the position at different times by the environment detection device for each of a plurality of positions in the space. An environment detection unit; a state quantity calculation unit that calculates the state quantity representative value using the detected state quantity for each of the plurality of positions; and the state quantity detected for each of the plurality of positions. A change calculating unit configured to calculate the state quantity variability by using the state quantity representative value and the state quantity variability in association with the corresponding position information. A storage unit for storing in a storage device boundary map, using the environmental map creation systems with environmental map information M is created. The environmental mapping system is mounted on a moving body such as a vehicle. The environment detection device includes, for example, an external sensor (for example, a rider) that detects an object around the environment map creation system, an internal sensor, and a GPS receiver that detects the absolute position of the environment map creation system.

  FIG. 7 shows a case where the laser beam emitted from the rider L of the environment mapping system is reflected by the object OBJ. In this case, as indicated by a black circle in FIG. 7, a reflection point is formed at the position PX. The rider L measures the relative position information of the reflection point position PX from the reflected light. From this measurement result, it can be seen that the object OBJ exists at the position PX. Therefore, the state quantity at the position PX, that is, the object existence probability is 1. Further, the absolute position information of the position PX is obtained from the relative position information of the position PX from the rider 1 and the absolute position information of the environmental map creation system from the GPS receiver of the environmental map creation system. Further, it can be seen that there is no object at the position PY which is not a reflection point indicated by a white circle in FIG. 7, and therefore the state quantity at the position PY, that is, the object existence probability is zero. Further, the absolute position information of the position PY is known from the relative position information of the position PX from the rider L and the absolute position information of the environmental map creation system from the GPS receiver of the environmental map creation system. In this way, the absolute position information and state quantities of the positions PX and PY are calculated.

  In the example of creating the environmental map information M, the rider L of the environmental map creating system repeatedly detects the object information at intervals of several tens of ms, for example. In other words, the rider L of the environmental map creation system detects object information at a plurality of different times. Therefore, state quantities at a plurality of different times are calculated from object information at a plurality of different times. Alternatively, even when a moving body equipped with the environment map creation system moves a certain place a plurality of times, object information at a plurality of different times is detected, and thus state quantities at a plurality of different times are calculated. 8A, 8B, and 8C show various examples of state quantities at a certain position at a plurality of different times.

  In the example of creating the environmental map information M, the amount of change of the state quantity per unit time is calculated, and the state quantity variability is calculated based on the amount of change of the state quantity per unit time. That is, in the example shown in FIG. 8A, the amount of change (absolute value) dSQ1, dSQ2,... Of the state quantity in the same time width dt is calculated. The time width dt in this case is equal to, for example, the state quantity detection interval. In the example shown in FIG. 8A, the state quantity change amounts dSQ1, dSQ2,... Are calculated in the continuous time width dt, but in another example, the state quantity change amount in the discontinuous time width dt. Are calculated respectively. Alternatively, in the example shown in FIG. 8B, the amount of change (absolute value) dSQ1, dSQ2,... Of state quantities in a plurality of mutually different time widths dt1, dt2,. The different time widths are, for example, orders such as seconds, minutes, days, years. Next, change amounts dSQ1 / dt1, dSQ2 / dt2,... Of the state quantity per unit time are sequentially calculated. In the example shown in FIG. 8B, the state quantity change amounts dSQ1, dSQ2,... Are calculated in the continuous time widths dt1, dt2,. Are calculated respectively. Next, the state quantity variability is calculated by performing a simple average or a weighted average of the amount of change dSQ1 / dt1, dSQ2 / dt2,. When the weighted average is used, in one example, the change amount dSQ / dt of the state quantity with a newer detection time is more heavily weighted, and the change amount dSQ / dt of the state quantity with an older detection time is weighted. Is weighted smaller. In another example, the amount of change dSQ / dt per unit time of a state quantity with a newer detection time is weighted smaller, and the amount of change dSQ / dt of a state quantity with an older detection time is weighted more. The Such calculation of state quantity variability is performed for each of a plurality of positions.

  In another example of creating the environmental map information M (not shown), a plurality of state quantities as a function of time are Fourier transformed, and state quantity variability is calculated from the result. Specifically, in one example, the intensity of a predetermined spectrum (frequency) is calculated as the state quantity variability. In another example, the state quantity variability is calculated by simple averaging or weighted averaging of the intensities of various spectra.

  On the other hand, in the example of creating the environmental map information M, the state quantity representative value is calculated based on the state quantity of the certain position detected at a plurality of different times. In one example, the state quantity representative value at a certain position is set to the latest value among the state quantities at the certain position at a plurality of different times. In this way, the state quantity representative value at a certain position represents the latest state at the certain position. In another example, the state quantity representative value at a certain position is calculated by performing a simple average or a weighted average of the state quantities at a certain position at a plurality of different times. In this way, even if the state quantity at a certain position temporarily changes, the state at that position can be accurately represented by the state quantity representative value.

  Next, the state quantity representative values are stored in the storage device for the environmental map in association with the corresponding position information. The state quantity variability is stored in the environmental map storage device in association with the corresponding position information. In this way, the environmental map information M is created.

  Since the state quantity representative value and the state quantity variability are associated with the position information in this way, when the position information is designated, the state map representative value and the state quantity variability of the corresponding position can be known from the environment map information M. In the embodiment according to the present invention, the environment map information M is a three-dimensional map because it has position information of a position in the three-dimensional space, a state quantity representative value, and a state quantity variability. In the embodiment according to the present invention, the position information is absolute position information. In another embodiment (not shown), the position information is relative position information with respect to a predetermined specific position.

  From the environmental map information M created in this way, the following can be understood. That is, when the state quantity represented by the object existence probability at a certain position is large and the state quantity changeability is low, the position is static object (for example, building, road surface, etc.) or stationary. Or a quasi-static object (eg, a standing signboard, a trash can, a tree branch, etc.). Alternatively, the occupied state in which the position is occupied by a dynamic object or a quasi-static object and the unoccupied state in which the position is not occupied by a dynamic object or a quasi-static object are switched at a relatively low frequency. At the same time, the occupied time is relatively long. On the other hand, when the state quantity at a certain position is small and the state quantity changeability is low, there is nothing at that position. A specific example of such a position is an upper space of a pond. When the state quantity at a certain position is large and the state quantity changeability is high, the occupied state and the unoccupied state are switched at a relatively high frequency at the position, and the occupied state time is relatively long. A specific example of such a position is a road having a relatively large traffic volume. When the state quantity at a certain position is small and the state quantity changeability is high, the occupied state and the unoccupied state are switched at a relatively high frequency at the position, and the time of the unoccupied state is relatively long. A specific example of such a position is a road with a relatively small traffic volume (not zero).

  That is, the environmental map information M according to the embodiment of the present invention includes not only information on the presence or absence of an object at a certain position, but also information on the situation of the position. Therefore, the situation in the space can be expressed more accurately.

  In the embodiment according to the present invention, the mobile body equipped with the environment map creation system is a mobile body different from the vehicle V. In another embodiment (not shown), the mobile body equipped with the environmental map creation system is a vehicle V. That is, the environmental map information M is created in the vehicle V and stored in the environmental map storage device 6. In this case, the external sensor 1 and the GPS receiver 2 of the vehicle V constitute an environment detection device of the environment map creation system.

  In the above-described embodiment according to the present invention, the state quantity at a certain position is represented by the probability that an object exists at the certain position. In another embodiment (not shown), the state quantity at a certain position is represented by the color or luminance value of an object present at the certain position. In this case, for example, it is possible to grasp which lamp is lit among the lamps of the traffic light. In this alternative embodiment, when the state quantity is represented by the color of the object, the color of the object is detected by a color camera as the camera SO3 of the external sensor 1. On the other hand, when the state quantity is represented by the brightness value of the object, the brightness value of the object is detected by the rider SO1, the radar SO2, or the color or monochrome camera SO3 of the external sensor 1. That is, the intensity of the reflected light obtained when the laser light emitted from the rider SO1 is reflected by the object represents the luminance value of the object. Similarly, the reflected wave intensity of the radar SO2 represents the luminance value of the object. Therefore, the luminance value of the object is detected by detecting the reflected light intensity or the reflected wave intensity. When the state quantity is represented by the color of the object, the state quantity is digitized using, for example, an RGB model.

  On the other hand, in the embodiment according to the present invention described above, one state quantity change property is associated with one piece of position information. In another embodiment (not shown), a plurality of state quantity variability is associated with one piece of position information, and therefore the environment map information M has a plurality of state quantity variability. In this case, in one example, a plurality of state quantity variability are calculated based on the amount of change in the state quantity in a plurality of different time widths as shown in FIG. 8B. In another example, a plurality of state quantity variability are calculated based on the intensity of a plurality of spectra obtained by Fourier transforming the state quantity.

  As described above, the movement inappropriate area determination unit 13 determines a movement inappropriate area based on the environmental map information M. Next, with reference to FIG. 9 to FIG. 13, various examples of the method for determining the improper movement area in the embodiment according to the present invention will be described.

  In the example shown in FIG. 9, the state quantity representative value SQ is larger than the predetermined first set state quantity representative value SQ1 in the space in which the vehicle V can travel, and the state quantity variability VRB is predetermined. A region lower than the obtained first set state quantity variability VRB1 is determined as the movement inappropriate region USR. In addition, the state quantity representative value SQ is larger than the first set state quantity representative value SQ1 and the state quantity change VRB is equal to or higher than the first set state quantity change VRB1, and the state quantity change Regardless of VRB, the region where the state quantity representative value SQ is the same as or smaller than the first set state quantity representative value SQ1 is determined as the movement adaptation region SR suitable for the vehicle to move.

  As described above, there is a static object in the region where the state quantity representative value SQ is large and the state quantity variability is low. In the example shown in FIG. 9, it is determined that such a region is not suitable for the automatic driving traveling of the vehicle V, and this region is determined as the movement inappropriate region USR. On the other hand, in the example shown in FIG. 9, it is determined that the vehicle V is suitable for automatic driving in a region where the state quantity representative value SQ is large and the state quantity variability is high or a state quantity representative value SQ is small. These areas are determined as the movement adaptation area SR. In the embodiment according to the present invention, a region where the environmental map information M does not exist, that is, a region where one or both of the state quantity representative value and the state quantity changeability are not calculated is also determined as the movement inappropriate area USR. .

  In the example shown in FIG. 10, the state quantity representative value SQ is larger than a predetermined second set state quantity representative value SQ2, and the state quantity variability VRB is predetermined. The higher area is determined as the movement inappropriate area USR. In addition, the state quantity representative value SQ is larger than the second set state quantity representative value SQ2 and the state quantity variability VRB is equal to or lower than the second set state quantity variability VRB1, and the state quantity variability Regardless of VRB, an area where the state quantity representative value SQ is the same as or smaller than the second set state quantity representative value SQ2 is determined as the movement adaptation area SR.

  In the example shown in FIG. 11, the state quantity representative value SQ is smaller than a predetermined third set state quantity representative value SQ3 and the state quantity variability VRB has a predetermined third set state quantity variability VRB3. The higher area is determined as the movement inappropriate area USR. In addition, the state quantity representative value SQ is smaller than the third set state quantity representative value SQ3 and the state quantity variability VRB is equal to or lower than the third set state quantity variability VRB3, and the state quantity variability Regardless of VRB, a region in which the state quantity representative value SQ is the same as or larger than the third set state quantity representative value SQ3 is determined as the movement adaptation region SR.

  In the example shown in FIG. 12, an area where the state quantity variability VRB is lower than the predetermined fourth set state quantity variability VRB4 is determined as the movement inappropriate area USR. Further, an area where the state quantity change VRB is equal to or higher than the fourth set state quantity change VRB4 is determined as the movement adaptation area SR.

  In the example shown in FIG. 13, an area in which the state quantity variability VRB is higher than a predetermined fifth set state quantity variability VRB5 is determined as the movement inappropriate area USR. Further, an area where the state quantity change VRB is the same as or lower than the fifth set state quantity change VRB5 is determined as the movement adaptation area SR.

  In the example shown in FIGS. 12 and 13, it can be considered that the movement inappropriate region USR is determined regardless of the state quantity representative value SQ.

  FIG. 14A is an example in which the movement unsuitable region USR and the movement suitable region SR are represented in the form of a two-dimensional map. In the example shown in FIG. 14A, x is represented by latitude and y is represented by longitude. This two-dimensional map is created as follows, for example.

  The environmental map information M includes state quantity variability VRB and state quantity representative values SQ at a plurality of positions where the latitude x and the longitude y are the same and the altitudes z are different from each other. FIG. 14B shows a plurality of positions P1, P2, where the latitude x and the longitude y are (x1, y1) and the altitudes z are different from each other between the road surface and a constant value H determined according to the height of the vehicle V. ..., Pn is shown. The constant value H is, for example, the sum of the constant value and the height of the vehicle V. It is determined whether or not these positions P1, P2,..., Pn are the movement inappropriate area USR. That is, in the example shown in FIG. 9, at the positions P1, P2,..., Pn, the state quantity representative value SQ is larger than the first set state quantity representative value SQ1, and the state quantity change VRB is the first set state. It is determined whether or not it is lower than the quantity change VRB1. When it is determined that at least one of the positions P1, P2,..., Pn is the movement inappropriate area USR, the position (x1, y1) on the xy plane is set as the movement inappropriate area USR. On the other hand, when it is determined that all of the positions P1, P2,..., Pn are the movement adaptation region SR, the position (x1, y1) on the xy plane is set as the movement adaptation region SR. The same processing is performed for various latitudes x and longitudes y, whereby the movement inappropriate area USR and the movement compatible area SR are represented in the form of a two-dimensional map.

  As described above, in the embodiment according to the present invention, the course generation unit 12c generates the course P based on the movement inappropriate area determined by the movement inappropriate area determination unit 13. Next, an example of the course P based on the inappropriate movement area will be described.

  In the embodiment according to the present invention, as shown in FIG. 15, the course P is generated so as to avoid the movement inappropriate area USR. In the embodiment according to the present invention, the course P is determined so that the distance SP between the vehicle V and the unsuitable movement area USR is larger than a predetermined set distance SP1. In this way, the automatic operation of the vehicle V is performed more safely and more reliably.

  In this case, when the state quantity variability VRB of the movement inappropriate area USR is low, the set distance SP1 is set smaller than when the state quantity variability VRB of the movement inappropriate area USR is high. Specifically, in the example shown in FIG. 16, the set distance SP1 decreases as the state quantity variability VRB decreases. In the example shown in FIG. 17, the set distance SP1 is set to a relatively small value SP1S when the state quantity variability VRB is lower than a predetermined first state quantity variability threshold VRBx, and the state quantity change When the characteristic VRB is equal to or higher than the first state quantity variability threshold value VRBx, it is set to a relatively large value SP1L.

  In the embodiment according to the present invention, the speed when passing through the movement inappropriate area USR is set based on the state quantity variability VRB of the movement inappropriate area USR.

  In this case, when the state quantity variability VRB of the movement unsuitable area USR is low, the speed VUSR when the vehicle V passes through the movement unsuitable area USR is higher than when the state quantity variability VRB of the movement unsuitable area USR is high. Set high. Specifically, in the example shown in FIG. 18, the speed VSSR increases as the state quantity variability VRB decreases. In the example shown in FIG. 19, the speed VUSR is set to a relatively high speed VUSRL when the state quantity variability VRB is lower than a predetermined second state quantity variability threshold value VRBy, and the state quantity variability is set. When VRB is equal to or higher than second state quantity variability threshold value VRBy, it is set to a relatively low speed VUSRS.

  The embodiment according to the present invention generates the path P in this way for the following reason. That is, a state variable VRB in a certain region is low means that an object in the certain region is difficult to move. Therefore, it can be considered that the object in the certain area is stable. On the other hand, a state variable VRB in a certain region is high means that an object in the certain region is easy to move, and therefore an object in the certain region is unstable. Can think. Then, it can be considered that the area around the state variable VRB is safer than the area around the high state variable VRB.

  Therefore, in the embodiment according to the present invention, when the state quantity variability VRB of the movement inappropriate area USR is low, the route is set so that the set distance SP1 is smaller than when the state quantity variability VRB of the movement inappropriate area USR is high. P is generated. Further, when the state quantity variability VRB of the movement unsuitable area USR is low, the speed VUSR when the vehicle V passes through the movement unsuitable area USR is higher than when the state quantity variability VRB of the movement unsuitable area USR is high. The path P is generated so that As a result, a more appropriate route P is ensured according to the situation of the unsuitable movement area USR, and thus a more appropriate automatic driving of the vehicle V is ensured.

  FIG. 20 shows a routine for executing the automatic operation control of the embodiment according to the present invention. This routine is repeated when automatic operation control is to be performed. Referring to FIG. 20, in step 101, a movement inappropriate area USR is determined. In the following step 102, the course P is generated. In the subsequent step 103, movement control of the vehicle V is executed.

  As described above, it is considered that the area around the state variable VRB is safer than the area around the state variable VRB high. Therefore, in another embodiment (not shown) according to the present invention, when the state quantity variability VRB is higher than a predetermined third state quantity variability threshold value VRBz, an alarm is issued to the driver, and the state quantity variability is determined. When VRB is equal to or lower than the third state quantity variability threshold value VRBz, the alarm to the driver is stopped. As a result, the driver can be alerted more appropriately. This alarm is given by, for example, the HMI 8.

  FIG. 21 shows another example of the environment map information M. In the example shown in FIG. 21, the environmental map information M includes position information representing a plurality of positions in the space and state quantity variability associated with the corresponding position information, respectively, and the state quantity representative value Does not have. Also in this case, the situation of a plurality of positions can be grasped by the state quantity variability.

  In the description so far, the first set state amount change VRB1 to the fifth set state amount change VRB5 are different from each other. In another example, at least two of the first set state quantity variability VRB1 to the fifth set state quantity variability VRB5 are equal to each other. In the above description, the first set state quantity representative value SQ1 to the third state quantity representative value SQ3 are different from each other. In another example, at least two of the first set state quantity representative value SQ1 to the third state quantity representative value SQ3 are equal to each other. Furthermore, in the above description, the first state quantity variability threshold value VRBx and the third state quantity variability threshold value VRBz are different from each other. In another example, at least two of the first state quantity variability threshold value VRBx to the third state quantity variability threshold value VRBz are equal to each other.

DESCRIPTION OF SYMBOLS 1 External sensor 2 GPS receiving part 6 Environmental map memory | storage device 10 Electronic control unit 12 Automatic operation control part 12a Periphery recognition part 12b Self-position determination part 12c Course generation part 13 Movement improper area | region determination part M Environmental map information

Claims (1)

An automatic driving control system for a moving body comprising an environmental map storage device storing environmental map information and an electronic control unit,
The environmental map information is
Position information representing each of a plurality of positions in space;
State quantity variability of each of the plurality of positions, the state quantity variability associated with the corresponding position information, and
The state quantity variability represents the ease of change of the state quantity at the corresponding position with respect to time,
The electronic control unit is
Based on the state quantity variability of the environmental map information, a movement inappropriate area determination unit configured to determine a movement inappropriate area that is inappropriate for the moving body to move; and
It is configured to generate a course of the moving body so that a distance between the unsuitable movement area determined by the unsuitable movement area determination unit and the moving body is larger than a predetermined set distance. A course generator,
A movement control unit configured to control the moving body to move along the route generated by the route generation unit;
With
The course generation unit is configured to set the setting distance smaller when the state quantity variability of the movement inappropriate area is low than when the state quantity variability of the movement inappropriate area is high. ,
Automatic operation control system for moving objects.

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