JP6491893B2 - Autonomous traveling control system, autonomous traveling apparatus using the autonomous traveling control system, autonomous traveling control method, control program, and recording medium - Google Patents

Description

  The present invention relates to an autonomous traveling control system, an autonomous traveling device using the autonomous traveling control system, an autonomous traveling control method, a control program, and a recording medium.

  In recent years, peripheral information (ranging information, etc.) in the traveling direction of a moving body such as an autonomous traveling vehicle is detected, and obstacles existing around the moving body are detected based on the peripheral information to enable autonomous traveling. The technology of an object detection device is known.

  As a conventional technique, for example, when a non-moving object is detected within a passing area of a vehicle, a collision preventing means for performing a collision preventing operation, an object detecting means for detecting a surrounding object of the vehicle, etc. are detected. A collision prevention device is disclosed in which collision is prevented by advancing the operation timing of the collision prevention means compared to the case where a moving object is detected (see Patent Document 1).

An example of an obstacle detection method using peripheral information as in the technique of Patent Document 1 is shown below.
FIG. 16 is an explanatory diagram showing the overall configuration of a conventional autonomous traveling device, FIG. 17 is a table in which data of detected peripheral information is digitized, and FIG. 18 shows a state in which normal peripheral information is detected by the autonomous traveling device. FIG. 19 is an explanatory diagram illustrating a state in which an obstacle is detected by the autonomous mobile device.

  For example, as shown in FIG. 16, an autonomous mobile device 501 equipped with an object detection sensor 502 detects an obstacle 503 present in the determination target area 502a.

  As an example of the peripheral information for detecting the obstacle 503 by the object detection sensor 502, as shown in FIG. 17, it is composed of distance measurement information in each of the coordinates mapped in the XY space. In this case, the X axis indicates a virtual axis that means a width in the lateral direction perpendicular to the traveling direction of the autonomous traveling device 501, and the Y axis indicates a virtual axis in the height direction that intersects perpendicularly with the traveling direction.

  The distance measurement information is numerical information obtained by normalizing the distance from the object detection sensor 502 on the virtual axis Z indicating the traveling direction discretely digitized by the measurement limit distance.

  FIG. 17 shows a case where the limit detection distance is normalized by 255. For example, when the distance threshold is set to 100, it is determined that there is an obstacle 503 with respect to an area (hatched range in the table of FIG. 17) 503a that is smaller than 100.

  Normally, when the autonomous traveling device 501 travels on a horizontal plane, as shown in FIG. 18, the peripheral information obtained from the object detection sensor 502 does not include ground information or includes ground information. Even if it is, the corresponding part is not handled as the determination target area 502a, and it is determined that there is no obstacle 503.

  As shown in FIG. 19, when the obstacle 503 exists in the determination target area 502a of the traveling direction of the autonomous traveling device 501, the obstacle 503 is detected by the distance measurement information.

JP 2009-73282 A

  However, the object detection sensor 502 as described above generally detects whether or not an object exists in the detection range, and does not detect whether or not the detected object is an obstacle. . For this reason, when the autonomous traveling device 501 travels on an uneven road, the road itself may be erroneously detected as an obstacle. When such erroneous detection occurs, there arises a problem that it leads to a malfunction such as useless stop.

Here, as an example of erroneous detection of the object detection sensor 502, an example in which the limit inclination angle of the traveling road surface is set to θlim (for example, ± 10 °) in the autonomous traveling device 501 is shown.
FIG. 20 is an explanatory diagram showing a state in which an inclined surface is detected by a conventional autonomous traveling device, FIG. 21 is an explanatory diagram showing a state in which the inclined surface is detected in an inclined state by the autonomous traveling device, and FIG. It is explanatory drawing which shows the state which replaced the state which detects an inclined surface in an inclined state, when an inclined surface is detected in a horizontal road surface.

  When the autonomous traveling device 501 travels on the horizontal road surface c and there is an inclined surface d within θlim ahead, the inclined surface d detected by the object detection sensor 502 is in the determination target region 502a as shown in FIG. This is the range of the detection area a.

  However, when the autonomous traveling device 501 is tilted forward even on the same slope d, the slope d detected by the object detection sensor 502 is the range of the detection area b in the determination target area 502a as shown in FIG. become that way.

  Assuming that the range of the detection region b is allowed without considering the inclination of the autonomous traveling device, the slope d1 exists while traveling on the horizontal road surface c as shown in FIG. Since an equivalent detection result is obtained, the slope d exceeding the limit of the above-described θlim is allowed and a contradiction occurs.

  The limit inclination angle θlim of the allowable limit slope d is set to avoid overturning when traveling on a road that exceeds the inclination angle, and therefore a design that does not have the above-described contradiction is required.

  The present invention has been made in view of the above-described conventional problems, and eliminates erroneous detection of surrounding information on a sloped road with a simple configuration, and the traveling control of the autonomous traveling device based on accurate surrounding information. It is an object of the present invention to provide an autonomous traveling control system, an autonomous traveling device using the autonomous traveling control system, an autonomous traveling control method, a control program, and a recording medium.

  An autonomous traveling control system according to the present invention for solving the above-described problems, an autonomous traveling apparatus using the autonomous traveling control system, an autonomous traveling control method, a control program, and a recording medium are as follows.

  The present invention is an autonomous traveling control system that includes a detecting unit that detects surrounding information and is used in an autonomous traveling device that autonomously travels based on the surrounding information, the information processing the surrounding information detected by the detecting unit A peripheral information detecting means (peripheral information acquisition sensor) for detecting peripheral information of the autonomous traveling device as the detecting means, comprising: a processing unit; and a control unit that controls traveling of the autonomous traveling device based on the peripheral information. And an inclination state detection means (inclination sensor) for detecting the inclination state of the autonomous mobile device, and the information processing unit uses the inclination state detection means to detect peripheral information detected by the peripheral information detection means. Based on the detected peripheral information correction unit that corrects based on the detected inclination state of the autonomous traveling device, and the correction information corrected by the peripheral information correction unit An obstacle determination unit that determines an obstacle on a route traveled by the device; and a movement route determination unit that determines a movement route of the autonomous traveling device based on a determination result determined by the obstacle determination unit. The travel of the autonomous traveling device is controlled by the control unit along the travel route determined by the travel route determination unit.

  Further, the present invention provides a function (for example, a detection region) for changing the peripheral information detection region of the peripheral information detection unit used for the determination according to the tilt state detected by the tilt state detection unit in the obstacle determination unit. A function of masking a part of the above.

  Further, the present invention is characterized in that the obstacle determining unit has a function of changing parameters (for example, a detection distance and a detection angle) used for determination according to the inclination state detected by the inclination state detection means. To do.

  Further, the present invention provides an autonomous traveling device that includes a detecting unit that detects surrounding information and performs autonomous traveling based on the surrounding information, and is detected by the detecting unit as an autonomous traveling control system that controls traveling of the autonomous traveling device. An information processing unit for processing the peripheral information, and a control unit for controlling the travel of the autonomous mobile device based on the peripheral information, and the peripheral information for detecting the peripheral information of the autonomous mobile device as the detection means A detection means (peripheral information acquisition sensor) and an inclination state detection means (inclination sensor) for detecting the inclination state of the autonomous mobile device, and the information processing unit includes a periphery detected by the peripheral information detection means A peripheral information correction unit that corrects information based on the inclination state of the autonomous traveling device detected by the inclination state detection unit, and the peripheral information correction unit corrects the information. Based on the correction information, an obstacle determination unit that determines an obstacle on a route on which the autonomous traveling device travels, and a movement path of the autonomous traveling device is determined based on a determination result determined by the obstacle determination unit. A travel route determination unit, wherein the control unit uses an autonomous travel control system configured to control travel of the autonomous travel device along the travel route determined by the travel route determination unit. To do.

  Further, the present invention is an autonomous travel control method used for an autonomous traveling device that includes a detecting means for detecting peripheral information and performs autonomous traveling based on the peripheral information, and processes the peripheral information detected by the detecting means. A step of controlling the traveling of the autonomous traveling device based on the peripheral information, a step of detecting peripheral information of the autonomous traveling device, a step of detecting an inclination state of the autonomous traveling device, and Based on the correction information corrected in the step of correcting the peripheral information of the autonomous mobile device based on the inclination state of the autonomous mobile device and the step of correcting the peripheral information, obstacles on the route of the autonomous mobile device are Determining a movement route of the autonomous mobile device based on a determination result determined in the step of determining the obstacle, and determining the movement route It is characterized in that for controlling the travel of the autonomous driving apparatus along the movement path determined in the step of.

  The present invention also provides a control program for operating an autonomous traveling control system used in an autonomous traveling device including a detecting unit that detects peripheral information and a control unit that controls traveling, wherein the detecting unit includes the autonomous traveling device. An information processing unit that functions to detect the peripheral information of the traveling device and that functions to detect the inclination state of the autonomous traveling device and processes the peripheral information detected by the detection unit includes the peripheral information detection Based on the correction information corrected by the peripheral information correction unit, and functioning as a peripheral information correction unit that corrects the peripheral information detected by the unit based on the inclination state of the autonomous traveling device detected by the inclination state detection unit. And functioning as an obstacle determination unit that determines an obstacle on the route traveled by the autonomous traveling device, and by the obstacle determination unit Based on the determined determination result, the movement route determination unit functions as a movement route determination unit that determines the movement route of the autonomous traveling device, and controls the operation of the autonomous traveling device based on the peripheral information. A function of controlling the traveling of the autonomous traveling device along the determined movement route is provided.

  Further, the present invention is a recording medium on which a control program for operating an autonomous traveling control system used in an autonomous traveling device including a detecting unit that detects peripheral information and a control unit that controls traveling is recorded, An information processing unit that causes the detection unit to function to detect peripheral information of the autonomous traveling device, and to function to detect an inclination state of the autonomous traveling device, and processes the peripheral information detected by the detection unit Is corrected by the peripheral information correcting unit, and the peripheral information correcting unit corrects the peripheral information detected by the peripheral information detecting unit based on the tilt state of the autonomous traveling device detected by the tilt state detecting unit. Based on the corrected information made to function as an obstacle determination unit that determines an obstacle on the route traveled by the autonomous traveling device, and Based on the determination result determined by the harmful matter determination unit, the control unit that functions as a movement route determination unit that determines the movement route of the autonomous traveling device, and that controls the traveling of the autonomous traveling device based on the peripheral information, A control program that functions to control the travel of the autonomous traveling device along the travel route determined by the travel route determination unit is recorded and readable by a computer.

  According to the autonomous traveling control system of the present invention, there is provided an autonomous traveling control system that includes a detecting unit that detects surrounding information and is used in an autonomous traveling device that performs autonomous traveling based on the surrounding information, and is detected by the detecting unit. An information processing unit that processes the surrounding information, and a control unit that controls the traveling of the autonomous traveling device based on the surrounding information, and detects the surrounding information of the autonomous traveling device as the detecting means. And an inclination state detection means for detecting the inclination state of the autonomous mobile device, and the information processing unit detects the peripheral information detected by the peripheral information detection means by the inclination state detection means. Based on the peripheral information correction unit that corrects based on the inclination state of the autonomous traveling device, and the correction information that is corrected by the peripheral information correction unit, the autonomous traveling device An obstacle determination unit that determines an obstacle on a route to be performed, and a movement route determination unit that determines a movement route of the autonomous mobile device based on a determination result determined by the obstacle determination unit, Even if the autonomous traveling device travels in an inclined state by controlling the traveling of the autonomous traveling device along the travel route determined by the travel route determining unit by the control unit, The traveling of the autonomous traveling device can be controlled based on the peripheral information corrected in accordance with the tilt state of the device. This eliminates erroneous detection of surrounding information on a sloped road with a simple configuration, and enables traveling control of the autonomous traveling device based on accurate surrounding information.

  Further, according to the autonomous traveling device of the present invention, as an autonomous traveling control system for controlling traveling of the autonomous traveling device in an autonomous traveling device that includes detecting means for detecting surrounding information and performs autonomous traveling based on the surrounding information. An information processing unit that processes the peripheral information detected by the detection unit; and a control unit that controls the traveling of the autonomous traveling device based on the peripheral information, and the detection unit includes a periphery of the autonomous traveling device. Peripheral information detecting means for detecting information; and an inclination state detecting means for detecting the inclination state of the autonomous mobile device, and the information processing section includes the information about the periphery detected by the peripheral information detecting means in the inclination. A peripheral information correction unit that corrects based on the inclination state of the autonomous traveling device detected by the state detection means, and correction information that is corrected by the peripheral information correction unit Accordingly, an obstacle determination unit that determines an obstacle on the route traveled by the autonomous traveling device, and a movement route determination that determines a movement route of the autonomous traveling device based on the determination result determined by the obstacle determination unit An autonomous traveling control system that controls the traveling of the autonomous traveling device along the travel route determined by the travel route determination unit by the control unit. Even when the vehicle travels in an inclined state, the traveling of the autonomous traveling device can be controlled based on the peripheral information corrected in accordance with the inclined state of the autonomous traveling device. This eliminates erroneous detection of surrounding information on a sloped road with a simple configuration, and enables traveling control of the autonomous traveling device based on accurate surrounding information.

  In addition, according to the autonomous traveling control method of the present invention, there is provided an autonomous traveling control method for use in an autonomous traveling device that includes a detecting unit that detects surrounding information and performs autonomous traveling based on the surrounding information, A step of processing the detected peripheral information; a step of controlling travel of the autonomous traveling device based on the peripheral information; a step of detecting peripheral information of the autonomous traveling device; and detecting an inclination state of the autonomous traveling device The autonomous traveling device based on the correction information corrected in the step of correcting the detected peripheral information of the autonomous traveling device based on the inclination state of the autonomous traveling device, and the step of correcting the peripheral information Determining an obstacle on the route of the vehicle, and determining a movement route of the autonomous mobile device based on the determination result determined in the step of determining the obstacle; Even when the autonomous traveling device travels in an inclined state by controlling the traveling of the autonomous traveling device along the traveling route determined in the step of determining the traveling route. The traveling of the autonomous traveling device can be controlled based on the peripheral information corrected in accordance with the tilt state of the device. This eliminates erroneous detection of surrounding information on a sloped road with a simple configuration, and enables traveling control of the autonomous traveling device based on accurate surrounding information.

  Further, according to the control program of the present invention, there is provided a control program for operating an autonomous traveling control system used in an autonomous traveling apparatus including a detecting unit that detects peripheral information and a control unit that controls traveling, wherein the detection An information processing unit that functions to detect peripheral information of the autonomous traveling device and functions to detect an inclination state of the autonomous traveling device and processes the peripheral information detected by the detecting unit; The peripheral information detected by the peripheral information detecting means functions as a peripheral information correcting unit that corrects the peripheral information detected based on the tilt state of the autonomous traveling device detected by the tilt state detecting means, and is corrected by the peripheral information correcting unit. Based on the corrected information, the autonomous traveling device functions as an obstacle determination unit that determines an obstacle on the route traveled, Based on the determination result determined by the obstacle determination unit, the control unit that functions as a movement route determination unit that determines the movement route of the autonomous traveling device, and that controls the traveling of the autonomous traveling device based on the peripheral information, Even when the autonomous traveling device travels in an inclined state by functioning to control the traveling of the autonomous traveling device along the travel route determined by the travel route determining unit, the inclined state of the autonomous traveling device It is possible to control the traveling of the autonomous traveling device based on the peripheral information corrected according to the above. This eliminates erroneous detection of surrounding information on a sloped road with a simple configuration, and enables traveling control of the autonomous traveling device based on accurate surrounding information.

  In addition, according to the recording medium of the present invention, the recording medium on which the control program for operating the autonomous traveling control system used in the autonomous traveling apparatus provided with the detecting means for detecting the peripheral information and the control unit for controlling the traveling is recorded. The detecting means functions to detect the peripheral information of the autonomous traveling device, and also functions to detect the tilt state of the autonomous traveling device, and the peripheral information detected by the detecting means is detected. The information processing unit to be processed functions as a peripheral information correction unit that corrects the peripheral information detected by the peripheral information detection unit based on the tilt state of the autonomous traveling device detected by the tilt state detection unit, and Based on the correction information corrected by the information correction unit, it functions as an obstacle determination unit that determines an obstacle on the route traveled by the autonomous traveling device. And a control unit that functions as a movement route determination unit that determines a movement route of the autonomous traveling device based on the determination result determined by the obstacle determination unit, and controls the traveling of the autonomous traveling device based on the peripheral information. Is recorded so that it can be read by the computer along with the movement route determined by the movement route determination unit, so that the computer can read the control program. Can be executed more easily. This eliminates erroneous detection of surrounding information on a sloped road with a simple configuration, and enables traveling control of the autonomous traveling device based on accurate surrounding information.

It is explanatory drawing which shows the structure of the whole autonomous running apparatus which concerns on 1st Embodiment of this invention. It is a block diagram which shows the electric constitution of the autonomous running control system which controls driving | running | working of the said autonomous running apparatus. It is explanatory drawing which shows the detection area | region of the periphery information acquisition sensor mounted in the said autonomous traveling apparatus. It is a block diagram which shows the structure of the information processing part which comprises the said autonomous running control system. It is a flowchart which shows the procedure which performs the obstacle detection process by the said autonomous running control system. It is explanatory drawing which shows the state which the said autonomous traveling apparatus inclined. It is a flowchart which shows the process process which performs traveling control of an autonomous traveling apparatus by the said autonomous traveling control system. It is explanatory drawing which shows the structure of the whole autonomous running apparatus which concerns on 2nd Embodiment of this invention. It is a block diagram which shows the electric constitution of the autonomous running control system which controls driving | running | working of the said autonomous running apparatus. It is explanatory drawing which shows the state which changed the detection area | region of the periphery information acquisition sensor mounted in the said autonomous traveling apparatus. It is a flowchart which shows the process process which performs traveling control of an autonomous traveling apparatus by the said autonomous traveling control system. It is explanatory drawing which shows the structure of the whole autonomous running apparatus which concerns on 3rd Embodiment of this invention. It is a block diagram which shows the electric constitution of the autonomous running control system which controls driving | running | working of the said autonomous running apparatus. It is explanatory drawing which shows the state which changed the detection area | region of the periphery information acquisition sensor mounted in the said autonomous traveling apparatus. It is a flowchart which shows the process process which performs traveling control of an autonomous traveling apparatus by the said autonomous traveling control system. It is explanatory drawing which shows the whole structure of the conventional autonomous traveling apparatus. It is the table | surface which digitized the data of the conventional periphery information detected. It is explanatory drawing which shows the state which detects the normal periphery information by the conventional autonomous running apparatus. It is explanatory drawing which shows the state which detects the obstruction by the conventional autonomous running apparatus. It is explanatory drawing which shows the state which detects the inclined surface by the said conventional autonomous traveling apparatus. It is explanatory drawing which shows the state which detects an inclined surface in the inclined state by the conventional autonomous running apparatus. It is explanatory drawing which shows the state which replaced the state which detects an inclined surface in the inclined state by the said autonomous traveling apparatus, when an inclined surface is detected on a horizontal road surface.

(First embodiment)
DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for implementing an autonomous traveling device using an autonomous traveling control system of the present invention will be described with reference to the drawings.
FIG. 1 is an example of an embodiment for carrying out the invention, and is an explanatory diagram illustrating the overall configuration of the autonomous traveling device according to the first embodiment of the present invention. FIG. 2 is an autonomous traveling control for controlling traveling of the autonomous traveling device. 3 is a block diagram showing the electrical configuration of the system, FIG. 3 is an explanatory diagram showing a detection area of a peripheral information acquisition sensor mounted on the autonomous traveling device, and FIG. 4 is a configuration of an information processing unit constituting the autonomous traveling control system. FIG.

  As shown in FIG. 1, the autonomous traveling device 1 according to the first embodiment includes a peripheral information acquisition sensor (peripheral information detecting unit) 2 that detects peripheral information as a detecting unit, and controls traveling of the autonomous traveling device 1. As the autonomous traveling control system 10, the autonomous traveling control system according to the present invention is adopted.

  Here, the autonomous traveling device is a device that autonomously travels with a machine or a program without using human judgment. For example, an autonomous industrial transport vehicle that carries an object in a factory is known. Yes.

  The autonomous traveling device 1 of the first embodiment includes a peripheral information acquisition sensor 2, a vehicle body (device main body) 3, a carriage 4 on which luggage can be mounted, and a tire 5 for traveling. Yes.

  The autonomous traveling control system 10 employed in the autonomous traveling device 1 is an autonomous traveling control system that controls traveling of the autonomous traveling device 1 that performs autonomous traveling based on peripheral information of the autonomous traveling device 1, as shown in FIG. The information processing unit 11 that processes the peripheral information acquired by the peripheral information acquisition sensor 2, the control unit 12 that controls the traveling of the autonomous mobile device 1 based on the peripheral information, and the peripheral information acquisition sensor 2 And a storage unit 13 for storing peripheral information.

  Furthermore, in 1st Embodiment, in addition to the periphery information acquisition sensor 2, the inclination sensor (inclination state detection means) 21 which detects the attitude | position of the autonomous traveling apparatus 1 is provided as a detection means.

As the peripheral information acquisition sensor 2, a laser sensor is used.
The laser sensor irradiates a laser from the light emitting unit, and detects the reflected light reflected on the surface of the object by the light receiving unit, thereby measuring the distance to the object based on the time from light emission to light reception. .

  As an example of another sensor that functions as the peripheral information acquisition sensor 2, an ultrasonic wave is transmitted and an ultrasonic wave that measures the distance to the object is detected by detecting the sound wave reflected on the surface of the object by the receiving unit. There are 3D cameras that measure the distance to an object by calculating the parallax of the object included in each of them from image information acquired by a sound wave sensor or a plurality of cameras (CCD, CMOS, etc.).

  In addition, as a surrounding information detection means in this invention, if it is a surrounding information acquisition sensor which can detect the distance to the target object which exists in the periphery of the autonomous traveling apparatus 1 as surrounding information as mentioned above, it is applicable. .

  The inclination sensor 21 detects the state of the posture of the autonomous mobile device 1, for example, inclination information such as upward, downward, rightward inclination, and leftward inclination. Thereby, the periphery information with respect to the autonomous mobile device 1 can be recognized more correctly.

  As an example of the inclination sensor 21, there is one called an “acceleration sensor” that detects an acceleration applied to the sensor and generates an electric signal. Since such a sensor can similarly detect the gravitational acceleration of the earth, it can also be used as an inclination sensor for knowing how much it is inclined with respect to the horizontal plane.

  Examples of other sensors that function as the tilt sensor 21 include a gyro sensor that detects Coriolis force and converts it into an electrical signal, and detects gravity by detecting the movement of a sphere confined in the sensor. There is also a thing.

  In addition, as an inclination state detection means in this invention, if it is an inclination sensor which can detect the inclination angle with respect to a horizontal surface by detecting gravity as mentioned above or gravity acceleration, it is applicable.

  Information acquired by the peripheral information acquisition sensor 2 and the tilt sensor 21 is processed in the information processing unit 11.

  As illustrated in FIG. 4, the information processing unit 11 includes a recognition processing unit 111, an obstacle determination unit 112, and a movement route determination unit 113.

The recognition processing unit 111 recognizes the position of the peripheral information.
The obstacle determination unit 112 recognizes peripheral information and determines whether there is an obstacle in front of the autonomous mobile device 1.
The movement route determination unit 113 determines a route along which the autonomous mobile device 1 moves by recognizing surrounding information by the recognition processing unit 111 and determining the presence or absence of an obstacle by the obstacle determination unit 112.

Furthermore, in the first embodiment, the information processing unit 11 includes a peripheral information correction unit 114.
The peripheral information correction unit 114 corrects the peripheral information acquired by the peripheral information acquisition sensor 2 based on the tilt state of the autonomous mobile device 1 acquired by the tilt sensor 21.

  In the first embodiment, the obstacle determination unit 112 further has a function of determining whether there is an obstacle ahead of the autonomous mobile device 1 based on the peripheral information corrected by the peripheral information correction unit 114. I have.

(Obstacle detection process)
Here, an example of the obstacle detection process in the autonomous traveling control system 10 will be described with reference to a flowchart.
FIG. 5 is a flowchart showing a procedure for performing obstacle detection processing by the autonomous traveling control system of the first embodiment.

  In the autonomous traveling control system 10, as shown in FIG. 5, the obstacle detection process is started by power-on or a process start signal input separately. First, as initialization processing, the number of obstacle target pixels is reset to 0 (step S101). The number of obstacle target pixels means the number of pixels determined to be obstacles existing in the XY plane.

  After the initialization process, a loop process is performed with one frame in the XY plane space serving as the detection area 2a of the peripheral information acquisition sensor 2 as a unit (step S102). A series of processing is repeatedly executed thereafter, and is terminated by power-off or a separately inputted processing end signal.

  First, it is determined whether or not data processing has been completed for all the pixels in the frame (step S103).

  If it is determined in step S103 that data processing has not been completed for all pixels in the frame, data is acquired in units of pixels in the XY plane space (step S104). The data shall include distance values or similar information.

  Then, coordinate values corresponding to the data are calculated (step S105). The coordinate value may be included in the data, or may be calculated from the data order from the frame start position.

  And the threshold value corresponding to a coordinate is acquired from the threshold value table defined beforehand (step S106). This threshold means a distance threshold for determining an obstacle at the corresponding coordinates.

  Then, it is determined whether or not the distance value is within a predefined threshold value (step S107). That is, it is determined whether or not the corresponding pixel is an obstacle target pixel by comparing the distance value in the data with the distance threshold.

  If it is determined in step S107 that the pixel is an obstacle target pixel, it is counted as the number of obstacle target pixels (step S108). On the other hand, if it is determined that the pixel is not an obstacle target pixel, it is not counted.

In this way, the loop processing for each frame ends (step S109).
Then move on to the next frame.

  If it is determined in step S103 that data processing has been completed for all pixels in the frame, it is determined whether or not the number of obstacle target pixels is equal to or greater than a predetermined number of pixels (threshold). (Step S110). The obstacle determination unit 112 determines the presence or absence of an obstacle based on the number of obstacle target pixels in step S110.

  If it is determined in step S110 that the number of obstacle target pixels is equal to or greater than the threshold, it is determined that there is an obstacle (step S111), and an obstacle detection signal is output (step S112).

  Then, the number of obstacle target pixels is reset to 0 (step S113), and the processing in units of frames ends (step S109).

  On the other hand, when it is determined in step S110 that the number of obstacle target pixels is not equal to or greater than the threshold, it is determined that there is no obstacle (step S113).

Then, the number of obstacle target pixels is reset to 0 (step S114), and the processing in units of frames ends (step S109). Then, the process proceeds to the next frame.
In this way, the obstacle detection process in the autonomous traveling control system 10 is executed.

Next, in the autonomous traveling control system 10 of the first embodiment, when the autonomous traveling device 1 is in an inclined state, the surrounding information acquired by the surrounding information acquisition sensor 2 is corrected according to the inclination angle allowed by the autonomous traveling device 1. Processing to be performed will be described.
FIG. 6 is an explanatory diagram illustrating a state in which the autonomous traveling device according to the first embodiment is inclined.

  As an example of a method for correcting the peripheral information, there is a method in which the peripheral information data obtained when the autonomous traveling device 1 is inclined is converted into the three-dimensional coordinate system by regarding the horizontal plane as an XYZ three-dimensional coordinate system.

  For example, as shown in FIG. 6, when the autonomous traveling device 1 is tilted around the X axis (a direction perpendicular to the traveling direction on the horizontal plane), an angle obtained by multiplying the tilt angle by −1 is θ. The (X, Y, Z) coordinates in the peripheral information data can be converted into the XYZ coordinate system by the following equation (1).

  If the peripheral information data is a two-dimensional map (see FIG. 17), the distance information (numerical value) at the (X, Y) coordinates on the two-dimensional map becomes the coordinate value of the Z axis.

Next, the outline of the process process which controls driving | running | working of the autonomous traveling apparatus 1 by the autonomous traveling control system 10 of 1st Embodiment is demonstrated along a flowchart.
FIG. 7 is a flowchart showing processing steps for performing traveling control of the autonomous traveling device by the autonomous traveling control system of the first embodiment.

  As shown in FIG. 7, when traveling of the autonomous mobile device 1 is started, peripheral information is acquired from the peripheral information acquisition sensor 2 (step S <b> 11), and the inclination angle of the autonomous mobile device 1 is acquired by the inclination sensor 21. (Step S12).

  The peripheral information acquired by the peripheral information acquisition sensor 2 and the information on the inclination angle of the autonomous traveling device 1 acquired by the inclination sensor 21 are sent to the information processing unit 11 to perform information processing necessary for autonomous traveling (steps). S13) and stored in the storage unit 13 (step S14).

  Then, it is determined in the information processing unit 11 whether or not the autonomous traveling device 1 is in an inclined state (step S15).

  If it is determined in step S15 that the autonomous traveling device 1 is not inclined, the control unit 12 controls the traveling of the autonomous traveling device 1 based on the acquired peripheral information (step S16). And it returns to step S11 and acquisition of peripheral information is continued.

  On the other hand, when it is determined in step S15 that the autonomous mobile device 1 is tilted, the peripheral information acquired by the control unit 12 is corrected according to the tilt angle of the autonomous mobile device 1 (step S17).

  And the corrected periphery information is memorize | stored in the memory | storage part 13 (step S18), and traveling control of the autonomous traveling apparatus 1 is performed based on the corrected periphery information (step S19). And it returns to step S11 and acquisition of peripheral information is continued.

  In the control unit 12, the presence or absence of an obstacle on the route traveled by the autonomous mobile device 1 is determined based on the corrected peripheral information, and the movement route of the autonomous mobile device 1 is determined based on the determination result. Travel control of the autonomous mobile device 1 is performed along the determined movement route.

  Thus, even when the autonomous traveling device 1 is tilted during traveling, it is possible to correct the peripheral information acquired according to the tilted state of the vehicle body 3 to obtain accurate peripheral information (position information). Thereby, it is possible to control the traveling of the autonomous traveling device 1 based on the corrected peripheral information without erroneous detection of the peripheral information caused by the gradient of the traveling road or the road surface condition.

  Since it comprised as mentioned above, according to 1st Embodiment, in the autonomous running control system 10 used for the autonomous running apparatus 1 which is equipped with the detection means which acquires surrounding information, and performs autonomous running based on surrounding information, a detecting means The peripheral information acquisition sensor 2 and the inclination sensor 21 as well as the information processing unit 11 and the control unit 12 are included. The information processing unit 11 includes a peripheral information correction unit 114, an obstacle determination unit 112, and a movement route determination unit. 113, based on the peripheral information corrected by the peripheral information correction unit 114, the obstacle determination unit 112 detects the presence or absence of an obstacle, and based on the result, the movement route determined by the movement route determination unit 113 By controlling the traveling of the autonomous traveling device 1 along the direction, even when the autonomous traveling device 1 travels in an inclined state, the autonomous traveling device 1 compensates according to the inclined state of the autonomous traveling device 1. It is possible to control the traveling of the autonomous driving apparatus 1 based on the peripheral information (position information) that is. Thereby, it is possible to eliminate the erroneous detection of the peripheral information on the sloped road with a simple configuration, and to enable the traveling control of the autonomous mobile device 1 based on the accurate peripheral information.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to the drawings.
FIG. 8 is an explanatory diagram showing the overall configuration of the autonomous mobile device according to the second embodiment of the present invention. FIG. 9 is a block diagram showing the electrical configuration of an autonomous mobile control system that controls the travel of the autonomous mobile device. 10 is explanatory drawing which shows the state which changed the detection area | region of the periphery information acquisition sensor mounted in the said autonomous traveling apparatus.

  In addition, about the autonomous traveling apparatus and autonomous traveling control system in 2nd Embodiment, the thing of the structure similar to the structure of the autonomous traveling apparatus and autonomous traveling control system of 1st Embodiment attaches | subjects the same code | symbol, and abbreviate | omits description. To do.

  As shown in FIGS. 8 and 9, the autonomous traveling device 201 according to the second embodiment includes a peripheral information acquisition sensor 2 that acquires peripheral information as a detection unit, and autonomous traveling control that controls traveling of the autonomous traveling device 201. As the system 210, the autonomous traveling control system according to the present invention is adopted.

  The autonomous traveling device 201 of the second embodiment is configured to include a peripheral information acquisition sensor 2, a vehicle body (device main body) 3, a carriage 4 on which a load can be loaded, and a tire 5 for traveling. Yes.

  The autonomous traveling control system 210 employed in the autonomous traveling device 201 is an autonomous traveling control system that controls traveling of the autonomous traveling device 201 that performs autonomous traveling based on peripheral information of the autonomous traveling device 201, as shown in FIG. In addition, the information processing unit 211 that processes the peripheral information acquired by the peripheral information acquisition sensor 2, the control unit 212 that controls the traveling of the autonomous traveling device 201 based on the peripheral information, and the peripheral information acquisition sensor 2 And a storage unit 13 for storing peripheral information.

  Furthermore, in the second embodiment, as in the first embodiment, an inclination sensor 21 that detects the posture of the autonomous mobile device 1 is provided as a detection unit in addition to the peripheral information acquisition sensor 2.

  Information acquired by the peripheral information acquisition sensor 2 and the tilt sensor 21 is processed in the information processing unit 211.

  In the second embodiment, the information processing unit 211 includes a recognition processing unit 111, an obstacle determination unit 122, a movement route determination unit 113, and a surrounding information correction unit 124, as shown in FIG.

  The obstacle determination unit 122 recognizes the surrounding information and determines whether there is an obstacle ahead of the autonomous traveling device 201 and the autonomous traveling device based on the surrounding information corrected by the surrounding information correction unit 124. In addition to having a function of determining whether there is an inclined surface in front of 201, in addition, according to the inclination state detected by the inclination sensor 21, the peripheral information detection region 2 a of the peripheral information acquisition sensor 2 used for determination is provided. It has a function to change.

  Specifically, as shown in FIGS. 8 and 10, the obstacle determination unit 122 detects the region 2a1 that is erroneously detected according to the inclination state (inclination angle θ1) of the vehicle body 3 detected by the inclination sensor 21. The detection area 2a of the peripheral information acquisition sensor 2 is changed to the detection area 2a2 so as to mask the information.

  The peripheral information correction unit 124 corrects the peripheral information acquired by the peripheral information acquisition sensor 2 based on the tilt state of the autonomous traveling device 201 acquired by the tilt sensor 21. In the second embodiment, the acquired peripheral information is corrected as the peripheral information (position information) in the detection area 2a2 of the peripheral information acquisition sensor 2 changed according to the inclination angle of the autonomous traveling device 201, and the peripheral information is normal. And surrounding information.

Next, an outline of processing steps for controlling the traveling of the autonomous traveling device 201 by the autonomous traveling control system 210 of the second embodiment will be described with reference to a flowchart.
FIG. 11 is a flowchart illustrating processing steps for performing traveling control of the autonomous traveling device by the autonomous traveling control system of the second embodiment.

  As shown in FIG. 11, when the traveling of the autonomous traveling device 201 is started, peripheral information is acquired from the peripheral information acquisition sensor 2 (step S211), and the inclination angle of the autonomous traveling device 201 is acquired by the inclination sensor 21. (Step S212).

  The peripheral information acquired by the peripheral information acquisition sensor 2 and the information on the inclination angle of the autonomous traveling device 201 acquired by the inclination sensor 21 are sent to the information processing unit 211 to perform information processing necessary for autonomous traveling (steps). S213) and stored in the storage unit 13 (step S214).

  Then, it is determined in the information processing unit 211 whether or not the autonomous traveling device 201 is in an inclined state (step S215).

  If it is determined in step S215 that the autonomous traveling device 201 is not inclined, the control unit 212 controls the traveling of the autonomous traveling device 201 based on the acquired peripheral information (step S216). Then, the process returns to step S211, and the acquisition of peripheral information is continued.

  On the other hand, if it is determined in step S215 that the autonomous traveling device 201 is tilted, the information on the region 2a1 that is erroneously detected is masked according to the tilted state of the autonomous traveling device 201. The area is changed to the detection area 2a2 (step S217). Then, in the control unit 212, the acquired peripheral information is corrected according to the inclination angle of the autonomous traveling device 201 (step S218).

And the corrected periphery information is memorize | stored in the memory | storage part 13 (step S219), and traveling control of the autonomous traveling apparatus 201 is performed based on the corrected periphery information (step S220).
Then, the process returns to step S211, and the acquisition of peripheral information is continued.

  In the control unit 212, based on the corrected peripheral information, the presence or absence of an obstacle on the route traveled by the autonomous traveling device 201 is determined, and based on the determination result, the movement route of the autonomous traveling device 201 is determined, Travel control of the autonomous mobile device 201 is performed along the determined movement route.

  In this way, even when the autonomous traveling device 201 is tilted during traveling, the detection area 2a of the peripheral information acquisition sensor 2 is masked so as to mask information on the area 2a1 that is erroneously detected according to the tilt state of the vehicle body 3. And the obtained peripheral information can be corrected to obtain accurate peripheral information (position information). Accordingly, it is possible to control the traveling of the autonomous traveling device 201 based on the corrected peripheral information without erroneous detection of the peripheral information caused by the gradient of the traveling road or the road surface condition.

  Since it comprised as mentioned above, according to 2nd Embodiment, in the autonomous running control system 210 used for the autonomous running apparatus 201 which is equipped with the detecting means which acquires surrounding information, and performs autonomous running based on surrounding information, a detecting means As a peripheral information acquisition sensor 2 and a tilt sensor 21, and an information processing unit 211 and a control unit 212. The information processing unit 211 includes a peripheral information correction unit 124, an obstacle determination unit 122, and a movement route determination unit. 113, based on the surrounding information corrected by the surrounding information correcting unit 124, the obstacle determining unit 122 detects the presence or absence of an obstacle, and based on the result, the moving route determined by the moving route determining unit 113 Since the autonomous traveling device 201 is controlled to travel along the autonomous traveling device 201, the autonomous traveling device 2 can travel even when the autonomous traveling device 201 is tilted. It is possible to control the traveling of the autonomous driving apparatus 201 based on the peripheral information corrected in accordance with the first inclined state (position information). This eliminates erroneous detection of surrounding information on a sloped road with a simple configuration, and enables traveling control of the autonomous traveling device 201 based on accurate surrounding information.

(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to the drawings.
FIG. 12 is an explanatory diagram showing the overall configuration of the autonomous mobile device according to the third embodiment of the present invention, FIG. 13 is a block diagram showing the electrical configuration of an autonomous mobile control system that controls the travel of the autonomous mobile device, and FIG. 14 is an explanatory diagram showing a state in which the detection area of the peripheral information acquisition sensor mounted on the autonomous mobile device is changed.
It is.

  In addition, about the autonomous traveling apparatus and autonomous traveling control system in 3rd Embodiment, the thing of the structure similar to the structure of the autonomous traveling apparatus and autonomous traveling control system of 1st Embodiment attaches | subjects the same code | symbol, and description is abbreviate | omitted. To do.

  As shown in FIG. 12 and FIG. 13, the autonomous traveling device 301 according to the third embodiment includes a peripheral information acquisition sensor 2 that acquires peripheral information as a detection unit, and autonomous traveling control that controls traveling of the autonomous traveling device 301. As the system 310, the autonomous traveling control system according to the present invention is adopted.

  The autonomous traveling device 301 of the third embodiment includes a peripheral information acquisition sensor 2, a vehicle body (device main body) 3, a carriage 4 on which luggage can be mounted, and a tire 5 for traveling. Yes.

  An autonomous traveling control system 310 employed in the autonomous traveling device 301 is an autonomous traveling control system that controls traveling of the autonomous traveling device 301 that performs autonomous traveling based on peripheral information of the autonomous traveling device 301, as shown in FIG. The information processing unit 311 that processes the peripheral information acquired by the peripheral information acquisition sensor 2, the control unit 312 that controls the traveling of the autonomous traveling device 301 based on the peripheral information, and the peripheral information acquisition sensor 2 And a storage unit 13 for storing peripheral information.

  Furthermore, in 3rd Embodiment, the inclination sensor 21 which detects the attitude | position of the autonomous traveling apparatus 1 in addition to the periphery information acquisition sensor 2 is provided as a detection means similarly to 1st Embodiment.

  Information acquired by the peripheral information acquisition sensor 2 and the tilt sensor 21 is processed in the information processing unit 311.

  In the third embodiment, the information processing unit 311 includes a recognition processing unit 111, an obstacle determination unit 132, a movement route determination unit 113, and a surrounding information correction unit 134, as shown in FIG.

  The obstacle determination unit 132 recognizes the surrounding information and determines whether there is an obstacle ahead of the autonomous traveling device 301 and the autonomous traveling device based on the surrounding information corrected by the surrounding information correction unit 134. In addition to having a function of determining whether or not there is an inclined surface in front of 301, it further has a function of changing a detection angle (parameter) used for determination in accordance with the inclination state detected by the inclination sensor 21.

  Specifically, as shown in FIGS. 12 and 14, the obstacle determination unit 132 detects the surrounding information acquisition sensor 2 according to the inclination state (inclination angle θ2) of the vehicle body 3 detected by the inclination sensor 21. The detection angle θ3 is changed so that the region 2a becomes the detection region 2a4 excluding the region 2a3 that is erroneously detected.

  The peripheral information correction unit 134 corrects the peripheral information acquired by the peripheral information acquisition sensor 2 based on the tilt state of the autonomous traveling device 301 acquired by the tilt sensor 21. In the third embodiment, the acquired peripheral information is corrected as peripheral information (positional information) in the detection region 2a4 based on the detection angle θ3 of the peripheral information acquisition sensor 2 changed according to the inclination angle θ2 of the autonomous traveling device 301, This peripheral information is normal peripheral information.

  For example, the detection angle θ3 is set in advance by using a table or the like according to the detection distance of the surrounding information acquisition sensor 2 and a detection angle that becomes an effective detection region 2a4 corresponding to the inclination angle θ2 of the autonomous traveling device 301. You may make it do.

Next, the outline of the process process which controls driving | running | working of the autonomous traveling apparatus 301 by the autonomous traveling control system 310 of 3rd Embodiment is demonstrated along a flowchart.
FIG. 15 is a flowchart illustrating processing steps for performing traveling control of the autonomous traveling device by the autonomous traveling control system of the third embodiment.

  As shown in FIG. 15, when traveling of the autonomous traveling device 301 is started, peripheral information is acquired from the peripheral information acquisition sensor 2 (step S <b> 311), and the inclination angle of the autonomous traveling device 301 is acquired by the inclination sensor 21. (Step S312).

  The peripheral information acquired by the peripheral information acquisition sensor 2 and the information on the inclination angle of the autonomous traveling device 301 acquired by the inclination sensor 21 are sent to the information processing unit 311 to perform information processing necessary for autonomous traveling (steps). S313) and stored in the storage unit 13 (step S314).

  Then, it is determined in the information processing unit 311 whether or not the autonomous traveling device 301 is in an inclined state (step S315).

  If it is determined in step S315 that the autonomous traveling device 301 is not inclined, the control unit 312 controls traveling of the autonomous traveling device 301 based on the acquired peripheral information (step S316). Then, the process returns to step S311, and acquisition of peripheral information is continued.

  On the other hand, when it is determined in step S315 that the autonomous traveling device 301 is tilted, the effective detection region 2a4 that does not include the region 2a1 that is erroneously detected is determined according to the tilted state of the autonomous traveling device 301. The detection angle of the peripheral information acquisition sensor 2 is changed to (Step S317). Then, in the control unit 312, the acquired peripheral information is corrected according to the inclination angle of the autonomous traveling device 301 (step S318).

Then, the corrected surrounding information is stored in the storage unit 13 (step S319), and traveling control of the autonomous traveling device 301 is performed based on the corrected surrounding information (step S320).
Then, the process returns to step S311, and acquisition of peripheral information is continued.

  In the control unit 312, the presence or absence of an obstacle on the route traveled by the autonomous traveling device 301 is determined based on the corrected peripheral information, and the movement route of the autonomous traveling device 301 is determined based on the determination result, Travel control of the autonomous traveling device 301 is performed along the determined movement route.

  In this way, even when the autonomous traveling device 301 is tilted while traveling, the detection region 2a is changed by changing the detection angle θ3 of the peripheral information acquisition sensor 2 according to the tilt state of the vehicle body 3, and acquired. Correct peripheral information (position information) can be obtained by correcting the peripheral information as the peripheral information in the detection area 2a4 where the peripheral information has been changed. Thereby, it is possible to control the traveling of the autonomous traveling device 301 based on the corrected peripheral information without erroneous detection of the peripheral information caused by the gradient of the traveling road or the road surface condition.

  Since it comprised as mentioned above, according to 3rd Embodiment, in the autonomous running control system 310 used for the autonomous running apparatus 301 which is equipped with the detection means which acquires surrounding information, and performs autonomous running based on surrounding information, a detecting means The peripheral information acquisition sensor 2 and the inclination sensor 21 as well as an information processing unit 311 and a control unit 312 are included. The information processing unit 311 includes a peripheral information correction unit 134, an obstacle determination unit 132, and a movement route determination unit. 113, based on the peripheral information corrected by the peripheral information correction unit 134, the obstacle determination unit 112 detects the presence or absence of an obstacle, and based on the result, the movement route determination unit 113 determines the movement route. Even when the autonomous traveling device 301 travels in an inclined state by controlling the traveling of the autonomous traveling device 301 along the autonomous traveling device 3, It is possible to control the traveling of the autonomous driving apparatus 301 based on the peripheral information corrected in accordance with the first inclined state (position information). This eliminates erroneous detection of surrounding information on a sloped road with a simple configuration, and enables traveling control of the autonomous traveling device 301 based on accurate surrounding information.

  In the third embodiment, the detection angle of the peripheral information acquisition sensor 2 is used as a parameter for changing the detection region 2a of the peripheral information acquisition sensor 2 in accordance with the inclination angle of the autonomous traveling device 301. For example, the threshold of the distance that can be partially detected in the detection region 2a of the peripheral information acquisition sensor 2 according to the inclination angle of the autonomous traveling device 301 using the detection distance of the peripheral information acquisition sensor 2 as a parameter. May be changed.

  Specifically, in the detection area 2a shown in FIG. 14, for example, when the inclination angle of the autonomous traveling device 301 is large, the range of the erroneous detection area 2a3 is increased to reduce the detection distance threshold, and the autonomous traveling When the tilt angle of the device 301 is small, the detection distance threshold may be increased by reducing the range of the region 2a3 that is erroneously detected.

  As described above, the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims. That is, embodiments obtained by combining technical means appropriately modified within the scope of the claims are also included in the technical scope of the present invention.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope shown in the claims. That is, embodiments obtained by combining technical means appropriately changed within the scope not departing from the gist of the present invention are also included in the technical scope of the present invention.

1,201,301 Autonomous traveling device 2 Surrounding information acquisition sensor (surrounding information detection means)
2a1, 2a3 False detection area 2a2, 2a4 Detection area 10, 210, 310 Autonomous running control system 11, 211, 311 Information processing unit 12, 212, 312 Control unit 13 Storage unit 21 Tilt sensor (tilt state detection means)
111 Recognition processing units 112, 122, 132 Obstacle determination unit 113 Movement route determination unit 114, 124, 134 Peripheral information correction unit

Claims (7)

An autonomous traveling control system used in an autonomous traveling device that includes a detecting means for detecting surrounding information and performs autonomous traveling based on the surrounding information,
An information processing unit for processing peripheral information detected by the detection unit;
A control unit for controlling the traveling of the autonomous traveling device based on the peripheral information;
With
As the detection means,
Surrounding information detection means for detecting surrounding information of the autonomous traveling device;
Inclination state detection means for detecting the inclination state of the autonomous traveling device;
With
The information processing unit
A peripheral information correction unit that corrects the peripheral information detected by the peripheral information detection unit based on the tilt state of the autonomous traveling device detected by the tilt state detection unit;
Based on the correction information corrected by the peripheral information correction unit, an obstacle determination unit that determines an obstacle on the route traveled by the autonomous traveling device;
Based on the determination result determined by the obstacle determination unit, a movement route determination unit that determines the movement route of the autonomous traveling device;
With
An autonomous traveling control system , wherein when the inclination of the autonomous traveling device is detected, a range of a distance detected by the obstacle determination unit is changed .   The said obstacle determination part is provided with the function to change the detection area | region of the periphery information of the said periphery information detection means used for determination according to the inclination state detected by the said inclination state detection means. The autonomous driving control system described.   The autonomous traveling control system according to claim 1, wherein the obstacle determination unit has a function of changing a parameter used for determination according to an inclination state detected by the inclination state detection unit. In an autonomous traveling device that performs autonomous traveling based on the peripheral information with detection means for detecting peripheral information,
The autonomous traveling apparatus using the autonomous traveling control system as described in any one of Claim 1 to 3 as an autonomous traveling control system which controls driving | running | working of the said autonomous traveling apparatus. An autonomous running control method used in an autonomous running device that includes a detecting means for detecting surrounding information and performs autonomous running based on the surrounding information,
Processing the peripheral information detected by the detection means;
Controlling the traveling of the autonomous traveling device based on the peripheral information;
Detecting peripheral information of the autonomous mobile device;
Detecting the tilt state of the autonomous traveling device;
Correcting the detected peripheral information of the autonomous mobile device based on the inclination state of the autonomous mobile device;
Determining obstacles on the route of the autonomous mobile device based on the correction information corrected in the step of correcting the peripheral information;
A step of determining a movement route of the autonomous mobile device based on the determination result determined in the step of determining the obstacle;
With
An autonomous running control method , comprising: changing a range of a distance to be detected in the step of determining the obstacle when an inclination of the independent running device is detected . A control program for operating an autonomous traveling control system used in an autonomous traveling device having a detection means for detecting peripheral information and a control unit for controlling traveling,
The detection means is made to function so as to detect peripheral information of the autonomous mobile device, and is made to function so as to detect an inclination state of the autonomous mobile device,
An information processing unit that processes the peripheral information detected by the detecting unit corrects the peripheral information detected by the peripheral information detecting unit based on the tilt state of the autonomous traveling device detected by the tilt state detecting unit. It functions as a peripheral information correction unit, and functions as an obstacle determination unit that determines an obstacle on the route traveled by the autonomous mobile device based on the correction information corrected by the peripheral information correction unit, and the obstacle determination Based on the determination result determined by the unit, function as a movement route determination unit that determines the movement route of the autonomous mobile device,
A control program for causing a function to change a range of a distance detected by the obstacle determination unit when an inclination of the autonomous mobile device is detected .   A recording medium in which the control program according to claim 6 is recorded and readable by a computer.

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