PROBLEM TO BE SOLVED: To provide a technique that lets an automatic travel vehicle run as much as possible even if it is not possible to obtain part of a plurality of pieces of position estimation information to estimate the current position of the automatic travel vehicle.SOLUTION: If position acquisition means (S408) cannot obtain part of a plurality of pieces of position estimation information to estimate the current position of an automatic travel vehicle, it obtains the current position estimated based on obtainable remaining position estimation information. Determination result acquisition means (S410) acquires a determination result about whether the action of the automatic travel vehicle will be continued or changed determined according to an elapsed time from the time when the part of the plurality of pieces of position estimation information became unobtainable. If the part of the plurality of pieces of position estimation information cannot be obtained, automatic travel control means (S422, S426) controls the automatic travel of the automatic travel vehicle on the basis of control information including the current position estimated based on the obtainable remaining position estimation information and the determination result obtained by the determination result acquisition means.SELECTED DRAWING: Figure 3
【課題】自動走行車両の現在位置を推定するための複数の位置推定情報の一部が取得できない場合にも、自動走行車両を極力走行させる技術を提供する。【解決手段】位置取得手段(S408)は、自動走行車両の現在位置を推定するための複数の位置推定情報の一部を取得できない場合、取得できる残りの位置推定情報に基づいて推定される現在位置を取得する。判断結果取得手段(S410)は、複数の位置推定情報の一部を取得できなくなってからの経過時間に応じて判断される、自動走行車両の挙動を継続するか変更するかの判断結果を取得する。自動走行制御手段(S422、S426)は、複数の位置推定情報の一部を取得できない場合、取得できる残りの位置推定情報に基づいて推定される現在位置と、判断結果取得手段が取得する判断結果とを含む制御情報に基づいて、自動走行車両の自動走行を制御する。【選択図】図3
AUTOMATIC TRAVEL CONTROL DEVICE AND AUTOMATIC TRAVEL CONTROL SYSTEM
自動走行制御装置および自動走行制御システム
2016-11-10
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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