A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
AUTONOMOUS TRAVEL SYSTEM
To provide an autonomous travel system that enables a carrier vehicle to continue traveling by avoiding an obstacle when the obstacle exists near a boundary line between a travel lane of the carrier vehicle and an opposing lane.SOLUTION: A control device for constituting an autonomous travel system: calculates an arrival prediction time, which is a time required for a carrier vehicle to arrive at a position of an obstacle, based on the position of the obstacle, a position of the carrier vehicle, and a travel speed; calculates a prediction position of the other vehicle after the arrival prediction time based on a position and a travel speed of the other vehicle and the arrival prediction time; sets a travel lane as an avoidance region when the control device determines that the other vehicle is present near the obstacle after the arrival prediction time has elapsed; sets both a travel lane and a lane adjacent to the travel lane as the avoidance region when the control device determines that no other vehicle is present near the obstacle after the arrival prediction time has elapsed; and generates an avoidance route within the avoidance region for the carrier vehicle to avoid the obstacle based on the position of the carrier vehicle, the position of the obstacle, and the avoidance region.SELECTED DRAWING: Figure 8
【課題】搬送車両の走行車線と対向車線の境界線付近に障害物が存在する場合に、障害物を回避して搬送車両の走行の継続を可能とする自律走行システムを提供する。【解決手段】自律走行システムを構成する制御装置は、障害物の位置、搬送車両の位置及び走行速度に基づいて、搬送車両が障害物の位置に到達するまでの時間である到達予測時間を演算し、他車両の位置及び走行速度と、到達予測時間とに基づいて、到達予測時間の経過後の他車両の予測位置を演算し、到達予測時間の経過後に他車両が障害物の近傍に存在していると判定された場合には走行車線を回避領域として設定し、到達予測時間の経過後に他車両が障害物の近傍に存在していないと判定された場合には走行車線及び走行車線に隣接する車線の双方を回避領域として設定し、搬送車両の位置と、障害物の位置と、回避領域とに基づいて、搬送車両が障害物を回避するための回避経路を回避領域内に生成する。【選択図】図８
AUTONOMOUS TRAVEL SYSTEM
To provide an autonomous travel system that enables a carrier vehicle to continue traveling by avoiding an obstacle when the obstacle exists near a boundary line between a travel lane of the carrier vehicle and an opposing lane.SOLUTION: A control device for constituting an autonomous travel system: calculates an arrival prediction time, which is a time required for a carrier vehicle to arrive at a position of an obstacle, based on the position of the obstacle, a position of the carrier vehicle, and a travel speed; calculates a prediction position of the other vehicle after the arrival prediction time based on a position and a travel speed of the other vehicle and the arrival prediction time; sets a travel lane as an avoidance region when the control device determines that the other vehicle is present near the obstacle after the arrival prediction time has elapsed; sets both a travel lane and a lane adjacent to the travel lane as the avoidance region when the control device determines that no other vehicle is present near the obstacle after the arrival prediction time has elapsed; and generates an avoidance route within the avoidance region for the carrier vehicle to avoid the obstacle based on the position of the carrier vehicle, the position of the obstacle, and the avoidance region.SELECTED DRAWING: Figure 8
【課題】搬送車両の走行車線と対向車線の境界線付近に障害物が存在する場合に、障害物を回避して搬送車両の走行の継続を可能とする自律走行システムを提供する。【解決手段】自律走行システムを構成する制御装置は、障害物の位置、搬送車両の位置及び走行速度に基づいて、搬送車両が障害物の位置に到達するまでの時間である到達予測時間を演算し、他車両の位置及び走行速度と、到達予測時間とに基づいて、到達予測時間の経過後の他車両の予測位置を演算し、到達予測時間の経過後に他車両が障害物の近傍に存在していると判定された場合には走行車線を回避領域として設定し、到達予測時間の経過後に他車両が障害物の近傍に存在していないと判定された場合には走行車線及び走行車線に隣接する車線の双方を回避領域として設定し、搬送車両の位置と、障害物の位置と、回避領域とに基づいて、搬送車両が障害物を回避するための回避経路を回避領域内に生成する。【選択図】図８
AUTONOMOUS TRAVEL SYSTEM
自律走行システム
OBARA DAIKI (author) / ICHINOSE MASANORI (author) / UOZU SHINICHI (author)
2024-09-05
Patent
Electronic Resource
Japanese
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