Automatic driving control system of mobile object

• US 10,310,511 B2
• Filed: 04/19/2017
• Issued: 06/04/2019
• Est. Priority Date: 04/20/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Urano, Hiromitsu, Sugaiwa, Taisuke, Sato, Kunihito, Ichikawa, Kentaro, Otsuka, Kohei, Okumura, Bunyo, Hirano, Maiko
• Primary Examiner(s): To, Tuan C
• Application Number:
  US15/490,996
• Publication Number:
  US 20170308093A1
• Time in Patent Office: 776 Days
• Field of Search: 701 25
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01C 21/3837 Data obtained from a single source
• CPC Class Codes: G01C 21/3848 Data obtained from both position sensors and additional sensors
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

An automatic operation control system of a mobile object includes an environment map storage unit configured to store environment map information and an electronic control unit configured to include an impassable region determining unit. The environment map information includes position information indicating a plurality of positions in a space and a state quantity variability of each of the plurality of positions, the state quantity variability is correlated with the corresponding position information, and the state quantity variability indicates a variation tendency of a state quantity of the corresponding position with respect to time. The impassable region determining unit is configured to determine an impassable region which is unsuitable for movement of the mobile object on the basis of the state quantity variability of the environment map information.

Claims

1. An automatic operation control system of a mobile object comprising:

an environment map storage device configured to;

store environment map information, the environment map information including position information indicating a plurality of positions in a space and a state quantity variability of each of the plurality of positions, the state quantity variability being correlated with corresponding position information, the state quantity variability indicating a variation tendency of a state quantity of a corresponding position with respect to time; and

one or more processors configured to;

determine an impassable region which is unsuitable for movement of the mobile object based on the state quantity variability of the environment map information;

generate a route of the mobile object based on the impassable region; and

control the mobile object to move along the generated route.

2. The automatic operation control system of a mobile object according to claim 1, wherein the one or more processors are further configured to:

detect the position information indicating a position and a state quantity of the position at different times for each of the plurality of positions in the space;

calculate the state quantity variability using the detected state quantity for each of the plurality of positions; and

determine the impassable region based on the state quantity variability of the environment map information and newly calculated state quantity variability.

3. The automatic operation control system of a mobile object according to claim 2, wherein the environment map information further includes a state quantity representative value of each of the plurality of positions, the state quantity representative value being correlated with corresponding position information, the state quantity representative value being calculated based on the state quantity, and

wherein the one or more processors are further configured to determine the impassable region based on the state quantity variability and the state quantity representative value of the environment map information and the newly calculated state quantity variability.

4. The automatic operation control system of a mobile object according to claim 1, wherein the environment map information further includes a state quantity representative value of each of the plurality of positions, the state quantity representative value being correlated with corresponding position information, the state quantity representative value being calculated based on the state quantity, and

wherein the one or more processors are further configured to determine the impassable region based on the state quantity variability and the state quantity representative value of the environment map information.

5. The automatic operation control system of a mobile object according to claim 4, wherein the one or more processors are further configured to:

detect the position information indicating a position in the space and the state quantity of the position;

detect the position information indicating a position and a state quantity of the position at different times for each of the plurality of positions in the space;

calculate the state quantity representative value using the detected state quantity for each of the plurality of positions; and

determine the impassable region based on the state quantity variability and the state quantity representative value of the environment map information and newly calculated state quantity representative value.

6. The automatic operation control system of a mobile object according to claim 1, wherein the environment map information further includes a newest detection time of the state quantity variability, the newest detection time being correlated with a corresponding state quantity variability, and

wherein the one or more processors are further configured to determine the impassable region based on the state quantity variability and the newest detection time on the environment map information.

7. The automatic operation control system of a mobile object according to claim 1, wherein the one or more processors are further configured to:

determine a position of the mobile object; and

generate the route of the mobile object based on a positional relationship between the impassable region and the position of the mobile object.

8. The automatic operation control system of a mobile object according to claim 1, wherein the one or more processors are further configured to:

recognize an object near the mobile object; and

generate the route of the mobile object based on a positional relationship between the impassable region and the recognized object.