Autonomous travel system

• US 8,983,709 B2
• Filed: 11/09/2011
• Issued: 03/17/2015
• Est. Priority Date: 11/09/2011
• Status: Active Grant

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Bando, Mikio, Kawamata, Yukihiro
• Primary Examiner(s): To, Tuan C.
• Application Number:
  US14/357,130
• Publication Number:
  US 20140316635A1
• Time in Patent Office: 1,224 Days
• Field of Search: 701/25, 700/302, 324/654
• US Class Current: 701/25
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 21/3461 Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G08G 1/0962 having an indicator mounted inside the vehicle, e.g. giving voice messages
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096758 where no selection takes place on the transmitted or the received information
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element

Abstract

Provided is an autonomous travel system having an operation management unit including a map database with a combination of topological region maps, on which the range of travel of a vehicle is expressed as points and lines, and metric region maps, on which the travel range is expressed on planar maps; a vehicle position management unit for managing the position of the vehicle; and a vehicle travel planning unit for planning vehicle travel, which, if the vehicle is present near the boundary of a map, blocks the map boundary so that other vehicles will not advance into another map. The operation management unit is provided with a blockage setting unit for dividing a boundary section of a map into a plurality of regions and releasing the blockage of the boundary of a divided region in which no vehicles are present in front of the vehicle in the direction of travel.

Claims

1. An autonomous travel system comprising:

a fleet management unit which comprises;

a map database in which a map of a first section and a map of a second section are mixed, the first section being a section in which a vehicle travel range is represented by a point and a line, the second section being a section in which a vehicle travel range is represented by a plane;

a vehicle position management unit which manages positions of a plurality of vehicles; and

a block setting unit which determines whether there is a vehicle near a boundary between a first section and a second section and, if there is a vehicle near a boundary, sets the boundary in a blocked state so that other vehicles do not enter there, the block setting unit dividing the boundary, for which a blocked state is set, into a plurality of regions and, for each of the divided regions through which no vehicle passes, releasing a blocked state of a boundary of a divided region;

the fleet management unit notifying respective vehicles of travel paths; and

a vehicle travel planning unit which plans a travel path of a vehicle based on blocked states of divided regions that are set on a boundary between a first section and a second section;

wherein the block setting unit determines, when dividing a boundary into a plurality of regions, lengths of a plurality of regions created by dividing a boundary according to a positional relation between a vehicle which approaches the boundary and the boundary.

2. The autonomous travel system according to claim 1, wherein priorities are set for respective vehicles in the block setting unit, and in settings of blocked states for the small regions blockings set by higher priority vehicles are prioritized.

3. The autonomous travel system according to claim 2, wherein the vehicle travel planning unit makes a travel path plan with one point on a boundary which is not blocked by a high priority vehicle as a target point when coordinates of a connection point on a boundary between the first section and the second section are blocked by a high priority vehicle.

4. The autonomous travel system according to claim 3, wherein the vehicle travel planning unit acquires a travel path of a high priority vehicle, sets the target point while avoiding a region on a divided boundary where a blocked state is set by a high priority vehicle, and generates a travel path.

5. The autonomous travel system according to claim 1, wherein the vehicle travel planning unit makes a travel path plan with one point on a boundary which is not blocked by a high priority vehicle as a target point when coordinates of a connection point on a boundary between the first section and the second section are blocked by a high priority vehicle.

6. The autonomous travel system according to claim 5, wherein the vehicle travel planning unit acquires a travel path of a high priority vehicle, sets the target point while avoiding a region on a divided boundary where a blocked state is set by a high priority vehicle, and generates a travel path.

7. An autonomous travel system comprising:

a fleet management unit which comprises;

a map database in which a map of a first section and a map of a second section are mixed, the first section being a section in which a vehicle travel range is represented by a point and a line, the second section being a section in which a vehicle travel range is represented by a plane;

a vehicle position management unit which manages positions of a plurality of vehicles; and

a block setting unit which determines whether there is a vehicle near a boundary between a first section and a second section and, if there is a vehicle near a boundary, sets the boundary in a blocked state so that other vehicles do not enter there, the block setting unit dividing the boundary, for which a blocked state is set, into a plurality of regions and, for each of the divided regions through which no vehicle passes, releasing a blocked state of a boundary of a divided region;

the fleet management unit notifying respective vehicles of travel paths; and

a vehicle travel planning unit which plans a travel path of a vehicle based on blocked states of divided regions that are set on a boundary between a first section and a second section;

wherein priorities are set for respective vehicles in the block setting unit, and in settings of blocked states for the small regions blockings set by higher priority vehicles are prioritized.

8. The autonomous travel system according to claim 7, wherein the vehicle travel planning unit makes a travel path plan with one point on a boundary which is not blocked by a high priority vehicle as a target point when coordinates of a connection point on a boundary between the first section and the second section are blocked by a high priority vehicle.

9. The autonomous travel system according to claim 8, wherein the vehicle travel planning unit acquires a travel path of a high priority vehicle, sets the target point while avoiding a region on a divided boundary where a blocked state is set by a high priority vehicle, and generates a travel path.

10. An autonomous travel system comprising:

a fleet management unit which comprises;

a map database in which a map of a first section and a map of a second section are mixed, the first section being a section in which a vehicle travel range is represented by a point and a line, the second section being a section in which a vehicle travel range is represented by a plane;

a vehicle position management unit which manages positions of a plurality of vehicles; and

a block setting unit which determines whether there is a vehicle near a boundary between a first section and a second section and, if there is a vehicle near a boundary, sets the boundary in a blocked state so that other vehicles do not enter there, the block setting unit dividing the boundary, for which a blocked state is set, into a plurality of regions and, for each of the divided regions through which no vehicle passes, releasing a blocked state of a boundary of a divided region;

the fleet management unit notifying respective vehicles of travel paths; and

a vehicle travel planning unit which plans a travel path of a vehicle based on blocked states of divided regions that are set on a boundary between a first section and a second section;

wherein the vehicle travel planning unit makes a travel path plan with one point on a boundary which is not blocked by a high priority vehicle as a target point when coordinates of a connection point on a boundary between the first section and the second section are blocked by a high priority vehicle.

11. The autonomous travel system according to claim 10, wherein the vehicle travel planning unit acquires a travel path of a high priority vehicle, sets the target point while avoiding a region on a divided boundary where a blocked state is set by a high priority vehicle, and generates a travel path.

12. An autonomous travel system comprising:

a fleet management unit which comprises;

a map database in which a map of a first section and a map of a second section are mixed, the first section being a section in which a vehicle travel range is represented by a point and a line, the second section being a section in which a vehicle travel range is represented by a plane;

a vehicle position management unit which manages positions of a plurality of vehicles; and

a block setting unit which determines whether there is a vehicle near a boundary between a first section and a second section and, if there is a vehicle near a boundary, sets the boundary in a blocked state so that other vehicles do not enter there, the block setting unit dividing the boundary, for which a blocked state is set, into a plurality of regions and, for each of the divided regions through which no vehicle passes, releasing a blocked state of a boundary of a divided region;

the fleet management unit notifying respective vehicles of travel paths; and

a vehicle travel planning unit which plans a travel path of a vehicle based on blocked states of divided regions that are set on a boundary between a first section and a second section;

wherein the fleet management unit further comprises a vehicle passage monitoring unit which detects that a vehicle moves from a section where a road is represented by a point and a line to a section where it is represented by a plane or that it moves from a section where a road is represented by a plane to a section where it is represented by a point and a line.

13. An autonomous travel system comprising:

a fleet management unit which comprises;

a map database in which a map of a first section and a map of a second section are mixed, the first section being a section in which a vehicle travel range is represented by a point and a line, the second section being a section in which a vehicle travel range is represented by a plane;

a vehicle position management unit which manages positions of a plurality of vehicles; and

a block setting unit which determines whether there is a vehicle near a boundary between a first section and a second section and, if there is a vehicle near a boundary, sets the boundary in a blocked state so that other vehicles do not enter there, the block setting unit dividing the boundary, for which a blocked state is set, into a plurality of regions and, for each of the divided regions through which no vehicle passes, releasing a blocked state of a boundary of a divided region;

the fleet management unit notifying respective vehicles of travel paths; and

a vehicle travel planning unit which plans a travel path of a vehicle based on blocked states of divided regions that are set on a boundary between a first section and a second section;

wherein the vehicle position management unit performs a vehicle position estimation in which a vehicle position on a line or on a point is calculated for a section where a road is represented by a point and a line using a map database and switches to a vehicle position estimation on a plane in a section where a road is represented by a plane.