Moving body control method, moving body, and moving body control system

Patent metadata

Field	Value
Publication number	US-10551201-B2
Application number	US-201615753978-A
Country	US
Kind code	B2
Filing date	Feb 25, 2016
Priority date	Feb 25, 2016
Publication date	Feb 4, 2020
Grant date	Feb 4, 2020

Abstract

A moving body control method for a moving body includes detecting position information and generating a surrounding map of surroundings of the moving body from map information corresponding to the position information, acquiring sensor information from a sensor and detecting non-map information from the sensor information, determining whether the traveling route can be calculated by adding the non-map information to the surrounding map and applying to the surrounding map first restriction information in which restrictions in setting a traveling route, if the moving body can calculate the traveling route, the first restriction information is applied to the surrounding map to calculate the traveling route, if the moving body cannot calculate the traveling route, second restriction information that relaxes restrictions in setting the traveling route is applied to the first restriction information to calculate the traveling route and the calculated traveling route is outputted to the traveling control module.

First claim

What is claimed is:

1. A moving body control method for a moving body including a processor, a memory, and a traveling control module, the method comprising:
a first step in which the moving body detects position information and generates a surrounding map of surroundings of the moving body from map information corresponding to the position information;
a second step in which the moving body acquires sensor information from a sensor indicating a surrounding environment and detects non-map information from the sensor information;
a third step in which the moving body determines whether the traveling route can be calculated by adding the non-map information to the surrounding map and applying to the surrounding map first restriction information in which restrictions in setting a traveling route are set in advance;
a fourth step in which, if the moving body can calculate the traveling route, the first restriction information is applied to the surrounding map to calculate the traveling route;
a fifth step in which, if the moving body cannot calculate the traveling route, second restriction information that relaxes restrictions in setting the traveling route is applied to the first restriction information to calculate the traveling route;
a sixth step in which the calculated traveling route is outputted to the traveling control module;
wherein the first restriction information has set in advance restriction information of the traveling route pertaining to elements in the surrounding map,
wherein the second restriction information has set in advance information for relaxing restrictions on the traveling route pertaining to elements in the surrounding map, and
wherein, in the fifth step, elements of the second restriction information are sequentially selected and applied to elements of the first restriction information to calculate the traveling route.

2. The moving body control method according to claim 1 ,
wherein the first restriction information has set in advance restriction information of the traveling route pertaining to elements in the non-map information,
wherein the second restriction information has set in advance information for relaxing restrictions on the traveling route pertaining to elements in the non-map information.

3. The moving body control method according to claim 1 ,
wherein the fifth step includes a step of receiving the second restriction information.

4. The moving body control method according to claim 1 ,
wherein the fifth step includes:
a step of transmitting a request for the traveling route calculated by applying the second restriction information to the first restriction information, and for information indicating whether the traveling route can be used; and
a step of receiving the information indicating whether the traveling route can be used, and outputting the traveling route if the traveling route can be used.

5. The moving body control method according to claim 1 ,
wherein the map information includes general information in which elements of the surrounding map are set in advance, normal restriction information among the first restriction information in which restriction information of the traveling route pertaining to the elements of the surrounding map is set in advance, and relaxed restriction information among the second restriction information that relaxes restrictions on the traveling route pertaining to the elements in the surrounding map.

6. A moving body, comprising:
a processor;
a memory;
a traveling control module;
a position information detection device that detects position information;
a sensor that acquires sensor information indicating a surrounding environment of the moving body;
a sensor information processing module that detects non-map information from the sensor information;
a map information processing module that generates a surrounding map of the moving body from map information corresponding to the position information, and adds the non-map information to the surrounding map; and
a traveling route calculation module that applies to the surrounding map first restriction information in which restrictions in setting a traveling route are set in advance, calculates the traveling route, and outputs the traveling route to the traveling control module,
wherein the first restriction information has set in advance restriction information of the traveling route pertaining to elements in the surrounding map,
wherein the second restriction information has set in advance information for relaxing restrictions on the traveling route pertaining to elements in the surrounding map,
wherein the traveling route calculation module
determines whether the traveling route can be calculated by applying the first restriction information to the surrounding map,
applies the first restriction information to the surrounding map to calculate the traveling route if the traveling route can be calculated,
applies second restriction information that relaxes restrictions in setting the traveling route to the first restriction information to calculate the traveling route, if the traveling route cannot be calculated,
sequentially selects elements of the second restriction information and applies said elements to elements of the first restriction information to calculate the traveling route.

7. The moving body according to claim 6 ,
wherein the first restriction information has set in advance restriction information of the traveling route pertaining to elements in the non-map information,
wherein the second restriction information has set in advance information for relaxing restrictions on the traveling route pertaining to elements in the non-map information, and
wherein the traveling route calculation module sequentially selects elements of the second restriction information and applies said elements to elements of the first restriction information to calculate the traveling route.

8. The moving body according to claim 6 ,
wherein the traveling route calculation module receives the second restriction information.

9. The moving body according to claim 6 ,
wherein the traveling route calculation module
transmits a request for the traveling route calculated by applying the second restriction information to the first restriction information, and for information indicating whether the traveling route can be used, and
receives the information indicating whether the traveling route can be used, and outputs the traveling route if the traveling route can be used.

10. The moving body according to claim 6 ,
wherein the map information includes general information in which elements of the surrounding map are set in advance, normal restriction information among the first restriction information in which restriction information of the traveling route pertaining to the elements of the surrounding map is set in advance, and relaxed restriction information among the second restriction information that relaxes restrictions on the traveling route pertaining to the elements in the surrounding map.

11. A moving body control system, comprising:
a moving body including a processor, a memory, and a traveling control module; and
a support server that has a processor and a memory and that is connected to the moving body through a network,
wherein the moving body has:
a position information detection device that detects position information;
a sensor that acquires sensor information indicating a surrounding environment of the moving body;
a sensor information processing module that detects non-map information from the sensor information;
a map information processing module that generates a surrounding map of the moving body from map informat

Assignees

• Hitachi Ltd

Inventors

• Yunoki Shoji
• Endo Hideki
• Kubo Hiroyuki
• Takagi Shouta
• Mashimo Daisuke

Classifications

• G01C21/3461

  Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types or segments such as motorways, toll roads or ferries · CPC title

• G01C21/3415

  Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents · CPC title

• G08G1/167

  Driving aids for lane monitoring, lane changing, e.g. blind spot detection · CPC title

• B60W30/10

  Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} · CPC title

• G01C21/34 Primary

  Route searching; Route guidance · CPC title