Movable body control system

Patent metadata

Field	Value
Publication number	US-2018253104-A1
Application number	US-201815890645-A
Country	US
Kind code	A1
Filing date	Feb 7, 2018
Priority date	Mar 2, 2017
Publication date	Sep 6, 2018
Grant date	—

Abstract

A movable body control system of the present invention includes a movable body including beacon reception means for receiving beacon radio waves from a plurality of beacon transmitters installed around a traveling road, model generation means for generating a model for determining a position of the movable body based on a distribution of time-series measurement values of beacon radio wave reception intensities in the beacon reception means, and travel control means for controlling travel of the movable body while determining an area in which the movable body travels at present based on a distribution of time-series measurement values of the beacon radio wave reception intensities at present and the model.

First claim

What is claimed is:

1 . A movable body control system, comprising:
a plurality of beacon transmitters disposed around a traveling road on which a movable body travels; at least one movable body including beacon reception means for receiving beacon radio waves from the plurality of beacon transmitters; model generation means for generating a model for determining a position of the movable body based on beacon radio wave reception intensities of the beacon radio waves from the plurality of beacon transmitters, which are received by the beacon reception means; and travel control means for controlling travel of the movable body, wherein the model is for determining an area in which the movable body travels based on a distribution of time-series measurement values of the beacon radio wave reception intensities, and the travel control means controls the travel of the movable body while determining an area in which the movable body travels at present, based on a distribution of the time-series measurement values at present of the beacon radio wave reception intensities and the model.

2 . The movable body control system according to claim 1 , further comprising:
storage means for storing map information including information on a route of the traveling road and a three-dimensional shape of surroundings including the traveling road, wherein the map information includes information on areas obtained by dividing the traveling road based on three-dimensional shape features of the surroundings, and information on the three-dimensional shape features about the areas, and the travel control means controls the travel of the movable body based on the information on the three-dimensional shape features about the areas.

3 . The movable body control system according to claim 1 ,
wherein the movable body includes detection means for detecting an obstacle present in a surrounding environment of the movable body, and the travel control means controls the travel of the movable body based on information on the obstacle detected by the detection means.

4 . The movable body control system according to claim 1 ,
wherein the model is used in the arbitrary movable body different from the movable body which is used in generation of the model, and travel of the arbitrary movable body is controlled.

5 . The movable body control system according to claim 1 ,
wherein the travel control means controls the travel of the movable body on a basis of odometry based on a travel distance and a traveling direction of the movable body.

6 . The movable body control system according to claim 1 ,
wherein the travel control means plans a speed of the movable body and/or a change rate of the speed so that acceleration, deceleration and/or jerk of the movable body do not exceed predetermined upper limit values respectively, and determines a target speed of the movable body in accordance with the plan.

7 . The movable body control system according to claim 1 , wherein the movable body is an automobile.

8 . The movable body control system according to claim 1 , wherein the movable body is a wheelchair.

9 . A movable body control method executed by a movable body control system comprising
a plurality of beacon transmitters disposed around a traveling road on which a movable body travels, at least one movable body including beacon reception means for receiving beacon radio waves from the plurality of beacon transmitters, model generation means for generating a model for determining a position of the movable body based on beacon radio wave reception intensities of the beacon radio waves from the plurality of beacon transmitters, which are received by the beacon reception means, and travel control means for controlling travel of the movable body, wherein the model is for determining an area in which the movable body travels based on a distribution of time-series measurement values of the beacon radio wave reception intensities, the movable body control method, comprising the steps of: generating the model by the model generation means; receiving the beacon radio waves from the plurality of beacon transmitters by the beacon reception means; determining the area in which the movable body travels at present by the travel control means, based on the distribution of the time-series measurement values of present beacon radio wave reception intensities that are reception intensities of the beacon radio waves from the plurality of beacon transmitters which are receives in the receiving step, and the model; and controlling travel of the movable body by the travel control means, based on the area where the movable body travels at present and which is determined by the determining step.

10 . The movable body control method according to claim 9 ,
wherein the movable body control system comprises storage means for storing map information including information on a route of the traveling road and three-dimensional shapes of surroundings including the traveling road, wherein the map information includes information on areas obtained by dividing the traveling road based on three-dimensional shape features of the surroundings, and information on the three-dimensional shape features about the areas, and in the step of controlling the travel of the movable body, the travel of the movable body is controlled based on the information on the three-dimensional shape features about the areas.

11 . The movable body control method according to claim 9 ,
wherein the movable body includes detection means for detecting an obstacle present in a surrounding environment of the movable body, and in the step of controlling the travel of the movable body, the travel of the movable body is controlled based on information on the obstacle detected by the detection means.

12 . The movable body control method according to claim 9 ,
wherein the model is used in the arbitrary movable body different from the movable body which is used in generation of the model, and travel of the arbitrary movable body is controlled in the step of controlling the travel of the movable body.

13 . The movable body control method according to claim 9 ,
wherein in the step of controlling the travel of the movable body, the travel of the movable body is also controlled on a basis of odometry based on a travel distance and a traveling direction of the movable body.

14 . The movable body control method according to claim 9 ,
wherein in the step of controlling the travel of the movable body, a speed of the movable body and/or a change rate of the speed are/is planned so that acceleration, deceleration and/or jerk of the movable body do not exceed predetermined upper limit values respectively, and a target speed of the movable body is determined in accordance with the plan.

15 . The movable body control method according to claim 9 ,
wherein the movable body is an automobile.

16 . The movable body control method according to claim 9 ,
wherein the movable body is a wheelchair.

Assignees

• Honda Motor Co Ltd

Inventors

• Miyamoto Shugo
• Koshizen Takamasa

Classifications

• G01S5/02 Primary

  using radio waves (using satellite radio beacon systems for determining position G01S19/00) · CPC title

• G05D1/0221

  involving a learning process · CPC title

• G05D1/0223 Primary

  involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00) · CPC title

• G05D1/0238

  using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93) · CPC title

• G05D1/0274

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · CPC title