A LiDAR (2), which detects the position of marks (M1, M2) provided to a movement destination (9) of an autonomous traveling vehicle (1) with respect to the autonomous traveling vehicle (1), is attached to the autonomous traveling vehicle (1). Two marks (M1, M2) are provided to a movement destination (9), and a mark position detection unit (41) detects the positions of the two marks (M1, M2) with respect to an autonomous traveling vehicle (1) by means of a LiDAR (2), and acquires the detection positions (p1, p2) of the two marks (M1, M2). Furthermore, the storage unit (5) holds reference positions (P1, P2) for the two marks (M1, M2), respectively, the reference positions (P1, P2) being detection positions (p1, p2) of the marks (M1, M2) to be acquired by the mark position detection unit (41) when the autonomous traveling vehicle (1) moves to the movement destination (9). Furthermore, on the basis of the difference between the reference position (P1, P2) and the detection position (p1, p2) of each of the two marks (M1, M2), a travel motor (13) and a steering device (14) for driving the autonomous traveling vehicle (1) are controlled.
对设置于自主行驶车辆(1)的移动目的地(9)的标记(M1、M2)相对于自主行驶车辆(1)的位置进行检测的LiDAR(2)安装于自主行驶车辆(1)。在移动目的地(9)设置有两个标记(M1、M2),标记位置检测部(41)利用LiDAR(2)检测两个标记(M1、M2)相对于自主行驶车辆(1)的位置,取得两个标记(M1、M2)各自的检测位置(p1、p2)。而且,存储部(5)针对两个标记(M1、M2)分别保持基准位置(P1、P2),该基准位置(P1、P2)是在自主行驶车辆(1)移动到移动目的地(9)的情况下,标记位置检测部(41)应取得的标记(M1、M2)的检测位置(p1、p2)。并且,基于两个标记(M1、M2)各自的基准位置(P1、P2)与检测位置(p1、p2)之差,控制对自主行驶车辆(1)进行驱动的行驶电动机(13)和转向装置(14)。
Vehicle travel control device, autonomous travel vehicle, and vehicle travel control method
车辆行驶控制装置、自主行驶车辆和车辆行驶控制方法
06.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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