PROBLEM TO BE SOLVED: To more accurately determine a movement unsuitable area and more accurately generate the route of a mobile entity.SOLUTION: An automatic operation system for a mobile entity comprises an environment map storage device 6a that stores environment map information, a road attribute storage device 6b that stores road attribute information, and an electronic control unit 10. The environment map information includes position information indicating each of a plurality of positions in a space and state quantity variability of each of a plurality of positions which is associated with each corresponding position information, the state quantity variability representing the easiness of a change of the state quantity of a corresponding position to time. The electronic control unit calculates each of the state quantity expected value and variability expected value of a road on the basis of the road attribute information, determines a movement unsuitable area which is unsuitable for a mobile entity to move, on the basis of the state quantity representative value and state quantity variability of a road and the state quantity expected value and variability expected value of the road, and generates the route of the mobile entity on the basis of the movement unsuitable area.SELECTED DRAWING: Figure 1

    【課題】移動不適領域をより正確に決定し、移動体の進路をより正確に生成する。【解決手段】移動体の自動運転制御システムは、環境地図情報を記憶している環境地図記憶装置6aと、道路属性情報を記憶している道路属性記憶装置6bと、電子制御ユニット10と、を備える。環境地図情報は、空間内の複数の位置をそれぞれ表す位置情報と、複数の位置のそれぞれの状態量変化性であって、それぞれ対応する位置情報と関連付けられた状態量変化性と、を有しており、状態量変化性は、対応する位置の状態量の時間に対する変化のしやすさを表している。電子制御ユニットは、道路属性情報に基づいて道路の状態量期待値及び変化性期待値をそれぞれ算出し、道路の状態量代表値及び状態量変化性と、当該道路の状態量期待値及び変化性期待値とに基づいて、移動体が移動するのに不適な移動不適領域を決定し、移動不適領域に基づいて移動体の進路を生成する。【選択図】図1


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    Title :

    AUTOMATIC OPERATION CONTROL SYSTEM FOR MOBILE ENTITY


    Additional title:

    移動体の自動運転制御システム


    Contributors:

    Publication date :

    2017-11-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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