PROBLEM TO BE SOLVED: To provide a technique capable of efficiently utilizing a soil dropping area, while securing a turn-back point of a dump track.SOLUTION: A control server includes: a soil dropping area setting part for setting an extension soil dropping area in an area outside a rectangular final soil dropping area where the length of one side is equal to or longer than the sum of vehicular length and minimum turning radius of a dump truck, in an area facing an entrance in a soil dropping area; a soil dropping positional direction setting part for setting a target soil dropping position and an extension soil dropping direction in a direction orthogonal to a boundary side positioned at a boundary between the final soil dropping area and the extension soil dropping area in the extension soil dropping area when the remaining area for setting the target soil dropping position is available in the extension soil dropping area and setting the target soil dropping position in the final soil dropping area when no remaining area is available, and setting the final soil dropping direction in a direction parallel to the boundary side; and a travel route generation part for generating a forward travel route arriving at the target soil dropping position from the entrance of the soil dropping area via a turn-back point and a return travel route heading for an exit of the soil dropping area through a section parallel to the extension soil dropping direction from the target soil dropping area.SELECTED DRAWING: Figure 5
【課題】ダンプトラックの切返し地点を確保しつつ、放土場を効率的に利用できる技術を提供する。【解決手段】放土場内における入口に対向する領域に一辺の長さがダンプトラックの車両長及び最小旋回半径の和以上の長さを有する矩形状の最終放土領域を、最終放土領域外となる領域に拡張放土領域を設定する放土領域設定部と、拡張放土領域内に目標放土位置を設定する残領域がある場合は拡張放土領域内に目標放土位置及び最終放土領域と拡張放土領域との境界に位置する境界辺に対して直交する方向に拡張放土方向を設定し、残領域が無い場合は最終放土領域内に目標放土位置及びを設定すると共に、境界辺に対して平行となる方向に最終放土方向を設定する放土位置方向設定部と、放土場の入口から切返し地点を経由し目標放土位置に到達する往路走行経路及び目標放土位置から拡張放土方向と平行な区間を経て放土場の出口に向かう復路走行経路を生成する走行経路生成部とを備える。【選択図】 図5
CONTROL SERVER, VEHICLE TRAVEL CONTROL SYSTEM, AND VEHICLE TRAVEL CONTROL METHOD
管制サーバ、車両走行制御システム、及び車両走行制御方法
2018-02-01
Patent
Electronic Resource
Japanese
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