To provide a traveling control device, a traveling control method, and an automatic traveling vehicle using the device and the method, which can realize traveling control of an automatic traveling vehicle enabling coexistence with pedestrians, and minimize as much as possible the stress of pedestrians within a predetermined traffic area where the pedestrians pass.SOLUTION: A traveling control device 6 includes: a position recognition part 721; an action prediction part 722; and a travel parameter setting part 73. The position recognition part 721 recognizes a position index related to a position of a monitoring object pedestrian WM passing through a monitored area MR on a forward side of an automatic traveling vehicle 1 on a reference traveling route RS. The action prediction part 722 recognizes action indices including a walking speed and a walking direction as indices for specifying an action of the monitoring object pedestrian WM. Further, the travel parameter setting part 73 sets travel parameters P according to the action indices including the walking speed and the walking direction as parameters related to traveling control of the automatic traveling vehicle 1, on the basis of the position index.SELECTED DRAWING: Figure 5

    【課題】歩行者が通行する所定の通行領域内で当該歩行者のストレスを可及的に低減可能であって、歩行者との共存が可能な自動走行車の走行制御を実現するができる走行制御装置及び走行制御方法、並びにそれを使用する自動走行車を提供する。【解決手段】走行制御装置6は、位置認識部721と行動予測部722と走行パラメータ設定部73とを備える。位置認識部721は、基準走行ルートRS上において自動走行車1の前方側の監視領域MRを通行する監視対象歩行者WMの位置に関する位置指標を認識する。行動予測部722は、監視対象歩行者WMの行動を特定するための指標として歩行速度及び歩行方向を含む行動指標を認識する。そして、走行パラメータ設定部73は、前記位置指標に基づいて、自動走行車1の走行制御に関するパラメータとして、走行速度及び走行方向を含む、前記行動指標に応じた走行パラメータPを設定する。【選択図】図5


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    Title :

    TRAVEL CONTROL DEVICE, TRAVEL CONTROL METHOD, AND AUTOMATIC TRAVELING VEHICLE


    Additional title:

    走行制御装置及び走行制御方法、並びに自動走行車


    Contributors:

    Publication date :

    2020-04-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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