To generate efficient travel routes.SOLUTION: A route planning device includes: a travel route/detection range planning unit 212 that searches for an appropriate route that satisfies an objective function while satisfying constraint conditions, and generates control input information including speed control information and steering angle control information for a transport vehicle to travel on the appropriate route with settings of an equation (11) being the objective function to suppress the change in acceleration within a predetermined range and shorten a travel distance when traveling to the same target point on the same travel route, an equation (12) being the equation of motion of the transport vehicle, an equation (13) being a formula that indicates the upper limit of acceleration/deceleration of the transport vehicle, and equations (14) and (15) being equations that constrain the detection range of an on-vehicle sensor and the position of the transport vehicle to be inside the route boundary set by the safety margin; and a route information display/setting unit 214 that outputs the appropriate route searched by the travel route/detection range planning unit 212.SELECTED DRAWING: Figure 4
【課題】効率的な走行経路の生成を課題とする。【解決手段】加速度の変化を所定の範囲に抑え、同じ目標地点に同じ走行経路で走行する際の走行距離を短くするための目的関数である式(11)と、搬送車両の運動方程式である式(12)と、搬送車両の加減速の上限を示す式である式(13)と車載センサによる検出範囲、及び、搬送車両の位置が、安全マージンによって設定される経路境界の内側となるよう制約する式である式(14)、式(15)と、が設定されており、制約条件を満たしつつ、目的関数を満たす適正経路を探索し、当該適正経路を搬送車両が走行するための速度制御情報及び操舵角制御情報を含む制御入力情報を生成する走行経路・検出範囲計画部212と、走行経路・検出範囲計画部212によって探索された適正経路を出力する経路情報表示・設定部214と、を有することを特徴とする。【選択図】図4
ROUTE PLANNING DEVICE AND TRANSPORT VEHICLE SYSTEM
経路計画装置及び搬送車両システム
2023-10-20
Patent
Electronic Resource
Japanese
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 / 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 |
VEHICLE ROUTE PLANNING DEVICE, VEHICLE ROUTE PLANNING METHOD, AND VEHICLE ROUTE PLANNING SYSTEM
European Patent Office | 2023
|PLURAL VEHICLE ROUTE PLANNING METHOD AND PLURAL VEHICLE ROUTE PLANNING SYSTEM
European Patent Office | 2020
|ROUTE PLANNING DEVICE, ROUTE PLANNING METHOD, AND ROUTE PLANNING SYSTEM
European Patent Office | 2020
|ROUTE PLANNING DEVICE, ROUTE PLANNING METHOD, AND ROUTE PLANNING SYSTEM
European Patent Office | 2023
|