To provide an autonomous vehicle system that less depends on the driving speed or camera configuration of an autonomous vehicle.SOLUTION: An autonomous vehicle system of the present invention comprises: an autonomous vehicle; a marker; an autonomous driving mechanism that allows the autonomous vehicle to run while recognizing a guide line provided along a driving route of the autonomous vehicle; a storage mechanism that stores a driving plan including an action of the autonomous vehicle on the driving route and a position of taking the action; a recognition mechanism that recognizes the marker using a camera; and a control mechanism that identifies the position, refers to the driving plan, and takes the action according to the identified position on the basis of identification information recognized from a two-dimensional code the marker has. The marker has the two-dimensional code provided in the vicinity of the guide line and a positioning marker provided at the position. The control mechanism takes the action at the position where the positioning marker recognized by the recognition mechanism is provided.SELECTED DRAWING: Figure 1
【課題】自動走行車の走行速度およびカメラ構成の依存を小さくした、自動走行車システムを提供する。【解決手段】本発明は、自動走行車と、マーカと、を有する自動走行車システムであって、前記自動走行車の運行経路に設けられた案内線を認識して当該自動走行車を自走させる自走機構と、前記運行経路上における前記自動走行車の行動と、当該行動を実行する位置と、を含む運行計画を保存する保存機構と、カメラを用いて前記マーカを認識する認識機構と、前記マーカが有する二次元コードから認識した識別情報に基づいて、前記位置を特定し、前記運行計画を参照して、特定した前記位置に応じた前記行動をする制御機構と、を備え、前記マーカは、前記案内線近傍に設置される前記二次元コードと、前記位置に設けられる位置決めマーカと、を有し、前記制御機構は、前記認識機構により認識した前記位置決めマーカが設けられた前記位置において、前記行動を実行する。【選択図】図1
AUTONOMOUS VEHICLE SYSTEM, MARKER, AUTONOMOUS VEHICLE, AND CONTROL METHOD OF AUTONOMOUS VEHICLE
自動走行車システム、マーカ、自動走行車、および自動走行車の制御方法
2024-08-23
Patent
Electronic Resource
Japanese
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