| 摘要 |
Provided is an autonomous travel system having an operation management unit including a map database with a combination of topological region maps, on which the range of travel of a vehicle is expressed as points and lines, and metric region maps, on which the travel range is expressed on planar maps; a vehicle position management unit for managing the position of the vehicle; and a vehicle travel planning unit for planning vehicle travel, which, if the vehicle is present near the boundary of a map, blocks the map boundary so that other vehicles will not advance into another map. The operation management unit is provided with a blockage setting unit for dividing a boundary section of a map into a plurality of regions and releasing the blockage of the boundary of a divided region in which no vehicles are present in front of the vehicle in the direction of travel. |
| 主权项 |
1. An autonomous travel system comprising:
a fleet management unit which comprises:
a map database in which a map of a first section and a map of a second section are mixed, the first section being a section in which a vehicle travel range is represented by a point and a line, the second section being a section in which a vehicle travel range is represented by a plane;a vehicle position management unit which manages positions of a plurality of vehicles; anda block setting unit which determines whether there is a vehicle near a boundary between a first section and a second section and, if there is a vehicle near a boundary, sets the boundary in a blocked state so that other vehicles do not enter there, the block setting unit dividing the boundary, for which a blocked state is set, into a plurality of regions and, for each of the divided regions through which no vehicle passes, releasing a blocked state of a boundary of a divided region; the fleet management unit notifying respective vehicles of travel paths; and a vehicle travel planning unit which plans a travel path of a vehicle based on blocked states of divided regions that are set on a boundary between a first section and a second section; wherein the block setting unit determines, when dividing a boundary into a plurality of regions, lengths of a plurality of regions created by dividing a boundary according to a positional relation between a vehicle which approaches the boundary and the boundary. |
