Obstacle detection controller of articulated vehicle, operation system of articulated vehicle, and obstacle detection method of articulated vehicle
An obstacle detection controller of an articulated vehicle is configured to calculate a surrounding area in a turning direction of a towing vehicle and a towed vehicle, calculate a passage prediction area, calculate an area in which the surrounding area and the passage prediction area overlap as a monitoring area, and output an obstacle detection information indicating that an obstacle that may be entrapped by a turning of the towing vehicle and the towed vehicle has been detected, in response to the obstacle detected by an obstacle sensor being detected within the monitoring area.
1 . An articulated vehicle, comprising:
a towing vehicle;
a towed vehicle towed by the towing vehicle;
an obstacle sensor configured to detect obstacles in a surrounding of the towing vehicle and the towed vehicle;
an obstacle detection controller connected to the obstacle sensor; and
an operation controller connected to the obstacle detection controller,
wherein
the obstacle detection controller is configured to:
calculate a surrounding area in a turning direction of the towing vehicle and the towed vehicle when the towing vehicle and the towed vehicle turn;
calculate a passage prediction area when the towing vehicle and the towed vehicle turn;
calculate an area in which the surrounding area and the passage prediction area overlap as a monitoring area; and
output an obstacle detection information indicating that an obstacle that may be entrapped by a turning of the towing vehicle and the towed vehicle has been detected, in response to the obstacle detected by the obstacle sensor being detected within the monitoring area,
the operation controller is configured to output a stop instruction to the towing vehicle in response to acquiring the obstacle detection information output from the obstacle detection controller, and
the towing vehicle is configured to perform a braking operation in response to receiving the stop instruction output from the operation controller.
2 . The articulated vehicle according to claim 1 , wherein the obstacle detection controller is configured to calculate an area excluding an area in front of the towing vehicle as the monitoring area.
3 . The articulated vehicle according to claim 1 , wherein the obstacle detection controller is configured to calculate, as the passage prediction area, an area to be passed by the towing vehicle and the towed vehicle before traveling a braking distance on a turning trajectory.
4 . The articulated vehicle according to claim 3 , wherein the obstacle detection controller is configured to
calculate, as the passage prediction area,
a first passage prediction area through which the towing vehicle and the towed vehicle pass before moving the braking distance by stopping suddenly, and
a second passage prediction area through which the towing vehicle and the towed vehicle pass before moving the braking distance by stopping slowly,
calculate
an area in which the surrounding area and the first passage prediction area overlap as a first monitoring area, and
an area in which the surrounding area and the second passage prediction area overlap as a second monitoring area, and
output the obstacle detection information to which information indicating whether a position of the detected obstacle is in the first monitoring area or the second monitoring area is added in response to the obstacle being detected by the obstacle sensor in the first monitoring area or the second monitoring area.
5 . The articulated vehicle according to claim 4 , wherein the operation controller is configured to
determine whether a position of the obstacle is within the first monitoring area or the second monitoring area based on the information added to the obstacle detection information in response to acquiring the obstacle detection information output from the obstacle detection controller,
output a sudden stop instruction to the towing vehicle in response to determining that the position of the obstacle is within the first monitoring area, and
output a slow stop instruction to the towing vehicle in response to determining that the position of the obstacle is within the second monitoring area.
6 . The articulated vehicle according to claim 1 , wherein the operation controller is configured to output an instruction to maintain a current steering angle in response to acquiring the obstacle detection information output from the obstacle detection controller.
7 . The articulated vehicle according to claim 6 , wherein
the towing vehicle includes an autonomous driving mechanism, and
the operation controller is configured to output the stop instruction and the instruction to maintain the steering angle to the autonomous driving mechanism.
8 . An obstacle avoidance method of an articulated vehicle, detecting an obstacle in a surrounding of a towing vehicle and a towed vehicle towed by the towing vehicle and avoiding contact with the obstacle detected, comprising:
a surrounding area calculation step for calculating a surrounding area in a turning direction of the towing vehicle and the towed vehicle when the towing vehicle and the towed vehicle turn,
a passage prediction area calculation step for calculating a passage prediction area when the towing vehicle and the towed vehicle turn,
a monitoring area calculation step for calculating an area in which the surrounding area detected by the surrounding area calculation step and the passage prediction area calculated by the passage prediction area calculation step overlap as a monitoring area,
an obstacle detection step for outputting an obstacle detection information indicating that an obstacle that may be entrapped by a turning of the towing vehicle and the towed vehicle has been detected, in response to the obstacle detected by an obstacle sensor being detected within the monitoring area, wherein the obstacle sensor is configured to detect an obstacle in a surrounding of the towing vehicle and the towed vehicle,
a stop instruction step for outputting a stop instruction to the towing vehicle in response to the obstacle detection information output by the obstacle detection step, and
a braking operation step for performing a braking operation on the towing vehicle in response to the stop instruction output by the stop instruction step.