Autonomous travel system
Provided is an autonomous travel system capable of effectively suppressing generation of ruts. It is a further object to provide an autonomous travel system including unmanned vehicles that travel on a transportation path constituted of opposite lanes, which is capable of suppressing generation of ruts while preventing proximity to an on-corning vehicle. An in-vehicle control device 200 includes: an offset amount determination unit 202 adapted to, based on common offset information received via a wireless communication device 240 , determine an offset amount of a travel path 60 based on map information 251 and generate a target track 62 ; and an autonomous travel control unit 201 adapted to output a travel instruction to control traveling of a body so as to track the target track 62 to which the offset amount has been added based on the target track 62 and an own-vehicle position.
1. An autonomous travel system comprising a plurality of vehicles, each including: a travel drive device adapted to drive a body; a position sensor for acquiring an own-vehicle position; a storage device storing map information; an in-vehicle control device adapted to, based on the own-vehicle position and the map information, output to the travel drive device a travel instruction to control traveling of the body so as to track a travel path based on the map information; and a wireless communication device that can communicate information with an outside,
wherein the plurality of vehicles traveling at different locations in the autonomous travel system receives common offset information via the wireless communication device of each vehicle at a common timing, and
wherein based on common offset information received via the wireless communication device of each vehicle, the in-vehicle control device of each of the plurality of vehicles determines an offset amount of the travel path of the vehicle based on the map information of the vehicle, generates a target track, and outputs a travel instruction to control traveling of the body of the vehicle so as to track the target track to which the offset amount has been added based on the target track and the own-vehicle position of the vehicle.
2. The autonomous travel system according to claim 1 , each of the plurality of vehicles further including a load sensor for acquiring a load condition of a body,
wherein the plurality of vehicles receives the common offset information via the wireless communication device at a predetermined timing based on the load condition of the body acquired by the load sensor of one of the plurality of vehicles.
3. The autonomous travel system according to claim 2 , wherein the plurality of vehicles receives the common offset information via the wireless communication device when the load sensor of one of the plurality of vehicles detects a change in a body weight related to when dumping work completes, dumping work starts, loading work starts, or loading work completes.
4. The autonomous travel system according to claim 1 , each of the plurality of vehicles further including a load sensor for acquiring a load condition of a body,
wherein the in-vehicle control device transmits offset information of an own vehicle via the wireless communication device at a predetermined timing based on the load condition of the body acquired by the load sensor.
5. The autonomous travel system according to claim 4 , wherein the in-vehicle control device transmits the offset information of the own vehicle via the wireless communication device when the load sensor detects a change in a body weight related to when dumping work completes, dumping work starts, loading work starts, or loading work completes.
6. The autonomous travel system according to claim 4 , wherein the offset information of the own vehicle includes a direction of the offset amount.
7. The autonomous travel system according to claim 6 , wherein when transmitting the offset information of the own vehicle, the in-vehicle control device changes the direction of the offset amount from a current direction by a predetermined angle.
8. The autonomous travel system according to claim 6 ,
wherein:
the map information holds an offset factor at each point, and
the in-vehicle control device determines the offset amount at each point based on the direction of the offset amount and the offset factor.
9. The autonomous travel system according to claim 8 , wherein the in-vehicle control device determines the offset amount at each point according to a road width at each point or in consideration of a fixed work point on which the vehicle should stop.
10. The autonomous travel system according to claim 1 , each of the plurality of vehicles further including a load sensor for acquiring a load condition of a body,
wherein the in-vehicle control device determines the offset amount based on the load condition of the body acquired by the load sensor.
11. The autonomous travel system according to claim 10 ,
wherein:
the map information holds an offset factor in an empty load state and an offset factor in a loaded state at each point, and
the in-vehicle control device selects an offset factor to be used for determination of the offset amount based on the load condition of the body acquired by the load sensor.
12. The autonomous travel system according to claim 10 ,
wherein:
the map information holds an offset factor at each point, and
the in-vehicle control device determines the offset amount at each point considering a total weight of the body acquired by the load sensor using the offset factor.
13. The autonomous travel system according to claim 1 , wherein the plurality of vehicles receives, through a control station, the common offset information via the wireless communication device.
14. The autonomous travel system according to claim 13 , each of the plurality of vehicles further including a load sensor for acquiring a load condition of a body and transmitting the load condition of the body acquired by the load sensor to the control station,
wherein the control station transmits the common offset information to the plurality of vehicles at a predetermined timing based on the load condition of the body received from one of the plurality of vehicles.
15. The autonomous travel system according to claim 14 ,
wherein when the control station detects, based on the load condition of the body received from the one of the plurality of vehicles, a change in a body weight related to when dumping work completes, dumping work starts, loading work starts, or loading work completes in the one of the plurality of vehicles, the control station transmits the common offset information to the plurality of vehicles.