US 12,292,739 B2
Autonomous travel system
Masaki Kanai, Tokyo (JP); Tomoyuki Hamada, Tsuchiura (JP); Mikio Bando, Tokyo (JP); and Hiroto Morizane, Tokyo (JP)
Assigned to Hitachi Construction Machinery Co., Ltd., Tokyo (JP)
Appl. No. 17/909,455
Filed by Hitachi Construction Machinery Co., Ltd., Tokyo (JP)
PCT Filed Mar. 19, 2021, PCT No. PCT/JP2021/011329
§ 371(c)(1), (2) Date Sep. 6, 2022,
PCT Pub. No. WO2021/193412, PCT Pub. Date Sep. 30, 2021.
Claims priority of application No. 2020-055527 (JP), filed on Mar. 26, 2020.
Prior Publication US 2023/0121070 A1, Apr. 20, 2023
Int. Cl. G05D 1/00 (2024.01); G05D 1/24 (2024.01); G05D 1/617 (2024.01); G05D 1/693 (2024.01); H04W 4/40 (2018.01)
CPC G05D 1/0214 (2013.01) [G05D 1/0274 (2013.01); G05D 1/0289 (2013.01); G05D 1/24 (2024.01); G05D 1/617 (2024.01); G05D 1/693 (2024.01); H04W 4/40 (2018.02)] 15 Claims
OG exemplary drawing
 
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.