Control device, control system, control method, and road surface driving device

Abstract

The present invention relates to a control device, a control system, a control method, and a road surface driving device. The control device outputs control information to a sidewalk configured to be able to change the inclination of the road surface. When the control device detects a wheelchair waiting to cross the road on the sidewalk, the control device outputs, as the control information, information on an instruction to reduce the inclination of the road surface of the sidewalk.

Description

Technical Field

[0001] The present disclosure relates to a control device, a control system, a control method, and a road surface driving device. Background Art

[0002] There is known a configuration that notifies surrounding vehicles of the presence of a pedestrian crossing a road when the pedestrian starts to cross a place on the road (see, for example, Japanese Unexamined Patent Application Publication No. 2014-225151 (JP 2014-225151 A)). Summary of the Invention

[0003] Depending on the condition of the location where the wheelchair starts to cross the road, it may be difficult for the wheelchair to wait until the crossing starts, or it may be difficult for the wheelchair to start crossing.

[0004] An object of the present disclosure made in view of this situation is to improve the convenience of wheelchair travel.

[0005] A control device according to an embodiment of the present disclosure outputs control information to a sidewalk configured to be able to change the inclination of the road surface. When the control device detects a wheelchair waiting to cross the road on the sidewalk, the control device outputs information on an instruction to decrease the inclination of the road surface of the sidewalk as the control information.

[0006] A control system according to an embodiment of the present disclosure includes the control device and a road surface driving device.

[0007] A control method according to an embodiment of the present disclosure includes outputting, as control information, information on an instruction to decrease the inclination of the road surface of the sidewalk to a sidewalk configured to be able to change the inclination of the road surface when a wheelchair waiting to cross the road is detected.

[0008] A road surface driving device according to an embodiment of the present disclosure controls the inclination of the road surface. The road surface driving device includes a base constituting the road surface, a driving unit that drives the base, and a control unit that controls the driving unit so as to change the inclination of the road surface based on control information indicating the direction and magnitude of the inclination of the road surface.

[0009] By using the control device, the control system, the control method, and the road surface driving device according to the embodiments of the present disclosure, the convenience of wheelchair travel can be improved. Brief Description of the Drawings

[0010] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals denote like elements, and in which:

[0011] Figure 1is a schematic diagram showing a configuration example of a control system according to an embodiment;

[0012] Figure 2 is a schematic block diagram showing a configuration example of the control system according to the embodiment;

[0013] Figure 3 is a diagram showing a configuration example of a road surface driving device;

[0014] Figure 4 is a side view showing a configuration example in which the road surface of a sidewalk is inclined;

[0015] Figure 5 is a side view showing a configuration example in which the road surface of a sidewalk connected to a road is inclined; and

[0016] Figure 6 is a flowchart showing a process example of a control method according to the embodiment. Detailed Description

[0017] Configuration Example of Control System 1

[0018] As shown in Figure 1 and Figure 2 a control system 1 according to an embodiment includes a control device 10 and a road surface driving device 50. The road surface driving device 50 is installed in a sidewalk located around a road 40 and is configured to drive the road surface of the sidewalk. The control device 10 outputs information for controlling the inclination or height of the road surface by driving the road surface of the sidewalk with the road surface driving device 50. That is, the control system 1 controls the inclination or height of the road surface of the sidewalk. In addition, the sidewalk is configured such that the inclination of the road surface can be changed by installing the road surface driving device 50. When there is a wheelchair 82 crossing the road 40, the control system 1 controls the inclination or height of the road surface at the place where the wheelchair 82 waits before crossing the road 40.

[0019] The control system 1 further includes a crosswalk display device 20, but this is not essential. The crosswalk display device 20 is configured to display a crosswalk 25 on the road 40 on which a vehicle 60 travels. The control device 10 may output information about the position or time at which the crosswalk display device 20 displays the crosswalk 25. That is, the control system 1 can control the display of the crosswalk 25 on the road 40. When there is a wheelchair 82 crossing the road 40, the control system 1 can control the display of the crosswalk 25 so that the wheelchair 82 can cross the road 40. The road 40 on which the vehicle 60 travels is also referred to as a lane.

[0020] Hereinafter, a configuration example of the control system 1 will be described.

[0021] Control Device 10

[0022] The control device 10 controls various components of the control system 1. The control device 10 may be configured to include one or more processors. According to this embodiment, a "processor" is a general-purpose processor, a dedicated processor dedicated to specific processing, etc. However, the processor is not limited thereto. The control device 10 may be configured to include one or more dedicated circuits. The dedicated circuit may include, for example, a field-programmable gate array (FPGA) or an application-specific integrated circuit (ASIC). The control device 10 may be configured to include a dedicated circuit in place of the processor, or may be configured to include a dedicated circuit together with the processor.

[0023] The control device 10 may further include a storage unit. The storage unit is, for example, a semiconductor memory, a magnetic memory, or an optical memory. However, the storage unit is not limited to these memories. The storage unit may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit may include an electromagnetic storage medium such as a magnetic disk. The storage unit stores any information for the operation of the control device 10. The storage unit may store, for example, a system program, an application program, etc. The storage unit may be configured as a storage device independent of the control device 10.

[0024] The control device 10 may further include an interface for outputting information, data, etc. to another device or for acquiring information, data, etc. from another device. The interface may include a communication module configured to be able to communicate with the crosswalk display device 20, etc. via the network 30. The communication module may include a communication module corresponding to a mobile communication standard such as the fourth generation (4G) or the fifth generation (5G). However, the communication module is not limited thereto. The interface may be configured to be connectable to the communication module.

[0025] The control device 10 may include one server device or multiple server devices capable of communicating with each other.

[0026] The road surface driving device 50

[0027] As shown in Figure 1 and Figure 3 As shown in Figure 4As shown, the drive unit 53 can move the base 54 from a state in which the base 54 extends along the XY plane virtually shown as the base 54A to a state in which the base 54 is inclined with respect to the XY plane by moving at least a part of the base 54 in the Z-axis direction. Further, the drive unit 53 can move the height of the base 54 while keeping the base 54 extending along the XY plane by moving the entire base 54 in the Z-axis direction. As a result, the road surface drive device 50 can control the inclination or height of the base 54. Further, since the base 54 constitutes the road surface, the road surface drive device 50 can control the inclination or height of the road surface. The road surface drive device 50 can change the inclination of the road surface based on control information from the control device 10 indicating the direction and magnitude of the inclination of the road surface.

[0028] In the road surface drive device 50, as shown in Figure 5 the base 54 can be controlled such that the positive side in the X-axis direction is lowered, as shown as the base 54B, or the positive side in the X-axis direction is raised, as shown as the base 54T. In Figure 5 the base 54 is configured to be pivotable about a pivot portion 58 located on the negative side in the X-axis direction. Further, the end portion of the base 54 on the positive side in the X-axis direction is connected to the drive unit 53 at a predetermined position. The base 54 is pivotally connected to the drive unit 53 at a predetermined position. When the base 54 is in the state shown as the base 54T, the drive unit 53 moves in the positive direction of the Z-axis, as shown as the drive unit 53T, and pushes the connection position between the drive unit 53 and the base 54 until the position shown as the connection portion 56T. When the base 54 is in the state shown as the base 54B, the drive unit 53 moves in the negative direction of the Z-axis, as shown as the drive unit 53B, and pushes the connection position between the drive unit 53 and the base 54 until the position shown as the connection portion 56B. That is, as the drive unit 53 moves up and down in the Z-axis direction, the inclination of the base 54 is controlled. When the base 54 is configured as the road surface of a sidewalk and the base 54 is in the state shown by the base 54T, the road surface of the sidewalk is inclined in the direction from the sidewalk toward the road 40. Conversely, when the base 54 is in the state shown by the base 54B, the road surface of the sidewalk is inclined in the direction from the road 40 toward the sidewalk.

[0029] The control unit 51 can be configured to include one or more processors, or can be configured to include one or more dedicated circuits. The control unit 51 can further include a storage unit. The control unit 51 can further include an interface for outputting information, data, etc. to another device or for acquiring information, data, etc. from another device.

[0030] The drive unit 53 may be configured to include, for example, a motor or the like. The drive unit 53 may be configured to include a linear actuator or the like. The drive unit 53 is not limited to these and may be configured to include a device that realizes various motions.

[0031] The road surface drive device 50 may further include a sensor for detecting the wheelchair 82 located on the base 54. The sensor for detecting the wheelchair 82 may be configured to include, for example, a weight sensor or the like, but is not limited thereto, and may be configured to include various sensors. The control unit 51 may output the detection result of the sensor for the wheelchair 82 to the control device 10.

[0032] The crosswalk display device 20

[0033] The crosswalk display device 20 includes a control unit 21 and a display unit 23.

[0034] The control unit 21 controls various components of the crosswalk display device 20. The control unit 21 may be configured to include one or more processors. The control unit 21 may be configured to include one or more dedicated circuits. The dedicated circuit may include, for example, an FPGA or an ASIC. The control unit 21 may be configured to include a dedicated circuit instead of a processor, or may be configured to include a dedicated circuit together with a processor.

[0035] The crosswalk display device 20 may further include a storage unit. The storage unit of the crosswalk display device 20 may be configured to be the same as or similar to the storage unit of the control device 10. The storage unit is, for example, a semiconductor memory, a magnetic memory, or an optical memory. However, the storage unit is not limited to these memories. The storage unit may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit may include an electromagnetic storage medium such as a magnetic disk. The storage unit stores any information for the operation of the crosswalk display device 20. The storage unit may store, for example, a system program, an application program, etc. The storage unit may be included in the control unit 21.

[0036] The crosswalk display device 20 may further include an interface. The interface outputs information, data, etc. to the control device 10, or obtains information, data, etc. from the control device 10. The interface of the crosswalk display device 20 may be configured to be the same as or similar to the interface of the control device 10. The interface may include a communication module configured to be able to communicate with the control device 10 etc. via the network 30. The communication module may include a communication module corresponding to a mobile communication standard such as 4G or 5G. However, the communication module is not limited thereto. The interface may be configured to be connectable to the communication module.

[0037] The display unit 23 is configured to display the crosswalk 25 on the road surface of the road 40. For example, as inFigure 1 As shown, the display unit 23 may be configured to include a light source installed to be embedded in the road surface of the road 40. The light source may be configured to include a light-emitting element such as a light-emitting diode (LED) or a laser diode (LD). The light source may be configured to include, for example, a light bulb or a fluorescent lamp. The mode of installing the light source in the road 40 is not limited to Figure 1 the examples.

[0038] The display unit 23 may be further configured to include a diffusion plate or the like that diffuses the light emitted from the light source so that the driver of the vehicle 60 traveling on the road 40 or the user 80 crossing the road 40 can easily see the light emitted from the light source.

[0039] The number of the crosswalk display devices 20 included in the control system 1 is not limited to one, and may be two or more.

[0040] Configuration for detecting the wheelchair 82

[0041] When there is a wheelchair 82 that can cross the road 40, the control system 1 may control the road surface of the sidewalk or display the crosswalk 25 on the road 40. The control system 1 may detect the wheelchair 82 located within a predetermined distance from the road 40 and determine whether there is a possibility that the detected wheelchair 82 will cross the road 40.

[0042] The control system 1 further includes a detection device 70 as a configuration for detecting the wheelchair 82 located within a predetermined distance from the road 40, but this is not necessary. The detection device 70 may be configured to include a sensor capable of detecting the presence of the wheelchair 82, such as a camera or a motion sensor. The detection device 70 may be installed near the road 40, for example. The detection device 70 may be configured to detect the traveling speed or position of the wheelchair 82. The traveling speed or position of the wheelchair 82 is also collectively referred to as the state of the wheelchair 82.

[0043] The detection device 70 may output the detection result of the wheelchair 82 to the control device 10 via the network 30. The detection device 70 may output the detection result of the wheelchair 82 to the control device 10 by, for example, short-range communication or the like in the absence of the network 30. The detection result of the wheelchair 82 includes the detection result that the wheelchair 82 is located within a predetermined distance from the road 40. The detection result of the wheelchair 82 may further include the detection result of the state of the wheelchair 82. The control device 10 may determine whether there is a wheelchair 82 that may cross the road 40 based on the detection result of the wheelchair 82. The control device 10 may calculate the number of wheelchairs 82 that may cross the road 40.

[0044] The control system 1 further includes a terminal device 72 configured to detect a wheelchair 82 located within a predetermined distance from a road 40, but this is not necessary. The terminal device 72 can be carried by a user 80 of the wheelchair 82. The terminal device 72 can be mounted on the wheelchair 82. The terminal device 72 can include, for example, a receiver compatible with a satellite positioning system so as to be able to detect the position information of the wheelchair 82. The receiver compatible with the satellite positioning system can include, for example, a Global Positioning System (GPS) receiver.

[0045] The terminal device 72 can output the position information of the wheelchair 82 to the control device 10 via a network 30. The terminal device 72 can output the position information of the wheelchair 82 to the control device 10 by, for example, short-range communication in the absence of the network 30. The control device 10 detects the wheelchair 82 located within a predetermined distance from the road 40 based on the position information of the wheelchair 82. The control device 10 determines whether there is a possibility that the detected wheelchair 82 will cross the road 40. The control device 10 can calculate the number of wheelchairs 82 that may cross the road 40.

[0046] When the user 80 crosses the road 40 while sitting in the wheelchair 82, the terminal device 72 can receive an application from the user 80 to cross the road 40. The terminal device 72 can output information that the wheelchair 82 applies to cross the road 40. The control device 10 can detect the wheelchair 82 crossing the road 40 by obtaining the information applying to cross the road 40 from the terminal device 72 or the wheelchair 82.

[0047] The detection device 70 or the terminal device 72 can detect the wheelchair 82 that may cross the road 40 and output the detection result to the control device 10. The detection device 70 or the terminal device 72 can calculate the number of wheelchairs 82 that may cross the road 40 and further output the calculation result to the control device 10.

[0048] The control device 10 can detect the wheelchair 82 waiting on the sidewalk based on the information obtained from the terminal device 72 mounted on the wheelchair 82 waiting on the sidewalk or the terminal device 72 carried by the user 80 sitting in the wheelchair 82 waiting on the sidewalk. The control device 10 can detect the wheelchair 82 waiting on the sidewalk based on the detection result of the wheelchair 82 by the sensor of the road surface driving device 50.

[0049] Operation example of the control system 1

[0050] When the wheelchair 82 crosses the road 40, the wheelchair 82 can wait on the sidewalk around the road 40 until it starts to cross. When the wheelchair 82 is waiting on the sidewalk, it may be difficult to keep the wheelchair 82 stationary due to the slope of the sidewalk surface. In addition, when the wheelchair 82 enters the road 40 from the sidewalk, it may be difficult to move the wheelchair 82 towards the road 40 due to the slope of the sidewalk surface. The control system 1 can control the sidewalk surface so that the wheelchair 82 can easily cross the road 40, for example, by operating as described below.

[0051] Detection of the wheelchair 82

[0052] The control device 10 detects the wheelchair 82 crossing the road 40. The control device 10 can detect the wheelchair 82 located within a predetermined distance from the road 40 or the wheelchair 82 staying within a predetermined distance from the road 40 for a predetermined time or longer as the wheelchair 82 crossing the road 40. The control device 10 can detect the wheelchair 82 crossing the road 40 based on, for example, the position information of the wheelchair 82 itself, the terminal device 72 installed on the wheelchair 82, or the position information of the terminal device 72 carried by the user 80 of the wheelchair 82. The control device 10 can detect the wheelchair 82 crossing the road 40 based on, for example, the image of the road 40 and the image of the surrounding environment of the road 40. The control device 10 can detect the wheelchair 82 crossing the road 40 based on, for example, the detection result of a sensor for detecting the presence of the wheelchair 82 on and around the road 40. The control device 10 can detect the wheelchair 82 crossing the road 40 by obtaining information for applying to cross the road 40 from the wheelchair 82.

[0053] As will be described later, the control device 10 controls the slope of the sidewalk surface at the position where the wheelchair 82 waits before crossing the road 40. The control device 10 can determine the position where the road surface driving device 50 is installed as the position where the wheelchair 82 waits before crossing the road 40. The control device 10 can notify the wheelchair 82 or the user 80 of the waiting position of the wheelchair 82. In addition, the control device 10 can display the waiting position of the wheelchair 82 on the sidewalk surface. Thereby, the convenience of the user 80 of the wheelchair 82 is improved.

[0054] Display of the crosswalk 25

[0055] The control device 10 controls the crosswalk display device 20 so that the crosswalk 25 is displayed on the road 40 on which the vehicle 60 travels. That is, the control device 10 controls the display of the crosswalk 25 on the road 40 on which the vehicle 60 travels. In addition, the control device 10 outputs information for displaying the crosswalk 25 within a range determined based on the state of the wheelchair 82 crossing the road 40. The control device 10 can generate control information for the crosswalk display device 20 and output the control information to the crosswalk display device 20 so that the crosswalk display device 20 displays the crosswalk 25. The crosswalk display device 20 can display the crosswalk 25 on the road 40 with the display unit 23 based on the control information.

[0056] Drive of the road surface of the sidewalk

[0057] The control device 10 controls the road surface drive device 50 so as to reduce the inclination of the road surface of the sidewalk where the wheelchair 82 crossing the road 40 is located. The control device 10 outputs information of an instruction to reduce the inclination of the road surface as control information to the road surface drive device 50. The road surface drive device 50 moves the base 54 with the drive unit 53 so that the inclination of the road surface becomes closer to flat.

[0058] When the crosswalk 25 is displayed, the control device 10 can output instruction information of an instruction to incline the road surface of the sidewalk on which the wheelchair 82 waits before crossing toward the road 40 to the road surface drive device 50.

[0059] When the wheelchair 82 starts to cross the road 40, the control device 10 can output control information of an instruction to incline the road surface of the sidewalk on which the wheelchair 82 waits before crossing toward the road 40 to the road surface drive device 50. In this case, as shown by the base 54T in Figure 5 , the road surface drive device 50 can incline the road surface of the sidewalk toward the road 40. Thereby, the wheelchair 82 can easily start to cross the road 40. Therefore, the convenience of the wheelchair 82 is improved. The control device 10 can determine the moment when the wheelchair 82 starts to cross the road 40 based on information that can be obtained from the detection device 70, the terminal device 72, the wheelchair 82, and the like.

[0060] After the wheelchair 82 leaves the position where the wheelchair 82 waits before crossing, the control device 10 can output control information of an instruction to restore the inclination of the road surface at the position where the wheelchair 82 waits to the initial inclination to the road surface drive device 50. The control device 10 can determine that the wheelchair 82 has started to cross the road 40 and left the position where the wheelchair 82 waits before crossing based on information that can be obtained from the detection device 70, the terminal device 72, the wheelchair 82, and the like.

[0061] When the control device 10 changes the inclination of the road surface with the road surface driving device 50, the control device 10 can notify a person within a predetermined range from the wheelchair 82 or a person within a predetermined range from the road surface driving device 50 of the change in the inclination of the road surface. For example, the predetermined range can be appropriately set to a range in which the inclination of the road surface affects a person. The control unit 51 of the road surface driving device 50 can notify the surrounding environment of the change in the inclination of the road surface. In addition, the control device 10 can notify the terminal device 72 installed on the wheelchair 82 or the terminal device 72 carried by the user 80 of the change in the inclination of the road surface. By notifying the change in the inclination of the road surface, the wheelchair 82 or the surrounding people can know the change in the inclination of the road surface. As a result, the safety of the change in the inclination of the road surface can be enhanced.

[0062] Process example of the control method

[0063] The control device 10 can execute a control method including the process of the flowchart illustrated in Figure 6 The control method can be implemented as a control program to be executed by a processor constituting the control device 10.

[0064] The control device 10 determines whether there is a wheelchair 82 that may cross the road 40 (lane) (step S1). Specifically, the control device 10 can detect the wheelchair 82 that may cross the road 40 based on the information obtained from the detection device 70 or the terminal device 72. When there is no wheelchair 82 that may cross the road 40 (step S1: No), the control device 10 repeats the determination process of step S1.

[0065] When there is a wheelchair 82 that may cross the road 40 (step S1: Yes), the control device 10 displays a crosswalk 25 on the road 40 (step S2). Specifically, the control device 10 determines the range for displaying the crosswalk 25 and outputs control information for causing the crosswalk display device 20 to display the crosswalk 25.

[0066] The control device 10 reduces the inclination of the road surface at the position where the wheelchair 82 waiting to cross the road 40 is located (step S3). Specifically, the control device 10 generates information for controlling the inclination of the road surface and outputs the information to the road surface driving device 50.

[0067] The control device 10 determines whether the wheelchair 82 has started to cross the road 40 (step S4). When the wheelchair 82 has not started to cross the road 40 (step S4: No), the control device 10 repeats the determination process of step S4. When the wheelchair 82 has started to cross the road 40 (step S4: Yes), the control device 10 tilts the road surface toward the road 40 (lane) (step S5).

[0068] The control device 10 determines whether the wheelchair 82 has entered the road 40 (lane) (step S6). When the wheelchair 82 has not entered the road 40 (step S6: No), the control device 10 repeats the determination process of step S6. When the wheelchair 82 has entered the road 40 (step S6: Yes), the control device 10 restores the inclination of the road surface to the initial inclination (step S7). Specifically, the control device 10 generates information for controlling the inclination of the road surface and outputs this information to the road surface driving device 50. After executing the process in step S7, the control device 10 ends Figure 6 the execution of the process of the flowchart shown.

[0069] Summary

[0070] As described above, the control system 1 according to the present embodiment controls the inclination of the road surface at the position where the wheelchair 82 waiting before crossing the road 40. This facilitates the wheelchair 82 to wait or enter the road 40. As a result, the convenience of the wheelchair 82 crossing the road 40 is enhanced.

[0071] Other embodiments

[0072] The control system 1 is not limited to the mode described above and can be implemented in various other modes. Hereinafter, other embodiments will be described.

[0073] Determination of the wheelchair 82

[0074] As described above, when the wheelchair 82 is within a predetermined distance from the road 40, the control device 10 can determine that the user 80 of the wheelchair 82 may cross the road 40. The control device 10 can determine whether the user 80 of the wheelchair 82 intends to cross the road 40 and whether the wheelchair 82 may cross the road 40. Specifically, the control device 10 can determine whether the user 80 of the wheelchair 82 intends to cross the road 40 based on the movement of the wheelchair 82 or the user 80. When the control device 10 detects the movement of the wheelchair 82 or the user 80 staying or watching the movement of the vehicle 60 traveling on the road 40 beside the road 40 for a predetermined time or longer, the control device 10 can determine that the user 80 of the wheelchair 82 intends to cross the road 40. By determining whether the user 80 of the wheelchair 82 intends to cross the road 40, unnecessary display of the crosswalk 25 can be reduced. As a result, the impact on the travel of the vehicle 60 can be reduced.

[0075] Although the embodiments according to the present disclosure have been described above based on the drawings and examples, it should be noted that those skilled in the art can make various modifications and changes based on the present disclosure. Therefore, it should be noted that these modifications and changes are within the scope of the present disclosure. For example, the functions included in each device, each step, etc. can be rearranged so as not to be logically contradictory, and multiple devices, steps, etc. can be combined into one or separated.

Claims

1. A control device that outputs control information to a sidewalk, the sidewalk being configured such that the inclination of the road surface of the sidewalk can be changed. Among them, The control device is configured to: When the control device detects a wheelchair waiting to cross the road on the sidewalk, the control device displays a crosswalk on the road and reduces the inclination of the road surface of the sidewalk at the position where the wheelchair waiting to cross the road is located. When the wheelchair starts to cross the road, the control device tilts the road surface of the sidewalk towards the road so that the side of the road surface of the sidewalk away from the road rises relative to the road, whereby the wheelchair can easily start to cross the road. When the wheelchair has entered the road, the control device restores the inclination of the road surface of the sidewalk to the initial inclination.

2. The control device according to claim 1, wherein, The control device detects a wheelchair that has stayed on the sidewalk for a predetermined time or longer or a wheelchair that outputs information requesting to cross the road as a wheelchair crossing the road.

3. The control device according to claim 1 or 2, wherein, The control device determines the position where the wheelchair waits before crossing and notifies the wheelchair of the position.

4. The control device according to claim 3, wherein, The control device displays the position where the wheelchair waits before crossing.

5. The control device according to claim 1 or 2, wherein, When the control device changes the inclination of the road surface, the control device notifies the wheelchair or a person within a predetermined range from the road surface of the change in the inclination of the road surface.

6. The control device according to claim 5, wherein, The control device notifies the change in the inclination of the road surface to a terminal device, the terminal device being installed on a wheelchair waiting on the sidewalk or carried by a user sitting in a wheelchair waiting on the sidewalk.

7. The control device according to claim 1 or 2, wherein, The control device detects a wheelchair waiting on the sidewalk based on information obtained from a terminal device installed on a wheelchair waiting on the sidewalk or carried by a user sitting in a wheelchair waiting on the sidewalk.

8. A control system, comprising: The control device according to any one of claims 1 to 7; and A road surface driving device that changes the inclination of the road surface of the sidewalk.

9. A control method, comprising: When detecting a wheelchair waiting to cross the road on the sidewalk, display a crosswalk on the road and reduce the inclination of the road surface of the sidewalk at the position where the wheelchair waiting to cross the road is located, wherein the sidewalk is configured such that the inclination of the road surface of the sidewalk can be changed. When the wheelchair starts to cross the road, tilt the road surface of the sidewalk towards the road so that the side of the road surface of the sidewalk away from the road rises relative to the road, whereby the wheelchair can easily start to cross the road. When the wheelchair has entered the road, restore the inclination of the road surface of the sidewalk to the initial inclination.

10. A road surface driving device that controls the inclination of the road surface using the control device according to claim 1, the road surface driving device comprising: A base that constitutes the road surface; A driving unit that drives the base; and A control unit that controls the drive unit to change the inclination of the road surface based on control information indicating the direction and magnitude of the inclination of the road surface.

11. The road surface driving device according to claim 10, wherein, The control unit notifies the surrounding environment of the change in the inclination of the road surface.

12. The road surface driving device according to claim 10 or 11, wherein, The control unit outputs the detection result of a wheelchair waiting on the road surface.

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