Mobile object control system, mobile object, control method and storage medium

Abstract

The present invention provides a mobile control system, a mobile body, a control method, and a storage medium for a mobile body that enable the mobile body to travel with greater consideration for surrounding conditions. The mobile control system includes a control unit that determines whether a path of the mobile body includes a sidewalk based on a result of determining whether a selected element from among a plurality of elements satisfies a criterion defined for each of the elements, the selected element being selected based on a priority determined based on the type of a specific location near the sidewalk.

Description

[0001] This application claims priority based on Japanese Patent Application No. 2021-027653 filed on February 24, 2021, and uses the contents thereof herein. Technical Field

[0002] The present invention relates to a mobile body control system, a mobile body, a control method and a storage medium. Background Art

[0003] In the past, a vehicle condition determination device has been disclosed that, when it is determined that a mobile body present in a predetermined passage area of a vehicle has transitioned from a sparse state in which the density of the mobile body in the predetermined passage area is below a specified value to a dense state in which the density is higher than the specified value, determines that an entry notification action is possible and outputs a specified control signal. In this entry notification action, the mobile body is notified of a high possibility that the vehicle will enter the predetermined passage area during the time period of the sparse state (Japanese Patent Gazette No. 2017-182206). Summary of the Invention

[0004] However, in the above-mentioned technology, the position where the moving body travels or stops may not be appropriately determined.

[0005] The present invention has been made in consideration of such circumstances, and one of its objects is to provide a mobile body control system, a mobile body, a control method, and a storage medium that enable the mobile body to travel with greater consideration for surrounding conditions.

[0006] Solutions to Problems

[0007] The mobile object control system, mobile object, control method, and storage medium of the present invention employ the following structures.

[0008] (1): A mobile body control system, wherein the mobile body control system includes a control unit that determines whether a sidewalk is included in a path of the mobile body based on a result of a determination of whether a selected element from a plurality of elements satisfies a benchmark defined for each of the elements, the selected element being selected based on a priority obtained according to a type of a specific location near the sidewalk.

[0009] (2) Based on the solution of (1) above, the plurality of factors include the sidewalk near the specific location or a congestion condition near the sidewalk, and other factors different from the congestion condition.

[0010] (3): Based on the solution of (2) above, the other factors include one or more of time, day of the week, and weather.

[0011] (4) In any one of the above-mentioned aspects (1) to (3), the priority of each of the plurality of elements is set based on an attribute of a user of the mobile object.

[0012] (5) In any one of the above-mentioned aspects (1) to (4), the reference of each of the elements is set based on the attributes of the user of the mobile object.

[0013] (6) In any one of the above-mentioned schemes (1) to (5), the elements include one or more elements selected from the group consisting of time, day of the week, weather, and attributes of the user of the mobile object.

[0014] (7) Based on any one of the above solutions (1) to (6), the priority of each of the elements is set based on whether the specific location is a transit point or a destination.

[0015] (8) Based on any one of the above schemes (1) to (7), the multiple elements include the sidewalk near the specific location or the congestion condition near the sidewalk, and other elements different from the congestion condition. When the specific location is a facility with high publicness, the priority of the other elements is higher than the priority of the congestion condition. When the specific location is not a facility with high publicness, the priority of the congestion condition is higher than the priority of the other elements.

[0016] (9): Based on the solution of (8) above, the highly public facility is a school, a private school or a station, and the less public facility is a person's home.

[0017] (10): Based on any one of the above-mentioned schemes (1) to (9), among the benchmarks of the elements, a benchmark corresponding to the characteristics of the specific location is associated with the specific location.

[0018] (11) Based on any one of the above schemes (1) to (10), the control unit determines whether the stopping position of the moving body is within the sidewalk area near the specific location or within another area different from the sidewalk area based on the result of a judgment of whether an element selected from the multiple elements based on a priority obtained according to the type of the specific location near the sidewalk satisfies a benchmark determined for each of the elements.

[0019] (12): Based on any one of the above schemes (1) to (11), the control unit determines whether two or more elements among the multiple elements selected based on the priority obtained according to the type of specific location near the sidewalk meet the criteria set for each of the elements.

[0020] (13) Based on any one of the above schemes (1) to (12), the multiple elements include the sidewalk near the specific location or the congestion condition near the sidewalk, and other elements different from the congestion condition, and the other elements are one or more elements of time, day of the week, and weather, and the priority of each of the multiple elements and the benchmark of each of the elements are set based on the attributes of the user of the mobile body.

[0021] (14): A mobile body, wherein the mobile body is equipped with the mobile body control system of any one of the above-mentioned schemes (1) to (13).

[0022] (15): Based on the above-mentioned solution (14), the moving body moves based on the path determined by the control unit.

[0023] (16): A control method according to one embodiment of the present invention causes a computer to perform the following processing: determining whether a path of a moving body includes a sidewalk based on a result of a judgment of whether a selected element from a plurality of elements satisfies a benchmark defined for each of the elements, wherein the selected element is selected based on a priority obtained according to a type of a specific location near the sidewalk.

[0024] (17): A storage medium of one embodiment of the present invention stores a program, wherein the program causes a computer to perform the following processing: determining whether a path of a moving body includes a sidewalk based on a result of a judgment of whether a selected element from a plurality of elements satisfies a benchmark defined for each of the elements, the selected element being selected based on a priority obtained according to a type of a specific location near the sidewalk.

[0025] Effects of the Invention

[0026] According to (1)-(17), the mobile body control system determines whether the moving path for moving the mobile body includes a sidewalk based on an element selected based on a priority obtained according to the type of specific location near the sidewalk among multiple elements, and a benchmark determined for each element, thereby enabling the mobile body to travel with greater consideration for the surrounding conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 1 is a diagram showing an example of a moving object M including a control device according to the embodiment.

[0028] Figure 2 This is a diagram showing an example of other functional configurations included in a mobile object.

[0029] Figure 3 This is a diagram showing an example of the behavior of a moving object.

[0030] Figure 4This is a diagram showing an example of a stop position of a moving object when the degree of congestion in a predetermined area is less than a threshold value.

[0031] Figure 5 This is a diagram showing an example of a stop position of a moving object when the congestion level in a predetermined area is equal to or greater than a threshold value.

[0032] Figure 6 This is a diagram showing another example of the stop position of a moving object when the congestion level in a predetermined area is equal to or greater than a threshold value.

[0033] Figure 7 This is a diagram showing another example of the stop position of a moving object when the congestion level in a predetermined area is equal to or greater than a threshold value.

[0034] Figure 8 This is a diagram showing an example of a stop position of a moving object when the congestion level in a predetermined area is equal to or greater than a threshold value.

[0035] Figure 9 This is a diagram showing an example of the relationship between the congestion level of a predetermined area of a sidewalk (sidewalk), the congestion level of a predetermined area of a lane (lane), the congestion level of a sidewalk entrance (sidewalk entrance) in a lane, and priority stopping positions.

[0036] Figure 10 This is a diagram showing an example of condition information in which a specific point and a condition of not stopping on a sidewalk are associated with each other.

[0037] Figure 11 This is a diagram showing another example of condition information in which a specific point and a condition of not stopping on a sidewalk are associated with each other.

[0038] Figure 12 This is a diagram showing an example of a stop area.

[0039] Figure 13 This is a flowchart showing an example of the flow of processing executed by the control device.

[0040] Figure 14 This is a diagram showing an example of the content of priority information.

[0041] Figure 15 This is a diagram showing another example of the content of priority information.

[0042] Figure 16 This is a diagram showing another example of the content of priority information.

[0043] Figure 17 This is a flowchart showing an example of the flow of processing executed by the control device according to the second embodiment.

[0044] Figure 18 This is a flowchart showing another example of the flow of processing executed by the control device according to the second embodiment. DETAILED DESCRIPTION

[0045] Hereinafter, a mobile object control system, a mobile object, a control method, and a storage medium according to embodiments of the present invention will be described with reference to the accompanying drawings.

[0046] <First embodiment>

[0047] [Overall structure]

[0048] Figure 1 This figure shows an example of a mobile body M equipped with a control device according to an embodiment. The mobile body M is an autonomous mobile robot. The mobile body M supports the user's movements. For example, the mobile body M stops at a location specified by the user, allows the user to board, and transports the user to the destination. In this embodiment, the mobile body M is described as moving while allowing the user to board. However, instead of (or in addition to) this, the mobile body M may transport items, guide the user and move with the user, or follow the user and support the user's movements. The mobile body M may be a mobile body that the user can ride on or a mobile body that the user cannot ride on.

[0049] The mobile object M includes a main body 2, one or more wheels 4 (4A and 4B in the figure), and a camera 10. The main body 2 is provided with an entrance, such as a door (not shown), through which a user can enter and exit the main body 2. The user enters the main body 2 through the entrance and can board the mobile object M. For example, the mobile object M drives the wheels 4 based on an image captured by the camera 10 to transport the user M.

[0050] In this embodiment, the case where the user rides in the main body 2 is described, but instead of this (or in addition to this), a seat portion can be provided so that the user can sit down when moving with the moving body M without riding in the main body 2, a pedal can be provided so that the user can put his feet when moving, etc.

[0051] Figure 2 1 is a diagram showing an example of other functional configurations included in the mobile object M. The mobile object M includes, for example, a camera 10 , a communication device 20 , an HMI 30 , a mobile object sensor 40 , a position determination device 50 , a driving operation element 80 , a control device 100 , a driving force output device 200 , a braking device 210 , and a steering device 220 .

[0052] The camera 10 captures images of the surroundings of the moving object M. For example, the camera 10 is a fisheye camera capable of capturing wide-angle images (e.g., 360-degree images) of the surroundings of the moving object M. The camera 10 is mounted, for example, on the upper portion of the moving object M, capturing wide-angle images of the surroundings of the moving object M in the horizontal direction. The camera 10 may also be implemented by combining multiple cameras (e.g., multiple cameras capable of capturing images of a 120-degree or 60-degree horizontal range). The moving object M may also be equipped with a radar device or LIDAR for detecting objects in addition to the camera 10.

[0053] The communication device 20 is a communication interface for communicating with other devices using a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like.

[0054] The HMI 30 presents various information to the user of the mobile object M and receives input operations from the user. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, buttons, and the like.

[0055] The moving object sensor 40 includes a vehicle speed sensor for detecting the speed of the moving object M, an acceleration sensor for detecting acceleration, a yaw rate sensor for detecting angular velocity about a vertical axis, an azimuth sensor for detecting the orientation of the moving object M, and the like.

[0056] The position determination device 50 determines the position of the moving object M based on signals received from GNSS satellites. The position of the moving object M may also be determined or supplemented by an INS (Inertial Navigation System) using the output of the moving object sensor 40 .

[0057] The driving operating elements 80 include, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a special-shaped steering gear, a joystick, and other operating elements. Sensors are mounted on the driving operating elements 80 to detect the amount of operation or the presence or absence of an operation. These detection results are output to the control device 100, or to some or all of the driving force output device 200, the braking device 210, and the steering device 220. If the mobile object M is controlled solely by automated driving, the driving operating elements 80 may be omitted.

[0058] The control device 100 includes, for example, an acquisition unit 110, an identification unit 120, a determination unit 130, a trajectory generation unit 140, a travel control unit 150, an information processing unit 160, and a storage unit 180. The acquisition unit 110, the identification unit 120, the determination unit 130, the trajectory generation unit 140, the travel control unit 150, and the information processing unit 160 are each implemented by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may also be implemented by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be implemented through a combination of software and hardware. The program can be stored in a storage unit 180 such as an HDD or a flash memory (a storage device having a non-temporary storage medium), or can be stored in a removable storage medium such as a DVD or a CD-ROM, and installed in the HDD or flash memory by assembling the storage medium (non-temporary storage medium) in a drive device. Some of the functional units mentioned above may also be included in other devices. For example, the recognition unit 120 may also be included in other devices, and analyzes images captured by cameras installed on lanes, sidewalks, etc. to identify the conditions of the lanes and sidewalks. In this case, the control device 100 may also obtain information indicating the conditions of the lanes and sidewalks from other devices, and perform various processes based on the obtained conditions. In this case, the structure obtained by combining the recognition unit of the other device with the functional structure included in the control device 100 is an example of a "mobile body control system."

[0059] The acquisition unit 110 acquires an image captured by the camera 10. The acquisition unit 110 acquires an image of a road surface around the moving object M.

[0060] The recognition unit 120 recognizes the conditions around objects and the mobile body M by, for example, using functions based on AI (Artificial Intelligence) or functions based on a predetermined model, or using them in parallel. For example, the function of "identifying the area where the mobile body M can travel" can be achieved by "parallel execution of recognition of roads, sidewalks, curbs, etc. based on deep learning, and recognition based on predetermined conditions (signals that can match patterns), and scoring both for comprehensive evaluation." The recognition unit 120 can also perform semantic segmentation processing to classify each pixel in the image frame by category (for example, objects, areas where travel is possible, areas where travel is not possible, etc.), and identify the area where the mobile body M can travel based on the classification results. In this way, the reliability of the movement of the mobile body M is ensured.

[0061] The recognition unit 120 identifies the position, velocity, acceleration, and other states of objects in the vicinity of the mobile object M based on the image captured by the camera 10. The position of the object is, for example, identified as a position in absolute coordinates with a representative point (center of gravity, drive shaft center, etc.) of the mobile object M as the origin, and is used for control. The position of an object can be represented by a representative point such as the object's center of gravity or a corner, or by a displayed area. The "state" of an object can also include its acceleration, jerk, or "behavior" (e.g., whether it is currently changing lanes or about to change lanes). The recognition unit 120 identifies, for example, road dividing lines, shoulders, curbs, medians, guardrails, stop signs, obstacles, signals, and other road features. The recognition unit 120 identifies the position and posture of the mobile object M. The recognition unit 120 uses the position of the object obtained from the image to derive the congestion level of a specified area (details will be described later). The congestion level of the specified area can also be obtained from another device. In this case, the communication device 20 obtains information indicating the congestion level from the other device.

[0062] The decision unit 130 decides the stopping position. For example, the decision unit 130 decides whether to stop the moving body M on a sidewalk or a road when the moving body M stops. Details of the processing of the decision unit 130 will be described later.

[0063] The trajectory generator 140 determines one or both of a stopping position of the mobile body M and a traveling position of the mobile body M based on a user instruction, a travelable area of the mobile body M, and a travel-inhibited area of the mobile body M.

[0064] The trajectory generation unit 140 generates a target trajectory for the mobile body M to automatically (independently of the driver's operation) travel in the future so as to be able to cope with the surrounding conditions of the mobile body M. The target trajectory includes, for example, a speed element. For example, the target trajectory is expressed as a trajectory obtained by sequentially arranging the locations (track points) that the mobile body M should arrive at. Track points are locations that the mobile body M should arrive at at predetermined driving distances (for example, a few meters) along the way. Different from this, target speeds and target accelerations at predetermined sampling times (for example, a few tenths of a second) are generated as part of the target trajectory. Track points can also be positions that the vehicle M should arrive at at the sampling moment at predetermined sampling times. In this case, the information on the target speed and target acceleration is expressed by the intervals between track points.

[0065] The trajectory generation unit 140 generates a trajectory for the moving object M and calculates the risk of the generated trajectory. Risk is an indicator value indicating the likelihood that the moving object M will approach an obstacle. The risk tends to increase as the distance of the obstacle from the trajectory (or a point on the trajectory) decreases, while the risk decreases as the distance from the obstacle to the trajectory (or a point on the trajectory) increases.

[0066] When the total risk value and the risk of each track point meet a preset standard (for example, when the total risk value is less than the threshold value Th1 and the risk of each track point is less than the threshold value Th2), the track generation unit 140 adopts the track that meets the standard as the track for the moving object.

[0067] The travel control unit 150 causes the vehicle M to travel along a track that satisfies a predetermined reference. The travel control unit 150 outputs a command value for causing the vehicle M to travel along the track to the travel drive force output device 200 .

[0068] The information processing unit 160 controls various devices and equipment included in the mobile object M. The information processing unit 160 controls, for example, the HMI 30. The information processing unit 160 acquires data of voice input to a microphone, or recognizes an operation performed on an operation unit.

[0069] The driving force output device 200 outputs the driving force (torque) for driving the vehicle M to the drive wheels. The driving force output device 200 includes, for example, an electric motor and an ECU (Electronic Control Unit) that controls it. The ECU controls the aforementioned configuration based on information input from the driving control unit 150 or from the driving operating element 80.

[0070] The brake system 210 includes, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the hydraulic cylinder, and a brake ECU. The brake ECU controls the electric motor based on information input from the travel control unit 150 or information input from the driving operating element 80 to output a braking torque to each wheel in response to the braking operation.

[0071] The steering system 220 includes, for example, a steering ECU and an electric motor. The electric motor applies force to, for example, a rack-and-pinion mechanism to change the direction of the steering wheel. The steering ECU drives the electric motor based on information input from the driving control unit 150 or from the driving operating element 80 to change the direction of the steering wheel.

[0072] [Overview of Control of Moving Objects]

[0073] Figure 3 This diagram illustrates an example of the behavior of a moving object M. The moving object M, for example, carries a user to a destination. At this time, the moving object M is traveling on the sidewalk Sw (time t, t+1), or descends from the sidewalk Sw to the lane Rw and travels on the lane Rw (time t+2, time t+3). The moving object M is traveling on the sidewalk Sw at a speed similar to a pedestrian's walking speed (e.g., 4 km / h, 6 km / h), or walking on the lane Rw at a speed faster than the aforementioned walking speed. In the diagram, "E" indicates the entrance to the lane (an area where one can enter the sidewalk from the lane (enter the lane from the sidewalk)).

[0074] [Overview of the process when determining the stop position]

[0075] The decision unit 130 of the control device 100 determines a stop position facing (corresponding to) a specific location for the mobile body M (a stop position easily accessible to the specific location, a stop position near the entrance to the specific location). If the congestion level of the sidewalk near the specific location (e.g., in front of the entrance to the specific location) is less than a threshold, the decision unit 130 determines the stop position within the sidewalk area near the specific location. If the congestion level of the sidewalk near the specific location is greater than the threshold, the decision unit 130 determines the stop position within a different area that is not part of the sidewalk area near the specific location. The decision unit 130 performs the above-described process, for example, when causing a first user aboard the mobile body M to disembark at a specific location or when causing a second user who intends to board the mobile body M to board the mobile body M at a specific location. The trajectory generation unit 140 generates a trajectory for the mobile body M to stop at the location determined by the decision unit 130. The travel control unit 150 drives the mobile body M based on the trajectory generated by the trajectory generation unit 140, causing the mobile body M to stop at the location determined by the decision unit 130. The determination unit 130 or a functional unit obtained by combining the determination unit 130 with one or both of the trajectory generation unit 140 and the travel control unit 150 is an example of a “control unit”.

[0076] The specific location may be the destination or a stopover point of the user boarding the mobile body M. For example, the specific location is a location designated by the user. The specific location may also be a location designated by the next user boarding the mobile body M.

[0077] The degree of congestion is an indicator based on the number of objects and people in a specified area near a specific location. Objects can be fixed objects (such as billboards, utility poles, street trees, etc.) and movable objects (stored bicycles, carts, temporarily placed goods), or they can be movable objects without fixed objects. For example, the degree of congestion can be said to be that the greater the proportion of objects on the road surface in a specified area, the more congested it is. The degree of congestion can also be said to be density. Density is the degree of distribution of objects in the area of the road surface. The degree of congestion can also be, for example, the number of objects on the road surface.

[0078] The aforementioned "other areas not belonging to the sidewalk area" include, for example, lanes near a specific location and sidewalk areas other than the sidewalk area near a specific location. The sidewalk area other than the sidewalk area near a specific location refers to areas where a user who has disembarked from the moving vehicle M can walk to the specific location within tens of seconds to several minutes, such as the sidewalk a predetermined distance in front of the specific location or the sidewalk area a predetermined distance forward of the specific location. Alternatively, a user who has boarded the moving vehicle M can walk to the moving vehicle M from the specific location within tens of seconds to several minutes.

[0079] [Processing when determining the stop position (Part 1)]

[0080] Figure 4 1 is a diagram showing an example of a stop position of the moving body M when the congestion level of the predetermined area AR is less than a threshold value. The predetermined area AR is an example of a "sidewalk near a specific point." Figure 4 In the example of FIG, the moving body M is located at a predetermined distance from a specific point on the sidewalk. At this time, the moving body M (control device 100) recognizes the congestion level of the predetermined area AR. Figure 4 As shown, when the congestion level is less than the threshold, the vehicle M determines position SP1 as the stopping position, generates a route to position SP1, travels along the route, and stops at position SP1. Users on the vehicle M can get off at position SP1 and go to a specific location.

[0081] As described above, the moving body M stops on the sidewalk near the specific location, so that the user can quickly go to the specific location. In this way, the moving body M can determine a more appropriate position as the stop position.

[0082] [Processing when determining the stop position (Part 2)]

[0083] Figure 5 FIG. 1 is a diagram showing an example of a stop position of a moving object M when the congestion level of a predetermined area AR is equal to or greater than a threshold value. Figure 4 The following explanation will focus on the differences between Figure 5 As shown, when the congestion level exceeds a threshold, the mobile vehicle M determines position SP2 as a stopping position, generates a route to position SP2, travels along the route, and stops at position SP2. Position SP2 is, for example, a location in front of a specific location and in front of the entrance E of the sidewalk (in the longitudinal direction of the sidewalk). Users on the mobile vehicle M can disembark at position SP2 and proceed to the specific location.

[0084] As described above, the mobile vehicle M disembarks the user in front of a congested, designated area AR and near a specific location, enabling control that takes into account surrounding conditions and user convenience. The mobile vehicle M stops in front of the sidewalk entrance E, thus preventing bicycles and other mobile vehicles from obstructing the path of traffic entering the sidewalk from the road. This allows the mobile vehicle M to determine a more appropriate stopping location.

[0085] [Processing when determining the stop position (Part 3)]

[0086] Figure 6 FIG. 1 is another diagram showing another example of the stopping position of the moving body M when the congestion level of the predetermined area AR is equal to or greater than the threshold value. Figure 5 The following explanation will focus on the differences between Figure 6 As shown, when the congestion level is above a threshold and there are moving objects (rearward objects) such as pedestrians and bicycles traveling straight on the sidewalk behind the moving object M, the moving object M is determined to stop at position SP4, which does not obstruct the path of the rearward object. Specifically, when the control device 100 determines the stopping position of the moving object M to be in the sidewalk area near a specific location, it determines the stopping position to be a location that does not interfere with objects moving on the sidewalk. Position SP4 is located in front of the predetermined area AR and is predicted not to interfere with the trajectory predicted for the rearward object to travel.

[0087] As described above, the mobile object M avoids crowded areas and also takes objects behind it into account, thereby achieving control that takes into account surrounding conditions and user convenience. For example, the mobile object M can help smooth the flow of traffic on sidewalks. This allows the mobile object M to determine a more appropriate stopping location.

[0088] [Processing when determining the stop position (Part 4)]

[0089] Figure 7FIG. 1 is another diagram showing another example of the stopping position of the moving body M when the congestion level of the predetermined area AR is equal to or greater than the threshold value. Figure 6 The following explanation will focus on the differences between Figure 6 As shown, if there is an object behind, the moving object M may also decide to stop at position SP5. Position SP5 is near the entrance E of the sidewalk on the roadway, and even if the moving object M stops, it will not prevent other moving objects from entering the sidewalk from the roadway through the entrance E of the sidewalk.

[0090] For example, when the number of objects behind and the density in the sidewalk are greater than a threshold, the moving body M determines position SP5 as the stop position; when the number of objects behind and the density in the sidewalk are less than the threshold, the moving body M determines position SP4 as the stop position.

[0091] As described above, the mobile object M avoids crowded areas and also takes objects behind it into account, thereby achieving control that takes into account surrounding conditions and user convenience. For example, the mobile object M can help smooth the flow of traffic on sidewalks. This allows the mobile object M to determine a more appropriate stopping location.

[0092] [Processing when determining the stop position (Part 5)]

[0093] Figure 8 FIG. 1 is a diagram showing an example of a stop position of a moving object M when the congestion level of a predetermined area AR is equal to or greater than a threshold value. Figure 5 The following explanation will focus on the differences between Figure 8 As shown, when a mobile object M is on a lane and the congestion level in a predetermined area AR exceeds a threshold, the mobile object M determines position SP5 as the stopping position, generates a path to position SP5, travels along the path, and stops at position SP5. However, if the congestion level near a specific location in the lane (e.g., predetermined area AR1) exceeds the threshold (e.g., if there are parked vehicles), the mobile object M stops at a location different from that near the specific location in the lane. The predetermined area AR1 is, for example, the roadside area or roadside area outside the lane, which is defined by the road dividing line.

[0094] As described above, the mobile body M stops at an appropriate position according to the congestion level of the sidewalk or road, thereby achieving control that takes into account the surrounding conditions and the convenience of the user.

[0095] The moving body M may be positioned in front of a predetermined area AR of the sidewalk (eg, Figure 6When there is a rear object behind the moving body M, the position before the predetermined area AR of the sidewalk that does not interfere with the rear object may be set as the stopping position.

[0096] In the above example, a rear object is mentioned, but in the case where there is a front object coming from the front of the moving body M toward the moving body M, the position that does not hinder the movement of the front object is determined as the stopping position in the same way as the above-mentioned consideration method for the case where there is a rear object.

[0097] If there is an object behind (or ahead) on a sidewalk or roadway, the location with the smallest interference score among the interference scores derived for each stop position based on a predetermined evaluation criterion may be determined as the stop position. For example, the interference score is an indicator of the degree to which the moving object M would obstruct the movement of the object behind or ahead when stopped at that location. Locations with smaller interference scores are less likely to obstruct the movement of the object behind or ahead than other locations.

[0098] [Processing when determining the stop position (summary)]

[0099] Figure 9 This is a diagram showing an example of the relationship between the congestion level of a designated area of a sidewalk (sidewalk), the congestion level of a designated area of a lane (lane), and the congestion level of a sidewalk entrance in a lane (sidewalk entrance), and the priority stopping position. The designated area of a lane is an area set based on a specific location, for example, an area that is easy for users to access after getting off the moving body M (for example, Figure 8 A predetermined area AR1), or a position of the moving body M that is easy for the user to access when boarding the moving body M from a specific location.

[0100] (1) When the congestion level of the sidewalk, the congestion level of the lane, and the congestion level of the sidewalk entrance are less than a threshold value, the priority order of the stopping position is the sidewalk (the specified area of the sidewalk), the lane (the specified area of the lane), and the entrance to the sidewalk in the lane (the entrance to the sidewalk).

[0101] (2) When the congestion levels of the sidewalk and the sidewalk entrance are less than the threshold, and the congestion level of the lane is greater than the threshold, the priority order of the stop position is the sidewalk and the sidewalk entrance.

[0102] (3) When the congestion levels of the lane and the sidewalk entrance are less than the threshold, and the congestion level of the sidewalk is greater than the threshold, the priority order of the stop position is the sidewalk entrance, then the lane.

[0103] (4) When the congestion level of the lane is less than a threshold value, and the congestion level of the sidewalk and the congestion level of the sidewalk entrance are greater than or equal to a threshold value, the stop position is the lane.

[0104] (5) When the congestion level at the entrance to the lane is less than a threshold value and the congestion levels of the sidewalk and the lane are greater than or equal to the threshold value, the stopping position is the entrance to the sidewalk.

[0105] The above-mentioned priorities may also be changed for each specific location, for example. For example, in the above-mentioned (1), at the "specific location A", as described above, the order of priority is the sidewalk, the lane, and the entrance to the sidewalk, but at the "specific location B", the order of priority may also be the lane, the entrance to the sidewalk, and the sidewalk. In the case where priorities are set for each specific location as described above, a stop position that is more in line with the surrounding conditions and the characteristics of the specific location is determined. For example, when the sidewalk at a specific location is highly congested for a long time or there is a reason why it is not preferred for the moving body M to stop at the sidewalk at a specific location, it is determined to be a stop position that is in line with the reason and the conditions of the specific location. The above-mentioned priorities may also be changed, for example, depending on whether the specific location is a transit point or a destination.

[0106] [Processing when determining the stop position (Other 1)]

[0107] Even when the condition related to the congestion level is satisfied, if the “predetermined condition” is satisfied, it may be determined not to stop at the position where the condition related to the congestion level is satisfied. Figure 10 1 is a diagram showing an example of condition information in which a specific location and a condition of not stopping on a sidewalk are associated with each other. The condition information is stored in the storage unit 180. For example, even if the congestion level of the sidewalk at the target specific location is less than a threshold, if the condition of not stopping on a sidewalk is satisfied, Figure 10 When the condition of not stopping on the sidewalk is met (an example of a "prescribed condition"), the vehicle does not stop on the sidewalk, but determines as the stopping position a position in another area (another area not belonging to the sidewalk area) where the congestion level is less than the threshold.

[0108] The conditions for not stopping on the sidewalk include, for example, the day of the week, the time of day, the weather, the attributes of the user, etc. For example, the day of the week being Monday and the specified time period become conditions for not stopping on the sidewalk, or the weather being fine and the user being an adult become conditions for not stopping on the sidewalk. The conditions for not stopping on the sidewalk are specific to each specific location and correspond to the characteristics of the specific location or the conditions surrounding the specific location. Figure 10 In the example, the condition of not stopping on the sidewalk is associated with the specific location, but the condition of not stopping on the driveway or the condition of not stopping at the entrance of the sidewalk may also be associated with the specific location.

[0109] The congestion level is an example of a dynamic element that “changes dynamically on the sidewalk,” and the time, time zone, weather, or user attributes are examples of a static element that does not change dynamically on the sidewalk.

[0110] As described above, the control device 100 considers not only the level of congestion but also the conditions for not stopping on the sidewalk. This allows the control device 100 to determine a stopping location appropriate to the characteristics of a specific location and the surrounding conditions. For example, if sidewalk stopping is prohibited on certain days of the week or during certain time periods, the control device 100 can take this into account and allow the mobile object M to stop at a different location rather than the sidewalk. This allows the mobile object M to determine a more appropriate stopping location.

[0111] like Figure 11 As shown in FIG, the user's attributes may be associated with the condition of not stopping on the sidewalk. That is, the prescribed condition may also include whether the attribute of the moving body is a prescribed attribute. For example, Figure 11 As shown, each specific location is associated with a user attribute to which the non-stopping-on-sidewalk condition applies, in addition to the day of the week, time of day, and weather (conditions for not stopping on the sidewalk). For example, even if a user with other attributes (other than children or people with disabilities) would not stop on the sidewalk according to the non-stopping-on-sidewalk condition, the non-stopping-on-sidewalk condition is set to ensure that the vehicle stops on the sidewalk if the user's attributes are children or people with disabilities. Even if the congestion level of the sidewalk near the specific location is less than a threshold, the control device 100 determines whether the mobile body M should stop on the sidewalk near the specific location or at a location other than the sidewalk based on whether the user's attributes satisfy the non-stopping-on-sidewalk condition, in addition to the day of the week, time of day, and weather. This allows the mobile body M to be determined as a more appropriate stopping location.

[0112] The control device 100 may also determine whether to stop the moving body M on a sidewalk near a specific location or at a location other than the sidewalk based on whether the specific location is a transit point or a destination in addition to the congestion level. The condition for not stopping on the sidewalk may also be changed depending on whether the specific location is a transit point or a destination. That is, the prescribed condition may also include whether the specific location is a transit point or a destination. For example, Figure 11The specific location shown, the condition for not stopping on the sidewalk, and the user's attributes are associated with the corresponding information. There are prepared a mode when the specific location is a transit point and a mode when the specific location is a destination. The control device 100 determines the stopping position based on the type of the specific location (transit point or destination) and the corresponding information. Whether the specific location is a destination or a transit point can also be included in other factors. For example, it is also possible to generate condition information in such a way that when the specific location is a transit point, the vehicle tends not to stop on the sidewalk compared to when the specific location is the destination. In other words, it is also possible to generate condition information in such a way that when the specific location is a transit point, the condition for not stopping on the sidewalk becomes stricter than when the specific location is the destination. By doing so, the movement speed during movement after stopping at the transit point can be accelerated more smoothly, making the movement smoother. This is an example, and it is also possible to do the opposite of the above, for example, when the specific location is a transit point, the vehicle tends to stop on the sidewalk compared to when the specific location is the destination, and generate condition information in such a way. That is, when the specific location is a transit point, the requirement for not stopping on the sidewalk may be relaxed compared to when the specific location is a destination. This allows the user to stop on the sidewalk at transit points such as restaurants for takeout or tourist attractions while remaining on the mobile vehicle M, and then quickly proceed to the destination.

[0113] As described above, the control device 100 can determine a stopping location that takes into account the attributes of the user utilizing the mobile object M. For example, the condition of not stopping on the sidewalk, associated with a specific user who prefers to reduce the amount of walking, can be relaxed compared to the conditions for other users. For example, the control device 100 can determine the lane as the stopping location when other users disembark, but determine the sidewalk as the stopping location when a specific user disembarks. This allows the mobile object M to determine a more appropriate stopping location.

[0114] [Processing when determining the stop position (Other 2)]

[0115] When there is a stopping area managed by a specific location or coordinated with a specific location, the moving object M may determine the stopping area as the stopping position. Figure 12This is a diagram showing an example of a stopping area. A stopping area is, for example, a bicycle parking lot located at a specific location. A stopping area may also be a parking lot or an area where other mobile bodies M can get on and off, instead of (or in addition to) a bicycle parking lot. For example, the mobile body M prioritizes stopping at a bicycle parking lot over stopping at a sidewalk, a driveway, or the entrance to a driveway. When the congestion level in the bicycle parking lot is less than a threshold, the mobile body M determines the stopping location to be a bicycle parking lot. When the congestion level in the bicycle parking lot is greater than a threshold, the mobile body M determines the stopping location based on the priority and congestion level of other areas. The mobile body M may also determine the stopping location to be a stopping area based on a determination of whether the distance between a stopping area managed by or cooperating with a specific location and the specific location is within a specified distance. For example, if the distance is within the specified distance, the stopping area is determined to be the stopping location; if the distance is not within the specified distance, a location different from the stopping area is determined to be the stopping location.

[0116] In the above example, bicycle parking lots are given the highest priority, but the priority of bicycle parking lots may also be changed for each specific location. For example, the priority of bicycle parking lots at a specific location may be set lower than that of sidewalks. The control device 100 obtains schedule information registered by the user in the terminal device (scheduled time to stay at a specific location, content of activities), schedule information registered in social networks, networking, and services, etc., and calculates the scheduled parking time based on the obtained information. The control device 100 may set the priority of bicycle parking lots at a specific location lower than that of sidewalks if the calculated scheduled parking time is less than a specified threshold, or may set the priority of bicycle parking lots at a specific location higher than that of sidewalks if the calculated scheduled parking time is greater than a specified threshold.

[0117] As described above, the mobile object M determines its stopping position by taking into account the stopping areas managed by or cooperating with a specific location. This allows it to determine a stopping position that is appropriate for the facilities at the specific location and the surrounding conditions of the specific location. This allows the mobile object M to determine a more appropriate stopping position.

[0118] [flow chart]

[0119] Figure 13This is a flowchart illustrating an example of a process flow executed by the control device 100. This process is executed, for example, when the mobile object M approaches a specific location. First, the control device 100 determines whether a parking area, such as a bicycle parking lot, exists (step S100). If a parking area exists, the control device 100 determines whether the congestion level of the parking area is less than a threshold (step S102). If the congestion level of the parking area is less than the threshold, the control device 100 determines the parking area as the parking position (step S104).

[0120] If the congestion level in the stopping area is not less than the threshold (or above the threshold) or if there is no stopping area, the control device 100 determines whether the condition for not stopping on the sidewalk associated with the specific location is met (step S106). In this process, the "condition for not stopping on the sidewalk" is set to the day of the week, time of day, weather, etc. when the sidewalk is not set as the stopping location.

[0121] If the condition of not stopping on the sidewalk is met, the control device 100 determines the stopping position by taking into account the degree of congestion (step S108). For example, the control device 100 determines the stopping position as the entrance of the sidewalk or the lane. The process of this flowchart ends.

[0122] If the condition for not stopping on the sidewalk is not met, the control device 100 obtains the congestion level of the sidewalk (step S110). Next, the control device 100 determines whether the congestion level of the sidewalk is less than a threshold value (step S112). If the congestion level of the sidewalk is less than the threshold value, the control device 100 determines a stopping position on the sidewalk (step S114).

[0123] If the congestion level of the sidewalk is not less than the threshold (or above the threshold), the control device 100 determines the stopping location based on the congestion level (step S108). For example, the control device 100 determines the stopping location at the entrance of the sidewalk or the lane. This concludes the process of this flowchart. In the above process, the stopping location can also be determined based on objects ahead or behind.

[0124] As described above, the control device 100 can determine a stop position suitable for the specific location or the situation near the specific location based on the non-stopping condition on the sidewalk set for each specific location and the congestion level of the sidewalk.

[0125] According to the first embodiment described above, when the control device 100 causes the first user riding on the movable body M to get off at a specific location, or causes the second user scheduled to board the movable body M to board at a specific location, the control device 100 can appropriately determine the stopping position of the movable body M based on the congestion level of the sidewalk near the specific location.

[0126] <Second embodiment>

[0127] The following description of the second embodiment will focus on the differences from the first embodiment. In the second embodiment, the control device 100 determines whether the path of the mobile object M includes a sidewalk based on the result of a determination of whether selected elements from among a plurality of elements satisfy criteria defined for each element. The selected elements are selected based on a priority determined based on the type of specific location near the sidewalk. In other words, the control device 100 determines whether the path for the mobile object M includes a sidewalk based on the result of a determination of whether the plurality of elements satisfy the criteria defined for each element and the priority of the plurality of elements. The priority of the plurality of elements is set based on the type of specific location near the sidewalk.

[0128] "Multiple factors" include the real-time congestion conditions of a sidewalk near a specific location, or near a sidewalk (e.g., a sidewalk, a roadway, or a sidewalk entrance slightly away from the specific location), as well as other factors distinct from the congestion conditions. Other factors may also be referred to as absolute factors that are absolutely defined. Examples of other factors include one or more of the time, day of the week, and weather. Other factors include attributes of users boarding the mobile vehicle M or attributes of users scheduled to board the mobile vehicle M.

[0129] If a specific location is a highly public facility, for example, other factors are prioritized over congestion (other factors are prioritized over congestion). If a specific location is not a highly public facility, for example, congestion is prioritized over other factors. Examples of highly public facilities are schools, private schools, and train stations, while examples of less public facilities are private homes. Among the benchmarks for other factors, benchmarks corresponding to the characteristics of a specific location are associated with the specific location.

[0130] The control device 100 refers to Figure 14The priority information shown is used to determine whether the path of the moving object M includes a sidewalk. "Determining whether the path of the moving object M includes a sidewalk" means determining whether the moving object M travels on a sidewalk near a specific location (destination or transit point) to reach the specific location, or determining whether the moving object M stops at a sidewalk when a user boards or disembarks at the specific location. The sidewalk near the specific location refers to the sidewalk before the specific location or the sidewalk within a specified range (a few meters to several hundred meters) from the specific location.

[0131] Figure 14 is a diagram showing an example of the content of priority information. Figure 14 In the example, the specific location is "private school, school", "station", "home". The multiple elements are "time", "day of the week", "weather", "sidewalk congestion", "lane congestion". In the priority information, such as Figure 14 As shown in the figure above, priorities are associated with elements. For example, in the case of "private school, school," "time" and "day of the week" have the highest priority, followed by "sidewalk congestion," and then "weather." This is associated with priority information.

[0132] The “time”, “day of the week” and “weather” mentioned above are other factors that do not change according to traffic conditions, while the “congestion level of the sidewalk” and “congestion level of the lane” are variable factors that change according to traffic conditions.

[0133] like Figure 14 As shown in the figure below, conditions are associated with specific locations and feature combinations. For example, the condition "Saturday or Sunday" is associated with the combination of "private school, school" and "day of the week." In this case, stopping on the sidewalk near "private school, school" is permitted only on Saturday or Sunday. Stopping on the sidewalk from Monday to Friday does not meet the condition and is prohibited.

[0134] Similarly, the condition "outside 7:30-9:00 AM and outside 5:00 PM-8:00 PM" is associated with the combination of "station" and "time." In this case, the condition for stopping on the sidewalk near the "station" is "outside 7:30-9:00 AM and outside 5:00 PM-8:00 PM." Stopping on the sidewalk is not permitted because "outside 7:30-9:00 AM and outside 5:00 PM-8:00 PM" is not met.

[0135] As described above, the control device 100 determines, for example, whether two or more selected elements (e.g., time and day of the week) from among a plurality of elements satisfy a criterion defined for each element. The selected two or more elements are selected based on a priority determined based on the type of specific location near the sidewalk. Furthermore, if the two or more elements satisfy the criterion defined for each element, the control device 100 determines the stopping position of the mobile body M to be within the sidewalk area near the specific location. If the two or more elements do not satisfy the criterion defined for each element, the control device 100 determines the stopping position of the mobile body M to be within the sidewalk area near the specific location or within an area different from the sidewalk area. In this way, the control device 100 determines whether the stopping position of the mobile body M is within the sidewalk area near the specific location or within an area different from the sidewalk area based on the result of determining whether the selected elements from among a plurality of elements, selected based on a priority determined based on the type of specific location near the sidewalk, satisfy the criterion defined for each element. This allows the mobile body M to be more sensitive to surrounding conditions.

[0136] like Figure 15 As shown, other elements may also include user attributes. For example, other elements include one or more elements of user attributes, time, day of the week, and weather. For example, the priority of the user attributes varies depending on the category of the specific location. For example, in the case where the specific location is a facility for users with specific attributes (for children), such as "private school, school", the priority of the user attributes is higher than the priority of other elements and the degree of congestion. In this case, for example, the condition for being able to stop on the sidewalk is that the user's attribute is "child". In addition, even in the case of a highly public facility such as a "station", the priority of the user attributes may be set to be higher than the priority of other elements and the degree of congestion. For example, in the case where the user attributes are "disabled, over ○○ years old", etc., the priority and user attributes are generally set taking into account that users with better attributes such as a shorter moving distance from the specific location tend to move closer to the "station".

[0137] Priority information can also be Figure 16 As shown, it is prepared according to the attributes of each user. For example, priority information can be prepared for children, adults, people over ○○, and people with disabilities. For children, people over ○○, and people with disabilities, priority information is set in a manner that allows them to stop on the sidewalk even if users with other attributes do not stop on the sidewalk. In this way, based on the attributes of the user, the priority or benchmark of each of the multiple elements is set, thereby taking into account the attributes of the user and the surrounding environment to determine whether the sidewalk is included in the moving path. In the above Figure 14-16In such information in which multiple elements are associated with priorities, the element may include a specific place as a destination or a transit point, or information in which a correspondence is established between the place, elements and priorities when the specific place is the destination, and information in which a correspondence is established between the place, elements and priorities when the specific place is the transit point.

[0138] The above-mentioned priorities may also be changed, for example, depending on whether the specific location is a transit point or a destination. For example, when the specific location is a transit point, the congestion of the sidewalk may be given more weight than other factors compared to when the specific location is a destination. For example, when the specific location is a transit point, the congestion of the sidewalk may be given more weight, and when the specific location is a destination, other factors may be given weight instead of (or on top of) the congestion of the sidewalk. For example, when a restaurant where people stop for takeout or a tourist attraction where people stop while riding on the mobile body M is set as a transit point, if the sidewalk is not crowded, people can move on the sidewalk and stop at the transit point, and quickly go to the destination. Therefore, when the congestion of the sidewalk is less than a threshold, even when using the sidewalk, it is possible to improve the convenience of the user while fully taking into account the surroundings. The above case is an example, and conversely, when the specific location is a destination, the congestion of the sidewalk may be given more weight than when the specific location is a transit point. For example, when the specific location is the destination, emphasis may be placed on the congestion level of the sidewalk, and when the specific location is a stopover, emphasis may be placed on other factors instead of (or in addition to) the congestion level of the sidewalk.

[0139] [flow chart]

[0140] Figure 17 This is a flowchart illustrating an example of the process flow executed by the control device 100 in the second embodiment. First, the control device 100 determines whether the mobile object M has approached a specific location (step S200). If the mobile object M has approached a specific location, the control device 100 references priority information to obtain elements and priorities based on the user's attributes (step S202). For example, in the following description, "Day of the Week," "Time," and "Sidewalk Congestion Level" are elements, with the highest priority being the highest in this order.

[0141] Next, the control device 100 determines whether the condition associated with the first priority (highest priority) element (day of the week) is satisfied (step S204). If the condition associated with the first priority element is not satisfied, the control device 100 determines a stop position at the entrance of a lane or sidewalk (step S206). For example, based on the aforementioned Figure 9 The stopping position is determined using the consideration method shown in the description.

[0142] If the conditions for associating with the first-priority element are met, the control device 100 determines whether the conditions for associating with the second-priority element (time) (the second-highest priority compared to the first) are met (step S208). If the conditions for associating with the second-priority element are not met, the process proceeds to step S206.

[0143] If the conditions for associating with the second-priority element are met, the control device 100 determines whether the conditions for associating with the third-priority element (the second-highest priority level compared to the second priority level) (the level of congestion on the sidewalk) are met (step S210). If the conditions for associating with the third-priority element are not met, the process proceeds to step S206.

[0144] If the conditions associated with the third-priority element are met, the control device 100 determines the sidewalk as the stopping location (step S212). This concludes the processing of one routine in this flowchart. Alternatively, if a stopping area exists in a specific location, such as a bicycle parking lot, and the congestion level in the stopping area is less than a threshold, the control device 100 may determine the stopping area as the stopping location.

[0145] Part of the above-mentioned processing may be omitted. Figure 18 This is a flowchart showing another example of the process flow executed by the control device 100 of the second embodiment. In this process, the determination related to the second priority and the third priority, and Figure 17 This is an example in which the process of acquiring the element based on the attribute of the user in step S202 is omitted.

[0146] First, the control device 100 determines whether the moving body M has approached a specific location (step S200). Next, the control device 100 determines whether the condition for establishing an association with the element of the first priority is satisfied (step S204). When the condition for establishing an association with the element of the first priority is not satisfied, the control device 100 determines the stop position to be the entrance of a lane or a sidewalk (step S206). When the condition for establishing an association with the element of the first priority is satisfied, the control device 100 determines the sidewalk as the stop position. Thus, the processing of one routine of this flowchart ends. For example, when the element of the first priority is the attribute of the user, if the attribute of the user satisfies the condition of the attribute of the user that has established a corresponding relationship with the element, the sidewalk is made the stop position. For example, when the element of the first priority is the degree of congestion, if the degree of congestion satisfies the condition of the degree of congestion that has established a corresponding relationship with the element, the sidewalk is made the stop position.

[0147] Through the above-described processing, the control device 100 can determine the position to move or the stop position of the mobile body M, taking into account the priority of the elements determined for each specific point. As a result, the control device 100 can make the mobile body travel with greater consideration for the surrounding conditions.

[0148] For example, even if the area immediately before a specific location is not crowded, if the specific location is a highly public facility, it may immediately become crowded, making it inappropriate to stop or travel on the sidewalk before the specific location. Under such real-time conditions, even if the sidewalk is available, the mobile object M can accurately determine whether it is appropriate to use the sidewalk, taking into account the type of the specific location. As a result, the mobile object can travel with greater awareness of surrounding conditions.

[0149] According to the second embodiment described above, the control device 100 determines whether a sidewalk is included in the moving path of the moving body M based on the result of the judgment of whether multiple elements meet the criteria of each element and the priority of multiple elements obtained based on the type of specific location near the sidewalk, thereby enabling the moving body to travel with greater consideration for the surrounding conditions.

[0150] The above-described embodiment can be expressed as follows.

[0151] A mobile body control system, wherein:

[0152] The mobile body control system comprises:

[0153] a storage device storing a program; and

[0154] Hardware processor,

[0155] The hardware processor executes the program stored in the storage device to perform the following processing:

[0156] Determine a stopping position at a specific location facing the moving object;

[0157] If the congestion level of the sidewalk near the specific location is less than a threshold, determining the stopping position within the sidewalk area near the specific location;

[0158] When the congestion level of the sidewalk near the specific point is equal to or greater than the threshold, the stop position is determined to be in another area that does not belong to the sidewalk area near the specific point.

[0159] The above-described embodiment can be expressed as follows.

[0160] A mobile body control system, wherein:

[0161] The mobile body control system comprises:

[0162] a storage device storing a program; and

[0163] Hardware processor,

[0164] The hardware processor executes the program stored in the storage device to perform the following processing:

[0165] Whether a path of a moving object includes a sidewalk is determined based on a result of determining whether a selected element from a plurality of elements satisfies a criterion defined for each of the elements, the selected element being selected based on a priority obtained according to a type of a specific location near the sidewalk.

[0166] While specific embodiments of the present invention have been described above, the present invention is not limited to these embodiments at all, and various modifications and substitutions can be made without departing from the spirit of the present invention.

Claims

1. A mobile control system, wherein: The mobile object control system includes a control unit, The control unit determines whether a path of the moving body includes a sidewalk based on a result of determining whether a selected element from a plurality of elements satisfies a criterion defined for each of the elements, the selected element being selected based on a priority obtained according to a type of a specific location near the sidewalk. The plurality of elements include the sidewalk near the specific location or a congestion condition near the sidewalk, and other elements different from the congestion condition. When the specific location is a highly public facility, the priority of the other factors is higher than the priority of the congestion condition. When the specific location is not a highly public facility, the priority of the congestion condition is higher than the priority of the other elements.

2. The mobile object control system according to claim 1, wherein: The highly public facilities are schools, private schools or stations. The less public facilities mentioned above are personal homes.

3. A mobile control system, wherein: The mobile object control system includes a control unit, The control unit determines whether a path of the moving body includes a sidewalk based on a result of determining whether a selected element from a plurality of elements satisfies a criterion defined for each of the elements, the selected element being selected based on a priority obtained according to a type of a specific location near the sidewalk. The control unit determines whether two or more elements selected based on a priority obtained according to a type of a specific point near a sidewalk among the plurality of elements satisfy a criterion defined for each of the elements.

4. The mobile body control system according to any one of claims 1 to 3, wherein: The plurality of elements include the sidewalk near the specific location or a congestion condition near the sidewalk, and other elements different from the congestion condition.

5. The mobile object control system according to claim 4, wherein: The other factors include one or more of time, day of the week, and weather.

6. The mobile body control system according to any one of claims 1 to 3, wherein: The priority of each of the plurality of elements is set based on the attribute of the user of the mobile object.

7. The mobile body control system according to any one of claims 1 to 3, wherein: The criterion for each of the elements is set based on the attributes of the user of the moving object.

8. The mobile body control system according to any one of claims 1 to 3, wherein: The elements include one or more elements of time, day of the week, weather, and attributes of the user of the mobile object.

9. The mobile body control system according to any one of claims 1 to 3, wherein: The priority of each of the elements is set based on whether the specific location is a transit point or a destination.

10. The mobile body control system according to any one of claims 1 to 3, wherein: Among the element benchmarks, a benchmark corresponding to the characteristics of the specific location is associated with the specific location.

11. The mobile body control system according to any one of claims 1 to 3, wherein: The control unit determines whether the stopping position of the moving body is within the sidewalk area near the specific location or within another area different from the sidewalk area based on a result of a judgment of whether an element selected from the multiple elements based on a priority obtained according to the type of the specific location near the sidewalk satisfies a benchmark determined for each of the elements.

12. A mobile body control system, wherein: The mobile object control system includes a control unit, The control unit determines whether a path of the moving body includes a sidewalk based on a result of determining whether a selected element from a plurality of elements satisfies a criterion defined for each of the elements, the selected element being selected based on a priority obtained according to a type of a specific location near the sidewalk. The plurality of elements include the sidewalk near the specific location or a congestion condition near the sidewalk, and other elements different from the congestion condition. The other factors are one or more of time, day of the week, and weather. The priority of each of the plurality of elements and the criteria of each of the elements are set based on the attributes of the user of the mobile object.

13. A mobile object, wherein: The moving object is equipped with the moving object control system according to any one of claims 1 to 11.

14. The moving object according to claim 13, wherein The moving object moves based on the path determined by the control unit.

15. A control method, wherein: The control method enables the computer to perform the following processing: determining whether a path of a moving object includes a sidewalk based on a result of determining whether a selected element from a plurality of elements satisfies a criterion defined for each of the elements, the selected element being selected based on a priority obtained according to a type of a specific location near the sidewalk; The plurality of elements include the sidewalk near the specific location or a congestion condition near the sidewalk, and other elements different from the congestion condition. When the specific location is a highly public facility, the priority of the other factors is higher than the priority of the congestion condition. When the specific location is not a highly public facility, the priority of the congestion condition is higher than the priority of the other elements.

16. A control method, wherein: The control method enables the computer to perform the following processing: determining whether a path of a moving object includes a sidewalk based on a result of determining whether a selected element from a plurality of elements satisfies a criterion defined for each of the elements, the selected element being selected based on a priority obtained according to a type of a specific location near the sidewalk; It is determined whether two or more elements selected based on a priority obtained according to a type of a specific point near a sidewalk among the plurality of elements satisfy a criterion defined for each of the elements.

17. A control method, wherein: The control method enables the computer to perform the following processing: determining whether a path of a moving object includes a sidewalk based on a result of determining whether a selected element from a plurality of elements satisfies a criterion defined for each of the elements, the selected element being selected based on a priority obtained according to a type of a specific location near the sidewalk; The plurality of elements include the sidewalk near the specific location or a congestion condition near the sidewalk, and other elements different from the congestion condition. The other factors are one or more of time, day of the week, and weather. The priority of each of the plurality of elements and the criteria of each of the elements are set based on the attributes of the user of the mobile object.

18. A storage medium storing a program, wherein: The program causes the computer to perform the following processing: determining whether a path of a moving object includes a sidewalk based on a result of determining whether a selected element from a plurality of elements satisfies a criterion defined for each of the elements, the selected element being selected based on a priority obtained according to a type of a specific location near the sidewalk; The plurality of elements include the sidewalk near the specific location or a congestion condition near the sidewalk, and other elements different from the congestion condition. When the specific location is a highly public facility, the priority of the other factors is higher than the priority of the congestion condition. When the specific location is not a highly public facility, the priority of the congestion condition is higher than the priority of the other elements.

19. A storage medium storing a program, wherein: The program causes the computer to perform the following processing: determining whether a path of a moving object includes a sidewalk based on a result of determining whether a selected element from a plurality of elements satisfies a criterion defined for each of the elements, the selected element being selected based on a priority obtained according to a type of a specific location near the sidewalk; It is determined whether two or more elements selected based on a priority obtained according to a type of a specific point near a sidewalk among the plurality of elements satisfy a criterion defined for each of the elements.

20. A storage medium storing a program, wherein: The program causes the computer to perform the following processing: determining whether a path of a moving object includes a sidewalk based on a result of determining whether a selected element from a plurality of elements satisfies a criterion defined for each of the elements, the selected element being selected based on a priority obtained according to a type of a specific location near the sidewalk; The plurality of elements include the sidewalk near the specific location or a congestion condition near the sidewalk, and other elements different from the congestion condition. The other factors are one or more of time, day of the week, and weather. The priority of each of the plurality of elements and the criteria of each of the elements are set based on the attributes of the user of the mobile object.

Images