Control system, mobile object, control method and storage medium

Abstract

Provided are a control system, a mobile body, a control method, and a storage medium capable of causing a mobile body to travel on a path suitable for a user. The control system is a control system for a mobile body capable of moving in any one of a plurality of motion modes. The control system includes a generating unit that generates evaluation information for a track of the mobile body, including a track on a sidewalk. The generating unit associates tolerance levels for events that may occur when the mobile body moves on the track with the plurality of motion modes. The generating unit generates the evaluation information for the track based on the tolerance levels in the motion modes associated with the events that occur when the mobile body moves on the track.

Description

Technical Field

[0001] The present invention relates to a control system, a mobile object, a control method and a storage medium. Background Art

[0002] Previously, a driving support device for an electric vehicle that supports the driving of an electric vehicle has been disclosed (Japanese Patent Application Laid-Open No. 2019-197328). This driving support device for an electric vehicle includes: an imaging unit that images a road surface; a detection unit that detects the direction in which the electric vehicle can move based on image data captured by the imaging unit; a control information generation unit that generates control information for controlling the driving of the electric vehicle based on the direction detected by the detection unit; and a driving control unit that controls the driving of the electric vehicle based on the control information generated by the control information generation unit. Summary of the Invention

[0003] However, in the above-mentioned technology, the electric vehicle may not be able to travel on a route suitable for the user.

[0004] The present invention has been made in consideration of such circumstances, and one of its objects is to provide a control system, a mobile body, a control method, and a storage medium that can cause a mobile body to travel on a route suitable for a user.

[0005] Solutions to Problems

[0006] The control system, mobile object, control method, and storage medium of the present invention employ the following configurations.

[0007] (1): A control system, which is a control system for a mobile body capable of moving in any one of a plurality of motion modes, wherein the control system includes a generating unit that generates evaluation information for a track of the mobile body, including a track on a sidewalk, and establishes a correspondence between the allowance of events that may occur when the mobile body moves on the track and the plurality of motion modes, and the generating unit generates the evaluation information for the track based on the allowance in the motion mode that establishes a correspondence with the event that occurs when the mobile body moves on the track.

[0008] (2) In the above-mentioned embodiment (1), the generation unit generates the evaluation information for a plurality of trajectories of the moving object based on the permission level associated with the current motion mode of the moving object.

[0009] (3): In the above-mentioned configuration (1) or (2), the control system includes a trajectory determination unit that determines the trajectory of the moving body based on the evaluation information.

[0010] (4) Based on any one of the above-mentioned schemes (1) to (3), the generation unit generates the evaluation information for the trajectory of the moving body when the trajectory of the moving body includes a trajectory passing through a boundary between a sidewalk and a road.

[0011] (5): Based on the above schemes (2) to (4), the generating unit generates the evaluation information for each of the multiple tracks of the moving body when the identification unit that identifies the surrounding conditions of the moving body determines that the event occurs in the current action mode of the moving body as an event with a lower allowable degree than the prescribed event and a corresponding relationship is established.

[0012] (6): In the above-mentioned configurations (1) to (4), the plurality of operation modes include a first mode that prioritizes suppressing a physical load acting on an object moving together with the moving body.

[0013] (7): Based on the scheme of (6) above, the event includes the moving body passing through steps, and the allowable degree of passing through steps in the first mode is set to be lower than the allowable degree of passing through steps in the other modes.

[0014] (8) Based on the scheme of (6) or (7) above, the event includes the moving body passing through the boundary between the lane and the sidewalk, and the permission level of the boundary between the lane and the sidewalk established in the first mode is set to be lower than the permission level of the boundary between the lane and the sidewalk established in the other modes.

[0015] (9): Based on any one of the above schemes (6) to (8), the event includes the moving body moving along the moving trajectory of the pedestrian, and the permission degree of moving along the moving trajectory of the pedestrian established in the first mode is set to be higher than the permission degree of moving along the moving trajectory of the pedestrian established in the other modes.

[0016] (10): Based on any one of the above-mentioned solutions (6) to (9), the plurality of action modes include a mode that prioritizes the moving body arriving at the destination earlier.

[0017] (11): Based on any one of the above-mentioned aspects (1) to (10), the generation unit generates the evaluation information for the track for each of a plurality of action modes.

[0018] (12): Based on any one of the above schemes (1) to (11), the control system has an output unit, which outputs the evaluation information generated for each of the multiple action modes into information related to the trajectory of evaluation above the specified level for each of the action modes.

[0019] (13): A mobile body equipped with a control system according to any one of the above-mentioned schemes (1) to (12).

[0020] (14): A control method according to one embodiment of the present invention is a control method for controlling a moving body that can move in any one of a plurality of action modes, wherein the control method causes a computer to perform the following processing: generating evaluation information for a track of the moving body, including a track on a sidewalk; establishing a correspondence between the allowance of events that may occur when the moving body moves on the track and the plurality of action modes; and generating the evaluation information for the track based on the allowance in the action mode that establishes a correspondence with the events that occur when the moving body moves on the track.

[0021] (15): A storage medium according to one embodiment of the present invention stores a program for controlling a moving body capable of moving in any one of a plurality of action modes, wherein the program causes a computer to perform the following processing: generating evaluation information for a track of the moving body, including a track on a sidewalk; establishing a correspondence between the allowance for events that may occur when the moving body moves on the track and the plurality of action modes; and generating the evaluation information for the track based on the allowance in the action mode that establishes a correspondence with the events that occur when the moving body moves on the track.

[0022] Effects of the Invention

[0023] According to (1) to (15), the control system generates a trajectory corresponding to the driving mode based on the driving mode, thereby making it possible to cause the moving object to travel on a path suitable for the user.

[0024] According to (5), when the control system generates a route to the destination according to the driving mode and causes the movable body to travel based on the route, it can generate a trajectory that avoids inappropriate events according to the surrounding conditions, thereby more reliably generating a route suitable for the user.

[0025] According to (6) to (9), the control system generates a trajectory that improves the user's riding feeling or a trajectory in which the load acting on the object is suppressed, thereby improving the user's satisfaction.

[0026] According to (12), the control system provides the user with the generated track information, thereby enabling the user to identify the track on which the moving object is traveling. The user can, for example, change the track on which the moving object is traveling or change the traveling mode based on the identification result. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This 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 4 1 is a diagram showing an example of mode information 192 in which a driving mode and a degree of permission for each of a plurality of events are associated with each other.

[0031] Figure 5 This is a diagram showing an example of steps existing on a road.

[0032] Figure 6 This is a diagram showing an example of a scene in which a moving object follows a pedestrian and travels along the movement trajectory of the pedestrian.

[0033] Figure 7 This is a flowchart showing an example of the flow of processing executed by the control device.

[0034] Figure 8 This is a diagram showing an example of a score for each of a plurality of paths.

[0035] Figure 9 This is a flowchart showing another example of the flow of processing executed by the control device.

[0036] Figure 10 This is a diagram showing an example of a scene in which an alternative track is selected.

[0037] Figure 11 This is a diagram showing an example of a scenario in which an alternative track is not selected.

[0038] Figure 12 1 and 2 are diagrams for explaining the determination of the trajectory along which the moving object M travels.

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

[0040] Figure 14 This is a diagram showing an example of information presented to the user.

[0041] Figure 15 This is a diagram showing an example of a functional configuration of a control system including a moving object M according to the third embodiment. DETAILED DESCRIPTION

[0042] Hereinafter, a 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.

[0043] <First embodiment>

[0044] [Overall structure]

[0045] Figure 1 This is a diagram showing 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 actions. For example, the mobile body M stops at a location specified by the user, allows the user to get on, and transports the user to the destination. In this embodiment, a case where the mobile body M allows the user to get on and move is described, but instead of (or in addition to) this, the mobile body M may transport items, or guide the user and move together with the user, or chase the user and support the user's actions. In addition, the mobile body M may or may not be a mobile body that the user can get on. In the following description, a case where the mobile body M is traveling is described, but in the case where the mobile body M does not travel but moves on foot or in other ways, the terms "traveling" and "traveling mode" below may be read as "moving" and "moving mode".

[0046] 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 images captured by the camera 10 to transport the user.

[0047] 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 may be provided so that the user can sit down and move with the moving body M without riding in the main body 2, a pedal for the user to place his feet in order to move, etc.

[0048] 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 .

[0049] The camera 10 captures the surroundings of the moving object M. The camera 10 is, for example, a fisheye camera capable of capturing a wide-angle (e.g., 360-degree) image of the surroundings of the moving object M. The camera 10 is, for example, mounted on the upper portion of the moving object M, capturing a wide-angle image 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 in 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.

[0050] 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.

[0051] 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.

[0052] The moving body sensor 40 includes a vehicle speed sensor for detecting the speed of the moving body M, an acceleration sensor for detecting the vertical and lateral accelerations of the moving body M, a yaw rate sensor for detecting the angular velocity around the vertical axis, an azimuth sensor for detecting the orientation of the moving body M, and the like.

[0053] 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 be determined or supplemented by an INS (Inertial Navigation System) using the output of the moving object sensor 40 .

[0054] 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.

[0055] The control device 100 includes, for example, an acquisition unit 110, an identification unit 120, a determination unit 130, a path generation unit 132, 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 path generation unit 132, 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 using 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 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) on a drive device. Some of the functional units described above may also be included in other devices. One or both of the path generation unit 132 and the track generation unit 140 is an example of a "generation unit". The driving control unit 150 is an example of a "control unit". Parts of each of the functional units described above may also be mounted on a device different from the control device 100.

[0056] 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.

[0057] The recognition unit 120 uses, for example, functions based on AI (Artificial Intelligence) or functions based on a pre-given model, or uses them in parallel to recognize the conditions around objects and the mobile body M. For example, the function of "recognizing 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, etc., and recognition based on pre-given 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 into levels (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.

[0058] Based on the images captured by the camera 10, the recognition unit 120 identifies the position, velocity, acceleration, and other states of objects surrounding the mobile object M. The position of an object is, for example, identified as a position in absolute coordinates with a representative point (such as the center of gravity or the center of a drive shaft) of the mobile object M as the origin, and used for control. The position of an object can also 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" (such as 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, traffic signals, and other road features. The recognition unit 120 identifies the position and posture of the mobile object M. The recognition unit 120 can also use the position of the object obtained from the image to derive the congestion level of a specified area. The specified area is, for example, the area where the mobile object M is traveling. The congestion level refers to the density or number of objects on the road surface. The congestion level can also be obtained from other devices. In this case, the communication device 20 acquires information indicating the degree of congestion from other devices.

[0059] The determination unit 130 determines the driving mode of the mobile object M to be one of a plurality of driving modes. The route generation unit 132 refers to the map information 190 to generate a route for the mobile object M to travel. The route generation unit 132 includes a generation unit 134 and a track determination unit 136. Details of the processing performed by the determination unit 130 and the route generation unit 132 will be described later.

[0060] The trajectory generating unit 140 determines one or both of a stopping position for the moving body M and a driving position for the moving body M based on a user instruction, an area in which the moving body M can travel, and an area in which the moving body M cannot travel. The trajectory generating unit 140 generates a trajectory based on the driving pattern determined by the determining unit 130, for example.

[0061] The trajectory generation unit 140 generates a target trajectory for the mobile body M to automatically (independent of the driver's operation) travel in the future in a manner that can cope with the surrounding conditions of the mobile body M. The target trajectory includes, for example, a speed element. For example, the target trajectory represents 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 mobile body M should arrive at at the sampling moment at predetermined sampling times. In this case, information on the target speed and target acceleration is represented by the intervals between track points.

[0062] 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 that indicates 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.

[0063] 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.

[0064] 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 driving force output device 200 .

[0065] 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.

[0066] 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 them. The ECU controls the aforementioned components based on information input from the driving control unit 150 or from the driving operating element 80.

[0067] 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.

[0068] 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.

[0069] [Overview of Control of Moving Objects]

[0070] Figure 3This figure shows an example of the behavior of a moving object M. The moving object M, for example, carries a user to a destination (a place of transit). At this time, the moving object M is traveling on the sidewalk Sw (time t, t+1), or it exits the sidewalk Sw and enters 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 the walking speed of a pedestrian (for example, 4 km / h, 6 km / h), or it is traveling on the lane Rw at a speed greater than the walking speed described above. In the figure, "E" indicates the entrance to the lane (an area where one can enter the sidewalk from the lane (enter the lane from the sidewalk)).

[0071] The mobile body M can move in a motion mode determined from a plurality of motion modes. Each of the plurality of motion modes is associated with a degree of permission for an event that may occur when the mobile body M moves on the track. The generation unit 134 of the path generation unit 132 generates evaluation information (for example, a score described later) for a track of the mobile body M, including a track on a sidewalk. The generation unit 134 generates evaluation information for the track based on the degree of permission in the motion mode that establishes a correspondence with an event that occurs when moving on the track. The generation unit 134 generates evaluation information for a plurality of tracks of the mobile body M based on the degree of permission that establishes a correspondence with the current motion mode of the mobile body M. For example, the path generation unit 132 generates evaluation information when the mobile body M moves. When moving includes when the mobile body M is moving, when it is moving, before starting to move, and when it is about to move.

[0072] The trajectory determination unit 136 determines the trajectory of the moving object M based on the evaluation information. The trajectory determination unit 136 determines the trajectory corresponding to the highest-rated evaluation information among the evaluation information, or the trajectory corresponding to the evaluation information having an evaluation level of at least a predetermined level, as the trajectory of the moving object M. For example, if the evaluation information for a trajectory generated by the generation unit 134 satisfies a predetermined criterion, the trajectory determination unit 136 may determine that trajectory as the trajectory of the moving object M. Based on the determined trajectory, the trajectory generation unit 140 generates a trajectory including the position of the moving object M at each point in time during which the moving object M actually moves.

[0073] [About driving mode]

[0074] The determination unit 130 determines a driving mode based on instructions from users of the mobile vehicle M (e.g., a user currently riding or planning to ride, or a person requesting transportation when the mobile vehicle M is transporting an item). Examples of driving modes include a time-sensitive mode, a comfort mode, and a balanced mode. Driving modes may also include other modes in addition to the aforementioned modes.

[0075] The "time-oriented mode" is a mode in which a track is generated so that the mobile body M arrives at the destination earlier, and the mobile body M travels along the generated track. The "comfort mode" is a mode in which a track is generated so that the mobile body M arrives at the destination more comfortably, and the mobile body M travels along the generated track. The "balanced mode" is a driving mode that strikes a balance between the mobile body M arriving at the destination earlier and the mobile body M arriving at the destination comfortably. The control device 100 generates a track corresponding to the set driving mode and causes the mobile body M to travel along the track. The comfort mode is an example of a "mode that emphasizes suppressing the physical load acting on objects moving together with the mobile body." The comfort mode is a mode that emphasizes the comfort of people, animals, etc. when the mobile body M is carrying people, animals, etc. (for example, shaking, vibration, and acceleration acting on them are small), and suppresses the load acting on the objects when the mobile body M is carrying objects (for example, shaking, vibration, and acceleration acting on them are small). When articles are loaded on the moving body M, the movement of the moving body M is controlled so that the articles are transported to the destination while remaining loaded on the moving body M (without the articles collapsing).

[0076] Trajectories include long-term and short-term trajectories. A long-term trajectory is a path (route) from a first location (e.g., a departure point) to a second location (destination, transit point), and is a path defined on a map. A short-term trajectory is a trajectory of a moving object M ranging from a few centimeters to several meters or tens of meters, and is generated based on the actual conditions of sidewalks and lanes. The path generation unit 132 switches the evaluation function and algorithm used when generating long-term trajectories for each driving mode. The trajectory generation unit 140 switches the evaluation function and algorithm used when generating short-term trajectories for each driving mode.

[0077] Multiple driving modes are defined with different degrees of permissible events (permissibility). Control device 100 (route generation unit 132 and trajectory generation unit 140) generates a trajectory based on the permissibility corresponding to the driving mode. Control device 100 generates the trajectory to avoid events with low permissibility in the driving mode.

[0078] Figure 4 This diagram shows an example of pattern information 192, which associates driving patterns with the degree of tolerance for each of a plurality of events. Pattern information 192 is stored in storage unit 180. Events include driving on steps, driving at the boundary between the sidewalk and the road, driving using pedestrian movement patterns, driving on a slope, driving on a curve, driving in a congested area, driving on a slope, and passing through an area driven by traffic signals (a route with a high frequency of traffic signal traffic). Congestion can be congestion on the sidewalk or on the road. For example, congestion can be based on the number of people or density, or based on the number of vehicles or other vehicles or density.

[0079] Steps are for example steps at the boundary between the driveway and the sidewalk, Figure 5 The steps (for example, speed bumps) present on the road as shown in the figure are as follows. Traveling at the boundary between the sidewalk and the lane is, for example, when the moving object M enters the lane from the sidewalk, or when the moving object M enters the sidewalk from the lane.

[0080] The moving track of the pedestrian is used, for example, by the mobile body M following the pedestrian's moving track. Figure 6 Travel along track A as shown. Figure 6 The track B shown is a track that does not follow the movement trajectory of pedestrians.

[0081] Hereinafter, referring to the aforementioned Figure 4 The following table illustrates the tolerance level for each driving mode. The order of "○," "△," and "×" indicates the highest tolerance level. A higher tolerance level means that the vehicle is more likely to be allowed to travel on the track where the event occurs than in other driving modes, or that the event is tolerated.

[0082] Regarding the degree of tolerance for running on steps, the time-focused mode is "○", the balanced mode is "△", and the comfortable mode is "×".

[0083] Regarding the degree of permissibility of driving on the boundary between the sidewalk and the lane, the time-oriented mode is marked as "○", the balanced mode is marked as "△", and the comfortable mode is marked as "×".

[0084] Regarding the degree of permission for driving using the movement trajectory of pedestrians, the time-focused mode is marked "×", the balanced mode is marked "△", and the comfortable mode is marked "○".

[0085] Regarding the degree of tolerance for driving on a slope, the time-focused mode is marked as "○", the balanced mode is marked as "△", and the comfortable mode is marked as "×".

[0086] Regarding the degree of tolerance for traveling on a curved road, the time-focused mode is marked as "○", the balanced mode is marked as "△", and the comfortable mode is marked as "×".

[0087] Regarding the permissibility of driving in congested areas, the time-sensitive mode is marked "×", the balanced mode is marked "△", and the comfortable mode is marked "○". This permissibility can also be divided into the permissibility of driving on congested sidewalks and the permissibility of driving on congested lanes.

[0088] Regarding the degree of tolerance for running on a slope, the time-focused mode is marked as "○", the balanced mode is marked as "△", and the comfortable mode is marked as "×".

[0089] Regarding the degree of permission for traveling in an area where traffic signals are followed, the time-oriented mode is marked “×”, the balanced mode is marked “△”, and the comfortable mode is marked “○”.

[0090] Compared to other driving modes, the time-based mode allows for tracks that travel on steps, switch between sidewalks and lanes, travel on slopes, travel on curves, or travel on inclines. Compared to other driving modes, the time-based mode does not allow for tracks that utilize pedestrian movement patterns, travel in congested areas (where congestion is predicted to occur), or travel in areas following traffic signals. When the time-based mode is set, compared to other modes, the user's sense of vertical pitch, lateral pitch, or vertical or lateral acceleration felt by the vehicle M is prioritized, with the emphasis placed on arriving at the destination earlier.

[0091] Compared to other driving modes, the comfort mode does not allow for driving on steps, switching between sidewalks and lanes, driving on slopes, driving on curves, or driving on inclines. Compared to other driving modes, the comfort mode allows for driving on tracks that utilize pedestrian trajectories, driving in congested areas (where congestion is predicted to occur), or driving in areas following traffic signals. When the comfort mode is set, compared to other modes, it prioritizes suppressing the vertical and lateral pitching, and vertical or lateral acceleration felt by users on the vehicle M, rather than prioritizing faster arrival at the destination.

[0092] When a balanced mode is set, it is a mode that takes into account the balance between the comfort mode and the time-oriented mode, and takes into account both the up and down shaking, lateral shaking, suppression of the up and down or lateral acceleration felt by the user riding on the mobile body M, and arriving at the destination earlier.

[0093] [Flowchart (Part 1)]

[0094] Figure 7 This is a flowchart showing an example of the process of processing performed by the control device 100. This processing is an example of processing related to the generation of a long-term track (an example of the third track). First, the path generation unit 132 of the control device 100 refers to the map information 190 to export multiple paths (tracks) to the destination (step S100). The multiple paths are paths in which the time and distance to the destination are within a reasonable range. Next, the control device 100 exports a score corresponding to the set driving mode for each of the multiple paths (step S102). Next, the control device 100 selects a path with a high score (step S104). Thus, the processing of one routine of this flowchart is completed.

[0095] In this process, when multiple reasonable paths are generated, if only paths that travel only on lanes or paths that travel only on sidewalks are derived (when no paths that pass through the boundary between lanes and sidewalks are generated), the process of step S102 for generating a trajectory for the moving object M based on the degree of permission corresponding to the driving mode may be omitted. In other words, when generating a trajectory that passes through the boundary between a lane and sidewalks, the control device 100 may generate a trajectory for the moving object M that travels at least on the sidewalk based on the degree corresponding to the determined driving mode, and when not generating a trajectory that passes through the boundary between a lane and sidewalks, it may not generate a trajectory for the moving object M that travels at least on the sidewalk based on the degree corresponding to the determined driving mode ("the generation unit generates the evaluation information for the trajectory of the moving object when a trajectory that passes through the boundary between a lane and sidewalks is included as the trajectory of the moving object"). As described above, when the range of path types to be selected is narrow and limited, the processing load is reduced.

[0096] Figure 8 is a graph showing an example of the score of each of a plurality of routes. For example, it is assumed that the driving mode is set to the comfort mode. Figure 8 In the , each item is assigned a score, the higher the score, the more inclined to avoid the event of the item. Figure 8 As shown, events with a low degree of allowance in the driving mode are given a high weight and a score is derived. For example, the degree of few steps and the degree of few switches between sidewalks and lanes are given a high weight compared to the degree of congestion. As described above, the weight of each event is taken into consideration and a score for each track is derived. Then, the control device 100 selects a track with a high score. Figure 8 Among them, route 3 is a route (track) with few steps and few switches between lanes and sidewalks, and is a route suitable for the comfort mode.

[0097] For example, map information 190 associates various information with road segments, nodes, and coordinates, including the presence of steps, whether a road is a sidewalk or a lane, the road or sidewalk slope and curvature, the road or sidewalk type (whether it is a slope), and traffic signal information. The control device 100 obtains congestion information from other devices, such as a server device that provides congestion information. The control device 100 refers to the various information included in map information 190 and the congestion information to derive a score for each track.

[0098] As described above, the route generation unit 132 of the control device 100 can generate a trajectory suitable for the travel mode. Thus, the control device 100 can cause the moving object M to travel on a route suitable for the user.

[0099] [Flowchart (Part 2)]

[0100] Figure 9 This is a flowchart showing another example of the process flow executed by the control device 100. This process is an example of a process related to the generation of a short-term trajectory (an example of the fourth trajectory). This process is, for example, the process of the moving body M in the above-mentioned Figure 7 Processing is performed while traveling on the path (track) generated by the processing of the flowchart.

[0101] First, the trajectory generation unit 140 of the control device 100 determines whether an alternative trajectory is suitable for the driving mode (step S200). An alternative trajectory suitable for the driving mode is a trajectory that further enables driving in accordance with the set driving mode. For example, if the comfort mode is set, the trajectory is one that improves user comfort compared to the pre-set trajectory. If the time-sensitive mode is set, the trajectory is one that allows the user to reach the destination earlier.

[0102] If an alternative track exists, the control device 100 selects the alternative track and travels along the selected alternative track (step S204 ). Thus, the processing of one routine in this flowchart ends.

[0103] In the above example, it is determined whether there is an alternative trajectory suitable for the driving mode. However, instead of (in addition to) this, the generation unit 134 may generate scores (evaluation information) for each of a plurality of trajectories for a plurality of moving objects M when the recognition unit 120 that recognizes the surrounding conditions of the moving object M determines that an event has occurred in the current operating mode of the moving object M and is associated with an event with a lower tolerance than a predetermined level (for example, when there is an unexpected step or an unexpected boundary between a lane and a sidewalk). Furthermore, the trajectory determination unit 136 may determine the trajectory with the highest score as the trajectory for moving the moving object M.

[0104] Figure 10 : is a diagram showing an example of a scenario in which an alternative track is selected. For example, it is assumed that the time-sensitive mode is set and the moving body M is scheduled to go straight on the sidewalk Sw. In this case, Figure 10 As shown, there are multiple pedestrians on the sidewalk Sw. When the mobile vehicle M maintains its straight path on the sidewalk, it travels at the same speed as the pedestrians. In this situation, if it is determined that there is an entrance E to the lane Rw ahead and that the mobile vehicle M can travel faster in lane Rw than on the sidewalk Sw, the trajectory generation unit 140 generates a trajectory for entering lane Rw from the sidewalk Sw and then traveling in lane Rw. The mobile vehicle M then travels in lane Rw along the generated trajectory.

[0105] As described above, if the mobile object M determines that an alternative trajectory for entering lane Rw is suitable for the time-sensitive mode, the alternative trajectory is used. In other words, if the generator 134 determines that an event associated with an event with a lower tolerance level than a specified level would occur if the mobile object M were to travel straight, it generates multiple trajectories in which the mobile object M can move and assigns scores to these trajectories. Furthermore, the trajectory determination unit 136 determines the trajectory for traveling in lane Rw with the highest score as the trajectory for the mobile object M to travel. This allows the control device 100 to cause the mobile object M to travel on a path that is suitable for the user.

[0106] Figure 11 is a diagram showing an example of a scene in which no alternative track is selected. Figure 10 The following description will focus on the differences. For example, assume that the comfort mode is set, and the mobile body M is scheduled to travel straight on the sidewalk Sw. For example, the mobile body M can enter the lane Rw from the sidewalk Sw and travel on the lane Rw. However, since the behavior of the mobile body M is stable, the user comfort of the mobile body M following the movement trajectory of the pedestrian is determined to be higher than that of traveling on the lane Rw. In this case, the trajectory generation unit 140 generates a trajectory for traveling behind the pedestrian on the sidewalk Sw without entering the lane Rw. Then, the mobile body M travels on the sidewalk Sw along the generated trajectory.

[0107] As described above, if the vehicle M determines that the alternative trajectory for entering lane Rw is not suitable for comfort mode, it will not use the alternative trajectory and will instead travel along the pre-determined trajectory. In other words, the control device 100 controls the vehicle M to travel on a trajectory appropriate for the driving mode based on the score of each trajectory. This allows the control device 100 to control the vehicle M to travel on a route that is suitable for the user.

[0108] In the above example, the vehicle M is previously traveling on the sidewalk Sw. However, instead of (or in addition to) this, a rough travel area (a path that travels on either the sidewalk or the road) may be previously determined, and a trajectory appropriate to the travel mode may be generated when the vehicle M arrives near the travel area. For example, if the path generation unit 132 has previously roughly generated a travel area, but has not generated a specific trajectory such as one that travels on the sidewalk or the road, the trajectory generation unit 140 may generate scores for multiple trajectories based on the surrounding conditions, rather than selecting an alternative trajectory, and use the scores to generate a trajectory appropriate to the travel mode.

[0109] Figure 12This diagram illustrates the determination of the trajectory of a moving object M. For example, assume that a trajectory for passing through an area AR has been generated in advance. Within the area AR, there are a plurality of first pedestrian groups P1 on the left side traveling in a first direction, and a plurality of second pedestrian groups P2 on the right side traveling in a second direction opposite to the first direction. A predetermined area exists between the first and second pedestrian groups P1, P2, allowing the moving object M to pass through.

[0110] For example, when the time-focused mode is set, the trajectory generation unit 140 generates a trajectory (C in the figure) that passes through a predetermined area with a higher score than other trajectories, allowing the moving object M to reach its destination more quickly. For example, when the comfort mode is set, the trajectory generation unit 140 does not pass through the predetermined area. For example, it generates a trajectory (D in the figure) based on the movement trajectory of the first group of people P1 that has a higher score than other trajectories, and allows the moving object M to follow the first group of people P1 and pass through the area AR.

[0111] For example, when passing through a predetermined area, pedestrians heading in the first or second direction may enter the predetermined area, so the mobile body M is predicted to accelerate or decelerate. This may reduce user comfort, but it can overtake the first group of pedestrians P1, allowing for quicker travel to the destination. In contrast, when the mobile body M follows the pedestrian group P1, the speed of the mobile body M is the same as that of the pedestrian group P1, but the predicted acceleration or deceleration is less than when passing through the predetermined area. This improves user comfort.

[0112] As described above, the control device 100 generates a trajectory more suitable for the set travel mode in consideration of the real-time surrounding conditions, thereby enabling the moving object M to travel on a trajectory suitable for the user.

[0113] According to the first embodiment described above, the control device 100 generates a route suitable for the user based on the degree of permission of the event corresponding to the determined (set) driving mode, and can cause the moving object M to travel on the suitable route.

[0114] <Second embodiment>

[0115] The second embodiment is described below. While the first embodiment described the case of generating a trajectory corresponding to the driving mode, the second embodiment provides information about the driving mode corresponding to the trajectory to the user. The following description focuses on the differences from the first embodiment.

[0116] Figure 13This is a flowchart showing an example of the process flow performed by the control device 100 of the second embodiment. First, the control device 100 refers to the map information 190 to derive a plurality of routes (step S300). Next, based on the degree of permission for events in each driving mode and the degree of existence (or occurrence) of events in the plurality of routes, the control device 100 derives a route suitable for each driving mode (step S302). For example, the control device 100 derives scores based on the degree of permission associated with the time-sensitive mode for the plurality of routes, and designates the route with the highest score among the derived scores as the route suitable for the time-sensitive mode. Similarly to the above, the control device 100 derives routes suitable for the corresponding driving modes for the comfort mode and the balanced mode. That is, the control device 100 (route generation unit 132) generates evaluation information (scores) for each of the plurality of action modes.

[0117] Next, the information processing unit 160 of the control device 100 presents the user with an appropriate route (step S304). For example, the information processing unit 160 of the control device 100 presents the user with routes suitable for the time-focused mode, the comfort mode, and the balanced mode. Specifically, the information processing unit 160 (output unit) outputs, for each action mode, information related to a track where the evaluation information generated for each of the multiple action modes meets or exceeds a predetermined evaluation level. Next, the control device 100 sets the driving mode corresponding to the route selected by the user and begins driving in the set driving mode (step S306). This concludes the processing of one routine in this flowchart.

[0118] Figure 14 This is a diagram showing an example of information presented to the user. For example, the display unit of HMI 30 displays a route, a scheduled arrival time, a driving mode set for the route, information indicating the characteristics of the route, and information associating the route with map information. For example, route A is a route that is scheduled to arrive at 12:00 and is driven in a time-sensitive mode. Path A is, for example, a route that travels on a lane and a sidewalk, and travels in a location with steps. For example, route B is a route that is scheduled to arrive at 12:15 and is driven in a balanced mode. In the case of route B, for example, more travel is made on the sidewalk than on the lane. Path C is a route that is scheduled to arrive at 12:30 and is driven in a comfort mode. Path C is, for example, a route that travels on the sidewalk (for example, a route that does not travel on a lane).

[0119] Users can refer to Figure 14 The vehicle M selects an appropriate route or driving mode based on the information shown. Then, the vehicle M drives toward the destination along the selected route and the driving mode corresponding to the route.

[0120] The processing in the second embodiment (processing for determining the driving mode based on the selected route) may be performed instead of the processing in the first embodiment (processing for selecting a driving mode and then setting the route after generating the route), or may be performed selectively with the processing in the first embodiment or in addition to the processing in the first embodiment. Alternatively, in the first embodiment, Figure 14 The information shown is provided to the user. For example, in addition to the estimated arrival time and route characteristics for the selected driving mode, the user may also be presented with the estimated arrival time and route characteristics for a hypothetical scenario of traveling to the destination using another driving mode. If the user selects another driving mode or a route corresponding to the other driving mode, the mobile object M travels to the destination using the selected driving mode and route.

[0121] If the user feels that the route corresponding to the initially selected driving mode is not optimal, they can instruct the control device 100 to display a route corresponding to a driving mode different from the selected driving mode. Based on the instruction, the control device 100 provides the user with the route corresponding to the different driving mode and information related to the route. This allows the user to compare multiple routes and select an appropriate route and driving mode.

[0122] According to the second embodiment described above, the control device 100 generates a trajectory suitable for each of a plurality of driving modes and provides information on the generated trajectory to the user, thereby improving the convenience of the user.

[0123] <Third embodiment>

[0124] The third embodiment will now be described. While the first and second embodiments describe the case where the control device 100 generates a long-term trajectory, the third embodiment uses a different path generation device than the control device 100 to generate a long-term trajectory. The following description will focus on the differences from the third embodiment.

[0125] Figure 15This diagram illustrates an example of the functional configuration of a control system 1 including a mobile object M according to the third embodiment. The control system 1 includes a mobile object M, other mobile objects M-1 through Mn ("n" is an arbitrary natural number) different from the mobile object M, and a path generation device 300. Hereinafter, when not distinguishing between mobile objects M-1 through Mn, they are referred to as "other mobile objects." The mobile object M, the other mobile objects, and the path generation device 300 communicate with each other via, for example, a network NW. Examples of the network NW include the Internet, a WAN (Wide Area Network), a LAN (Local Area Network), telephone lines, public lines, dedicated lines, provider equipment, and wireless base stations.

[0126] The route generation unit 132 is omitted, for example, from the control device 100A of the mobile object M. The route generation device 300 has, for example, the same functional configuration as the route generation unit 132. The route generation device 300 derives a route (long-term trajectory) suitable for the driving mode by referring to map information, for example.

[0127] The control system 1 performs the following processing. (1) The control device 100A of the mobile object M transmits information indicating the set driving mode to the route generation device 300. (2) The route generation device 300 receives the information indicating the driving mode transmitted from the control device 100A and derives a route suitable for the received driving mode. (3) The route generation device 300 transmits the derived route to the mobile object M. The mobile object M travels based on the route received from the route generation device 300.

[0128] The route generation device 300 can obtain acceleration information (indicating vertical, lateral, or fore-and-aft acceleration), driving speed, and other information from other mobile objects while traveling on a predetermined route. The route generation device 300 references this information to derive a route for the mobile object M. For example, when generating a route in a comfort mode, the route generation device 300 generates a route with relatively small variations in acceleration. When generating a route in a time-sensitive mode, the route generation device 300 generates a route that allows for rapid travel despite relatively small variations in acceleration. In this way, the route generation device 300 obtains information used to estimate the comfort and smoothness of travel on routes previously traversed by other mobile objects (or the mobile object M), and references this information to derive a route appropriate for the driving mode.

[0129] The route generation device 300 may also generate routes suitable for each of a plurality of driving modes in response to a request from the mobile object M and provide the generated routes to the mobile object M. For example, routes suitable for the time-oriented mode, the balanced mode, and the comfort mode may be provided to the mobile object M. The route generation device 300 may also receive a request to generate a route from a user's terminal device (not shown) and provide the generated route to the user's terminal device. In this case, the user's terminal device communicates with the mobile object M, and the mobile object M obtains the route selected by the user and travels along the obtained route.

[0130] According to the third embodiment described above, the control system 1 can generate a route suitable for the user based on the degree of permission of the event corresponding to the driving mode, and can cause the moving body M to travel on the suitable route.

[0131] The above-described embodiment can be expressed as follows.

[0132] A control device comprising:

[0133] a storage device storing a program; and

[0134] Hardware processor,

[0135] The hardware processor executes the program stored in the storage device to perform the following processing:

[0136] controlling a moving object capable of moving in any one of a plurality of movement modes;

[0137] generating evaluation information for a track of the moving object including a track on a sidewalk;

[0138] establishing corresponding relationships between the allowable degrees of events that may occur when the moving object moves on the track and the plurality of action modes;

[0139] The evaluation information for the track is generated based on the permission level in the action mode associated with an event generated when moving on the track.

[0140] 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 control system for a mobile body capable of moving in any one of a plurality of motion modes, wherein: The control system includes a generating unit that generates evaluation information on a track of the moving object, including a track on a sidewalk. A correspondence is established between the allowable degree of events that may occur when the moving object moves on the track and the multiple action modes, The generating unit generates the evaluation information for the track based on the permission level in the action mode associated with the event generated when moving on the track, The generating unit generates the evaluation information on the trajectory of the moving object when the trajectory of the moving object includes a trajectory passing through a boundary between a sidewalk and a road. The plurality of operation modes include a first mode in which emphasis is placed on suppressing a physical load acting on an object moving together with the moving body. The event includes the moving object passing through the boundary between the lane and the sidewalk, The permission level for passing the boundary between the lane and the sidewalk in the first mode is set lower than the permission level for passing the boundary between the lane and the sidewalk in the other modes.

2. The control system according to claim 1, wherein: The generating unit generates the evaluation information for a plurality of trajectories of the moving object based on the permission level associated with a current motion mode of the moving object when the moving object moves.

3. The control system according to claim 1, wherein: The control system includes a trajectory determination unit that determines a trajectory of the moving object based on the evaluation information.

4. The control system according to any one of claims 1 to 3, wherein: The generating unit generates the evaluation information for each of the plurality of trajectories of the moving object when the identifying unit that identifies the surrounding conditions of the moving object determines that an event associated with an event having a lower tolerance than a predetermined level has occurred in the current operation mode of the moving object.

5. The control system according to claim 1, wherein: The event includes the moving object passing through a step, The permission level of the passage step associated with the first mode is set to be lower than the permission level of the passage step associated with the other modes.

6. The control system according to claim 1, wherein: The event includes the moving object moving along the moving trajectory of the pedestrian, The permission degree of movement along the movement trajectory of the pedestrian associated in the first mode is set higher than the permission degree of movement along the movement trajectory of the pedestrian associated in the other modes.

7. The control system according to any one of claims 1 to 3 and 5 to 6, wherein: The plurality of operation modes include a mode that prioritizes the moving object arriving at a destination earlier.

8. The control system according to any one of claims 1 to 3 and 5 to 6, wherein: The generating unit generates the evaluation information for the track for each of a plurality of operation modes.

9. The control system according to any one of claims 1 to 3 and 5 to 6, wherein: The control system includes an output unit configured to output, for each of a plurality of operation modes, information on a trajectory in which the evaluation information generated for each operation mode reaches an evaluation equal to or greater than a predetermined value.

10. A mobile object, wherein: The mobile object is equipped with the control system according to any one of claims 1 to 9.

11. A control method for controlling a moving object capable of moving in any one of a plurality of motion modes, wherein: The control method enables the computer to perform the following processing: generating evaluation information for a track of the moving object including a track on a sidewalk; establishing corresponding relationships between the allowable degrees of events that may occur when the moving object moves on the track and the plurality of action modes; generating the evaluation information for the track based on the permission level in the action mode associated with the event generated when the track is moved; generating the evaluation information on the trajectory of the moving object when the trajectory of the moving object includes a trajectory passing through a boundary between a sidewalk and a road; The plurality of operation modes include a first mode in which emphasis is placed on suppressing a physical load acting on an object moving together with the moving body. The event includes the moving object passing through the boundary between the lane and the sidewalk, The permission level for passing the boundary between the lane and the sidewalk in the first mode is set lower than the permission level for passing the boundary between the lane and the sidewalk in the other modes.

12. A storage medium storing a program for controlling a moving object capable of moving in any one of a plurality of motion modes, wherein: The program causes the computer to perform the following processing: generating evaluation information for a track of the moving object including a track on a sidewalk; establishing corresponding relationships between the allowable degrees of events that may occur when the moving object moves on the track and the plurality of action modes; generating the evaluation information for the track based on the permission level in the action mode associated with the event generated when the track is moved; generating the evaluation information on the trajectory of the moving object when the trajectory of the moving object includes a trajectory passing through a boundary between a sidewalk and a road; The plurality of operation modes include a first mode in which emphasis is placed on suppressing a physical load acting on an object moving together with the moving body. The event includes the moving object passing through the boundary between the lane and the sidewalk, The permission level for passing the boundary between the lane and the sidewalk in the first mode is set lower than the permission level for passing the boundary between the lane and the sidewalk in the other modes.

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