Mobile control system, mobile body, and control method

Abstract

A mobile control system, a mobile body, and a control method capable of improving safety when a communication failure occurs between a server and a mobile body are provided. The mobile control system includes a control server (400) and a vehicle (M) capable of first automatic movement control in which a control content determined based on outside information is executed and second automatic movement control in which a control content instructed by the control server (400) by transmitting outside information to the control server (400) is executed. The vehicle (M) executes the second automatic movement control when capable of the first automatic movement control and the second automatic movement control, and does not execute the second automatic movement control when capable of only the second automatic movement control of the first automatic movement control and the second automatic movement control.

Description

TECHNICAL FIELD

[0001] The present application relates to a mobile control system, a mobile body, and a control method. BACKGROUND

[0002] There is known a vehicle communication system capable of automatic movement control that transmits outside information detected by a mobile body such as a vehicle to a server and transmits a control instruction from the server to the mobile body (for example, see Patent Literature 1).

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2018-132985 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] For example, in a case where there are a first automatic movement control that is controlled without going through a server and a second automatic movement control that is controlled via the server, when a communication between the server and the mobile body has failed in the process of executing the second automatic movement control, it is possible to continue the automatic movement control by shifting to the first automatic movement control that can be executed without being affected even if the communication between the server and the mobile body has failed. However, in a case where the first automatic movement control cannot be executed, even if the communication between the server and the mobile body has failed in the process of executing the second automatic movement control, it is not possible to shift to the first automatic movement control, and thus the automatic movement control is suddenly stopped, which is not preferable in terms of safety.

[0008] In the vehicle communication system of Patent Literature 1, a structure in which system dominant control is executed in a communication-established interval and driver dominant control is executed in a communication-interrupted interval is described, but a structure for ensuring safety when the communication between the server and the mobile body has failed is not described.

[0009] An object of the present application is to provide a mobile control system and a mobile body capable of improving safety when the communication between the server and the mobile body has failed.

[0010] MEANS FOR SOLVING THE PROBLEMS

[0011] The present application provides a mobile control system including:

[0012] a server; and

[0013] A mobile body capable of first automatic movement control in which control content determined based on outside information is executed and second automatic movement control in which control content instructed by a server by transmitting the outside information to the server is executed,

[0014] The mobile body executes the second automatic movement control when capable of the first automatic movement control and the second automatic movement control, and does not execute the second automatic movement control when capable of only the second automatic movement control among the first automatic movement control and the second automatic movement control.

[0015] Further, the present application also provides a mobile body capable of automatic movement control, comprising:

[0016] A communication section capable of communication with a server;

[0017] An acquisition section that acquires outside information of the mobile body; and

[0018] A control section capable of first automatic movement control in which control content determined based on the outside information is executed and second automatic movement control in which control content instructed by the server by the communication section transmitting the outside information to the server is executed,

[0019] The control section executes the second automatic movement control when capable of the first automatic movement control and the second automatic movement control, and does not execute the second automatic movement control when capable of only the second automatic movement control among the first automatic movement control and the second automatic movement control.

[0020] Further, the present application also provides a control method of a mobile body capable of first automatic movement control in which control content determined based on outside information is executed and second automatic movement control in which control content instructed by a server by transmitting the outside information to the server is executed, wherein the control method performs the following processing:

[0021] Executing the second automatic movement control when capable of the first automatic movement control and the second automatic movement control; and

[0022] Not executing the second automatic movement control when capable of only the second automatic movement control among the first automatic movement control and the second automatic movement control.

[0023] Effects of the Invention

[0024] The mobile control system and the mobile body according to the present application can improve safety when a communication failure occurs between the server and the mobile body. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a diagram showing an example of the mobile control system of the present embodiment.

[0026] Figure 2 is a block diagram showing the structure of a vehicle system of a vehicle (mobile body) of the present embodiment.

[0027] Figure 3 is a flowchart showing an example of mobile control performed by a vehicle.

[0028] Figure 4 is a flowchart showing an example of mobile control performed by a control server.

[0029] BRIEF DESCRIPTION OF DRAWINGS

[0030] 2 sensor (acquisition unit)

[0031] 3 communication unit

[0032] 400 control server (server)

[0033] M vehicle (mobile body) DETAILED DESCRIPTION

[0034] Hereinafter, one embodiment of a mobile control system and a mobile body of the present application will be described with reference to the drawings. Further, in the description of the following embodiment, an example in which the mobile body in the present application is set to a vehicle M such as an automobile will be described.

[0035] REFERENCE Figure 1 The mobile control system 1 of the present embodiment will be described. As shown in Figure 1 Fig. 1, the mobile control system 1 is provided with: a vehicle M; a base station 300 and a control server 400 communicably connected to the vehicle M.

[0036] The vehicle M is a vehicle capable of automatic movement based on automatic movement control. The vehicle M is provided with a sensor 2 capable of acquiring outside information of the surroundings of the vehicle M and a communication section 3 for communication with a base station 300. In addition, the vehicle M is also provided with a memory 4 for storing vehicle information (including outside information acquired by the sensor 2) related to the vehicle M and an ADAS ECU (Advanced Driver Assistance Systems Electronic Control Unit) 5 that manages the action of the vehicle M. The ADAS ECU 5 derives the control content of the automatic movement control of the vehicle M, for example, based on outside information and the like acquired by the sensor 2 and the like.

[0037] In order to widely cover the area in which the vehicle M can communicate, the base station 300 is provided with a plurality of base stations at a prescribed interval. The base station 300 is provided with an antenna. The antenna includes a plurality of antennas of different performance. The base station 300 is communicably connected to the vehicle M by wireless.

[0038] The control server 400 is provided with a communication section 410 and an AD ECU (Automated Driving Electronic Control Unit) 420. The control server 400 is provided, for example, in a facility such as a management center. The communication section 410 is communicably connected to the base station 300 through a wired or wireless communication network. In addition, the communication section 410 is connected to the vehicle M in a manner capable of communication with the vehicle M via the base station 300. The AD ECU 420 derives the control content of the automatic movement control of the vehicle M, for example, based on outside information and the like of the vehicle M received from the vehicle M through communication with the vehicle M. In addition, the AD ECU 420 transmits the derived control content of the automatic movement control of the vehicle M to the vehicle M via the base station 300.

[0039] The mode of wireless communication performed between the vehicle M and the base station 300 is, for example, a communication mode that enables relatively wide-range movement used for portable telephones, smartphones, and the like. The mode of wireless communication includes, for example, the third generation mobile communication standard (hereinafter referred to as "3G"), the fourth generation mobile communication standard (hereinafter referred to as "4G"), the fifth generation mobile communication standard (hereinafter referred to as "5G"), the sixth generation mobile communication standard (hereinafter referred to as "6G"), and the like. With each generation, the communication standard is replaced, that is, as the number changes from "3G" to "6G", high-speed communication becomes possible. Various base stations 300 corresponding to the waves of 3G to 6G are provided in each place where the vehicle M travels.

[0040] The vehicle M determines a prescribed base station 300 (for example, a 3G base station, a 4G base station, a 5G base station, a 6G base station) that is an object of communication by the communication section 3, based on the strength of the electric wave that can be received (communication environment). The prescribed base station 300 that becomes the object of communication changes with the position at which the vehicle M travels. For example, the vehicle M continuously measures the strength of the electric wave of the adjacent base station 300 all the time, and when the electric wave becomes a certain strength or less, the line with the base station 300 that has been the object of communication until then is disconnected, and the line with another base station 300 that has a stronger strength is switched.

[0041] The vehicle M can execute "first automatic movement control" that automatically moves based on the control of the vehicle M itself and "second automatic movement control" that automatically moves based on the control of the control server 400. In the first automatic movement control, the vehicle M automatically moves based on the control content of the automatic movement derived by the vehicle M itself. The vehicle M derives the control content of the automatic movement based on the outside information of the vehicle M and the like acquired by the sensor 2.

[0042] In the second automatic movement control, the vehicle M automatically moves based on the control content of the automatic movement derived by the control server 400. The control server 400 derives the control content of the automatic movement based on the outside information of the vehicle M and the like transmitted from the vehicle M. The vehicle M executes the control content of the first automatic movement control derived by the vehicle M and the control content of the second automatic movement control derived by the control server 400 by the ADAS ECU 5.

[0043] The second automatic movement control that executes the control content of the automatic movement derived by the control server 400 is a driving mode in which the degree of automation with respect to the control of the vehicle is higher than the first automatic movement control that executes the control content of the automatic movement derived by the vehicle itself. The high degree of automation means, for example, that the degree of control of the vehicle based on the operation of the driver (user) to the vehicle M is low, that is, the task of monitoring the periphery of the vehicle M and the like that the driver is required to perform is less.

[0044] The second automatic movement control is a control mode of automatic movement in which the driver does not need to monitor the periphery of the vehicle M and does not need to operate the steering wheel. The second automatic movement control is, for example, a control mode in which the vehicle M can automatically control the speed and the steering in a state in which the driver does not operate the steering wheel (for example, does not hold, does not hold, or does not contact the steering wheel) and the driver does not monitor the periphery of the vehicle.

[0045] The first automatic movement control is, for example, a control mode of automatic movement in which the driver needs to monitor the periphery of the vehicle M but the driver does not need to operate the steering wheel. The first automatic movement control is, for example, a control mode in which the vehicle M can automatically control the speed and the steering in a state in which the driver monitors the periphery of the vehicle M and the driver does not operate the steering wheel.

[0046] Furthermore, the first automatic movement control can also be a control method where the driver is assigned at least the task of monitoring the surroundings (looking ahead, etc.) and related to safe driving. The first automatic movement control method can also be a control method where, while the driver is operating the steering wheel and monitoring the surroundings of the vehicle M, the vehicle M can automatically control its speed and steering. Additionally, the first automatic movement control can also be the state in which ADAS (Advanced Driver Assistance Systems) are operating. ADAS is represented by ACC (Adaptive Cruise Control System) and LKAS (Lane Keeping Assist System).

[0047] Vehicle M may also be able to perform automatic movement control while the driver is manually driving, i.e., "manual movement control".

[0048] The conditions for implementing the first and second automatic mobility controls described above are just one example. As long as the degree of automation of the vehicle M under the second automatic mobility control is higher than that of the vehicle M under the first automatic mobility control, that is, as long as the driver's tasks are fewer, the settings can be arbitrary. For example, one or both of the first and second automatic mobility controls can be in an autonomous driving state, or one or both of the first and second automatic mobility controls can be in a state of not being in an autonomous driving state but rather in a state of implementing driving assistance.

[0049] Next, refer to Figure 2 The vehicle system 10 installed in vehicle M will be described. For example... Figure 2 As shown, the vehicle system 10 includes a camera 11, a radar device 12, a detector 13, a vehicle sensor 14, an input / output device 20, a communication unit 3, a navigation device 40, a driving control unit 50, an automatic driving control unit 100, a driving force output device 200, a braking device 210, and a steering device 220. These devices are connected to each other via wired or wireless communication networks. For example, the communication network connecting these devices is a CAN (Controller Area Network).

[0050] Camera 11, radar device 12, detector 13 and vehicle sensor 14 are included in Figure 1 The sensor 2 shown, along with camera 11, radar device 12, detector 13, and vehicle sensor 14, acquires information about the surrounding environment of vehicle M.

[0051] The camera 11 is a digital camera that captures the periphery of the vehicle M (for example, the front of the vehicle M) and outputs image data obtained by the capturing to the automatic driving control device 100 and the communication section 3. The radar device 12 is, for example, a radar device that uses millimeter waves and detects the positions of objects in the periphery of the vehicle M (for example, the front, the rear, and the side of the vehicle M) and outputs the detection results to the automatic driving control device 100 and the communication section 3. The detector 13 is, for example, a LIDAR (Laser Imaging Detection and Ranging) that uses a prescribed laser to measure the distances from the vehicle to objects (target objects) in the periphery of the vehicle M (for example, the front, the rear, and the side of the vehicle M) and outputs the measurement results to the automatic driving control device 100 and the communication section 3.

[0052] The vehicle sensors 14 include, for example, a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects the acceleration of the vehicle M, an angular velocity sensor that detects the angular velocity of the vehicle M about a vertical axis, a direction sensor that detects the orientation of the vehicle M, and the like. In addition, the vehicle sensors 14 include a wave intensity sensor that detects the intensity of a wave (that is, the communication environment) used in communication by the communication section 3. The vehicle sensors 14 output the detection results of the respective sensors to the automatic driving control device 100 and the communication section 3.

[0053] The input / output device 20 includes an output device that outputs various kinds of information to a user (hereinafter, also simply referred to as a user) of the vehicle M and an input device that accepts various kinds of input operations from the user. In the present embodiment, the user is not limited to a person who manages or owns the vehicle M and uses the vehicle M. For example, the user can also be a person who uses the vehicle M as a proxy of a person who manages or owns the vehicle M and accepts a commission from the person.

[0054] The output device of the input / output device 20 is, for example, a display that performs display based on the processing results of the automatic driving control device 100 and the automatic driving control device 100A (described later) of the control server 400. The output device can also be a speaker, a buzzer, a display lamp, or the like. In addition, the input device of the input / output device 20 is, for example, a touch panel, an operation button (a key, a switch, or the like) that outputs an operation signal corresponding to an input operation accepted from the user to the automatic driving control device 100 and the automatic driving control device 100A of the control server 400.

[0055] The navigation device 40 is provided with a GNSS (Global Navigation Satellite System) receiver 41 and an input / output device 42. In addition, the navigation device 40 is provided with a storage device (not shown) such as a hard disk drive (hereinafter, also referred to as HDD), a flash memory, in which first map information 43 is stored. The first map information 43 is, for example, information that represents a road shape by representing road segments and nodes connected by the road segments. In addition, the first map information 43 can also include information that represents curvatures of roads, POIs (Points of Interest).

[0056] The GNSS receiver 41 determines a latitude and a longitude of a place where the vehicle M is located as a position of the vehicle M, based on a signal received from a GNSS satellite. In addition, the navigation device 40 can also determine or correct the position of the vehicle M by an INS (Inertial Navigation System) that utilizes an output of the vehicle sensor 14.

[0057] The input / output device 42 includes an output device that outputs various information to a user and an input device that accepts various input operations from the user. The output device of the input / output device 42 is, for example, a display that performs display based on a processing result of the navigation device 40 (for example, a map on which a route described later is displayed). In addition, the input device of the input / output device 42 is, for example, a touch panel that outputs an operation signal corresponding to an input operation accepted from the user to the navigation device 40, an operation button (a key, a switch, or the like). The input / output device 42 can also be shared with the input / output device 20.

[0058] Although detailed description is omitted, the navigation device 40 determines a route (hereinafter, also referred to as a map-on-route) from the position of the vehicle M determined by the GNSS receiver 41 to a destination input by the user, for example, with reference to the first map information 43. The navigation device 40 guides the determined map-on-route to the user through the input / output device 42. In addition, the navigation device 40 is configured to be able to output information that represents the determined position of the vehicle M, the determined map-on-route to the automatic driving control device 100 and the communication section 3.

[0059] The driving operation 50 is various operation devices such as an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a joy stick, a lever, and the like. A sensor that detects an operation amount or an operation presence or absence of the driving operation 50 is provided on the driving operation 50. A detection result of the sensor of the driving operation 50 is output to some or all of the automatic driving control device 100, the communication section 3, the travel driving force output device 200, the brake device 210, and the steering device 220.

[0060] The travel drive force output device 200 outputs a travel drive force (torque) for causing the vehicle M to travel to the drive wheels. The travel drive force output device 200, for example, is provided with a motor and a motor ECU (Electronic Control Unit) that controls the motor. The motor ECU controls the motor on the basis of a detection result of a sensor of the driving operation member 50 (for example, an accelerator pedal), control information from the automatic driving control device 100, control information of the automatic driving control device 100A from the control server 400. In addition, in a case where the vehicle M is provided with an internal combustion engine and a transmission as drive sources, the travel drive force output device 200 can also include the internal combustion engine, the transmission, and an ECU that controls them.

[0061] The brake device 210, for example, is provided with a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that causes the hydraulic cylinder to generate hydraulic pressure, and a brake ECU. The brake ECU controls the electric motor of the brake device 210 on the basis of a detection result of a sensor of the driving operation member 50 (for example, a brake pedal), control information from the automatic driving control device 100, control information of the automatic driving control device 100A from the control server 400, and outputs a brake torque corresponding to a brake operation to each wheel.

[0062] The steering device 220, for example, is provided with a steering ECU and an electric motor. The electric motor of the steering device 220, for example, causes a force to act on a rack and pinion mechanism to change the orientation of the steered wheels. The steering ECU drives the electric motor of the steering device 220 on the basis of a detection result of a sensor of the driving operation member 50 (for example, a steering wheel), control information from the automatic driving control device 100, control information of the automatic driving control device 100A from the control server 400, and changes the orientation (i.e., the steering angle) of the steered wheels.

[0063] The communication section 3 can communicate with the base station 300 wirelessly. In addition, the communication section 3 can communicate with the communication section 410 of the control server 400 via the base station 300. The communication section 3 transmits vehicle information including outside information of the surroundings of the vehicle M acquired by the camera 11, the radar device 12, the detector 13, and the vehicle sensor 14, position information determined by the navigation device 40, route information, operation information detected by the driving operation member 50, and the like to the control server 400 via the base station 300. The communication section 3, for example, can also be constituted by a remote control unit (TCU) capable of bidirectional communication. In addition, the communication section 3, for example, can also utilize a cellular network, a Wi-Fi (registered trademark) network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), and the like.

[0064] The automatic driving control device 100 includes an environment recognition unit 110, a high-precision position recognition unit 120, a behavior plan generation unit 130, and a behavior control unit 140. In addition, the automatic driving control device 100 includes a storage device (not shown) realized by a flash memory or the like, which is accessible by each functional unit (for example, the high-precision position recognition unit 120) of the automatic driving control device 100, and in which the second map information 150 is stored. Furthermore, the storage device can be a hard disk drive (HDD) or the like. Figure 1 The memory 4 shown.

[0065] The environment recognition unit 110 performs sensor fusion processing on information acquired by some or all of the camera 11, the radar device 12, and the detector 13, recognizes objects located in the periphery of the vehicle M, and recognizes the positions thereof. The environment recognition unit 110, for example, recognizes obstacles, road shapes, traffic signals, guardrails, utility poles, surrounding vehicles (including the running state such as speed and acceleration, the parked state), lane marks, pedestrians, and the like, and recognizes the positions thereof.

[0066] The high-precision position recognition unit 120 refers to the position of the vehicle M determined by the navigation device 40, the detection result of the vehicle sensor 14, the image captured by the camera 11, the second map information 150, and the like, and recognizes the detailed position and attitude of the vehicle M. The high-precision position recognition unit 120, for example, recognizes the travel lane in which the vehicle M is traveling, or recognizes the relative position and attitude of the host vehicle with respect to the travel lane.

[0067] The behavior plan generation unit 130 generates a behavior plan of the vehicle M. Specifically, the behavior plan generation unit 130 generates a target track along which the vehicle M will travel in the future as the behavior plan of the vehicle M. The target track is, for example, information in which places (track points) to which the vehicle M should arrive are arranged at regular travel distances (for example, several [m] or so). In addition, the target track can include information of a target speed, a target acceleration, or the like of the vehicle M at each regular time, or at each track point.

[0068] The behavior control unit 140 controls the vehicle M so as to act in accordance with the behavior plan generated by the behavior plan generation unit 130. Specifically, the behavior control unit 140 controls the travel driving force output device 200, the brake device 210, and the steering device 220 so that the vehicle M passes through the target track generated by the behavior plan generation unit 130 at predetermined times. The behavior control unit 140, for example, controls the travel driving force output device 200 and the brake device 210 on the basis of the speed elements attached to the target track, or controls the steering device 220 in accordance with the degree of curvature of the target track.

[0069] The second map information 150 is map information higher in precision than the first map information 43. The second map information 150 includes, for example, information indicating the center of a lane, information indicating a boundary line (for example, a road division line) of a lane, and the like. In addition, the second map information 150 can also include road information, traffic regulation information, address information, facility information, telephone number information, and the like. The second map information 150 can be updated at any time. The second map information 150 can be updated, for example, on the basis of information acquired by some or all of the camera 11, the radar device 12, and the sonar device 13.

[0070] The automatic driving control device 100 is provided to the ADAS ECU 5. Each function of the automatic driving control device 100 is executed by the ADAS ECU 5. Further, each functional section of the automatic driving control device 100 is realized, for example, by a CPU (Central Processing Unit) executing a prescribed program (software). In addition, some or all of the functional sections of the automatic driving control device 100 can also be realized by hardware such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), and the like. For example, the storage device storing the second map information 150 and the high-precision position recognition section 120 can also be realized by an MPU (Map Positioning Unit). In addition, some or all of the functional sections provided to the automatic driving control device 100 can also be realized by cooperation of software and hardware.

[0071] Next, the control server 400 will be described with reference to Figure 2 The AD ECU 420 of the control server 400 will be described. As shown in Figure 2 The AD ECU 420 is provided with an automatic driving control device 100A. The automatic driving control device 100A has the same structure and functions as the automatic driving control device 100 provided to the vehicle system 10 of the vehicle M. Each function of the automatic driving control device 100A is executed by the AD ECU 420. The AD ECU 420 derives the control content of the automatic movement control performed by the vehicle M on the basis of the vehicle information (including the outside information) of the vehicle M transmitted from the vehicle M, as described above, and transmits the derived control content to the vehicle M.

[0072] Further, the AD ECU 420 determines whether the control content of the vehicle M derived based on the vehicle information of the vehicle M is appropriate control content, for example, based on the position information of the vehicle M. The AD ECU 420 selects the control mode of the automatic movement of the vehicle M, for example, from among the control mode based on the first automatic movement control, the control mode based on the second automatic movement control, and the control mode based on the manual movement control, based on whether the determined control content is appropriate or not. The AD ECU 420 performs the selection by limiting the prescribed control mode or releasing the limitation on the control mode, for example.

[0073] Next, a control example of the movement control in the movement control system 1 will be described with reference to Figure 3 and Figure 4

[0074] First, an example of the movement control performed by the vehicle M will be described with reference to Figure 3

[0075] When the ignition switch is pressed and the engine is started, the vehicle M determines whether the second automatic movement control that performs the automatic movement of the vehicle M can be executed based on the control of the control server 400 (step S31). The determination of whether the second automatic movement control can be executed is performed, for example, by whether the wireless-based communication between the vehicle M and the control server 400 can be normally performed.

[0076] For example, in a case where a delay occurs in the communication between the vehicle M and the control server 400, it is determined that the normal communication cannot be performed, and it is determined that the second automatic movement control cannot be executed. Further, even if the wireless-based communication between the vehicle M and the control server 400 can be performed, for example, in a case where a failure occurs in the ADAS ECU 5 of the vehicle M, in a case where a failure occurs in the signal line between the ADAS ECU 5 and the actuator, and the like, it is determined that the normal communication cannot be performed, and it is determined that the second automatic movement control cannot be executed. The determination of whether these failures occur is performed by the vehicle M side.

[0077] In a case where it is determined that the second automatic movement control cannot be executed in step S31 (NO in step S31), the vehicle M determines whether the first automatic movement control that performs the automatic movement of the vehicle M based on the control of the vehicle M itself can be executed (step S32). The determination of whether the first automatic movement control can be executed is performed by whether the control of the ADAS ECU 5 of the vehicle M can be normally performed.

[0078] For example, in a case where a failure occurs in the ADAS ECU 5, in a case where a failure occurs in the signal line between the ADAS ECU 5 and the actuator, and the like, it is determined that the normal control cannot be performed, and it is determined that the first automatic movement control cannot be executed. The determination of whether these failures occur is performed by the vehicle M side.​​

[0079] In a case where it is determined in step S32 that the first automatic movement control can be executed (YES in step S32), the vehicle M starts automatic movement based on the first automatic movement control (step S33). That is, the vehicle M performs automatic movement based on the first automatic movement control in a case where automatic movement based on the second automatic movement control cannot be performed but automatic movement based on the first automatic movement control can be performed. The vehicle M derives a control content of automatic movement by the vehicle itself based on outside information of the vehicle M and the like acquired by the sensor 2, and starts automatic movement based on the first automatic movement control based on the derived control content. The vehicle M performs automatic movement based on the first automatic movement control, and returns to step S31 to repeat the series of processes.

[0080] On the other hand, in a case where it is determined in step S32 that the first automatic movement control cannot be executed (NO in step S32), the vehicle M starts movement based on the manual movement control (step S34). That is, the vehicle M performs movement based on the manual movement control in a case where automatic movement based on the second automatic movement control cannot be performed and automatic movement based on the first automatic movement control cannot be performed. The vehicle M returns to step S31 to repeat the series of processes while performing movement based on the manual movement control.

[0081] On the other hand, in a case where it is determined in step S31 that the second automatic movement control can be executed (YES in step S31), the vehicle M determines whether the first automatic movement control based on control of the vehicle M itself to perform automatic movement of the vehicle M can be executed (step S35). The determination of whether the first automatic movement control can be executed is made in the same manner as described above by whether control of the ADAS ECU 5 of the vehicle M can be normally performed.

[0082] In a case where it is determined in step S35 that the first automatic movement control cannot be executed (NO in step S35), the vehicle M starts movement based on the manual movement control (step S34). That is, the vehicle M does not perform automatic movement based on the second automatic movement control but performs movement based on the manual movement control in a case where automatic movement based on the first automatic movement control cannot be performed even though automatic movement based on the second automatic movement control can be performed. The vehicle M returns to step S31 to repeat the series of processes while performing movement based on the manual movement control.

[0083] In contrast, if it is determined in step S35 that the first automatic movement control can be executed ("Yes" in step S35), vehicle M begins automatic movement based on the second automatic movement control (step S36). That is, vehicle M performs automatic movement based on the second automatic movement control when it is capable of performing automatic movement based on both the second and first automatic movement control. Vehicle M begins automatic movement based on the second automatic movement control based on the automatic movement control content derived by the control server 400 from external information of vehicle M sent from vehicle M. Vehicle M executes automatic movement based on the second automatic movement control and returns to step S31, repeating this series of processes.

[0084] Next, we will refer to Figure 4 This illustrates an example of motion control performed by the control server 400.

[0085] For example, suppose vehicle M is performing automatic movement based on a second automatic movement control. Furthermore, as described above... Figure 3 As explained, when performing automatic movement based on the second automatic movement control, vehicle M is also in a state where it can perform automatic movement based on the first automatic movement control.

[0086] The control server 400 receives vehicle information (including external information, location information, route information, and operation information) related to vehicle M from vehicle M via base station 300.

[0087] Based on external information received from the vehicle M, the control server 400 derives the control content of the second automatic movement control (e.g., the indication value for the vehicle M) (step S41).

[0088] The indication value derived for vehicle M based on external information includes, for example, a "speed indication value" indicating the moving speed of vehicle M. In this case, the control server 400 receives, for example, external information such as vehicle M is moving on a straight road, and based on this external information, derives a speed indication value indicating that the speed of vehicle M should be maintained at the current moving speed, i.e., 50 km / h.

[0089] Furthermore, the indication values ​​for vehicle M derived based on external information may include, for example, an "acceleration indication value" indicating the amount of acceleration of vehicle M. In this case, the control server 400 receives, for example, external information such as vehicle M moving downhill on a highway, and derives an acceleration indication value that indicates the amount of acceleration to be suppressed (the amount of accelerator operation) based on this external information.

[0090] Next, the control server 400 derives a specification range of the instruction value for the vehicle M at the moving position (section) of the vehicle M based on the position information and the like of the vehicle M received from the vehicle M (Step S42).

[0091] The specification range of the instruction value derived based on the position information and the like includes, for example, a road state (e.g., straight, curved, uphill, downhill, flat) of the section in which the vehicle M is currently moving, a legal speed of the road, and a specification instruction value derived from the road state and the legal speed, and the like.

[0092] Next, the control server 400 determines whether the instruction value for the vehicle M derived in Step S41 is included in the specification range derived in Step S42 (Step S43).

[0093] In a case where it is determined in Step S43 that the instruction value is within the specification range (Yes in Step S43), the control server 400 transmits the derived instruction value for the vehicle M to the vehicle M via the base station 300 (Step S44). Further, the vehicle M performs automatic movement based on the second automatic movement control based on the instruction value (control content) transmitted from the control server 400. The control server 400 returns to Step S41 after transmitting the instruction value to the vehicle M, and repeatedly performs the series of processes.

[0094] On the other hand, in a case where it is determined in Step S43 that the instruction value is not within the specification range (No in Step S43), the control server 400 performs control to restrict the automatic movement of the vehicle M based on the second automatic movement control (Step S45). Specifically, the control server 400 transmits a control signal that causes the vehicle M to switch to automatic movement based on the first automatic movement control to the vehicle M.

[0095] For example, it is assumed that the vehicle M is actually moving on a road that is greatly curved, and the control server 400 receives external information and the like such as "the vehicle M is moving on a straight road" from the vehicle M, and derives an instruction value that instructs "maintain the speed at the current moving speed, i.e., 50 km / h" based on the external information and the like. In this case, although the vehicle M is actually moving on a road that is greatly curved, the reason why the control server 400 determines that "the vehicle M is moving on a straight road" is that, since a transmission delay can occur in the wireless communication between the vehicle M and the control server 400, a situation in which appropriate (real-time) external information and the like cannot be received can occur. On the other hand, the control server 400 can derive a specification instruction value and the like that corresponds to the actual moving situation of the vehicle M, such as "decelerate the moving speed of the vehicle M to 30 km / h or less", based on the position information and the like received from the vehicle M, since "the vehicle M is moving on a road that is greatly curved".

[0096] Thus, since a transmission delay of wireless communication occurs, a situation in which old outside information and latest position information are transmitted to the control server 400 at the same period occurs, and thus a case in which an indication value for the vehicle M derived based on the outside information and the like deviates from a specification range of the indication value of the vehicle M in a travel section of the vehicle M derived based on the position information and the like can occur.

[0097] Next, the control server 400 derives a control content (for example, an indication value for the vehicle M) of the second automatic movement control based on the outside information and the like of the vehicle M received from the vehicle M, similarly to the case of the above-described step S41 (step S46).

[0098] Next, the control server 400 derives a specification range of the indication value for the vehicle M at the movement position (section) of the vehicle M based on the position information and the like of the vehicle M received from the vehicle M, similarly to the case of the above-described step S42 (step S47).

[0099] Next, the control server 400 determines whether the indication value for the vehicle M derived in step S46 is included in the specification range derived in step S47 (step S48). In a case where it is determined that the indication value is not included in the specification range (NO in step S48), the control server 400 returns to step S46 and repeats the series of processes.

[0100] On the other hand, in a case where it is determined that the indication value is included in the specification range in step S48 (YES in step S48), the control server 400 performs control to release the restriction on the automatic movement of the vehicle M by the second automatic movement control performed in step S45 (step S49). Specifically, the control server 400 transmits a control signal that causes the vehicle M to shift to the automatic movement based on the second automatic movement control to the vehicle M. That is, the control server 400 compares the indication value for the vehicle M derived based on the outside information with the specification range of the indication value of the vehicle M derived based on the position information after the automatic movement of the vehicle M based on the second automatic movement control is restricted, and in a case where the indication value is included in the specification range, performs control so that the vehicle M returns to the automatic movement based on the second automatic movement control.

[0101] Next, the control server 400 proceeds to step S44 and transmits the indication value for the vehicle M derived in step S46 to the vehicle M via the base station 300. The control server 400 returns to step S41 after transmitting the indication value to the vehicle M and repeats the series of processes. Further, the vehicle M changes the automatic movement of the vehicle M from the automatic movement based on the first automatic movement control to the automatic movement based on the second automatic movement control based on the control signal from the control server 400.

[0102] As explained above, according to the movement control system 1, in a case where the first automatic movement control based on the control of the vehicle M itself to perform the automatic movement and the second automatic movement control based on the control of the control server 400 to perform the automatic movement can be performed, the second automatic movement control is performed, and in a case where the first automatic movement control cannot be performed, even if the second automatic movement control can be performed, the second automatic movement control is not performed. Therefore, it is possible to prevent the automatic movement control from suddenly stopping when the communication between the control server 400 and the vehicle M has failed, and thus it is possible to improve the safety of the vehicle M performing the automatic movement.

[0103] Further, according to the movement control system 1, in a case where the indication value (control content) of the vehicle M derived based on the outside information and the like deviates from the specification range of the indication value at the section where the vehicle M is moving during the process in which the vehicle M is performing the automatic movement based on the second automatic movement control, it is possible to switch to the automatic movement based on the first automatic movement control by limiting the automatic movement of the vehicle M based on the second automatic movement control. Therefore, it is possible to suppress the inappropriate second automatic movement control of the vehicle M caused by the delay in the transmission of the outside information and the like from the vehicle M to the control server 400, and it is possible to improve the safety of the vehicle M.

[0104] Further, according to the movement control system 1, even in a state where the automatic movement based on the second automatic movement control is limited due to the occurrence of the delay in the transmission of the outside information and the like from the vehicle M to the control server 400, in a case where the delay is improved, it is possible to restart the automatic movement based on the second automatic movement control. Therefore, it is possible to extend the period in which the highly automatic movement control of the vehicle M in which the control of the control server 400 is dominant is performed.

[0105] Further, according to the movement control system 1, the second automatic movement control in which the control content of the vehicle M is derived by the control server 400 requires less tasks to be completed by the driver of the vehicle M than the first automatic movement control in which the control content of the vehicle M is derived by the vehicle M itself. Therefore, it is possible to process the second automatic movement control in which the tasks of the driver are less, that is, the amount of computation of the ECU is more, by the ECU of the control server 400, and it is possible to reduce the processing load in the ECU of the vehicle M.

[0106] The embodiments of the present application have been described above, but the present application is not limited to the above-described embodiments, and can be appropriately modified, improved, and the like.

[0107] For example, in the above-described embodiments, an example in which the moving body is a vehicle has been described, but the present application is not limited thereto. The idea of the present application is not limited to a vehicle, and can be applied to a robot, a ship, an airplane, and the like that have a drive source and can move by the power of the drive source.

[0108] Also, at least the following matters are described in this specification. Furthermore, although the corresponding components and the like in the above-described embodiments are shown in parentheses, the present application is not limited thereto.

[0109] (1) A mobile control system in which,

[0110] The mobile control system includes:

[0111] a server (control server 400); and

[0112] a mobile body (vehicle M) capable of first automatic movement control in which a control content determined based on outside information is executed and second automatic movement control in which a control content instructed by the server by transmitting the outside information to the server is executed,

[0113] The mobile body executes the second automatic movement control when capable of the first automatic movement control and the second automatic movement control, and does not execute the second automatic movement control when capable of only the second automatic movement control among the first automatic movement control and the second automatic movement control.

[0114] According to (1), in a case where the first automatic movement control cannot be executed, the second automatic movement control is not executed even when the second automatic movement control can be executed, whereby it is possible to prevent the automatic movement control from suddenly stopping when a communication failure occurs between the server and the mobile body. Therefore, it is possible to improve the safety of the mobile body.

[0115] (2) The mobile control system according to (1), in which,

[0116] The server, during execution of the second automatic movement control by the mobile body, controls to restrict the second automatic movement control by the mobile body in a case where a control content derived based on the outside information deviates from a specification range corresponding to a section in which the mobile body is moving.

[0117] According to (2), it is possible to suppress inappropriate second automatic movement control caused by a delay in transmission of the outside information from the mobile body to the server, and to improve safety.

[0118] (3) The mobile control system according to (2), in which,

[0119] The server, after the second automatic movement control is restricted, also receives the outside information from the mobile body and derives a control content based on the outside information, and controls to release the restriction on the second automatic movement control in a case where the derived control content is included in the specification range.

[0120] According to (3), in a case where the transmission delay of the outside information from the mobile body to the server is improved, the second automatic movement control is restarted, and the period during which the server-dominant automatic movement control of the height is executed can be extended.

[0121] (4) The movement control system according to any one of (1) to (3), wherein

[0122] The second automatic movement control is an automatic movement control in which the user of the mobile body has less tasks than in the first automatic movement control.

[0123] According to (4), by performing the second automatic movement control in which the user has less tasks, that is, in which the amount of computation is more, in the server, it is possible to reduce the processing load in the mobile body.

[0124] (5) A mobile body that is a mobile body capable of automatic movement control, comprising:

[0125] a communication section (communication section 3) capable of communication with a server;

[0126] an acquisition section (sensor 2) that acquires outside information of the mobile body; and

[0127] a control section (ADAS ECU 5) capable of first automatic movement control in which a control content determined based on the outside information is executed and second automatic movement control in which a control content instructed by the server by transmitting the outside information to the server by the communication section is executed,

[0128] the control section executes the second automatic movement control in a case where the first automatic movement control and the second automatic movement control are executable, and does not execute the second automatic movement control in a case where only the second automatic movement control of the first automatic movement control and the second automatic movement control is executable.

[0129] According to (5), in a case where the first automatic movement control cannot be executed, even if the second automatic movement control can be executed, the second automatic movement control is not executed, and thus it is possible to prevent the automatic movement control from suddenly stopping when a communication failure occurs between the server and the mobile body. Therefore, it is possible to improve the safety of the mobile body.

[0130] (6) A control method is a control method of a mobile body capable of first automatic movement control in which a control content determined based on outside information is executed and second automatic movement control in which a control content instructed by a server by transmitting the outside information to the server is executed, wherein the control method includes:

[0131] the second automatic movement control is executed in a case where the first automatic movement control and the second automatic movement control are capable of being executed; and

[0132] the second automatic movement control is not executed in a case where only the second automatic movement control of the first automatic movement control and the second automatic movement control is capable of being executed.

[0133] According to (6), in a case where the first automatic movement control is not capable of being executed, even if the second automatic movement control is capable of being executed, the second automatic movement control is not executed, whereby it is possible to prevent the automatic movement control from suddenly stopping when a communication between the server and the mobile body fails. Therefore, it is possible to improve the safety of the mobile body.

Claims

1. A mobile control system in which, the mobile control system includes: a server; and a mobile body capable of first automatic movement control in which a control content determined based on outside information is executed and second automatic movement control in which a control content instructed by the server by transmitting the outside information to the server is executed, the mobile body executes the second automatic movement control when capable of the first automatic movement control and the second automatic movement control, and does not execute the second automatic movement control when capable of only the second automatic movement control among the first automatic movement control and the second automatic movement control, the server controls to limit the second automatic movement control by the mobile body when a control content derived based on the outside information deviates from a specification range corresponding to a section in which the mobile body moves during execution of the second automatic movement control by the mobile body, the server also receives the outside information from the mobile body and derives a control content based on the outside information after limiting the second automatic movement control, and controls to release the limitation on the second automatic movement control when the derived control content is included in the specification range.

2. The mobile control system according to claim 1, wherein, the second automatic movement control is automatic movement control in which a task of a user of the mobile body is less than the first automatic movement control.

3. A mobile body capable of automatic movement control in which, the mobile body includes: a communication section capable of communication with a server; an acquisition section that acquires outside information of the mobile body; and a control section capable of first automatic movement control in which a control content determined based on the outside information is executed and second automatic movement control in which a control content instructed by the server by transmitting the outside information to the server by the communication section is executed, the control section executes the second automatic movement control when capable of the first automatic movement control and the second automatic movement control, and does not execute the second automatic movement control when capable of only the second automatic movement control among the first automatic movement control and the second automatic movement control, the server controls to limit the second automatic movement control by the mobile body when a control content derived based on the outside information deviates from a specification range corresponding to a section in which the mobile body moves during execution of the second automatic movement control by the mobile body, the server also receives the outside information from the mobile body and derives a control content based on the outside information after limiting the second automatic movement control, and controls to release the limitation on the second automatic movement control when the derived control content is included in the specification range.

4. A control method of a mobile body capable of first automatic movement control in which a control content determined based on outside information is executed and second automatic movement control in which a control content instructed by a server by transmitting the outside information to the server is executed, wherein the control method performing the following processes: the second automatic movement control is executed when the first automatic movement control and the second automatic movement control are both executable; and the second automatic movement control is not executed when only the second automatic movement control is executable among the first automatic movement control and the second automatic movement control, the server performs control to restrict the second automatic movement control performed by the mobile body when a control content derived based on the outside information deviates from a specification range corresponding to a section in which the mobile body is moving during execution of the second automatic movement control by the mobile body, the server also receives the outside information from the mobile body and derives a control content based on the outside information after the second automatic movement control is restricted, and performs control to release the restriction on the second automatic movement control when the derived control content is included in the specification range.

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