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

Abstract

The present application provides a mobile body control system, a mobile body, a control method, and a storage medium, which can achieve more appropriate control corresponding to the situation of the surroundings. The mobile body control system includes a determination unit that determines whether an object lane becomes a pedestrian road on which vehicle passage is restricted, a processing unit that, in a case where the object lane is determined by the determination unit to become the pedestrian road, expands a movable region in which a mobile body can move in a width direction of the object lane, and a control unit that controls the mobile body based on the movable region.

Description

TECHNICAL FIELD

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

[0002] In the past, a route generation method of generating a route of a mobile body has been disclosed (Japanese Patent Application Publication No. 2013-239035). In this method, a sensor direction of a rotatable sensor is acquired, a search branch is elongated from a destination and a route point is generated, the search branch is elongated in a manner that the route point generated in the past is accommodated within a sensor measurement range, the sensor direction is decided, and a moving speed is decided, a total cost of a rotation cost of the sensor calculated based on the acquired sensor angle and a moving time cost of the mobile body is calculated, in a case where the search branch does not reach a current location of the mobile body, a new route point is generated by selecting the search branch with the minimum total cost, and the elongation of the search branch is repeatedly performed until the search branch reaches the current location of the mobile body. SUMMARY

[0003] However, in the above-described technique, the situation of the surroundings is not considered and only the cost is valued, and thus a route corresponding to the situation of the surroundings is not sometimes generated, and appropriate control corresponding to the situation of the surroundings is not realized.

[0004] The present application is completed in consideration of such a situation, and one of the objects is to provide a mobile body control system, a mobile body, a control method, and a storage medium that can realize more appropriate control corresponding to the situation of the surroundings.

[0005] As an example, a range that becomes a candidate of moving the mobile body is set according to the situation of the surroundings, and a track for moving the mobile body is generated in the range, and thus more appropriate control of the mobile body corresponding to the situation of the surroundings is realized.

[0006] Solution to Problem

[0007] The mobile body control system, the mobile body, the control method, and the storage medium of the present application adopt the following structure.

[0008] (1) A mobile body control system, wherein the mobile body control system includes: a determination unit that determines whether or not an object lane becomes a pedestrian road that restricts the passage of a vehicle; a processing unit that, in a case where the object lane is determined by the determination unit to become the pedestrian road, expands a movable region in which a mobile body can move in a width direction of the object lane; and a control unit that controls the mobile body based on the movable region.

[0009] (2): The processing section expands the movable region in a manner that more road regions are included, in the case where the subject lane is determined by the determination section to have become the pedestrian road.

[0010] (3): The processing section expands the movable region in the width direction of the subject lane by expanding the search range of the movable region in the width direction of the subject lane, in the case where the subject lane is determined by the determination section to have become the pedestrian road, on the basis of the scheme of (1) or (2).

[0011] (4): The processing section expands the movable region in the width direction of the subject lane, in the case where the destination of the moving body exists within or adjacent to the pedestrian road, compared to the case where the destination of the moving body does not exist within or adjacent to the pedestrian road, on the basis of any one of the schemes of (1) to (3).

[0012] (5): The processing section expands the movable region in the width direction of the subject lane in a manner that a region in front of the subject lane or in front of the subject lane in the opposite direction to the side to which the moving body is biased is included, on the basis of any one of the schemes of (1) to (4).

[0013] (6): The control section moves the moving body along a track generated on the basis of a road division line in the center of the subject lane in the pedestrian road, on the basis of any one of the schemes of (1) to (5).

[0014] (7): The processing section expands the movable region in the width direction of the subject lane after the moving body enters the pedestrian road, on the basis of any one of the schemes of (1) to (6).

[0015] (8): The processing section expands the movable region in the width direction of the subject lane before the moving body enters the pedestrian road, in the case where a region in front of the pedestrian road does not have or is not predicted to have a specific phenomenon that restricts movement of the moving body, on the basis of any one of the schemes of (1) to (7).

[0016] (9): The control section determines the degree of congestion of each road included in the movable region, and moves the moving body on the basis of a road having a low degree of congestion, on the basis of any one of the schemes of (1) to (8).

[0017] (10): In the system according to any one of (1) to (9), the movable area includes a first sidewalk, a second sidewalk, and a lane provided between the first sidewalk and the second sidewalk in the pedestrian road, and the control section causes the moving body to move to the second sidewalk by crossing the lane, in a case where a destination or a passing place of the moving body existing on the first sidewalk or the lane exists in a direction of the second sidewalk.

[0018] (11): In the system according to any one of (1) to (10), the movable area includes a sidewalk and a lane in the pedestrian road, and the control section selects a path among a path on the sidewalk, a path on the lane, and a path crossing the lane, based on one or more of a destination of the moving body, a congestion degree of an object of the pedestrian road, and a request related to a moving path designated by a user of the moving body, and causes the moving body to move along the selected path.

[0019] (12): A moving body, wherein the moving body is equipped with the moving body control system according to any one of (1) to (11).

[0020] (13): A control method according to an aspect of the present application, wherein the control method causes a computer to execute processing of determining whether an object lane becomes a pedestrian road that restricts passage of a vehicle, expanding a movable area in which a moving body can move in a width direction of the object lane in a case where it is determined that the object lane becomes the pedestrian road, and controlling the moving body based on the movable area.

[0021] (14): A storage medium according to an aspect of the present application, which stores a program that causes a computer to execute processing of determining whether an object lane becomes a pedestrian road that restricts passage of a vehicle, expanding a movable area in which a moving body can move in a width direction of the object lane in a case where it is determined that the object lane becomes the pedestrian road, and controlling the moving body based on the movable area.

[0022] Effects of the Invention

[0023] According to (1) to (14), the moving body control system can expand the movable area according to the situation of the surroundings, and thus can achieve more appropriate control corresponding to the situation of the surroundings. For example, in a road in which traffic participants allowed to pass vary by each period, control corresponding to the state of the road is achieved.

[0024] According to (4), the mobile body control system changes the movable area based on the position of the destination, thereby enabling the mobile body to move more rationally toward the destination.

[0025] According to (5), the mobile body control system is able to expand the movable area in a manner that expands the range of movement of the mobile body.

[0026] According to (6), the mobile body control system is able to move more smoothly on the pedestrian road by moving near the center of the lane.

[0027] According to (9), the mobile body control system is able to move more smoothly on the pedestrian road by moving on a road or area that is not congested in the road included in the movable area.

[0028] According to (10), the mobile body control system is able to move the mobile body more rationally toward the destination by causing the mobile body to cross the lane.

[0029] According to (11), the mobile body control system selects a path in the pedestrian road based on a plurality of elements and moves on the selected path, thereby enabling the mobile body to move more rationally on the pedestrian road while improving the satisfaction of the user. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a diagram showing an example of a mobile body provided with a control device of an embodiment.

[0031] Figure 2 is a diagram showing an example of other functional structures provided in the mobile body.

[0032] Figure 3 is a diagram showing an example of the behavior of the mobile body.

[0033] Figure 4 is a diagram for explaining the search range in the general road.

[0034] Figure 5 is a diagram showing an example of the movable area in the general road.

[0035] Figure 6 is a diagram for explaining the search range in the pedestrian road.

[0036] Figure 7 is a diagram showing an example of the movable area in the pedestrian road.

[0037] Figure 8 is a diagram showing an example of the process of searching for a passable search area.

[0038] Figure 9 is a diagram showing an example of the relationship between the destination and the area searched for the movable area.

[0039] Figure 10 is a diagram showing an example of a scenario in which the search range is not expanded before the mobile body enters the pedestrian road.

[0040] Figure 11 is a diagram showing an example of a scenario in which the search range is expanded before the mobile body enters the pedestrian road.

[0041] Figure 12 is a flowchart showing an example of a flow of processing performed by the control device. DETAILED DESCRIPTION

[0042] Hereinafter, a mobile body control system, a mobile body, a control method, and a storage medium according to an embodiment of the present application will be described with reference to the drawings.

[0043] <First Embodiment>

[0044] [Overall Structure]

[0045] Figure 1 is a diagram showing an example of a mobile body M provided with a control device according to the embodiment. The mobile body M is an autonomous mobile robot. The mobile body M assists the user's movement. The mobile body M, for example, stops at a position designated by the user, lets the user get on, and transports the user to a destination. In the present embodiment, a case where the mobile body M moves while letting the user get on will be described, but instead of or in addition to this, the mobile body M can transport an article, or move together with the user while guiding the user, or chase the user to assist the user's movement, and in addition, the mobile body M can or can not be a device that the user can get on.

[0046] The mobile body M is provided with a main body 2, one or more wheels 4 (4A, 4B in the figure), and a camera 10. In the main body 2, for example, a user can enter and exit the main body 2 through an entrance / exit such as a door, which is not shown, and the user can get on the mobile body M from the entrance / exit. The mobile body M, for example, drives the wheels 4 based on an image captured by the camera 10 to transport the user M.

[0047] In the present embodiment, a case where the user gets on in the main body 2 will be described, but instead of or in addition to this, a seating portion on which the user can sit without getting on in the main body 2 can be provided in order for the user to move together with the mobile body M, or a footrest on which the user can put his / her feet in order to move can be provided.

[0048] Figure 2 is a diagram showing an example of other functional structures provided in the mobile body M. The mobile body M, for example, is provided with the camera 10, the communication device 20, the HMI 30, the mobile body sensor 40, the position determination device 50, the driving operation member 80, the control device 100, the travel drive force output device 200, the brake device 210, and the steering device 220.

[0049] The camera 10 captures the surroundings of the mobile body M. The camera 10 is, for example, a fisheye camera capable of capturing the surroundings of the mobile body M in a wide angle (for example, 360 degrees). The camera 10 is, for example, installed at the upper portion of the mobile body M and captures the surroundings of the mobile body M in a wide angle in the horizontal direction. The camera 10 can also be implemented by combining a plurality of cameras (a plurality of cameras that capture a range of 120 degrees, a range of 60 degrees in the horizontal direction). The mobile body M can also have a radar device or a LIDAR that detects an object 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 prompts the user of the mobile body M with various information and accepts input operations by the user. The HMI 30 includes various display devices, a speaker, a buzzer, a touch panel, switches, keys, and the like.

[0052] The mobile body sensor 40 includes a vehicle speed sensor that detects the speed of the mobile body M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects the angular velocity around the vertical axis, a direction sensor that detects the orientation of the mobile body M, and the like.

[0053] The position determination device 50 determines the position of the mobile body M based on signals received from GNSS satellites. The position of the mobile body M can also be determined or supplemented by an INS (Inertial Navigation System) that utilizes the output of the mobile body sensor 40.

[0054] The driving operation 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a contoured steering wheel, a joystick, and other operation members. A sensor that detects the operation amount or the presence or absence of operation is installed in the driving operation 80, and the detection result is output to some or all of the control device 100, or the travel driving force output device 200, the brake device 210, and the steering device 220. In the case where the mobile body M is controlled only by automatic driving, the driving operation 80 can also be omitted.

[0055] The control device 100 includes, for example, an acquisition unit 110, an identification processing unit 120, a track generation unit 130, a travel control unit 140, an information processing unit 150, and a storage unit 180. The acquisition unit 110, the identification processing unit 120, the track generation unit 130, the travel control unit 140, and the information processing unit 150 are each implemented by, for example, a hardware processor such as a CPU executing a program (software). Some or all of these components can also be implemented by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), or the like, or by a combination of software and hardware. The program can be stored in the storage unit 180 (a storage device including a non-transitory storage medium) such as an HDD or a flash memory, or in a removable storage medium such as a DVD or a CD-ROM, and installed in the HDD or the flash memory by mounting the storage medium (non-transitory storage medium) in a drive device. The map information 190 is stored in the storage unit 180. Some of the functions of the acquisition unit 110, the identification processing unit 120, the track generation unit 130, the travel control unit 140, the information processing unit 150, and the storage unit 180 can also be included in other devices. The functional structure in which the identification processing unit (processing unit), the track generation unit 130, and the travel control unit 140 are combined is an example of a "mobile body control system". The functional structure in which the track generation unit 130 and the travel control unit 140 are combined is an example of a "control unit".

[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 mobile body M captured by the camera 10. The acquisition unit 110 can also acquire an image captured by a camera provided at a location different from the mobile body M, such as a road shoulder, instead of the camera 10. In this case, the control device 100 uses the image to perform various processes.

[0057] The recognition processing section 120 identifies the situation of the periphery of the mobile body M, for example, using a function based on AI (Artificial Intelligence) or a function based on a model given in advance or in parallel. For example, the function of "identifying a region in which the mobile body M can move" can be realized by "performing recognition of a road, a sidewalk, a curbstone, and the like based on deep learning and the like in parallel and recognition based on a condition given in advance (a traffic signal capable of pattern matching), and comprehensively evaluating by scoring both." The recognition processing section 120 can also perform a semantic segmentation processing to classify each pixel within a frame of an image by category (for example, an object, a region in which movement is possible, a region in which movement is not possible, and the like), and based on the classification result, identify a region in which the mobile body M can move ("movable region"). Thereby, the reliability of movement of the mobile body M is ensured.

[0058] The recognition processing section 120 identifies the position and the speed, the acceleration, and the like of the state of the object in the periphery of the mobile body M based on the image captured by the camera 10. The position of the object is identified as a position on an absolute coordinate with a representative point (a center of gravity, a driving shaft center, or the like) of the mobile body M as an origin, for example, and is used for control. The position of the object can also be represented by a representative point such as a center of gravity or a corner of the object, or can be represented by a region expressed. The "state" of the object can also include the acceleration, the jerk, or the "action state" (for example, whether or not a lane change is being performed or is about to be performed) of the object. The recognition processing section 120, for example, recognizes a road division line, a road shoulder, a curbstone, a median strip, a guardrail, a temporary stop line, an obstacle, a traffic signal, and other road phenomena. The recognition processing section 120 recognizes the position and the posture of the mobile body M. The recognition processing section 120 derives the degree of congestion of a prescribed region using the position of the object obtained from the image. The degree of congestion of the prescribed region can also be acquired from another device. In this case, the communication device 20 acquires information indicating the degree of congestion from another device.

[0059] The recognition processing section 120 includes a determination section 122, for example. The determination section 122 can also be provided in a device different from the control device 100. The determination section 122 determines whether or not the subject lane becomes a pedestrian road in which the passage of a vehicle is restricted. The determination section 122, for example, determines whether or not the subject road becomes a pedestrian road in which the passage of a vehicle is restricted, or the subject road becomes a general road in which the passage of a vehicle is not restricted, with respect to the subject road in the case where there is a road in which the passage of a vehicle is not restricted (a general road) and the case where there is a pedestrian road (a pedestrian road).

[0060] The track generation section 130 determines one or both of a stop position at which the mobile body M stops and a movement position at which the mobile body M moves, based on an instruction of the user, the movable region, and the region in which the mobile body M cannot move.

[0061] The track generation section 130 generates a target track along which the mobile body M automatically (independently of the operation of the driver) moves in the future in a manner that can cope with the surrounding situation of the mobile body M. The target track includes, for example, a speed element. For example, the target track is expressed as a track obtained by arranging points (track points) at which the mobile body M should arrive in order. The track points are points at which the mobile body M should arrive at every prescribed travel distance (for example, several [m]) in terms of distance along the route, and, in addition thereto, a target speed and a target acceleration are generated as a part of the target track at every prescribed sampling time (for example, several [sec]). The track points can also be positions at which the host vehicle M should arrive at every prescribed sampling time. In this case, information of the target speed and the target acceleration is expressed by the interval of the track points.

[0062] The track generation section 130 generates a track along which the mobile body M moves, and calculates a risk of the generated track. The risk is an index value indicating the magnitude of the possibility that the mobile body M approaches an obstacle. The smaller the distance of the obstacle with respect to the track (track point of the track), the higher the risk tends to be, and the larger the distance of the obstacle with respect to the track (track point), the lower the risk tends to be.

[0063] The track generation section 130 adopts a track that satisfies the criterion as a track along which the mobile body moves, in a case where the integrated value of the risks and the risk of each track point satisfy a criterion set in advance (for example, a case where the integrated value is equal to or lower than a threshold value Thl and the risk of each track point is equal to or lower than a threshold value Th2).

[0064] The travel control section 140 causes the mobile body M to move along a track that satisfies a criterion set in advance. The travel control section 140 outputs a command value for causing the mobile body M to move along the track to the travel driving force output device 200.

[0065] The information processing section 150 controls various devices and equipment possessed by the mobile body M. The information processing section 150, for example, controls the HMI 30. The information processing section 150 acquires data of a sound input to a microphone, or recognizes an operation performed on an operation section.

[0066] The travel driving force output device 200 outputs a travel driving force (torque) for moving the mobile body M to a driving wheel. The travel driving force output device 200, for example, has a motor, and an ECU (Electronic Control Unit) that controls the same. The ECU controls the above-described structure in accordance with information input from the travel control section 140 or information input from the driving operation member 80.

[0067] The brake device 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 in accordance with information input from the travel control section 140 or information input from the driving operation member 80, so that a brake torque corresponding to a brake operation is output to each wheel.

[0068] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies a force to a rack-and-pinion mechanism to change the orientation of a steered wheel. The steering ECU drives the electric motor in accordance with information input from the travel control section 140 or information input from the driving operation member 80, so that the orientation of the steered wheel is changed.

[0069] [Outline of Control of Mobile Body]

[0070] Figure 3 is a diagram showing an example of the behavior of the mobile body M. The mobile body M, for example, carries a user to a destination. At this time, the mobile body M moves on a sidewalk SwL (times t, t+1), descends from the sidewalk SwL to a road Rw, and moves on the road Rw (time t+2, time t+3). The mobile body M, for example, moves on the sidewalk SwL at a speed of the order of a walking speed of a pedestrian (for example, 4 km / h, 6 km / h), and, for example, walks on the road Rw at a speed greater than the above-described walking speed. The sidewalk SwL is a sidewalk on the left side in the direction of travel of the mobile body M, and the sidewalk SwR is a sidewalk existing across the road Rw. The road Rw includes a road R1 adjacent to the sidewalk SwL and a road R2 existing between the road R1 and the sidewalk SwR. The sidewalk SwL and the road R1 are divided by a road division line L1, and the sidewalk SwR and the road R2 are divided by a road division line L2. A center line LC is shown between the road R1 and the road R2.

[0071] The recognition processing portion 120 of the control device 100 expands the movable region in which the mobile body M is able to move in the width direction of the subject road (subject lane) in a case where the subject road (subject lane) becomes a pedestrian road. "Expansion" means that the movable region in a case where the subject road becomes a pedestrian road is expanded in the width direction of the subject road compared to the movable region in a case where the subject lane does not become a pedestrian road. The recognition processing portion 120 searches for the movable region in which the mobile body M is able to move from the subject region around the mobile body M. The recognition processing portion 120 expands the search range of the movable region in a case where the subject road including the lane into which the mobile body M has entered or is about to enter becomes a pedestrian road in which the passage of vehicles is restricted compared to a case where it does not become a pedestrian road. The track generation portion 130 generates a track in which the mobile body moves based on the searched movable region (movable region expanded in the width direction). The travel control portion 140 controls the mobile body M to move based on the track.

[0072] A "pedestrian road" refers to a pedestrian road in which the passage of vehicles is restricted. A "pedestrian road in which the passage of vehicles is restricted" refers to, for example, a road in which the entire road including a lane becomes a state in which only pedestrians are able to pass in which the passage of vehicles is restricted, and actually a road in which the entire road including a lane becomes a state in which only pedestrians are able to pass in which the passage of vehicles is restricted, in a period set such as a prescribed time period, a prescribed date and time, and the like. A road in a state before the passage of vehicles is restricted in a pedestrian road (before becoming a pedestrian road) is sometimes referred to as a "usual road". In an area in which there are many pedestrians such as a shopping street, a festival, and the like, and a time period in which there are many pedestrians, the usual road is changed to a pedestrian road. Hereinafter, specific examples of the processing in a usual road and a pedestrian road will be described. Each of the processes can be implemented in combination as long as they do not contradict each other.

[0073] The determination section 122 of the control device 100 can also determine whether the road into which the mobile body M has entered or is about to enter is a pedestrian road based on the recognition result of the image, and can determine whether the road is a pedestrian road based on information provided by another device, information set in advance. The control device 100, for example, acquires an image of the vicinity of the road, and in a case where the control device 100 recognizes, in the image, information indicating that the road is a pedestrian road, such as a sign, a mark, another display, a setting, or the like, indicating that the road is a pedestrian road, the control device 100 determines that the road is a pedestrian road. The determination section 122 determines that the road is a pedestrian road in a case where a mobile body of a predetermined kind (for example, a mobile body of the same kind as the mobile body M) is recognized to travel in a predetermined manner in a lane of the subject road. The predetermined manner refers to the behavior, the action, the manner of traveling, or the like of the mobile body M when the mobile body M travels on the pedestrian road. The determination section 122 determines that the subject road is a pedestrian road in a case where another mobile body performs an action, a behavior, a manner, or the like similar to an action, a behavior, a manner, or the like stored in advance in the storage section 180.

[0074] The determination section 122 of the control device 100 can also acquire, from a server device that provides information indicating that the subject road is a pedestrian road (provision information), the provision information, and determine that the subject road is a pedestrian road based on the acquired provision information. The control device 100 can also determine whether the subject road is a pedestrian road with reference to information in which information indicating that the road is a pedestrian road (date and time, time period) is associated with position information, which is prepared in advance.

[0075] [Control when traveling on a normal road]

[0076] Figure 4 is a diagram for explaining a search range in a normal road. Matters different from Figure 3 are explained. The control device 100 searches for a movable area in the area AR1 in a case where the control device 100 has entered or is about to enter a normal road. The area AR1, for example, includes a portion of a building A in front of the mobile body M and adjacent to a sidewalk SwL, the sidewalk SwL, a lane R1, and a portion of a lane R2. The range of the area AR1 is an example, and can be a different range. The area in which the mobile body M recognizes objects around the mobile body M and the situation around the mobile body M can be the same area as the area AR1, or can be an area (for example, an area including the area AR1 and being larger than the area AR1) different from the area AR1.

[0077] Figure 5 is a diagram indicating an example of a movable area AR2 in a normal road. The recognition processing section 120 of the control device 100 derives the movable area AR2 based on the semantic segmentation processing described above, the positions of the objects in the area AR1, the rules of traveling on the road, or the like. The movable area AR2 is as Figure 5The area shown includes a lane R1 in which a vehicle moves in the same direction as the moving direction of the mobile body M, and a sidewalk SwL. It is assumed that there is no object within the area AR2, and no object approaching the area AR2. The control device 100 generates a track for moving the mobile body M within the movable area AR2. The control device 100 generates, for example, a track OR1 for passing on the sidewalk SwL, and a track OR2 for passing on the lane R1. The control device 100 selects a desired track based on the situation of the surroundings, the direction of the destination, the target arrival time to the destination, and the like, and moves the mobile body M along the selected track.

[0078] [Control when moving on a pedestrian road (1)]

[0079] Figure 6 is a diagram for explaining a search range in a pedestrian road. Matters different from Figure 3 , Figure 4 and the like are explained. The control device 100 expands the movable area in a manner that includes more lane areas, in a case where the subject road (subject lane) is determined by the determination section 122 to have become a pedestrian road, compared to a case where it is not determined to have become a pedestrian road. The control device 100, for example, expands the search range of the movable area as follows, and expands the movable area based on the expanded search range. The control device 100 expands the search range of the movable area in a manner that includes a region in front of the subject road in the opposite direction to the side to which the mobile body is biased. The control device 100 searches for the movable area in the area AR3 in a case where it has entered or is to enter a pedestrian road. The area AR3 (an example of the "expanded search range") includes, for example, the front of the mobile body M, a part of the building A adjacent to the sidewalk SwL, the sidewalk SwL, the lane R1, the lane R2, the sidewalk SwR, and a part of the building adjacent to the sidewalk SwR. The range of the area AR3 is an example, and can be a different range. The area AR3 is a range wider (a range expanded in the width direction) than the area AR1.

[0080] Figure 7 is a diagram showing an example of a movable area AR4 in a pedestrian road. The recognition processing section 120 of the control device 100 derives the movable area AR4 based on the semantic segmentation processing described above, the positions of the objects within the area AR3, the passing rules of the road, and the like. The movable area AR4 is a range that includes, as shown in Figure 7 the sidewalk SwL, the lane R1, the lane R2, and the sidewalk SwR. It is assumed that there is no object within the area AR4, and no object approaching the area AR4. In this way, the movable area is expanded in the width direction of the subject road (subject lane).

[0081] The control device 100 generates a track for moving the mobile body M in the movable area AR4. The control device 100, for example, generates the track OR3-lane OR5. The track OR3 is a track in which the mobile body M moves on the sidewalk SwL.

[0082] The track OR4 is a track in which the mobile body M moves on the lane Rl. The track OR4 is an example of a "track in which the mobile body M moves based on a road division line toward the center of the lane Rl in the pedestrian road". The "based on a road division line toward the center" means that the control device 100 generates a track using a road division line, for example, generates a track parallel (substantially parallel) to the road division line, or generates a track with the road division line as a reference (at a prescribed distance from the road division line in the road width direction).

[0083] The track OR5 is a track in which the mobile body M crosses the lane Rl and the lane R2 to go to the sidewalk SwR. The track generated in the movable area AR4 is not limited to the above, and other tracks such as a track in which the mobile body M moves on the lane R2 can be included. The above example illustrates an example in which there is no object, but in a case where there is an object, the area in which the object exists is excluded from the movable area.

[0084] For example, in a case where the destination of the mobile body M is a building B adjacent to the sidewalk SwR, the control device 100 generates a track OR5 that passes through the lane Rl, the lane R2, and the sidewalk SwR to go to the building B. In the illustrated example, the track OR5 is not limited to a straight line, and can be a curved line, a zigzag, or the like. The track OR5 is an example of a track in which the mobile body crosses a lane to move to a second sidewalk, and the mobile body goes to a destination or a passing place.

[0085] For example, in a case where the mobile body M goes to a destination in a case where it is a general road, the mobile body M moves to a place where a traffic signal exists, a place where a pedestrian crossing is provided, or the like, and detours to go to the destination. In contrast, in a case where it is a pedestrian road, the mobile body M can make the movable area larger by expanding the search range, and go to the destination along a reasonable path to the destination obtained from the movable area.

[0086] The control device 100 can also control the mobile body M based on a region in which the degree of congestion of the object of the sidewalk or the lane included in the movable region is low. The object refers to a traffic participant or an object provided on the pedestrian road. The low degree of congestion refers to a small density per unit region or a small number of objects. For example, the mobile body M moves in a region in which the degree of congestion is low. For example, the control device 100 can also determine the degree of congestion of each road included in the movable region and cause the mobile body M to move based on the road in which the degree of congestion is low. The degree of congestion of each road refers to the degree of congestion of the sidewalk or the degree of congestion of the lane, the degree of congestion of each of the sidewalk SwL, the lane R1, the lane R2, and the sidewalk SwR, and the like. The control device 100 can also, for example, preferentially determine the lane R2 as the road in which the mobile body M moves in a case where the degree of congestion of the lane R2 is low among the degrees of congestion of each of the sidewalk SwL, the lane R1, the lane R2, and the sidewalk SwR.

[0087] The control device 100 can also generate a track that enables the mobile body M to appropriately go to the destination and causes the mobile body M to move in a region in which the degree of congestion is low. For example, the control device 100 can also generate a plurality of tracks or generate a track in a mesh shape and score elements such as the degree of congestion, the distance before reaching the destination, the time, and the like with respect to each track, and determine the track of the mobile body M based on a result obtained by statistically processing the scores. For example, the mobile body M moves based on the track in which the score is high.

[0088] Further, the control device 100 can select a path in which the mobile body moves among a path in which the mobile body moves on the sidewalk, a path in which the mobile body moves on the lane, and a path in which the mobile body crosses the lane, based on one or more elements of the destination of the mobile body M, the degree of congestion of the object of the pedestrian road, or a request related to the path in which the user of the mobile body designates the movement, and cause the mobile body to move along the selected path. For example, in a case where the request of the user is a request to move in a path in which the mobile body moves on the sidewalk, the control device 100 controls so as to move the mobile body M on the sidewalk as much as possible, and in a case where the request of the user is a request to move in a path in which the mobile body moves on the lane, the control device 100 controls so as to move the mobile body M on the lane as much as possible. In a case where the request of the user is a request to move on the sidewalk on the opposite side (the sidewalk of the destination after crossing the lane), the control device 100 controls so as to move the mobile body M on the sidewalk on the opposite side by crossing the lane as much as possible. In this way, the control device 100 can control the movement of the mobile body M in the pedestrian road in accordance with the request of the user.

[0089] By expanding the search range and movable area as described above, the control device 100 can derive a movable area suitable for the road conditions, thereby generating a more appropriate track. As a result, the control device 100 can achieve more appropriate control corresponding to the surrounding conditions.

[0090] [Control while moving on pedestrian roads (Part 2)]

[0091] The control device 100 can also expand the search range of the movable area when the destination of the moving body M exists within or adjacent to a pedestrian road, compared to when the destination of the moving body M does not exist within or adjacent to a pedestrian road. Based on the results of the above processing, the control device 100 expands the movable area in the width direction of the target road (target lane).

[0092] The control device 100 can also be used when the destination exists in a location associated with a pedestrian road, such as Figure 6 , Figure 7 As shown, a movable region AR4 is derived from region AR3, provided that the destination does not exist in a location associated with pedestrian roads, such as... Figure 8 As shown, the control device 100 searches for the movable area AR6 within area AR5. In other words, when the destination of the mobile body M exists within or adjacent to a pedestrian road, the control device 100 expands the search range of the movable area compared to when the destination of the mobile body M does not exist within or adjacent to a pedestrian road. The destination existing in a location related to a pedestrian road means that the destination (or transit point) exists within, near, or adjacent to a pedestrian road. Transit points include roads traveled after passing through a pedestrian road, right or left turn locations, and other places the mobile body M subsequently travels to.

[0093] Figure 9 This is a diagram illustrating an example of the relationship between a destination and a region that can be searched for. Figure 9 The example illustrates the case where the search range is fan-shaped. For example, if the destination does not exist on a pedestrian road, the control device 100 uses the range of angle θ1 as a reference, with the moving body M as the search range. For example, if the destination exists on a pedestrian road, the control device 100 expands the search range in a way that includes the direction of the destination. For example, if the destination exists within the range of angle θ2, the search range is the range corresponding to the angle combining angles θ1 and θ2.

[0094] The control device 100 can derive an appropriate search range, a movable area, and a track based on the destination, the direction and position of the transit point with respect to the pedestrian road. Thus, the control device 100 can achieve appropriate control that takes the destination and the transit point into consideration.

[0095] In each of the above (or below) examples, the control device 100 can also adjust the search range taking the congestion degree of the object into consideration. For example, the control device 100 can expand the first search range to a second search range larger than the first search range in a case where the congestion degree of the object in the first search range is equal to or higher than a threshold. Thus, the control device 100 can derive a movable area in which the congestion degree is lower than the threshold.

[0096] [Control when entering the pedestrian road (1)]

[0097] The control device 100 expands the search range of the movable area after the mobile body M enters the pedestrian road and expands the movable area in the width direction based on the expanded search range. The control device 100, for example, does not expand the search range of the movable area before the mobile body M enters the pedestrian road and expands the search range of the movable area after the mobile body M enters the pedestrian road in a case where a specific phenomenon that restricts the movement of the mobile body M is generated or predicted to be generated in the area in front of the pedestrian road.

[0098] Figure 10 is an example of a diagram that represents a scenario in which the search range is not expanded before the mobile body M enters the pedestrian road. For example, in a case where a crossroad exists at the front of the pedestrian road, it is determined that a specific phenomenon that restricts the movement of the mobile body M is generated or predicted to be generated, and the search range is not expanded. The specific phenomenon refers to, for example, the movement of the mobile body M being restricted by an object such as a vehicle different from a pedestrian, or an environment in which an object such as a vehicle requires attention. The specific phenomenon refers to, for example, the existence of a crossroad as illustrated in Figure 10 , the passage of a vehicle, the possibility of the passage of a vehicle, the possibility of the passage of a vehicle being equal to or higher than a prescribed degree, or the like.

[0099] As described above, the control device 100 expands the search range after the mobile body M enters the pedestrian road (or in a region where the specific phenomenon is not generated, a region where the specific phenomenon is predicted not to be generated, or the like, at a position several meters to several tens of meters ahead of the front, before entering) even in a case where the specific phenomenon that restricts the movement of the mobile body M is generated or predicted to be generated in the area in front of the pedestrian road. Thus, it is possible to suppress the unnecessary expansion of the search range and the movable area in a situation where the area in which the mobile body M can move is not expanded.

[0100] [Control when entering the pedestrian road (2)]

[0101] The control device 100 expands the search range of the movable area before the mobile body M enters the pedestrian road, in a case where no specific phenomenon that restricts the movement of the mobile body M is generated or predicted to be generated in the area in front of the pedestrian road. The control device 100 expands the search range of the movable area, for example, in such a manner that an area in front of the road in front of the subject road in the opposite direction from the side to which the mobile body is biased is included. Thus, the movable area is expanded toward the subject road (subject lane) before the mobile body M enters the pedestrian road.

[0102] Figure 11 is an example of a scenario in which the search range is expanded before the mobile body M enters the pedestrian road. For example, in the subject road Rd, the area AR7 is in front of the pedestrian road, and the area AR7 is an area in front of the pedestrian road (road in front of the pedestrian road) that is connected to the pedestrian road. The area in front of the pedestrian road can be a general road. In the area AR7, the area AR7 is included in the search range in a case where no specific phenomenon that restricts the movement of the mobile body M is generated or predicted to be generated. The control device 100 expands the search range before the mobile body M enters the pedestrian road in a case where no specific phenomenon such as vehicle passage is predicted to be generated in the area AR7 as shown in Figure 11

[0103] The control device 100 generates the track, for example, on the basis of the degree of congestion in the area AR7, the position of the destination, the direction of the destination, and the like. The control device 100 generates the track OR7-OR9 of the movement of the mobile body M in the area in front of the pedestrian road, for example, as shown in Figure 11

[0104] As described above, the control device 100 also expands the search range and the movable area before the mobile body M enters the pedestrian road, and thus can increase the degree of freedom related to the movement of the mobile body M. Thus, the control device 100 can cause the mobile body M to move smoothly and along a reasonable path.​​

[0105] Also, in the control at the time of entering the pedestrian road, the search range at the front of the pedestrian road can be expanded in a case where the destination of the mobile body M exists in the pedestrian road, or exists adjacent to the pedestrian road, as compared with a case where the destination of the mobile body M does not exist in the pedestrian road, or does not exist adjacent to the pedestrian road. For example, in a case where the destination exists in the pedestrian road, at the front of the pedestrian road, or just after passing the pedestrian road, the search range can be expanded as shown in FIG. 9, and in a case other than this, the search range can be reduced as compared with the expanded range shown in FIG. 9. Also, in a case where a certain phenomenon does not occur, or is not predicted to occur, the search range can be expanded, and the control device 100 can expand the search range of the movable region after the mobile body M enters the pedestrian road, as compared with before entering. Thereby, the movable region can be expanded toward the subject road (subject lane) after the mobile body M enters the pedestrian road. Figure 11 Figure 11

[0106] [Flowchart]

[0107] Figure 12 FIG. 10 is a flowchart showing an example of a flow of processing performed by the control device 100. First, the control device 100 determines whether the mobile body M has approached the pedestrian road (step S100). In a case where the mobile body M has approached the pedestrian road, the control device 100 determines whether a certain phenomenon has occurred (or is predicted to occur) in the region at the front of the pedestrian road (step S102). In a case where the certain phenomenon has not occurred in the region at the front of the pedestrian road (or is not predicted to occur), the control device 100 expands the search range (step S106). The control device 100 expands the search range at the front of the pedestrian road.

[0108] In a case where the certain phenomenon has occurred in the region at the front of the pedestrian road (or is predicted to occur), the control device 100 determines whether the mobile body M has entered the pedestrian road (step S104). In a case where the mobile body M has entered the pedestrian road, the control device 100 expands the search range (step S106). In the pedestrian road, the control device 100 continuously performs the processing of expanding the search range. Next, the control device 100 determines whether an end condition is satisfied (step S108). In a case where the end condition is not satisfied, the processing returns to step S106, and in a case where the end condition is satisfied, the processing of the present flowchart ends. The end condition refers to, for example, having approached the end point of the pedestrian road, reaching the end point of the pedestrian road, passing the pedestrian road, and the like.

[0109] ​​As described above, the control device 100 can set an appropriate search range according to the condition of the road, and expand the movable region. Thereby, the control device 100 can generate a track in which the mobile body M moves in the movable region corresponding to the condition of the road. As a result, the control device 100 can control the mobile body M according to the condition of the surroundings.

[0110] The embodiment described above can be expressed as follows.

[0111] A control device, wherein

[0112] The control device has:

[0113] a storage device that stores a program; and

[0114] a hardware processor,

[0115] the program stored in the storage device is executed by the hardware processor to perform the following processing:

[0116] determining whether an object lane becomes a pedestrian road on which the passage of a vehicle is restricted;

[0117] in a case where it is determined that the object lane becomes the pedestrian road, expanding a movable region in which a mobile body can move in a width direction of the object lane;

[0118] controlling the mobile body based on the movable region.

[0119] The above describes a specific embodiment of the present application using the embodiment, but the present application is not limited at all by such an embodiment, and various modifications and substitutions can be applied within a range not departing from the gist of the present application.

Claims

1. A mobile body control system, wherein, The mobile body control system includes: The determination unit determines whether the target lane has become a pedestrian road, wherein the target lane changes to a pedestrian road that restricts vehicle passage based on the date and time. The processing unit, when the determination unit determines that the target lane has become the pedestrian road, expands the movable area in the width direction of the target lane to which the moving body can move. as well as A control unit that controls the moving body based on the movable area.

2. A mobile body control system, wherein, The mobile body control system includes: The determination department determines whether the lane in question has become a pedestrian road where vehicles are prohibited from passing. The processing unit, when the determination unit determines that the target lane has become the pedestrian road, expands the movable area in the width direction of the target lane to which the moving body can move. as well as A control unit that controls the moving body based on the movable area.

3. The mobile body control system according to claim 1 or 2, wherein, When the determination unit determines that the target lane has become the pedestrian road, the processing unit expands the movable area to include more lane areas.

4. The mobile body control system according to claim 1 or 2, wherein, When the determination unit determines that the target lane has become the pedestrian road, the processing unit expands the movable area in the width direction of the target lane by expanding the search range of the movable area in the width direction of the target lane.

5. The mobile body control system according to claim 1 or 2, wherein, When the destination of the moving object is located within or adjacent to the pedestrian road, the processing unit expands the movable area in the width direction of the target lane compared to when the destination of the moving object is not located within or adjacent to the pedestrian road.

6. The mobile body control system according to claim 1 or 2, wherein, The processing unit expands the movable area in the width direction of the target lane in such a way that it includes the area in front of the road in front of the target lane or the area in front of the target lane in the opposite direction to the side to which the moving body is biased.

7. The mobile body control system according to claim 1 or 2, wherein, The control unit causes the moving body to move along a track generated based on the central road dividing line of the target lane in the pedestrian road.

8. The mobile body control system according to claim 1 or 2, wherein, After the moving body enters the pedestrian road, the processing unit expands the movable area in the width direction of the target lane.

9. The mobile body control system according to claim 1 or 2, wherein, If no specific phenomenon that would restrict the movement of the moving body occurs or is not predicted in the area in front of the pedestrian road, the processing unit expands the movable area in the width direction of the target lane before the moving body enters the pedestrian road.

10. The mobile body control system according to claim 1 or 2, wherein, The control unit determines the congestion level of each road within the movable area and moves the mobile body based on the road with the lowest congestion level.

11. The mobile body control system according to claim 1 or 2, wherein, The movable area includes a first sidewalk, a second sidewalk, and a lane located between the first and second sidewalks in the pedestrian walkway. When the destination or transit point of the mobile body existing on the first sidewalk or the lane is in the direction of the second sidewalk, the control unit causes the mobile body to cross the lane and move towards the second sidewalk, so that the mobile body goes to the destination or transit point.

12. The mobile body control system according to claim 1 or 2, wherein, The movable area includes the sidewalks and driveways in the pedestrian road. The control unit selects a path based on one or more factors among the paths the mobile body moves on the sidewalk, the path the mobile body moves on the road, and the path crossing the road, including the destination of the mobile body, the level of congestion of objects on the pedestrian road, and a request related to the path specified by the user of the mobile body, and causes the mobile body to move along the selected path.

13. A mobile body, wherein, The mobile body is equipped with a mobile body control system according to any one of claims 1 to 12.

14. A control method, wherein, The control method causes the computer to perform the following processing: Determine whether the target lane has become a pedestrian road, wherein the target lane changes to a pedestrian road that restricts vehicle passage based on the date and time; If it is determined that the target lane has become the pedestrian road, the movable area in which the moving body can move is expanded in the width direction of the target lane. The moving body is controlled based on the movable area.

15. A storage medium storing a program, wherein, The program causes the computer to perform the following processes: Determine whether the target lane has become a pedestrian road, wherein the target lane changes to a pedestrian road that restricts vehicle passage based on the date and time; If it is determined that the target lane has become the pedestrian road, the movable area in which the moving body can move is expanded in the width direction of the target lane. The moving body is controlled based on the movable area.

16. A control method, wherein, The control method causes the computer to perform the following processing: Determine whether the lane in question has become a pedestrian road where vehicles are prohibited from passing; If it is determined that the target lane has become the pedestrian road, the movable area in which the moving body can move is expanded in the width direction of the target lane. The moving body is controlled based on the movable area.

17. A storage medium storing a program, wherein, The program causes the computer to perform the following processes: Determine whether the lane in question has become a pedestrian road where vehicles are prohibited from passing; If it is determined that the target lane has become the pedestrian road, the movable area in which the moving body can move is expanded in the width direction of the target lane. The moving body is controlled based on the movable area.

Images