Control device for moving body, control method for moving body and storage medium

Abstract

Regarding a mobile body capable of moving between a lane and a designated area different from the lane, a control device, a control method, and a storage medium for appropriately controlling the mobile body when entering the designated area from the lane. The control device for the mobile body includes: an acquisition unit for acquiring the status of the occupants; a road type recognition unit for recognizing whether the mobile body is moving in a lane or in a designated area; a connection recognition unit for recognizing the existence of a connection between the lane and the designated area on the direction of travel of the mobile body; and a control unit for at least partially controlling the speed of the mobile body, limiting the speed of the mobile body to a first speed when moving in a lane, and limiting the speed of the mobile body to a second speed lower than the first speed when moving in a designated area. When the mobile body is moving in a lane, a connection is recognized within a designated range from the mobile body, and the status of the occupants is a designated state, the control unit brings the speed of the mobile body close to the second speed.

Description

Technical Field

[0001] This invention relates to a control device for a mobile body, a control method for a mobile body, and a storage medium. Background Technology

[0002] Previously, inventions of electric vehicles for one person that can move on sidewalks have been disclosed (Patent Document 1).

[0003] Prior art literature

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-189536 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] Previous technologies did not envision a moving body capable of moving between a lane and a designated area separate from the lane. Therefore, proper control was sometimes impossible when entering a designated area from a lane.

[0008] The present invention was made in consideration of such a situation, and one of its objectives is to provide a control device, a control method, and a storage medium for a mobile body capable of moving between a lane and a designated area different from the lane, which allows for appropriate control of the mobile body when entering the designated area from the lane.

[0009] Methods for solving problems

[0010] The control device, control method, and storage medium for the mobile body of the present invention adopt the following structure.

[0011] (1): One aspect of the present invention relates to a control device for a mobile body, the mobile body being used by one or more occupants and capable of moving between a lane and a designated area different from the lane, wherein the control device for the mobile body comprises: an acquisition unit that acquires the state of the occupant; a road type identification unit that identifies whether the mobile body is moving in the lane or in the designated area; a connection identification unit that identifies the existence of a connection between the lane on the direction of travel of the mobile body and the designated area; and a control unit that at least partially controls the speed of the mobile body, limiting the speed of the mobile body to a first speed when it is moving in the lane, and limiting the speed of the mobile body to a second speed lower than the first speed when it is moving in the designated area, wherein the control unit causes the speed of the mobile body to approach the second speed when the mobile body is moving in the lane, and the connection is identified within a designated range from the mobile body, and the state of the occupant is a designated state.

[0012] (2): In the above (1) scheme, when the mobile body is moving on the lane and the connecting part is detected within a specified range from the mobile body and the occupant is in a specified state, the control unit uses an interface device to inquire about the intention to enter the specified area, and if a positive response is received, the speed of the mobile body is brought close to the second speed.

[0013] (3): In the above scheme (1) or (2), the acquisition unit acquires the direction of the occupant's gaze as the state of the occupant, and the specified state is the state in which the direction of the occupant's gaze is toward the specified area.

[0014] (4): In any of the above schemes (1) to (3), the acquisition unit acquires the direction of the occupant's gaze as the state of the occupant, and the specified state is a state in which the direction of the occupant's gaze is unstable.

[0015] (5): In any of the above schemes (1) to (4), the acquisition unit acquires the content of the dialogue with the occupant using the interface device, and the specified state is a state in which the content of the dialogue includes specific keywords.

[0016] (6): In the above scheme (5), the specific keyword is related to eating or fasting.

[0017] (7): In the above scheme (5) or (6), the specific keyword is related to rest or fatigue.

[0018] (8): In any of the above schemes (1) to (7), the road type identification unit identifies whether the moving body is moving on the lane or in the specified area based on the output of the external detection device that detects the external condition of the moving body.

[0019] (9): In any of the above schemes (1) to (8), the road type identification unit identifies whether the moving body is moving on the lane or in the designated area based on the operation of the occupant on the switch provided inside the moving body.

[0020] (10): In any of the above schemes (1) to (9), when the road type identification unit detects that the moving body is moving in the designated area, the external reporting device reports to the outside of the moving body that it is moving in the designated area.

[0021] (11): In another aspect of the present invention, a control method for a mobile body is provided by a computer, the mobile body being used by one or more occupants and capable of moving between a lane and a designated area different from the lane, wherein the control method for the mobile body causes the computer to perform the following processes: obtaining the state of the occupant, identifying whether the mobile body is moving in the lane or in the designated area, identifying the existence of a connection between the lane and the designated area on the direction of travel of the mobile body, controlling the speed of the mobile body at least partially, limiting the speed of the mobile body to a first speed when the mobile body is moving in the lane, limiting the speed of the mobile body to a second speed lower than the first speed when the mobile body is moving in the designated area, and when the mobile body is moving in the lane, the connection is identified within a designated range from the mobile body, and the state of the occupant is a designated state, bringing the speed of the mobile body close to the second speed.

[0022] (12): In another embodiment of the present invention, the storage medium stores a program, a computer-controlled mobile body, the mobile body being carried by one or more occupants and capable of moving between a lane and a designated area different from the lane, wherein the program causes the computer to perform the following processes: obtaining the state of the occupant, identifying whether the mobile body is moving in the lane or in the designated area, identifying the existence of a connection between the lane and the designated area on the direction of travel of the mobile body, controlling the speed of the mobile body at least partially, limiting the speed of the mobile body to a first speed when the mobile body is moving in the lane, limiting the speed of the mobile body to a second speed lower than the first speed when the mobile body is moving in the designated area, and when the mobile body is moving in the lane, and the connection is identified within a designated range from the mobile body, and the state of the occupant is a designated state, causing the speed of the mobile body to approach the second speed.

[0023] (13): Another aspect of the present invention relates to a control device for a mobile body for one or more occupants, capable of moving between a lane and a designated area different from the lane, wherein the control device for the mobile body comprises: an acquisition unit that acquires the state of the occupant; a road type identification unit that identifies whether the mobile body is moving in a lane or in the designated area; a connection identification unit that identifies the existence of a connection between the lane on the direction of travel of the mobile body and the designated area; and a control unit that at least partially controls the speed of the mobile body, limiting the speed of the mobile body to a first speed when it is moving in a lane, and limiting the speed of the mobile body to a second speed lower than the first speed when it is moving in the designated area, wherein the control unit uses an interface device to suggest deceleration to the occupant when the mobile body is moving in a lane, the connection is identified within a designated range from the mobile body, and the state of the occupant is a designated state.

[0024] (14): In another aspect of the present invention, a control method for a mobile body is implemented by a computer. The mobile body is used by one or more occupants and is capable of moving between a lane and a designated area different from the lane. The control method for the mobile body causes the computer to perform the following processes: obtain the state of the occupant; identify whether the mobile body is moving in the lane or in the designated area; identify the existence of a connection between the lane and the designated area on the direction of travel of the mobile body; control the speed of the mobile body at least partially; limit the speed of the mobile body to a first speed when it is moving in the lane; limit the speed of the mobile body to a second speed lower than the first speed when it is moving in the designated area; and, when the mobile body is moving in the lane, the connection is identified within a designated range from the mobile body, and the state of the occupant is a designated state, propose deceleration to the occupant using an interface device.

[0025] (15): In another embodiment of the present invention, the storage medium stores a program for computer-controlled mobile body, which is used by one or more occupants and is capable of moving between a lane and a designated area different from the lane, wherein the program causes the computer to perform the following processes: obtain the state of the occupant, identify whether the mobile body is moving in the lane or in the designated area, identify the existence of a connection between the lane and the designated area on the direction of travel of the mobile body, at least partially control the speed of the mobile body, limit the speed of the mobile body to a first speed when it is moving in the lane, limit the speed of the mobile body to a second speed lower than the first speed when it is moving in the designated area, and use an interface device to suggest deceleration to the occupant when the mobile body is moving in the lane, the connection is identified within a designated range of the mobile body, and the state of the occupant is a designated state.

[0026] Invention Effects

[0027] According to the schemes (1) to (15), for a moving body that can move in both the lane and the designated area different from the lane, it is possible to make appropriate control when entering the designated area from the lane. Attached Figure Description

[0028] Figure 1 This is a diagram illustrating an example of the structure of the mobile body 1 and the control device 100 according to an embodiment.

[0029] Figure 2 This is a perspective view of the moving object 1 viewed from above.

[0030] Figure 3 This is a diagram illustrating the shape of the connected parts.

[0031] Figure 4 This is a diagram illustrating the shape of the connected parts.

[0032] Figure 5 This is a diagram illustrating the shape of the connected parts.

[0033] Figure 6 This is a diagram illustrating an example of a scenario involving specific speed control.

[0034] Figure 7 This is a flowchart illustrating an example of the process executed by the control device 100 of the embodiment.

[0035] Explanation of reference numerals in the attached figures:

[0036] 10 Externally detectable devices

[0037] 12 Moving body sensors

[0038] 14 Operating components

[0039] 16 Internal Cameras

[0040] 18 Positioning Device

[0041] 20 Dialogue Devices

[0042] 22 Mode Switch

[0043] 30. Mobile mechanisms

[0044] 40 Drive unit

[0045] 50 External Reporting Devices

[0046] 70 Storage devices

[0047] 100 Control device

[0048] 110 Obtained by the Department

[0049] 120 Road Type Identification Department

[0050] 130 Connectivity identification unit

[0051] 140 Control Department. Detailed Implementation

[0052] Hereinafter, embodiments of the control device, control method, and storage medium for the mobile body of the present invention will be described with reference to the accompanying drawings. The mobile body moves between a lane and a designated area different from the lane. The designated area is, for example, a sidewalk. Alternatively, the designated area may be part or all of a roadside area, bicycle lane, open space, etc., and may include all of the sidewalk, roadside area, bicycle lane, open space, etc. In the following description, the designated area is assumed to be a sidewalk. The portion referred to as "sidewalk" in the following description can be appropriately replaced with "designated area".

[0053] <First Implementation Method>

[0054] Figure 1 This diagram illustrates an example of the structure of the mobile body 1 and control device 100 according to an embodiment. The mobile body 1 includes, for example, an external detection device 10, a mobile body sensor 12, an operating element 14, an internal camera 16, a positioning device 18, a dialogue device 20, a mode switching switch 22, a movement mechanism 30, a drive device 40, an external reporting device 50, a storage device 70, and a control device 100. It should be noted that structures that are not essential for achieving the functions of this invention may be omitted.

[0055] The external detection device 10 is a variety of devices whose detection range is the direction of travel of the moving body 1. The external detection device 10 includes external cameras, radar devices, LIDAR (Light Detection and Ranging), sensor fusion devices, etc. The external detection device 10 outputs information representing the detection results (image, object position, etc.) to the control device 100.

[0056] The moving body sensor 12 may include, for example, a speed sensor, an acceleration sensor, a yaw rate (angular velocity) sensor, an orientation sensor, and an operation amount detection sensor mounted on the operating member 14. The operating member 14 may include, for example, operating members for indicating acceleration / deceleration (e.g., accelerator pedal, brake pedal) and operating members for indicating steering (e.g., steering wheel). In this case, the moving body sensor 12 may include a throttle opening sensor, a brake pedal input sensor, a steering torque sensor, etc. The moving body 1 may also have an operating member of a form other than those described above (e.g., a non-annular rotary operating member, a joystick, a button, etc.) as the operating member 14.

[0057] The internal camera 16 captures at least the head of the occupant of the moving body 1 from the front. The internal camera 16 is a digital camera that utilizes imaging elements such as CCD (Charge Coupled Device) and CMOS (Complementary Metal Oxide Semiconductor). The internal camera 16 outputs the captured image to the control device 100.

[0058] Positioning device 18 is a device for determining the position of mobile body 1. Positioning device 18 is, for example, a GNSS (Global Navigation Satellite System) receiver, which determines the position of mobile body 1 based on signals received from GNSS satellites and outputs it as position information. It should be noted that the position information of mobile body 1 can also be estimated based on the location of the Wi-Fi base station to which the communication device is connected, as described later.

[0059] The dialogue device 20 includes, for example, a speaker, microphone, touch panel, and communication device. The dialogue device 20 appropriately processes the occupant's voice collected by the microphone and transmits it to a server device via a network using the communication device. Based on the information returned from the server device, it provides voice-based information through the speaker. The dialogue device 20 may also be referred to as an intelligent agent device, concierge device, or assistant device. The server device has voice recognition, natural language processing, meaning interpretation, and content determination functions. Alternatively, the dialogue device 20 may send location information to the server device, and the server device may, based on the location information and guidance requests made by the occupant (e.g., "Are there any good ramen shops nearby?"), return information on suitable facilities. In this case, the dialogue device 20 provides voice guidance such as "It's located after turning left ahead." Not limited to this, the dialogue device 20 may also have the function of accepting the occupant's natural speech and providing appropriate responses. In addition, the dialogue device 20 may also have the function of conducting simple dialogues without going through a server device, such as asking questions and receiving responses from the device side, and asking questions to the passenger according to the request from the control device 100. The dialogue device 20 is an example of an interface device.

[0060] The mode switch 22 is an occupant-operated switch. The mode switch 22 can be a mechanical switch or a GUI (Graphical User Interface) switch set on a touch panel. For example, the mode switch 22 accepts operation to switch the driving mode to any of the following: Mode A (speed assist mode where steering is performed by the occupant and acceleration / deceleration control is automatic), Mode B (manual driving mode where steering and acceleration / deceleration are performed by the occupant), or Mode C (automatic driving mode where steering and acceleration / deceleration control are automatic).

[0061] The moving mechanism 30 is a mechanism for moving the moving body 1 on a road. The moving mechanism 30 can be, for example, a wheel assembly including steering wheels and drive wheels. Alternatively, the moving mechanism 30 can also be legs for multi-legged walking.

[0062] The drive unit 40 outputs force to the moving mechanism 30, causing the moving body 1 to move. For example, the drive unit 40 includes a motor that drives the drive wheels, a battery that stores the electricity supplied to the motor, and a steering device that adjusts the steering angle of the steering wheels. The drive unit 40 may also include an internal combustion engine, a fuel cell, or the like as a drive force output mechanism or a power generation mechanism. In addition, the drive unit 40 may also include a braking device based on friction and air resistance.

[0063] The external reporting device 50 may be, for example, a lamp, display device, speaker, etc., installed on the outer panel of the mobile body 1 for reporting external information to the mobile body 1. The external reporting device 50 operates differently depending on whether the mobile body 1 is moving on a sidewalk or a driveway. For example, the external reporting device 50 may be controlled to illuminate when the mobile body 1 is moving on a sidewalk and not illuminate when the mobile body 1 is moving on a driveway. The color of the light is preferably a color determined by regulations. When the external reporting device 50 is a display device, it displays the message "Moving on the sidewalk" in text or graphics when the mobile body 1 is moving on a sidewalk.

[0064] Figure 2 This is a perspective view of the mobile body 1 from above. In the figure, FW is the steering wheel, RW is the drive wheel, SD is the steering mechanism, MT is the motor, and BT is the battery. Additionally, AP is the accelerator pedal, BP is the brake pedal, WH is the steering wheel, SP is the speaker, and MC is the microphone. The mobile body 1 shown is a one-person vehicle, with the occupant P seated in the driver's seat DS and wearing a seatbelt SB. Arrow D1 indicates the direction of travel (velocity vector) of the mobile body 1. An external detection device 10 is located near the front end of the mobile body 1, an internal camera 16 is positioned to capture the head of the occupant P from the front, and a mode switch 22 is located at the hub of the steering wheel WH. Furthermore, an external reporting device 50, serving as a display device, is located near the front end of the mobile body 1.

[0065] return Figure 1 The storage device 70 is, for example, a non-temporary storage device such as an HDD (Hard Disk Drive), flash memory, or RAM (Random Access Memory). Map information 72 and programs 74 executed by the control device 100 are stored in the storage device 70. In the figure, the storage device 70 is shown outside the frame of the control device 100, but the storage device 70 may also be included within the control device 100.

[0066] [Control Device]

[0067] The control device 100 includes, for example, an acquisition unit 110, a road type recognition unit 120, a connection recognition unit 130, and a control unit 140. It is implemented, for example, by executing a program (software) 74 using a hardware processor such as a CPU (Central Processing Unit). Some or all of these components can also be implemented using hardware (circuit unit; including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or GPU (Graphics Processing Unit), or through the coordinated use of software and hardware. The program can be pre-saved in the storage device 70, or stored in a removable storage medium (non-temporary storage medium) such as a DVD or CD-ROM, and installed in the storage device 70 by mounting the storage medium to the drive device.

[0068] The acquisition unit 110 acquires the status of the occupant P. The status of the occupant P includes, for example, the direction of the occupant P's gaze, the content of the conversation between the occupant P and the dialogue device 20 (especially the presence or absence of specific keywords), etc.

[0069] The acquisition unit 110 identifies and acquires the direction of the occupant P's gaze by analyzing images captured by the internal camera 16. For example, the acquisition unit 110 identifies the direction of the occupant P's gaze based on the positional relationship between the corner of the eye and the iris. Alternatively, the acquisition unit 110 may also use a near-infrared light source and corneal reflection to identify the direction of the occupant P's gaze.

[0070] The dialogue device 20 is pre-configured such that, when a specific keyword is included in the text information obtained as a result of voice recognition in the server device or in the voice output by the device itself, the information containing that keyword is output to the acquisition unit 110. The acquisition unit 110 acquires the information containing the specific keyword from the dialogue device 20. The specific keyword is, for example, a keyword related to eating or being hungry, specifically, "restaurant," "eating," "hungry," or "beef rice." Alternatively, the specific keyword could be a keyword related to rest or fatigue, specifically, "tired," "convenience store," "vending machine," or "slowly (inferring the meaning of wanting to move slowly due to fatigue)."

[0071] The road type recognition unit 120 identifies whether the moving body 1 is moving on a lane or a sidewalk. For example, the road type recognition unit 120 identifies whether the moving body 1 is moving on a lane or a sidewalk by analyzing an image captured by an external camera of the external detection device 10. Semantic segmentation can be cited as an example of image analysis. The road type recognition unit 120 classifies each pixel within a frame of the image into levels (lane, sidewalk, boundary, obstacle, etc.) and assigns them labels. If more pixels in the area corresponding to the front of the moving body 1 are labeled as lanes, the moving body 1 is identified as moving on a lane; if more pixels in the area corresponding to the front of the moving body 1 are labeled as sidewalks, the moving body 1 is identified as moving on a sidewalk. Not limited to this, the road type recognition unit 120 can also identify the moving body 1 as moving on a lane if a vehicle is detected in the area corresponding to the front of the moving body 1 in the image, and as moving on a sidewalk if a pedestrian is detected in the area corresponding to the front of the moving body 1 in the image. Furthermore, the road type recognition unit 120 can also identify that the moving body 1 is moving on a lane when the width of the road surface area corresponding to the front of the moving body 1 in the image is large, and identify that the moving body 1 is moving on a sidewalk when the width of the road surface area corresponding to the front of the moving body 1 in the image is small. Additionally, the road type recognition unit 120 can also compare the position information of the moving body 1 with the map information 72 to identify whether the moving body 1 is moving on a lane or a sidewalk. In this case, the map information needs to have the accuracy to distinguish between sidewalks and lanes based on position coordinates. When the "designated area" is not only a sidewalk, the road type recognition unit 120 performs the same processing for roadside areas, bicycle lanes, open spaces, etc.

[0072] The connection identification unit 130 identifies the presence of a connection between the sidewalk and the driveway on the travel direction side of the moving body. A connection is provided at the boundary between the sidewalk and the driveway, and refers to a portion of the boundary that, excluding the connection itself, has a lower burden on passage. For example, if a step is provided at the boundary between the sidewalk and the driveway, the portion where the step is softened (including the portion that becomes coplanar with respect to the sidewalk and the driveway) corresponds to a connection. Figures 3-5 This is a diagram illustrating the shape of the connected parts. For example... Figure 3 As shown, the connecting portion CP is, for example, the portion of the boundary block BK that decreases in height along with the sidewalk SW. In the diagram, RW represents the lane. Figure 4 As shown, the connecting section CP can also be the part of the step-removing plate PT where the steps of the landfill driveway RW and the sidewalk SW are placed. For example... Figure 5As shown, the connected component CP can also be the missing part of the block BK forming the steps of the lane RW and the sidewalk SW. Besides these illustrated forms, various forms of connected components CP can be envisioned. Connected components CP can also exist not only in the middle of a road but also at intersections, etc. The connected component recognition unit 130 identifies the existence of a connected component CP, for example, by inputting an image captured by an external camera into a learned model that outputs information representing the location of the connected component CP if an input image is received. The connected component recognition unit 130 can also identify the existence of a connected component CP based on the shape of the steps obtained as a result of scanning diagonally downwards using LiDAR.

[0073] The control unit 140 controls the drive unit 40, for example, according to the set driving mode.

[0074] In Mode A, when the moving body 1 is moving on a lane, the control unit 140 controls the drive unit 40 in the following manner: maintaining a certain distance or more from an object in front of the moving body 1, and when the distance to the object in front of the moving body 1 is sufficiently long, the moving body 1 moves at a first speed V1 (e.g., a speed of 10 km / h or more but less than several tens of km / h). When the moving body 1 is moving on a sidewalk, the control unit 140 controls the drive unit 40 in the following manner: maintaining a certain distance or more from an object in front of the moving body 1, and when the distance to the object in front of the moving body 1 is sufficiently long, the moving body 1 moves at a second speed V2 (e.g., a speed less than 10 km / h). This function is the same as the ACC (Adaptive Cruise Control) function of a vehicle that sets the first speed V1 or the second speed V2 as a set speed, and the technology used in ACC can be utilized. In addition, in Mode A, the control unit 140 controls the steering angle of the steering wheel based on the amount of operation of the steering wheel or other operating components 14. This function is the same as that of the power steering system, and it can utilize the technology used in the power steering system. It should be noted that it is also possible for the steering to be not electronically controlled, and for the moving body 1 to have an operating element 14 and a steering mechanism that are mechanically linked.

[0075] In Mode B, the control unit 140 controls the drive unit 40 based on the speed of the moving body 1 and the amount of operation of the accelerator or brake pedal. When the moving body 1 is moving on a lane, the control unit 140 sets the first speed V1 to the upper limit speed to control the drive unit 40 (meaning that in Mode B, once the upper limit speed is reached, the moving body 1 will not accelerate even if there is a further acceleration instruction). When the moving body 1 is moving on a sidewalk, the control unit 140 sets the second speed V2 to the upper limit speed to control the drive unit 40. Steering is the same as in Mode A.

[0076] In Mode C, the control unit 140 detects the driving path and obstacles based on the output of the external detection device 10, generates a target track that allows the moving body 1 to avoid obstacles within the driving path, and controls the drive device 40 to move along the target track. Also in Mode C, when the moving body 1 is moving on the driving lane, the control unit 140 sets the first speed V1 to the upper limit speed to control the drive device 40; when the moving body 1 is moving on the sidewalk, the control unit 140 sets the second speed V2 to the upper limit speed to control the drive device 40. It should be noted that, regarding Mode C, since it does not constitute the core of this invention, detailed descriptions beyond this level are omitted.

[0077] [Control corresponding to the existence of connected parts]

[0078] The control performed by the control unit 140 in response to the presence of the connecting part will be described sequentially from Mode A. In Mode A, when the mobile body 1 is moving on the lane, the connecting part is detected within a predetermined range from the mobile body 1, and the occupant's state is predetermined, the control unit 140 reduces the speed of the mobile body 1 from the first speed V1 to the second speed V2. "Reducing the speed of the mobile body 1 from the first speed V1 to the second speed V2" means that, except in cases where the mobile body 1 is moving at a low speed or is stopped due to the presence of an obstacle, the mobile body 1 is slowed down. At this time, the control unit 140 may also use the dialogue device 20 to inquire about the intention to enter the pedestrian crossing. If a positive response is received, the speed of the mobile body 1 is reduced to the second speed V2; if a positive response is not received, the speed of the mobile body 1 is not reduced to the second speed V2. Hereinafter, the phrase “when the moving body 1 is moving on the lane, and the connecting part is identified within a specified range from the moving body 1, and the occupant is in a specified state, the speed of the moving body 1 is brought closer to the second speed V2 from the first speed V1” will be referred to as “specific speed control”, regardless of whether an inquiry is made.

[0079] "The prescribed state" refers to some or all of the following phenomena. Information that serves as the basis for determining whether a state is prescribed is obtained by the acquisition unit 110 as described above and transmitted to the control unit 140.

[0080] (A) The specified state is, for example, the state in which the occupant's line of sight is directed toward the sidewalk. "Direction toward the sidewalk" means a state in which the direction obtained by projecting the occupant's line of sight onto a horizontal plane is tilted toward the sidewalk by a first angle or more compared to the direction of travel of the moving body 1 (or alternatively, the direction of road extension) for a first reference time or more.

[0081] (B) The specified state is, for example, a state in which the direction of the occupant's line of sight is unstable. An "unstable state" is, for example, a state in which the direction of the occupant's line of sight changes by more than a second angle compared to the past direction at each sampling time interval within a second reference time, more than a specified number of times.

[0082] (C) The specified state is, for example, a state in which the dialogue between the dialogue device 20 and the occupant includes specific keywords. As mentioned above, "specific keywords" may be related to eating or fasting, or to rest or fatigue, or both.

[0083] Figure 6 This diagram illustrates an example of a scenario where specific speed control is performed. In the diagram, X is the distance between the moving body 1 and the connecting section CP. CL1 is the white line representing the left end of lane RW, and CL2 is the dashed line dividing the lane where the moving body 1 is located and the opposite lane. The distance X is defined, for example, from the furthest point of the connecting section CP to the front end of the moving body 1, but it is not limited to this and can be arbitrarily defined, such as from the center of the connecting section CP to the center of gravity of the moving body 1. D2 is the direction of the occupant's line of sight. Specific speed control is performed when the distance X is less than a predetermined distance (an example of the connecting section CP being within a predetermined range from the moving body 1), and the angle between the moving body 1's direction of travel D1 and the occupant's line of sight D2 is greater than or equal to a first angle, and this state continues for a first reference time or more.

[0084] In Mode B, when the vehicle 1 is moving on the lane, a connecting section is detected within a specified range from the vehicle 1, and the occupant's state is a specified state (which may be further confirmed through an inquiry), the control unit 140 gradually switches the upper limit speed of the vehicle 1 from the first speed V1 to the second speed V2. Alternatively, in Mode B, if the above conditions are met, the control unit 140 may simply stop at using the dialogue device 20 to suggest approaching the second speed V2 by manually operating the accelerator pedal AP and the brake pedal BP. For example, the control unit 140 may cause the dialogue device 20 to output a sound such as "Please slow down if you are about to enter the pedestrian crossing." The definition of the specified state is the same as in Mode A.

[0085] Figure 7 This is a flowchart illustrating an example of the process executed by the control device 100 of the embodiment. The process in this flowchart is based on mode A. The process in this flowchart is executed repeatedly, for example, at a predetermined cycle.

[0086] First, the road type recognition unit 120 determines whether the moving body 1 is moving in the lane (or on the sidewalk) (step S200). If it is determined that the moving body 1 is moving in the lane, as described above, the control unit 140 performs control for the moving body 1 as it is moving in the lane (step S202). Next, the control unit 140 determines whether a connecting part CP exists within a predetermined range on the direction of travel of the moving body 1 based on the recognition result of the connecting part recognition unit 130 (step S206). If it is determined that a connecting part CP exists within the predetermined range on the direction of travel of the moving body 1, the control unit 140 determines whether the occupant's state is a predetermined state based on the information provided by the acquisition unit 110 (step S208). If it is determined that the occupant's state is a predetermined state, the control unit 140 performs specific speed control (step S210).

[0087] If a negative determination result is obtained in step S206 or S208, the processing of one routine in this flowchart ends. Additionally, if it is determined in step S200 that the moving body 1 is moving on the sidewalk, the control unit 140 performs control on the situation where the moving body 1 is moving on the sidewalk (step S204).

[0088] According to the first embodiment described above, for a mobile body capable of moving in both lanes and sidewalks, appropriate control can be performed when entering from the lane towards the sidewalk. The "prescribed state" is the state in which the occupant's intention to move towards the sidewalk is presumed. Therefore, when the occupant is in the prescribed state, it is presumed that the probability of the mobile body 1 entering the sidewalk is increased by the occupant operating the steering wheel WH at the approaching connecting section CP. However, since there is a difference between the first speed V1, which is the upper limit speed or target speed in the lane, and the second speed V2, which is the upper limit speed or target speed in the sidewalk, a scenario may arise where the mobile body 1, moving at the first speed V1, suddenly enters the sidewalk, necessitating a rapid deceleration. Furthermore, if a turn to enter the sidewalk is initiated while moving at a relatively high speed, i.e., the first speed V1, there is also concern about generating large lateral acceleration. That is, if deceleration is performed after the actual start of the turn, it may be too late.

[0089] In contrast, the control device 100 of the embodiment, when the moving body 1 is moving on the lane, and the connecting portion CP is detected within a predetermined range in the direction of travel of the moving body 1, and the occupant's state is predetermined, causes the speed of the moving body to approach the second speed V2, thereby suppressing the aforementioned sudden deceleration and sharp turning. As a result, appropriate control can be performed when entering from the lane onto the sidewalk.

[0090] <Second Implementation Method>

[0091] The second embodiment will be described below. In the control device 100 of the second embodiment, the function of the road type identification unit 120 differs from that of the first embodiment. The road type identification unit 120 of the second embodiment identifies whether the mobile body 1 is traveling on a lane or a sidewalk based on occupant operation of a road type input switch (not shown) provided on the mobile body. The road type input switch is provided, for example, on the hub portion of the steering wheel WH. The road type input switch has, for example, a mechanism that can be operated up and down and maintain the operated position; when operated upwards, it indicates a lane, and when operated downwards, it indicates a sidewalk. Alternatively, the road type input switch can be in the form of a button or a GUI switch, switching from lane-based identification to sidewalk identification when operated by the control device 100, and vice versa. With this structure, the function of automatically identifying whether the mobile body 1 is traveling on a lane or a sidewalk can be omitted, reducing processing load and cost. However, since there is a possibility of occupant misoperation, in the second embodiment, it is preferable to have the external reporting device 50 report information to the outside.

[0092] <Other>

[0093] In the above embodiments, the control unit 140 may also execute control of only either Mode A or Mode B. That is, the mobile body 1 may execute the speed assist mode but not the manual mode, or it may execute the manual mode but not the speed assist mode. Furthermore, the control unit 140 may execute control of both Mode A and Mode B, but specific speed control is only performed when either Mode A or Mode B is being executed. Regardless of the situation, whether or not to execute control of Mode C can be arbitrarily determined.

[0094] The implementation methods described above can be performed as follows.

[0095] A control device for a moving body, comprising:

[0096] Storage device, storing programs; and

[0097] Hardware processor,

[0098] The control device is configured as follows:

[0099] The hardware processor executes the program stored in the storage device and performs the following processing:

[0100] The status of the occupants of a moving body that can accommodate one or more occupants and is capable of moving in both a lane and a designated area different from the lane is obtained.

[0101] To identify whether the moving object is moving on the lane or within the designated area.

[0102] Identify the presence of a connection between the lane on the travel direction side of the moving body and the designated area.

[0103] The speed of the moving body is controlled at least partially, limiting its speed to a first speed when it is moving on a lane, and limiting its speed to a second speed lower than the first speed when it is moving within the designated area.

[0104] When the moving body is moving on the lane, and the connecting part is detected within a specified range from the moving body, and the occupant is in a specified state, the speed of the moving body is brought close to the second speed.

[0105] The implementation methods described above can also be presented as follows.

[0106] A control device for a moving body, comprising:

[0107] Storage device, which stores a program; and

[0108] Hardware processor,

[0109] The control device is configured as follows:

[0110] The hardware processor executes the program stored in the storage device and performs the following processing:

[0111] The status of the occupants of a moving body that can accommodate one or more occupants and is capable of moving in both a lane and a designated area different from the lane is obtained.

[0112] To identify whether the moving object is moving on the lane or within the designated area.

[0113] Identify the presence of a connection between the lane on the travel direction side of the moving body and the designated area.

[0114] The speed of the moving body is controlled at least partially, limiting its speed to a first speed when it is moving on a lane, and limiting its speed to a second speed lower than the first speed when it is moving within the designated area.

[0115] When the moving body is moving on the lane, the connecting part is detected within a specified range from the moving body, and the occupant is in a specified state, an interface device is used to suggest deceleration to the occupant.

[0116] The above description illustrates specific embodiments of the present invention, but the present invention is not limited to such embodiments in any way, and various modifications and substitutions can be made without departing from the spirit of the present invention.

Claims

1. A control device for a mobile body, the mobile body being used by one or more occupants and capable of moving between a lane and a designated area different from the lane, wherein, The control device for the moving body includes: The acquisition unit acquires the status of the occupants; The road type identification unit identifies whether the moving body is moving in a lane or in the designated area; A connection identification unit identifies the existence of a connection between the lane on the travel direction side of the moving body and the designated area; The control unit at least partially controls the speed of the moving body, limiting the speed of the moving body to a first speed when it is moving on a lane, and limiting the speed of the moving body to a second speed lower than the first speed when it is moving in the designated area. When the moving body is moving on the lane, and the connecting part is detected within a specified range from the moving body, and the occupant is in a specified state, the control unit causes the speed of the moving body to approach the second speed.

2. The control device for the moving body according to claim 1, wherein, When the mobile body is moving on the lane, and the connecting part is detected within a specified range from the mobile body, and the occupant is in a specified state, the control unit uses an interface device to inquire about the intention to enter the specified area. If an affirmative response is received, the speed of the mobile body is brought close to the second speed.

3. The control device for a moving body according to claim 1 or 2, wherein, The acquisition unit obtains the direction of the occupant's gaze as the occupant's state. The specified state is when the occupant's line of sight is directed towards the specified area.

4. The control device for a moving body according to claim 1 or 2, wherein, The acquisition unit obtains the direction of the occupant's gaze as the occupant's state. The specified state is a state in which the occupant's line of sight is unstable.

5. The control device for a moving body according to claim 1 or 2, wherein, The acquisition unit acquires the content of the conversation between the passenger and the interface device. The specified state is a state in which the content of the dialogue includes specific keywords.

6. The control device for the moving body according to claim 5, wherein, The specific keywords are related to eating or fasting.

7. The control device for a moving body according to claim 5, wherein, The specific keywords are related to rest or fatigue.

8. The control device for a moving body according to claim 1 or 2, wherein, The road type identification unit identifies whether the moving body is moving on a lane or in the designated area based on the output of an external detection device that detects the external conditions of the moving body.

9. The control device for a moving body according to claim 1 or 2, wherein, The road type identification unit identifies whether the vehicle is moving on a lane or in a designated area based on the occupant's operation of a switch located inside the vehicle.

10. The control device for a moving body according to claim 1 or 2, wherein, When the road type identification unit detects that the moving body is moving in the designated area, it causes the external reporting device to report to the outside of the moving body that it is moving in the designated area.

11. A method for controlling a moving body, The mobile body is computer-controlled, accommodating one or more occupants, and capable of moving between a lane and a designated area separate from the lane. The control method for the moving body causes the computer to perform the following processes: Obtain the status of the occupants. To identify whether the moving object is moving on the lane or within the designated area. Identify the presence of a connection between the lane on the travel direction side of the moving body and the designated area. The speed of the moving body is controlled at least partially. The speed of the moving body when it moves on the lane is limited to a first speed. The speed of the moving body when moving within the designated area is limited to a second speed, which is lower than the first speed. When the moving body is moving on the lane, and the connecting part is detected within a specified range from the moving body, and the occupant is in a specified state, the speed of the moving body is brought close to the second speed.

12. A storage medium storing a program, A computer-controlled mobile vehicle, capable of carrying one or more occupants, and able to move between a lane and a designated area separate from the lane, wherein... The program causes the computer to perform the following processes: Obtain the status of the occupants. To identify whether the moving object is moving on the lane or within the designated area. Identify the presence of a connection between the lane on the travel direction side of the moving body and the designated area. The speed of the moving body is controlled at least partially. The speed of the moving body when it moves on the lane is limited to a first speed. The speed of the moving body when moving within the designated area is limited to a second speed, which is lower than the first speed. When the moving body is moving on the lane, and the connecting part is detected within a specified range from the moving body, and the occupant is in a specified state, the speed of the moving body is brought close to the second speed.

13. A control device for a mobile body, the mobile body being used by one or more occupants and capable of moving between a lane and a designated area different from the lane, wherein, The control device for the moving body includes: The acquisition unit acquires the status of the occupants; The road type identification unit identifies whether the moving body is moving in a lane or in the designated area; A connection identification unit identifies the existence of a connection between the lane on the travel direction side of the moving body and the designated area; The control unit at least partially controls the speed of the moving body, limiting the speed of the moving body to a first speed when it is moving on a lane, and limiting the speed of the moving body to a second speed lower than the first speed when it is moving in the designated area. When the mobile body is moving in the lane, the connecting part is detected within a specified range from the mobile body, and the occupant is in a specified state, the control unit uses an interface device to suggest deceleration to the occupant.

14. A method for controlling a moving body, The mobile body is computer-controlled, accommodating one or more occupants, and capable of moving between a lane and a designated area separate from the lane. The control method for the moving body causes the computer to perform the following processes: Obtain the status of the occupants. To identify whether the moving object is moving on the lane or within the designated area. Identify the presence of a connection between the lane on the travel direction side of the moving body and the designated area. The speed of the moving body is controlled at least partially. The speed of the moving body when it moves on the lane is limited to a first speed. The speed of the moving body when moving within the designated area is limited to a second speed, which is lower than the first speed. When the moving body is moving on the lane, the connecting part is detected within a specified range from the moving body, and the occupant is in a specified state, an interface device is used to suggest deceleration to the occupant.

15. A storage medium storing a program, A computer-controlled mobile vehicle, capable of carrying one or more occupants, and able to move between a lane and a designated area separate from the lane, wherein... The program causes the computer to perform the following processes: Obtain the status of the occupants. To identify whether the moving object is moving on the lane or within the designated area. Identify the presence of a connection between the lane on the travel direction side of the moving body and the designated area. The speed of the moving body is controlled at least partially. The speed of the moving body when it moves on the lane is limited to a first speed. The speed of the moving body when moving within the designated area is limited to a second speed, which is lower than the first speed. When the moving body is moving on the lane, the connecting part is detected within a specified range from the moving body, and the occupant is in a specified state, an interface device is used to suggest deceleration to the occupant.

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