Control Device for Mobile Body, Control Method for Mobile Body, and Storage Medium

Abstract

Provided are a control device for a moving body, a control method for a moving body, and a storage medium, which are capable of appropriately controlling the moving body that can move in both a lane and a specified area different from the lane when entering from the lane into the specified area. A control device for a moving body, which is occupied by one or more passengers and can move in both a lane and a specified area different from the lane, wherein the control device makes the speed of the moving body approach the second speed when the moving body is moving on the lane, a connection part is recognized within a first specified range from the moving body, and the road condition is in a specified state.

Description

Technical Field

[0001] The present invention relates to a control device for a moving body, a control method for a moving body, and a storage medium. Background Art

[0002] Conventionally, an invention of an electric vehicle for one person that can move on a sidewalk has been disclosed (Patent Document 1).

[0003] Prior Art Documents

[0004] Patent Documents

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

[0006] Problems to be Solved by the Invention

[0007] The conventional technology is not a technology that assumes a moving body that can move on both a lane and a specified area different from the lane. Therefore, appropriate control may not be possible when entering from the lane into the specified area.

[0008] The present invention has been completed in view of such a situation, and one of its purposes is to provide a control device for a moving body, a control method for a moving body, and a storage medium that can appropriately control a moving body that can move on both a lane and a specified area different from the lane when entering from the lane into the specified area.

[0009] Means for Solving the Problems

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

[0011] (1): A control device for a moving body according to one aspect of the present invention, the moving body being occupied by one or more passengers and capable of moving on both a lane and a specified area different from the lane, wherein the control device for the moving body includes: an acquisition unit that acquires information indicating the road condition on the traveling direction side of the moving body; a road type identification unit that identifies whether the moving body is moving on the lane or in the specified area; a connection part identification unit that identifies the presence of a connection part between the lane on the traveling direction side of the moving body and the specified area; and a control unit that at least partially controls the speed of the moving body, limits the speed of the moving body when moving on the lane to a first speed, limits the speed of the moving body when moving in the specified area to a second speed lower than the first speed, and the control unit makes the speed of the moving body approach the second speed when the moving body is moving on the lane, a connection part is identified within a first specified range from the moving body, and the road condition is a specified state.

[0012] (2): In the solution of (1) above, when the control unit determines that the moving body is moving on the lane, the connection part is recognized within a first specified range from the moving body, and the road condition is in a specified state, it uses the interface device to inquire about the intention of entering the specified area. When a positive reply is obtained, the speed of the moving body is adjusted to approach the second speed.

[0013] (3): In the solution of (1) or (2) above, when the control unit determines that there is an end within a second specified range on the traveling direction side of the moving body based on the information obtained by the acquisition unit, it determines that the road condition is in a specified state.

[0014] (4): In any of the solutions of (1) to (3) above, when the control unit determines that there is a construction site within a second specified range on the traveling direction side of the moving body based on the information obtained by the acquisition unit, it determines that the road condition is in a specified state.

[0015] (5): In any of the solutions of (1) to (4) above, when the control unit determines that there is a traffic jam within a second specified range on the traveling direction side of the moving body based on the information obtained by the acquisition unit, it determines that the road condition is in a specified state.

[0016] (6): In any of the solutions of (1) to (5) above, when the control unit determines that the speed of other moving bodies moving in the same direction as the moving body within a second specified range on the traveling direction side of the moving body is higher than the threshold A based on the information obtained by the acquisition unit, it determines that the road condition is in a specified state.

[0017] (7): In any of the solutions of (1) to (6) above, when the control unit determines that there are more than a specified number of moving bodies of specified categories mixed within a second specified range on the traveling direction side of the moving body based on the information obtained by the acquisition unit, it determines that the road condition is in a specified state.

[0018] (8): In any of the solutions of (1) to (7) above, when the control unit determines that the number of large vehicles within a second specified range on the traveling direction side of the moving body is equal to or greater than the threshold B based on the information obtained by the acquisition unit, it determines that the road condition is in a specified state.

[0019] (9): In any of the solutions of (1) to (8) above, the road type recognition unit recognizes 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.

[0020] (10): In any of the above (1) to (9) solutions, the road type recognition unit recognizes whether the moving body is moving on a lane or in the specified area based on an operation of a switch provided inside the moving body by an occupant.

[0021] (11): In any of the above (1) to (10) solutions, when the road type recognition unit recognizes that the moving body is moving in the specified area, the external reporting device reports to the outside of the moving body that it is moving in the specified area.

[0022] (12): In a control method of a moving body according to other solutions of the present invention, a computer controls the moving body, which is occupied by one or more occupants and can move in both a lane and a specified area different from the lane. The control method of the moving body causes the computer to perform the following processes: obtaining information indicating a road condition on the traveling direction side of the moving body, recognizing whether the moving body is moving on a lane or in the specified area, recognizing the existence of a connection part between the lane on the traveling direction side of the moving body and the specified area, at least partially controlling the speed of the moving body, limiting the speed of the moving body when moving on a lane to a first speed, limiting the speed of the moving body when moving in the specified area to a second speed lower than the first speed, and when the moving body is moving on a lane, a connection part is recognized within a first specified range from the moving body, and the road condition is in a specified state, causing the speed of the moving body to approach the second speed.

[0023] (13): A storage medium according to other solutions of the present invention stores a program, and a computer controls a moving body, which is occupied by one or more occupants and can move in both a lane and a specified area different from the lane. The program causes the computer to perform the following processes: obtaining information indicating a road condition on the traveling direction side of the moving body, recognizing whether the moving body is moving on a lane or in the specified area, recognizing the existence of a connection part between the lane on the traveling direction side of the moving body and the specified area, at least partially controlling the speed of the moving body, limiting the speed of the moving body when moving on a lane to a first speed, limiting the speed of the moving body when moving in the specified area to a second speed lower than the first speed, and when the moving body is moving on a lane, a connection part is recognized within a first specified range from the moving body, and the road condition is in a specified state, causing the speed of the moving body to approach the second speed.

[0024] (14): A control device for a moving body according to another aspect of the present invention, the moving body being occupied by one or more passengers and capable of moving in both a lane and a specified area different from the lane. The control device for the moving body includes: an acquisition unit that acquires information indicating the road condition on the traveling direction side of the moving body; a road type identification unit that identifies whether the moving body is moving on the lane or in the specified area; a connection part identification unit that identifies the presence of a connection part between the lane on the traveling direction side of the moving body and the specified area; and a control unit that at least partially controls the speed of the moving body, limits the speed of the moving body when it is moving on the lane to a first speed, and limits the speed of the moving body when it is moving in the specified area to a second speed lower than the first speed. When the moving body is moving on the lane, a connection part is identified within a first specified range from the moving body, and the road condition is in a specified state, the control unit uses an interface device to propose deceleration to the passenger.

[0025] (15): In a control method for a moving body according to another aspect of the present invention, a computer controls the moving body, the moving body being occupied by one or more passengers and capable of moving in both a lane and a specified area different from the lane. The control method for the moving body causes the computer to perform the following processes: acquire information indicating the road condition on the traveling direction side of the moving body, identify whether the moving body is moving on the lane or in the specified area, identify the presence of a connection part between the lane on the traveling direction side of the moving body and the specified area, at least partially control the speed of the moving body, limit the speed of the moving body when it is moving on the lane to a first speed, limit the speed of the moving body when it is moving in the specified area to a second speed lower than the first speed, and when the moving body is moving on the lane, a connection part is identified within a first specified range from the moving body, and the road condition is in a specified state, use an interface device to propose deceleration to the passenger.

[0026] (16): The storage medium of another solution of the present invention stores a program, and a computer controls a moving body that can be occupied by one or more passengers and can move in both a lane and a specified area different from the lane. The program causes the computer to execute the following processes: obtaining information indicating the road conditions on the traveling direction side of the moving body, identifying whether the moving body is moving on the lane or in the specified area, identifying the existence of a connection part between the lane on the traveling direction side of the moving body and the specified area, at least partially controlling the speed of the moving body, limiting the speed of the moving body when moving on the lane to a first speed, limiting the speed of the moving body when moving in the specified area to a second speed lower than the first speed, and when the moving body is moving on the lane, a connection part is identified within a first specified range from the moving body, and the road conditions are in a specified state, using an interface device to propose deceleration to the passenger.

[0027] Advantages of the Invention

[0028] According to the solutions of (1) to (16), for a moving body that can move in both a lane and a specified area different from the lane, appropriate control can be performed when entering from the lane into the specified area. Description of the Drawings

[0029] Figure 1 It is a diagram showing an example of the structure of the moving body 1 and the control device 100 of the embodiment.

[0030] Figure 2 It is a perspective view of the moving body 1 when viewed from above.

[0031] Figure 3 It is a diagram illustrating the shape of the connection part.

[0032] Figure 4 It is a diagram illustrating the shape of the connection part.

[0033] Figure 5 It is a diagram illustrating the shape of the connection part.

[0034] Figure 6 It is a diagram showing an example of a scene where specific speed control is performed.

[0035] Figure 7 It is a flowchart showing an example of the process executed by the control device 100 of the embodiment.

[0036] Description of Reference Numerals:

[0037] 10 External detection device

[0038] 12 Moving body sensor

[0039] 14 Operating part

[0040] 16 Internal camera

[0041] 18 Position detecting device

[0042] 20 Dialogue device

[0043] 22 Mode switching switch

[0044] 30 Moving mechanism

[0045] 40 Driving device

[0046] 50 External reporting device

[0047] 70 Storage device

[0048] 100 Control device

[0049] 110 Acquisition unit

[0050] 120 Road type recognition unit

[0051] 130 Connectivity unit recognition unit

[0052] 140 Control unit. Detailed implementation mode

[0053] Hereinafter, embodiments of a control device for a moving body, a control method for a moving body, and a storage medium according to the present invention will be described with reference to the drawings. The moving body moves in both a lane and a specified area different from the lane. The specified area is, for example, a sidewalk. In addition, the specified area may be part or all of a roadside area, a bicycle lane, an open space, etc., and may also include all of a sidewalk, a roadside area, a bicycle lane, an open space, etc. In the following description, it is assumed that the specified area is a sidewalk. The part described as "sidewalk" in the following description can be appropriately rephrased as "specified area".

[0054] <First Embodiment>

[0055] Figure 1 It is a diagram showing an example of the structure of the moving body 1 and the control device 100 of the embodiment. In the moving body 1, for example, an external detection device 10, a moving body sensor 12, an operating part 14, an internal camera 16, a position detecting device 18, a dialogue device 20, a mode switching switch 22, a moving mechanism 30, a driving device 40, an external reporting device 50, a storage device 70, and a control device 100 are mounted. It should be noted that some of these structures that are not necessary for implementing the functions of the present invention may be omitted.

[0056] The external detection device 10 is various devices that take the traveling direction of the moving body 1 as the detection range. The external detection device 10 includes an external camera, a radar device, LIDAR (Light Detection and Ranging), a sensor fusion device, etc. The external detection device 10 outputs information (images, positions of objects, etc.) indicating the detection result to the control device 100.

[0057] The moving body sensor 12 includes, for example, a speed sensor, an acceleration sensor, a yaw rate (angular velocity) sensor, an azimuth sensor, and an operation amount detection sensor installed on the operation member 14. The operation member 14 includes, for example, an operation member for indicating acceleration and deceleration (such as an accelerator pedal, a brake pedal) and an operation member for indicating steering (such as a steering wheel). In this case, the moving body sensor 12 may include an accelerator opening sensor, a brake pedal depression amount sensor, a steering torque sensor, etc. The moving body 1 may also have an operation member in a form other than the above (for example, a non-circular rotary operation member, a joystick, a button, etc.) as the operation member 14.

[0058] 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 uses an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The internal camera 16 outputs the captured image to the control device 100.

[0059] The positioning device 18 is a device that measures the position of the moving body 1. The positioning device 18 is, for example, a GNSS (Global Navigation Satellite System) receiver, which determines the position of the moving body 1 based on the signals received from GNSS satellites and outputs it as position information. It should be noted that the position information of the moving body 1 can also be estimated based on the positions of Wi-Fi base stations connected to the communication device described later.

[0060] The dialogue device 20 includes, for example, a speaker, a microphone, a touch panel, a communication device, etc. The dialogue device 20 appropriately processes the voices of the occupants collected by the microphone, sends them to the server device via a network using the communication device, and provides voice-based information from the speaker based on the information sent back from the server device. The dialogue device 20 is also sometimes referred to as an agent device, a concierge device, an assistant device, etc. The server device has functions such as a voice recognition function, a natural language processing function, a meaning interpretation function, a function for determining the content to be sent back, etc. Additionally, it is also possible that the dialogue device 20 sends location information to the server device, and the server device sends back information on facilities that meet the criteria based on the location information and the guidance request issued by the occupant (such as "Is there a good ramen restaurant near here?"). In this case, voice guidance such as "It's at the place after turning left ahead" is performed by the dialogue device 20. Without being limited to this, the dialogue device 20 has the function of making an appropriate response to the natural speech of the occupants. Additionally, the dialogue device 20 may also have a function of conducting a simple dialogue without going through the server device, such as asking questions from the device side and receiving responses, and asking the occupants according to the requirements from the control device 100. The dialogue device 20 is an example of an interface device.

[0061] The mode switching switch 22 is a switch operated by the occupant. The mode switching switch 22 can be a mechanical switch or a GUI (Graphical User Interface) switch set on the touch panel. The mode switching switch 22 accepts an operation to switch the driving mode to any one of mode A (a speed assistance mode in which the occupant performs a steering operation and the acceleration and deceleration controls are automatically performed), mode B (a manual driving mode in which the occupant performs the steering operation and the acceleration and deceleration operations), and mode C (an automatic driving mode in which the operation control and the acceleration and deceleration controls are automatically performed).

[0062] The moving mechanism 30 is a mechanism for moving the moving body 1 on the road. The moving mechanism 30 is, for example, a wheel group including a steering wheel and drive wheels. Additionally, the moving mechanism 30 can also be legs for multi-legged walking.

[0063] The drive device 40 outputs force to the moving mechanism 30 to move the moving body 1. For example, the drive device 40 includes a motor that drives the drive wheels, a storage battery that stores the electric power supplied to the motor, a steering device that adjusts the steering angle of the steering wheel, etc. The drive device 40 can also include an internal combustion engine, a fuel cell, etc. as a driving force output mechanism or a power generation mechanism. Additionally, the drive device 40 can also further include a braking device based on frictional force and air resistance.

[0064] The external reporting device 50 is, for example, a lamp, a display device, a speaker, etc. that is provided on the outer panel portion of the moving body 1 and is used to report information toward the outside of the moving body 1. The external reporting device 50 performs different operations in a state where the moving body 1 is moving on a sidewalk and a state where the moving body 1 is moving on a lane. For example, the external reporting device 50 is controlled such that the lamp emits light when the moving body 1 is moving on a sidewalk and the lamp does not emit light when the moving body 1 is moving on a lane. The emission color of the lamp is preferably a color determined by regulations. When the external reporting device 50 is a display device, the external reporting device 50 displays the meaning of "driving on the sidewalk" in text or graphics when the moving body 1 is traveling on the sidewalk.

[0065] Figure 2 It is a perspective view when observing the moving body 1 from above. In the figure, FW is a steering wheel, RW is a drive wheel, SD is a steering device, DD is a motor, and BT is a battery. In addition, AP is an accelerator pedal, BP is a brake pedal, WH is a steering wheel, SP is a speaker, and MC is a microphone. The illustrated moving body 1 is a single-seater moving body, and the occupant P is seated in the driver's seat DS and wears a seat belt SB. The arrow D1 is the traveling direction (velocity vector) of the moving body 1. The external detection device 10 is provided near the front end portion of the moving body 1, the internal camera 16 is provided at a position where it can photograph the head of the occupant P from the front of the occupant P, and the mode changeover switch 22 is provided at the hub portion of the steering wheel WH. In addition, an external reporting device 50 as a display device is provided near the front end portion of the moving body 1.

[0066] Return Figure 1 , the storage device 70 is a non-temporary storage device such as an HDD (Hard Disk Drive), a flash memory, a RAM (Random Access Memory), etc. Map information 72, a program 74 executed by the control device 100, etc. 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 in the control device 100.

[0067] [Control device]

[0068] The control device 100 includes, for example, an acquisition unit 110, a road type identification unit 120, a connection unit identification unit 130, and a control unit 140. For example, it is implemented by a hardware processor such as a CPU (Central Processing Unit) executing a program (software) 74. Some or all of these components may also be implemented by hardware (circuit unit; including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), and may also be implemented through the cooperation of software and hardware. The program may be pre-stored in the storage device 70, or may be stored in a removable storage medium (non-transitory storage medium) such as a DVD or CD-ROM, and installed in the storage device 70 by being mounted on the drive device through the storage medium.

[0069] The acquisition unit 110 acquires information indicating the road conditions on the traveling direction side of the moving body 1. The information indicating the road conditions includes, for example, (1) the presence or absence of a dead end, and (2) the presence or absence of a construction site. In addition, the information indicating the road conditions may also include information related to other moving bodies on the traveling direction side of the moving body 1. For example, the information indicating the road conditions may also include (3) information indicating the presence or absence of traffic congestion, (4) the speed of other moving bodies moving in the same direction as the moving body 1 in the traveling direction of the moving body 1 (for example, statistical values such as average speed and median speed), and (5) the category of each of the other moving bodies (such as large vehicles, special vehicles, ordinary vehicles, two-wheeled vehicles, bicycles). The acquisition unit 110 acquires a part or all of the above (1) to (5) or other information of the same kind as them as the information indicating the road conditions on the traveling direction side of the moving body 1.

[0070] Regarding the presence or absence of an end point or a construction site, the acquisition unit 110 obtains information by, for example, analyzing an image captured by an external camera of the external detection device 10. For example, the acquisition unit 110 inputs the image captured by the external camera into a learned model that has been trained to output information indicating the presence or absence of an end point or a construction site when an image is input, to obtain information indicating the presence or absence of an end point or a construction site. Instead of this (or in addition to this), the acquisition unit 110 may also obtain information indicating the presence or absence of an end point or a construction site from an external device that provides traffic information via a communication device (not shown, which may be the communication device of the dialogue device 20). In addition, the acquisition unit 110 may also obtain information indicating the presence or absence of an end point or a construction site by applying the position of the moving body 1 to the map information 72. It should be noted that in the case of an end point, there are cases where the road structure reaches an end point and cases where the traffic temporarily stops. Regarding the latter case, it may not be described in the map information 72, so there may be a need for image analysis, etc.

[0071] Regarding other moving bodies, the acquisition unit 110 obtains information by, for example, analyzing an image captured by an external camera of the external detection device 10. For example, the acquisition unit 110 inputs the image captured by the external camera into a learned model that has been trained to output information such as the presence, position, and category of other moving bodies when an image is input, to obtain information such as the presence, position, and category of other moving bodies. The category of other moving bodies can also be estimated based on, for example, the size in the image and the intensity of the reflected wave received by the radar device of the external detection device 10. In addition, the acquisition unit 110 obtains, for example, the speed of other moving bodies detected by the radar device using Doppler frequency shift, etc.

[0072] The road type recognition unit 120 recognizes whether the moving body 1 is moving on a lane or on a sidewalk. For example, the road type recognition unit 120 recognizes whether the moving body 1 is moving on a lane or on a sidewalk by analyzing an image captured by an external camera of the external detection device 10. As an example of image analysis, semantic segmentation can be cited. The road type recognition unit 120 classifies each pixel in the frame of the image into grades (lane, sidewalk, boundary, obstacle, etc.) and assigns labels. When there are many pixels with the label of lane in the area corresponding to the front of the moving body 1, it is recognized that the moving body 1 is moving on the lane. When there are many pixels with the label of sidewalk in the area corresponding to the front of the moving body 1 in the image, it is recognized that the moving body 1 is moving on the sidewalk. Without being limited thereto, the road type recognition unit 120 may also recognize that the moving body 1 is moving on the lane when a vehicle is recognized in the area corresponding to the front of the moving body 1 in the image, and recognize that the moving body 1 is moving on the sidewalk when a pedestrian is recognized in the area corresponding to the front of the moving body 1 in the image. In addition, the road type recognition unit 120 may also recognize that the moving body 1 is moving on the lane when the width of the road surface area in the area corresponding to the front of the moving body 1 in the image is large, and recognize that the moving body 1 is moving on the sidewalk when the width of the road surface area in the area corresponding to the front of the moving body 1 in the image is small. In addition, the road type recognition unit 120 may also compare the position information of the moving body 1 with the map information 72 to recognize whether the moving body 1 is moving on a lane or on a sidewalk. The map information in this case needs to have a precision level that can distinguish between a sidewalk and a lane based on position coordinates. When the "specified area" is not only a sidewalk, the road type recognition unit 120 performs the same processing for the roadside area, bicycle lane, open space, etc.

[0073] The connection part recognition unit 130 recognizes the presence of a connection part between the sidewalk and the lane on the traveling direction side of the moving body. The connection part is provided at the boundary between the sidewalk and the lane and refers to a part with a smaller passing burden compared to other parts of the boundary. For example, when there are steps at the boundary between the sidewalk and the lane, the part where the steps are alleviated (including being coplanar with the sidewalk and the lane) corresponds to the connection part. Figures 3 to 5 It is a diagram illustrating the shape of the connection part. As Figure 3 shown, the connection part CP is, for example, a part where the block BK of the boundary part and the sidewalk SW are lowered together. In the figure, RW represents the lane. As Figure 4 shown, the connection part CP can also be the part where the step elimination plate PT for filling the steps between the lane RW and the sidewalk SW is placed. As Figure 5As shown, the connecting part CP can also be the part where the block BK forming the steps of the road lane RW and the sidewalk SW is missing. In addition to these illustrated forms, various forms of the connecting part CP can also be conceived. The connecting part CP can exist not only in the middle part of the road but also at intersections and the like. The connecting part identification unit 130 identifies the existence of the connecting part CP, for example, by inputting the image captured by the external camera into a learned model that outputs information indicating the position of the connecting part CP when an image is input. The connecting part identification unit 130 can also identify the existence of the connecting part CP based on the shape of the steps obtained as a result of scanning the lower oblique direction using LIDAR.

[0074] The control unit 140 controls the drive device 40 according to the set driving mode, for example.

[0075] In mode A, when the moving body 1 is moving on the lane, the control unit 140 controls the drive device 40 in such a way that the distance from the object existing in front of the moving body 1 is maintained at a certain level or more, and when the distance from the object existing in front of the moving body 1 is sufficiently long, the moving body 1 moves at the first speed V1 (for example, a speed of 10 [km / h] or more and less than several tens [km / h]). When the moving body 1 is moving on the sidewalk, the control unit 140 controls the drive device 40 in such a way that the distance from the object existing in front of the moving body 1 is maintained at a certain level or more, and when the distance from the object existing in front of the moving body 1 is sufficiently long, the moving body 1 moves at the second speed V2 (for example, 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 the 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 operation amount of the operating member 14 such as the steering wheel. This function is the same as the function of the power steering device, and the technology used in the power steering device can be utilized. It should be noted that it is also possible that electronic control is not performed on the steering, and the moving body 1 has a steering device in which the operating member 14 and the steering mechanism are mechanically connected.

[0076] In mode B, the control unit 140 controls the drive device 40 based on the speed of the moving body 1 and the operation amount of the accelerator pedal or the brake pedal. When the moving body 1 is moving on the lane, the control unit 140 sets the first speed V1 as the upper limit speed to control the drive device 40 (which means that in the case of mode B, when the upper limit speed is reached, the moving body 1 is not accelerated even if there is a further acceleration instruction), and when the moving body 1 is moving on the sidewalk, the control unit 140 sets the second speed V2 as the upper limit speed to control the drive device 40. Regarding the steering, it is the same as in mode A.

[0077] In mode C, the control unit 140 detects the driving road and obstacles based on the output of the external detection device 10, generates a target trajectory that can avoid obstacles and move within the driving road, and controls the drive device 40 in such a way that the moving body 1 moves along the target trajectory. Also in mode C, when the moving body 1 is moving on a lane, the control unit 140 sets the first speed V1 as the upper limit speed to control the drive device 40, and when the moving body 1 is moving on a sidewalk, the control unit 140 sets the second speed V2 as 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 the present invention, the above detailed description thereof is omitted.

[0078] [Control corresponding to the presence of the connection part]

[0079] Hereinafter, the control by the control unit 140 corresponding to the presence of the connection part will be described in sequence starting from mode A. In mode A, when the moving body 1 is moving on a lane, a connection part is recognized within a specified range from the moving body 1, and the road condition obtained by the acquisition unit 110 is in a specified state, the control unit 140 makes the speed of the moving body 1 approach the second speed V2 from the first speed V1. "Making the speed of the moving body 1 approach the second speed V2 from the first speed V1" means that, except for the case where the moving body 1 is moving at a low speed or stopped occasionally due to the presence of an obstacle, the moving body 1 is decelerated. At this time, the control unit 140 may also use the dialogue device 20 to inquire about the intention to enter the sidewalk. When a positive reply is obtained, the speed of the moving body 1 is made to approach the second speed V2, and when a positive reply is not obtained, the speed of the moving body 1 is not made to approach the second speed V2. Hereinafter, "when the moving body 1 is moving on a lane, a connection part is recognized within a specified range from the moving body 1, and the road condition is in a specified state, making the speed of the moving body 1 approach the second speed V2 from the first speed V1" regardless of the presence or absence of the inquiry is referred to as "specific speed control".

[0080] The "specified state" refers to, for example, some or all of the following phenomena. The information serving as the criterion for determining whether it is a specified state is obtained by the acquisition unit 110 as described above and conveyed to the control unit 140.

[0081] (A) The specified state is, for example, a state where there is an end within a second specified range (for example, within a second specified distance X2 of about several tens to one hundred [m]; the same applies hereinafter) on the traveling direction side of the moving body 1. In such a state, it is presumed that the occupant P wants to move to the sidewalk.

[0082] (B) The specified state is, for example, a state in which a construction site exists within a second specified range on the traveling direction side of the moving body 1. In such a state, it is presumed that the occupant P wants to move onto the sidewalk.

[0083] (C) The specified state is, for example, a state in which congestion has occurred within a second specified range on the traveling direction side of the moving body 1. For example, when the number of other moving bodies existing within the second specified range on the traveling direction side of the moving body 1 is greater than a first threshold value (for example, a value around several tens) and their average speed is lower than a second threshold value (for example, a value around 20 [km / h]), the control unit 140 determines that congestion has occurred within the specified range on the traveling direction side of the moving body 1. This determination process may also be performed by the acquisition unit 110. In such a state, whether moving on the sidewalk or on the lane, the speed does not change significantly, so the possibility that the occupant P wants to move onto the sidewalk is high.

[0084] (D) The specified state is, for example, a state in which the speed (for example, statistical values such as average speed, central speed, etc.) of other moving bodies moving in the same direction as the moving body 1 within a second specified range on the traveling direction side of the moving body 1 is higher than a third threshold value (an example of the threshold A; for example, a value around 70 [km / h]). Such a state has a high probability of occurring when the moving body 1 is moving on a wide road such as an arterial road. Assuming that the moving body 1 is moving on the lane at a relatively low speed, the occupant P is likely to think that it is possible to move onto the sidewalk without feeling pressured.

[0085] (E) The specified state is, for example, a state in which there are more than a specified number of other moving bodies of a specified category mixed among other moving bodies moving in the same direction as the moving body 1 within a second specified range on the traveling direction side of the moving body 1. For example, when the control unit 140 determines that the road condition is the specified state if there are more than a specified number of categories (for example, three or more categories) of moving bodies among other moving bodies moving in the same direction as the moving body 1 within the second specified range on the traveling direction side of the moving body 1. In such a state, multiple categories of other moving bodies with different speeds exist around, so it becomes relatively difficult to operate the moving body 1. Therefore, the occupant P is likely to think that it is possible to move onto the sidewalk without feeling pressured.

[0086] (F) The specified state is, for example, a state in which the number of large vehicles among other moving bodies moving in the same direction as the moving body 1 within a second specified range on the traveling direction side of the moving body 1 is equal to or greater than a fourth threshold value (an example of the threshold B; for example, a value around 1 - 5). Large vehicles may also include special vehicles.

[0087] Figure 6This is a diagram showing 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 connection part CP. CL1 is a white line indicating the left end of the lane RW, and CL2 is a dotted line dividing the lane where the moving body 1 is located and the oncoming lane. The distance X is defined, for example, as the distance from the foremost position of the connection part CP to the front end of the moving body 1, but is not limited thereto, and can be arbitrarily defined, such as from the central part of the connection part CP to the center of gravity of the moving body 1. In addition, in the diagram, there are a regular vehicle V1, a large vehicle V2, and a bicycle CY within a second specified distance X2 from the moving body 1. When there are more than a specified number of other moving bodies mixed among other moving bodies that move in the same direction as the moving body 1 within a first specified distance X1 (which is an example within the first specified range of the connection part CP from the moving body 1) and within a second specified range on the traveling direction side of the moving body 1 (within the range up to the second specified distance X2), specific speed control is performed. It should be noted that the first specified distance can be shorter than the second specified distance or the same as the second specified distance.

[0088] In mode B, when the control unit 140 determines that the moving body 1 is moving on the lane, a connection part is recognized within a specified range from the moving body 1, and the road condition is in a specified state (it may also be further confirmed based on an inquiry), the upper limit speed of the moving body 1 is gradually switched from the first speed V1 to the second speed V2. Instead of this, in mode B, when the above conditions are met, the control unit 140 may also only stop at using the dialogue device 20 to propose approaching the second speed V2 by manually operating the accelerator pedal AP and the brake pedal BP. For example, the control unit 140 causes the dialogue device 20 to output a voice such as "Please decelerate if you are about to enter the sidewalk." The definition of the specified state is the same as that in mode A.

[0089] Figure 7 This is a flowchart showing an example of the process executed by the control device 100 of the embodiment. The process of this flowchart is premised on mode A. The process of this flowchart is repeated, for example, at a specified cycle.

[0090] First, the road type recognition unit 120 determines whether the moving body 1 is moving on a lane (whether it is moving on a sidewalk) (step S200). When it is determined that the moving body 1 is moving on a lane, the control unit 140 performs control in the case where the moving body 1 is moving on a lane as described above (step S202). Next, the control unit 140 determines whether there is a connection part CP within a specified range on the traveling direction side of the moving body 1 based on the recognition result of the connection part recognition unit 130 (step S206). When it is determined that there is a connection part CP within the specified range on the traveling direction side of the moving body 1, the control unit 140 determines whether the road condition is a specified state based on the information provided by the acquisition unit 110 (step S208). When it is determined that the road condition is a specified state, the control unit 140 performs specific speed control (step S210).

[0091] When a negative determination result is obtained in step S206 or S208, the processing of one routine of this flowchart ends. In addition, when it is determined in step S200 that the moving body 1 is moving on a sidewalk, the control unit 140 performs control in the case where the moving body 1 is moving on a sidewalk (step S204).

[0092] According to the first embodiment described above, regarding a moving body that can move on both a lane and a sidewalk, appropriate control can be performed when entering from the lane to the sidewalk. The "specified state" is a state in which the operation of the moving body 1 becomes difficult or impossible or a state in which it is assumed that the occupant P feels stress. Therefore, when the road condition is a specified state, it is presumed that the probability of the occupant operating the steering wheel WH at the approaching connection part CP to make the moving body 1 enter the sidewalk increases. 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, when the moving body 1 moving at the first speed V1 suddenly enters the sidewalk, a scenario where it has to be suddenly decelerated may occur. In addition, if turning for entering the sidewalk starts while moving at a relatively high speed, i.e., the first speed V1, there is also a concern about generating a large lateral acceleration. That is, if deceleration is performed after actually starting to turn, it may be too late.

[0093] In contrast, the control device 100 of the embodiment, when the moving body 1 is moving on a lane, a connection part CP is recognized within a specified range in the traveling direction of the moving body 1, and the road condition is a specified state, makes the speed of the moving body approach the second speed V2, so that it is possible to suppress the occurrence of the above sudden deceleration and sudden turning. As a result, appropriate control can be performed when entering from the lane to the sidewalk.

[0094] <Second Embodiment>

[0095] Next, a second embodiment will be described. In the control device 100 of the second embodiment, the function of the road type recognition unit 120 is different from that of the first embodiment. The road type recognition unit 120 of the second embodiment, for example, recognizes whether the moving body 1 is traveling on a lane or on a sidewalk based on an operation of an occupant on a road type input switch (not shown) provided in the moving body. The road type input switch is provided, for example, in the hub portion of the steering wheel WH or the like. The road type input switch can be operated up and down, for example, and has a mechanism for holding the operated position. When it is operated upward, it indicates a lane, and when it is operated downward, it indicates a sidewalk. In addition, the road type input switch may be in the form of a button or a GUI switch. When it is operated in a state where the control device 100 recognizes that the vehicle is traveling on a lane, the recognition switches to traveling on a sidewalk, and when it is operated in a state where the control device 100 recognizes that the vehicle is traveling on a sidewalk, the recognition switches to traveling on a lane. With this configuration, the function of automatically recognizing whether the moving body 1 is traveling on a lane or on a sidewalk can be omitted, and the processing load and cost can be reduced. However, since there is a possibility of misoperation by the occupant, in the second embodiment, it is preferable to perform information reporting to the outside by the external reporting device 50.

[0096] <Other>

[0097] In each of the above embodiments, the control unit 140 may execute only the control of either mode A or mode B. That is, the moving body 1 may execute the speed assist mode but not the manual mode, or may execute the manual mode but not the speed assist mode. In addition, the control unit 140 may execute the control of both mode A and mode B, but for specific speed control, it is performed only when either mode A or mode B is being executed. In any case, whether to execute the control of mode C can be arbitrarily determined.

[0098] The embodiments described above can be expressed as follows.

[0099] A control device for a moving body, comprising:

[0100] a storage device that stores a program; and

[0101] a hardware processor,

[0102] The control device is configured to:

[0103] by executing the program stored in the storage device by the hardware processor, perform the following processing:

[0104] acquire information indicating the road condition on the traveling direction side of the moving body,

[0105] Identify whether the moving body is moving on a lane or on a sidewalk.

[0106] Identify the existence of a connection part between the sidewalk and the lane on the traveling direction side of the moving body.

[0107] At least partially control the speed of the moving body, limit the speed when the moving body is moving on a lane to a first speed, and limit the speed when the moving body is moving on a sidewalk to a second speed lower than the first speed.

[0108] When the moving body is moving on a lane, a connection part is identified within a specified range from the moving body, and the road condition is in a specified state, make the speed of the moving body approach the second speed.

[0109] The above-described embodiments can also be expressed as follows.

[0110] A control device for a moving body includes:

[0111] A storage device that stores a program; and

[0112] A hardware processor,

[0113] The control device is configured to:

[0114] By the hardware processor executing the program stored in the storage device, perform the following processing:

[0115] Obtain information indicating the road condition on the traveling direction side of the moving body,

[0116] Identify whether the moving body is moving on a lane or on a sidewalk,

[0117] Identify the existence of a connection part between the sidewalk and the lane on the traveling direction side of the moving body,

[0118] At least partially control the speed of the moving body, limit the speed when the moving body is moving on a lane to a first speed, and limit the speed when the moving body is moving on a sidewalk to a second speed lower than the first speed.

[0119] When the moving body is moving on a lane, a connection part is identified within a specified range from the moving body, and the road condition is in a specified state, use an interface device to propose deceleration to the occupant.

[0120] The specific embodiments of the present invention have been described above using embodiments, but the present invention is in no way limited by such embodiments, and various modifications and substitutions can be made without departing from the gist of the present invention.

Claims

1. A control device for a moving body, which is occupied by one or more passengers and can move on both a lane and a sidewalk. Among them, the control device of the moving body includes: an acquisition unit that acquires information indicating the road conditions on the traveling direction side of the moving body moving on the lane; a road type identification unit that identifies whether the moving body is moving on the lane or on the sidewalk; a connection part identification unit that identifies the existence of a connection part between the lane and the sidewalk on the traveling direction side of the moving body. The connection part is provided at the boundary between the sidewalk and the lane and refers to a part with a smaller passing burden compared to other parts of the boundary except the connection part; a control unit that at least partially controls the speed of the moving body, limits the speed of the moving body when moving on the lane to a first speed, and limits the speed of the moving body when moving on the sidewalk to a second speed lower than the first speed; when the moving body is moving on the lane, a connection part is identified within a first specified range on the traveling direction side of the moving body, and the road conditions are in a specified state within a second specified range on the traveling direction side of the moving body, the control unit makes the speed of the moving body approach the second speed. The first specified range is shorter than the second specified range or the same as the second specified range; when the control unit identifies that the speed of another moving body moving in the same direction as the moving body within the second specified range on the traveling direction side of the moving body is higher than a threshold value A based on the information acquired by the acquisition unit, it determines that the road conditions are in a specified state.

2. The control device for a moving body according to claim 1, wherein when the moving body is moving on the lane, a connection part is identified within the first specified range from the moving body, and the road conditions are in a specified state, the control unit uses an interface device to inquire about the intention of entering the sidewalk. When a positive response is obtained, it makes the speed of the moving body approach the second speed.

3. The control device for a moving body according to claim 1 or 2, wherein when the control unit identifies that there is an end within the second specified range on the traveling direction side of the moving body based on the information acquired by the acquisition unit, it determines that the road conditions are in a specified state.

4. The control device for a moving body according to any one of claims 1 to 3, wherein when the control unit identifies that there is a construction site within the second specified range on the traveling direction side of the moving body based on the information acquired by the acquisition unit, it determines that the road conditions are in a specified state.

5. The control device for a moving body according to any one of claims 1 to 4, wherein When the control unit determines that a traffic jam has occurred within the second specified range on the traveling direction side of the moving body based on the information acquired by the acquisition unit, it determines that the road condition is a specified state.

6. The control device for a moving body according to any one of claims 1 to 5, wherein When the control unit determines that there are a specified number or more of moving bodies mixedly present within the second specified range on the traveling direction side of the moving body based on the information acquired by the acquisition unit, it determines that the road condition is a specified state.

7. The control device for a moving body according to any one of claims 1 to 6, wherein When the control unit determines that the number of large vehicles within the second specified range on the traveling direction side of the moving body is equal to or greater than a threshold value B based on the information acquired by the acquisition unit, it determines that the road condition is a specified state.

8. The control device for a moving body according to any one of claims 1 to 7, wherein The road type recognition unit recognizes whether the moving body is moving on the lane or on the sidewalk based on the output of an external detection device that detects the condition outside the moving body.

9. The control device for a moving body according to any one of claims 1 to 8, wherein The road type recognition unit recognizes whether the moving body is moving on the lane or on the sidewalk based on the operation of a switch provided inside the moving body by an occupant.

10. The control device for a moving body according to any one of claims 1 to 9, wherein When the road type recognition unit recognizes that the moving body is moving on the sidewalk, it causes an external reporting device to report to the outside of the moving body that it is moving on the sidewalk.

11. A control method for a moving body A computer controls the moving body, which is occupied by one or more occupants and is capable of moving on both a lane and a sidewalk, wherein The control method for the moving body causes the computer to perform the following processes: Acquire information indicating the road condition on the traveling direction side of the moving body moving on the lane, Recognize whether the moving body is moving on the lane or on the sidewalk, Recognize the presence of a connection portion between the lane and the sidewalk on the traveling direction side of the moving body, the connection portion being provided at the boundary between the sidewalk and the lane and being a portion with a smaller passing burden compared to other portions of the boundary except the connection portion, At least partially control the speed of the moving body, Limit the speed of the moving body when it is moving on the lane to a first speed, Limit the speed of the moving body when it is moving on the sidewalk to a second speed lower than the first speed. When the moving body is moving on the lane, the communication part is recognized within a first specified range on the traveling direction side of the moving body, and the road condition is in a specified state within a second specified range on the traveling direction side of the moving body, the speed of the moving body is made to approach the second speed. The first specified range is shorter than the second specified range or the same as the second specified range. When it is recognized based on the acquired information that the speed of another moving body moving in the same direction as the moving body within the second specified range on the traveling direction side of the moving body is higher than the threshold A, it is determined that the road condition is in a specified state.

12. A storage medium that stores a program. A computer controls a moving body that is occupied by one or more passengers and can move on both a lane and a sidewalk. The program causes the computer to execute the following processing: Acquire information indicating the road condition on the traveling direction side of the moving body that is moving on the lane. Identify whether the moving body is moving on the lane or on the sidewalk. Identify the presence of a communication part between the lane and the sidewalk on the traveling direction side of the moving body. The communication part is provided at the boundary between the sidewalk and the lane and refers to a part with a smaller passing burden compared to other parts of the boundary except the communication part. At least partially control the speed of the moving body. Limit the speed of the moving body when it is moving on the lane to a first speed. Limit the speed of the moving body when it is moving on the sidewalk to a second speed lower than the first speed. When the moving body is moving on the lane, the communication part is recognized within a first specified range on the traveling direction side of the moving body, and the road condition is in a specified state within a second specified range on the traveling direction side of the moving body, the speed of the moving body is made to approach the second speed. The first specified range is shorter than the second specified range or the same as the second specified range. When it is recognized based on the acquired information that the speed of another moving body moving in the same direction as the moving body within the second specified range on the traveling direction side of the moving body is higher than the threshold A, it is determined that the road condition is in a specified state.

13. A control device for a moving body, the moving body being occupied by one or more passengers and capable of moving on both a lane and a sidewalk. The control device of the moving body includes: An acquisition unit that acquires information indicating the road condition on the traveling direction side of the moving body that is moving on the lane. A road type identification unit that identifies whether the moving body is moving on the lane or on the sidewalk. A connection part recognition unit that recognizes the presence of a connection part between the lane on the traveling direction side of the moving body and the sidewalk, the connection part being provided at the boundary between the sidewalk and the lane and being a part with a smaller passing burden compared to other parts of the boundary except the connection part; A control unit that at least partially controls the speed of the moving body, limits the speed of the moving body when moving on the lane to a first speed, and limits the speed of the moving body when moving on the sidewalk to a second speed lower than the first speed; When the moving body is moving on the lane, a connection part is recognized within a first specified range on the traveling direction side of the moving body, and the road condition is in a specified state within a second specified range on the traveling direction side of the moving body, the control unit uses an interface device to propose deceleration to the occupant, and the first specified range is shorter than the second specified range or the same as the second specified range; When the control unit recognizes based on the information obtained by the acquisition unit that the speed of another moving body moving in the same direction as the moving body within the second specified range on the traveling direction side of the moving body is higher than a threshold value A, it is determined that the road condition is in a specified state.

14. A control method for a moving body A computer controls the moving body, the moving body being occupied by one or more occupants and capable of moving on both a lane and a sidewalk, wherein The control method of the moving body causes the computer to execute the following processes: Acquire information indicating the road condition on the traveling direction side of the moving body moving on the lane; Recognize whether the moving body is moving on the lane or on the sidewalk; Recognize the presence of a connection part between the lane on the traveling direction side of the moving body and the sidewalk, the connection part being provided at the boundary between the sidewalk and the lane and being a part with a smaller passing burden compared to other parts of the boundary except the connection part; At least partially control the speed of the moving body; Limit the speed of the moving body when moving on the lane to a first speed; Limit the speed of the moving body when moving on the sidewalk to a second speed lower than the first speed; When the moving body is moving on the lane, a connection part is recognized within a first specified range on the traveling direction side of the moving body, and the road condition is in a specified state within a second specified range on the traveling direction side of the moving body, the control unit uses an interface device to propose deceleration to the occupant, and the first specified range is shorter than the second specified range or the same as the second specified range; When it is recognized based on the acquired information that the speed of another moving body moving in the same direction as the moving body within the second specified range on the traveling direction side of the moving body is higher than a threshold value A, it is determined that the road condition is in a specified state.

15. A storage medium stores a program, a computer-controlled moving body that is occupied by one or more passengers and can move on both a roadway and a sidewalk. Among them, the program causes the computer to execute the following processing: Obtain information indicating the road conditions on the traveling direction side of the moving body moving on the roadway, Identify whether the moving body is moving on the roadway or on the sidewalk, Identify the existence of a connection portion between the roadway and the sidewalk on the traveling direction side of the moving body. The connection portion is provided at the boundary portion between the sidewalk and the roadway and refers to a portion with a smaller burden for passing compared to other portions of the boundary portion except the connection portion, At least partially control the speed of the moving body, Limit the speed of the moving body when it is moving on the roadway to a first speed, Limit the speed of the moving body when it is moving on the sidewalk to a second speed lower than the first speed, When the moving body is moving on the roadway, a connection portion is identified within a first specified range on the traveling direction side of the moving body, and the road conditions are in a specified state within a second specified range on the traveling direction side of the moving body, use an interface device to propose deceleration to the passenger. The first specified range is shorter than the second specified range or the same as the second specified range, When it is identified based on the obtained information that the speed of another moving body moving in the same direction as the moving body within the second specified range on the traveling direction side of the moving body is higher than a threshold A, it is determined that the road conditions are in a specified state.

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