Information processing device, information processing method, and mobile object

Abstract

The information processing device of the present disclosure includes a communication unit and a parking exit processing unit. The communication unit receives an instruction from a user to exit a mobile object from a parking space. The parking exit processing unit exits the mobile object when a road surface exists in the direction of travel of the mobile object.

Description

Technical Field

[0001] The present disclosure relates to an information processing device, an information processing method, and a mobile object. Background Art

[0002] Conventionally, a driving assistance device is known that is mounted on a mobile object such as a vehicle. When the parked mobile object is unparked, the user remotely operates the device from outside the mobile object, thereby enabling the mobile object to autonomously drive from the parking position to the user's position.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2017-76266 Summary of the Invention

[0006] The problem to be solved by the present disclosure is to provide an information processing device, an information processing method, and a mobile body that can cause a mobile body to leave the warehouse in accordance with a user's intention when the mobile body receives a departure instruction given by remote operation.

[0007] The information processing device disclosed herein includes a communication unit and a parking exit processing unit. The communication unit receives an instruction from a user to exit a mobile object from a parking space. The parking exit processing unit determines whether there is a road surface in the direction of travel of the mobile object and performs parking exit control processing on the mobile object. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a block diagram showing an example of the functional configuration of a moving object according to this embodiment.

[0009] Figure 2 This is a diagram showing an example of a hardware configuration diagram of the ECU according to the present embodiment.

[0010] Figure 3 This is a flowchart showing an example of the information processing procedure according to this embodiment. DETAILED DESCRIPTION

[0011] Hereinafter, embodiments of the moving object according to the present disclosure will be described with reference to the drawings.

[0012] The functional structure of the moving object 10 will be described. Figure 1 It is a block diagram showing an example of the functional configuration of the mobile object 10 .

[0013] The mobile object 10 is a movable object. In this embodiment, the mobile object 10 is an object that a user can ride on. The mobile object 10 is, for example, a vehicle. The vehicle can be a two-wheeled car, a three-wheeled car, or a four-wheeled car. Furthermore, the mobile object 10 can be, for example, a mobile object that moves with the help of a human driver, or a mobile object that can move automatically (autonomously) without the help of a human driver. In this embodiment, the case where the mobile object 10 is a four-wheeled car that can move autonomously is used as an example for description.

[0014] The mobile object 10 includes an ECU (Electronic Control Unit) 20, a communication unit 10A, a temperature sensor 10B, a wheel speed sensor 10C, an output unit 10D, an ultrasonic sensor 10E, a camera 10F, a drive control unit 10G, and a drive unit 10H. The ECU 20 includes a processing processor 20A and a memory 20B.

[0015] The processing processor 20A is connected to the output unit 10D, the ultrasonic sensor 10E, the camera 10F, and the memory 20B.

[0016] The processing processor 20A includes an in-vehicle network control unit 20C, an inbound processing unit 20D, and an outbound processing unit 20E. The in-vehicle network control unit 20C, the inbound processing unit 20D, and the outbound processing unit 20E are interconnected to enable transmission and reception of necessary data and control signals.

[0017] The in-vehicle network control unit 20C exchanges signals with various components of the mobile object. The in-vehicle network control unit 20C is interconnected with the communication unit 10A, the temperature sensor 10B, the wheel speed sensor 10C, and the drive control unit 10G via an in-vehicle network (e.g., a communication network conforming to the CAN communication protocol), enabling the exchange of necessary data and control signals.

[0018] The communication unit 10A sends and receives information to and from other devices outside the mobile object. For example, the communication unit 10A sends information to other devices via a well-known communication line such as Bluetooth (registered trademark). Alternatively, the communication unit 10A receives a depot instruction sent from a user via an instruction terminal. The instruction terminal is, for example, a smartphone or a pre-set dedicated terminal. Alternatively, the dedicated terminal may be a smart key that remotely controls the vehicle's ignition on and off, locking and unlocking the doors, and so on.

[0019] The temperature sensor 10B is a sensor for observing the temperature around the moving object 10. The temperature sensor 10B may be mounted on the moving object 10 or mounted outside the moving object 10. The outside of the moving object 10 refers to, for example, another moving object or an external device.

[0020] The surroundings of the moving object 10 refer to an area within a predetermined range from the moving object 10. This range is a range that the temperature sensor 10B can observe. This range only needs to be set in advance. Hereinafter, the temperature around the moving object 10 is referred to as the ambient temperature.

[0021] The installation position of the temperature sensor 10B is adjusted in advance so as to be able to observe the ambient temperature of the moving object 10. In the present embodiment, the moving object 10 includes a plurality of different temperature sensors 10B.

[0022] The wheel speed sensor 10C is a sensor that observes information about the vehicle 10 itself. The wheel speed sensor 10C detects the rotational speed of each wheel of the vehicle 10 as a signal.

[0023] The output unit 10D outputs information. In the present embodiment, the output unit 10D outputs information generated by the ECU 20.

[0024] The output unit 10D has a display function for displaying information. In addition, the output unit 10D may also have a communication function for transmitting information to an external device, a sound output function for outputting sound, a function for lighting or blinking light, and the like.

[0025] The output unit 10D may be installed at any position as long as the user riding on the moving object 10 can confirm the information output from the output unit 10D.

[0026] The ultrasonic sensor 10E measures the distance and direction between an object and the moving object 10 by transmitting ultrasonic waves and receiving reflected waves from the object. The ultrasonic sensor 10E receives reflected waves from the surrounding area of ​​the moving object 10 and obtains information about the reflected waves (hereinafter referred to as reflected wave information). The intensity of the received reflected waves is referred to as reflection intensity.

[0027] The value of the amplifier magnification when the ultrasonic sensor 10E receives the reflected wave is referred to as the gain. The corrected gain obtained according to the ambient temperature of the mobile body 10 according to a previously derived temperature-gain relationship table is referred to as the target gain.

[0028] The ultrasonic sensor 10E is mounted on the moving object 10, and its installation position is adjusted in advance so as to be able to observe the surroundings of the moving object 10. In the present embodiment, the moving object 10 includes a plurality of different ultrasonic sensors 10E.

[0029] The camera 10F obtains the surroundings of the moving object 10 in the form of image data by photographing.

[0030] The camera 10F is previously adjusted in its installation position and viewing angle so as to be able to capture images of the surroundings of the moving object 10. In the present embodiment, the moving object 10 includes a plurality of cameras 10F having different capturing directions.

[0031] The drive control unit 10G controls the drive unit 10H based on vehicle information such as from the wheel speed sensor 10C and information received from the ECU 20, thereby controlling the motion of the mobile object 10. For example, the drive control unit 10G controls the mobile object 10 to enter or exit a parking space based on information received from the ECU 20.

[0032] The drive control unit 10G and the drive unit 10H are connected to each other so as to be able to transmit data or signals.

[0033] The driving unit 10H is a driving device mounted on the mobile body 10. The driving unit 10H includes, for example, a brake, a shift lever, an engine, a steering gear, and the like.

[0034] The driving unit 10H and the driving control unit 10G are connected to each other so as to be able to receive data and signals.

[0035] In this embodiment, a case where the ECU 20 is mounted on the mobile object 10 is described as an example.

[0036] The hardware configuration of the ECU 20 will be described. Figure 2 This is an example of a hardware configuration diagram of the ECU 20 .

[0037] The ECU 20 is a hardware structure in which a CPU (Central Processing Unit) 11A, a ROM (Read Only Memory) 11B, a RAM (Random Access Memory) 11C, an I / F 11D, and the like are interconnected via a bus 11E.

[0038] The CPU 11A is a computing device that controls the ECU 20 of this embodiment. The ROM 11B stores programs and the like for implementing the processing of the CPU 11A. The RAM 11C stores data required for the processing of the CPU 11A. The I / F 11D is an interface for transmitting and receiving data.

[0039] The program for executing information processing executed by the ECU 20 of the present embodiment is provided by being pre-embedded in the ROM 11B, etc. Furthermore, the program executed by the ECU 20 of the present embodiment may be provided by being stored in a computer-readable storage medium in a format that can be installed in the ECU 20 or in a format that can be executed.

[0040] Return to Figure 1 Continuing the explanation, the processing processor 20A is implemented, for example, by one or more processors. For example, it can be implemented by having a processor such as a CPU execute a program, that is, by software. It can also be implemented by a dedicated processor such as an IC (Integrated Circuit), that is, by hardware. The above-mentioned components can also be implemented by using both software and hardware.

[0041] The processor implements each component of the processing processor 20A by reading and executing the program stored in the memory 20B. Alternatively, the program may be directly embedded in the circuit of the processor instead of being stored in the memory 20B. In this case, the processor implements each component of the processing processor 20A by reading and executing the program embedded in the circuit.

[0042] The memory 20B stores data and is, for example, a nonvolatile storage element such as a flash memory.

[0043] Memory 20B stores information acquired when the mobile object 10 enters or leaves a warehouse, and retrieves the stored information when necessary. When the mobile object 10 enters a warehouse, information acquired by the ultrasonic sensor 10E and stored in memory 20B is acquired by the road surface reflection determination unit 20G. Furthermore, when the mobile object 10 leaves a warehouse, information acquired by the ultrasonic sensor 10E and stored in memory 20B is acquired by the waveform similarity determination unit 20I.

[0044] The in-vehicle network control unit 20C receives information from the communication unit 10A, the wheel speed sensor 10C, and the temperature sensor 10B. The in-vehicle network control unit 20C also sends information to the drive control unit 10G, which controls the drive unit 10H based on the information received from the in-vehicle network control unit 20C.

[0045] The parking processing unit 20D performs a process executed when the mobile body 10 is parked. Parking is an action indicating parking at a desired parking location.

[0046] The parking process unit 20D includes a parking determination unit 20F, a road surface reflection determination unit 20G, and a parking determination unit 20H.

[0047] When the mobile object 10 enters the parking space, the parking processing unit 20D obtains information about the surroundings of the mobile object 10 and stores the obtained information in the memory 20B. The surrounding information is, for example, road surface information. The road surface information is, for example, information about reflected waves from the road surface.

[0048] The parking determination unit 20F determines whether parking of the movable body 10 into the parking space has started.

[0049] The method for receiving an instruction from the user to autonomously park the mobile object 10 in a parking space may be a known method and is not limited thereto. For example, the instruction from the user to automatically park in a parking space may be received by touching an icon on a touch panel of an instruction terminal pre-associated with the mobile object 10 or by pressing a predetermined switch. Alternatively, if the user's steering operation satisfies predetermined conditions and the mobile object 10 is traveling at a speed below a predetermined speed, it may be determined that the user has manually parked the mobile object 10 in the parking space.

[0050] The road surface reflection determination unit 20G determines whether the reflected wave information acquired by the ultrasonic sensor 10E includes a reflected wave from the road surface (hereinafter referred to as a road surface reflected wave). The road surface reflected wave information (hereinafter referred to as road surface reflected wave information) is stored in the memory 20B together with the ambient temperature information acquired by the temperature sensor 10B.

[0051] The parking determination unit 20H determines whether the mobile object 10 has completed parking in the parking space. If the mobile object 10 has parked autonomously, the parking determination unit 20H determines whether movement to the target parking space has been completed. Alternatively, if the mobile object 10 is being driven by a user, the parking determination unit 20H determines whether an input indicating completion of parking has been received from the user.

[0052] The unloading processing unit 20E performs processing to be executed when unloading the movable body 10. Unloading is an operation of moving the movable body 10 from a place where the movable body 10 is parked.

[0053] The delivery processing unit 20E includes a waveform similarity determination unit 20I and a temperature correlation determination unit 20J.

[0054] When the moving object 10 is pulled out of the parking space, the pull-out processing unit 20E determines whether there is a road surface in the traveling direction of the moving object 10 and performs a pull-out control process for the moving object 10 .

[0055] The following processing is set as the outbound judgment processing: after receiving the outbound instruction from the user, the outbound processing unit 20E obtains the reflected wave information in the direction of travel of the mobile body 10 when it leaves the warehouse, and determines whether the similarity between the road surface reflected wave information and the road surface reflected wave information obtained when entering the warehouse is within the specified range.

[0056] The waveform similarity determination unit 20I determines the similarity between the road surface reflected wave measured during loading and unloading. The waveform similarity determination unit 20I determines whether the number of unloading determination processes performed by the unloading processing unit 20E is less than a predetermined number. Furthermore, the waveform similarity determination unit 20I obtains information on the road surface reflected wave stored in the memory 20B as a signal (hereinafter referred to as a road surface reflected signal) and determines whether the similarity of the obtained road surface reflected signal exceeds a predetermined value.

[0057] If the similarity of the road surface reflection signal is not higher than a predetermined value or the road surface reflection signal cannot be acquired, the waveform similarity determination unit 20I changes the reception gain of the ultrasonic sensor 10E and remeasures to re-determine the waveform similarity.

[0058] The temperature correlation determination unit 20J determines the correlation between the gain of the ultrasonic sensor 10E and the ambient temperature measured by the temperature sensor 10B. The temperature correlation determination unit 20J obtains the gain of the ultrasonic sensor 10E and the ambient temperature measured by the temperature sensor 10B and determines whether the obtained correlation is higher than a predetermined value.

[0059] The outbound processing unit 20E then performs outbound control processing based on the outbound determination process performed by the temperature correlation determination unit 20J. Specifically, if the temperature correlation determination unit 20J determines that the correlation between the gain of the ultrasonic sensor 10E and the ambient temperature measured by the temperature sensor 10B is lower than a predetermined value, the outbound processing unit 20E determines to terminate the outbound control process. Alternatively, if the temperature correlation determination unit 20J determines that the correlation between the gain of the ultrasonic sensor 10E and the ambient temperature measured by the temperature sensor 10B is higher than a predetermined value, the outbound processing unit 20E issues an instruction to the drive control unit 10G via the in-vehicle network control unit 20C to cause the mobile object 10 to exit the vehicle. The drive control unit 10G then controls the drive unit 10H.

[0060] In this embodiment, for example, a scenario is envisioned in which, upon receiving a parking exit instruction from a user via remote control using an instruction terminal, the vehicle 10 is pulled out of the parking lot after confirming the presence of a road in the direction of travel. Alternatively, if no road can be confirmed in the direction of travel of the vehicle 10, the vehicle 10 is stopped from pulling out of the parking lot.

[0061] In this case, by judging whether the similarity between the road surface reflection signal in the traveling direction of the moving body 10 when leaving the warehouse, obtained by using the gain of the ultrasonic sensor 10E calculated based on the ambient temperature of the moving body 10 when leaving the warehouse, and the road surface reflection signal obtained when entering the warehouse is within the specified range, the existence of the road surface in the traveling direction is confirmed when leaving the warehouse.

[0062] Next, an example of the procedure of information processing in this embodiment executed by the mobile object 10 will be described. Figure 3 This is a flowchart showing an example of the procedure of information processing in this embodiment executed by the mobile object 10 .

[0063] First, the parking determination unit 20F determines whether an instruction to start parking the mobile object 10 into a parking space has been received from the user (step S101). If it is determined that an instruction to start parking the mobile object 10 into a parking space has not been received from the user (step S101: No), the process returns to the start step. If it is determined that an instruction to start parking the mobile object 10 into a parking space has been received from the user (step S101: Yes), the process proceeds to step S103.

[0064] In step S103, the ultrasonic sensor 10E acquires reflected wave information on the side opposite to the direction of travel of the mobile object 10 (step S103). Next, the road surface reflection determination unit 20G determines whether the reflected wave information acquired by the ultrasonic sensor 10E includes road surface reflections (step S105). In other words, the road surface reflection determination unit 20G determines whether the ultrasonic sensor 10E acquired information related to the road surface opposite to the direction of travel of the mobile object 10 during the parking process.

[0065] If the reflected wave information acquired by the ultrasonic sensor 10E does not include road surface reflected waves, that is, if the ultrasonic sensor 10E has not acquired information related to the road surface opposite to the direction of travel of the mobile object 10 during the parking process (step S105: No), the process proceeds to step S107. In step S107, the ultrasonic sensor 10E changes its gain so that the ultrasonic sensor 10E observes road surface reflected waves (step S107), and the process then returns to step S103.

[0066] If the reflected wave information acquired by the ultrasonic sensor 10E includes road surface reflected waves, that is, if the ultrasonic sensor 10E acquires information on the road surface opposite to the traveling direction of the mobile body 10 during parking (step S105: Yes), the process proceeds to step S109.

[0067] In step S109, the parking determination unit 20H determines whether the mobile object 10 has completed parking in the parking space (step S109). If it is determined that the mobile object 10 has not completed parking in the parking space (step S109: No), the process returns to step S103. If it is determined that the mobile object 10 has completed parking in the parking space (step S109: Yes), the process proceeds to step S111.

[0068] In step S111, the processing processor 20A stores the road surface reflection wave observed by the ultrasonic sensor 10E in step S105 as a road surface reflection signal in the memory 20B, along with the gain setting value of the ultrasonic sensor 10E. Furthermore, the processing processor 20A stores the ambient temperature at the time of step S105 measured by the temperature sensor 10B in the memory 20B (step S111). This allows for reference to the correlation between the road surface reflection signal during parking and the temperature of the parking space at the time of parking.

[0069] Next, the communication unit 10A receives a delivery instruction from the user through remote operation using the instruction terminal (step S113 ).

[0070] In step S115, a target gain predicted based on the ambient temperature at the time of step S115 measured by the temperature sensor 10B and the gain setting value stored in step S111 is set according to a relationship table that represents the relationship between the ambient temperature of the mobile body 10 and the gain of the ultrasonic sensor 10E (step S115).

[0071] In step S117 , the ultrasonic sensor 10E acquires reflected wave information in the direction in which the moving object 10 travels when leaving the vehicle (step S117 ).

[0072] Next, the waveform similarity determination unit 20I determines whether the number of times the unloading determination process has been performed by the unloading processing unit 20E is less than a predetermined number (step S119). If the number is greater than the predetermined number (step S119: No), the user's instruction terminal is notified of the termination of the unloading control process for the mobile object 10 via the communication unit 10A (step S121). If the number is less than the predetermined number (step S119: Yes), the process proceeds to step S123.

[0073] In step S123 , the waveform similarity determination unit 20I acquires the road surface reflection signal at the time of entry stored in step S111 and the road surface reflection signal at the time of exit acquired in step S117 (step S123 ).

[0074] Next, the waveform similarity determination unit 20I determines whether the similarity of the road surface reflection signal acquired in step S123 is higher than a predetermined value (step S125). In other words, it determines whether the similarity between the road surface reflection wave pre-stored at the time of entry and the road surface reflection wave observed at the time of exit is within a predetermined range.

[0075] If the similarity is lower than the specified value, that is, if the similarity between the road surface reflected wave stored in advance at the time of entry and the road surface reflected wave observed at the time of exit is not within the specified range (step S125: No), the ultrasonic sensor 10E refers to the relationship table and changes the gain (step S127), and then returns to step S117. Hereinafter, the gain changed in step S127 is referred to as the adjusted gain.

[0076] When the similarity is higher than the specified value, that is, when the similarity between the road surface reflection wave pre-stored at the time of entry and the road surface reflection wave observed at the time of exit is within the specified range (step S125: "Yes"), it is determined that there is a road surface in the direction of travel of the mobile body 10, and step S129 is entered.

[0077] In step S129, the temperature correlation determination unit 20J determines whether the correlation between the adjustment gain and the ambient temperature measured by the temperature sensor 10B at the time of step S129 is higher than a predetermined value (step S129). In other words, the unit determines whether the adjustment gain is within the predetermined range for the ambient temperature of the mobile object 10 at the time of unloading, when the similarity between the road surface reflected wave pre-stored at the time of loading and the road surface reflected wave observed at the time of unloading is within the predetermined range.

[0078] When the correlation between the adjustment gain and the ambient temperature at the time of step S129 measured by the temperature sensor 10B is lower than the specified value, that is, when the similarity between the road surface reflection wave pre-stored at the time of entry and the road surface reflection wave observed at the time of exit is within the specified range, and the adjustment gain is not within the specified range for the ambient temperature of the movable body 10 at the time of exit (step S129: "No"), the exit processing unit 20E notifies the user's instruction terminal via the communication unit 10A to terminate the exit of the movable body 10 (step S121).

[0079] If the correlation between the adjusted gain and the ambient temperature measured by the temperature sensor 10B at the time of step S129 is higher than a predetermined value, that is, if the similarity between the road surface reflected wave and gain stored beforehand at the time of parking and the road surface reflected wave observed during parking is within a predetermined range, then the adjusted gain is within the predetermined range for the ambient temperature of the mobile object 10 at the time of parking (step S129: Yes), then the process proceeds to step S131. In step S131, the parking process unit 20E notifies the user's instruction terminal via the communication unit 10A that the mobile object 10 is being parked (step S131). Next, the parking process unit 20E issues an instruction to the drive control unit 10G via the in-vehicle network control unit 20C to cause the mobile object 10 to park. The drive control unit 10G controls the drive unit 10H to cause the mobile object 10 to park, and the routine ends (step S133).

[0080] As described above, according to this embodiment, when the mobile body receives a remote exit instruction, it can be exited according to the user's intention. In other words, the safety of remote exit of the mobile body can be further improved.

[0081] In the present embodiment, the presence of the road surface is confirmed using sonar, but the presence of the road surface may be determined based on an image captured by a camera.

[0082] <Variation 1>

[0083] In this embodiment, a determination is made as to whether the similarity between the road surface reflection signal in the direction of travel of the mobile body 10 obtained during unloading, obtained using the gain of the ultrasonic sensor 10E calculated based on the ambient temperature of the mobile body 10 during unloading, and the road surface reflection signal obtained during loading falls within a specified range. However, an initial value that takes into account environmental conditions other than temperature may also be set to determine whether a road surface exists in the direction of travel of the mobile body. For example, in Variation 1, the gain may be set so that the similarity between the road surface reflection signal in the direction of travel of the mobile body 10 obtained during unloading and the road surface reflection signal obtained during loading falls within a specified range, and whether the correlation between the set gain and the ambient temperature falls within the specified range.

[0084] <Variation 2>

[0085] exist Figure 3 In the flowchart, if the number of times the exit determination process has been completed exceeds the prescribed number (step S119: No), or if the correlation between the adjustment gain and the ambient temperature measured by the temperature sensor 10B at the time of step S129 is lower than the prescribed value (step S129: No), the user is notified in step S121 that the exit will not be performed. In other words, if it cannot be confirmed that there is still a road in the direction of travel of the mobile body 10, the exit processing unit 20E notifies the user via the communication unit 10A that the mobile body 10 will not be exited.

[0086] However, after the delivery processing unit 20E notifies the user via the communication unit 10A that the mobile object 10 will not be delivered, the delivery processing unit 20E may deliver the mobile object 10 if the communication unit 10A receives the notification that the user who received the instruction has correctly completed a predetermined complex operation. The predetermined complex operation may be, for example, fitting a puzzle piece displayed on the instruction terminal into a predetermined empty space.

[0087] By doing so, even when the exit processing unit 20E determines that there is no further road in the direction of travel of the mobile body 10, it is possible to perform exit in accordance with the user's intention when it is determined that the mobile body 10 is actually necessary for the user to exit. Furthermore, by setting the user's operation after notifying the user that exit is not to be performed to a predetermined complex operation, it is possible to prevent the mobile body 10 from being exited against the user's intention, such as accidentally performing a user operation when exit is not possible.

[0088] While the embodiments and modifications have been described above with reference to the accompanying drawings, it goes without saying that the present disclosure is not limited to the described examples. It is clear that anyone skilled in the art will be able to devise various variations or modifications within the scope of the claims, and it should be understood that these variations or modifications naturally fall within the technical scope of the present disclosure. Furthermore, the various components of the above embodiments may be arbitrarily combined without departing from the spirit of the disclosure.

[0089] Furthermore, the program for executing the information processing in the above-described embodiment has a modular structure including each of the above-described multiple functional units. As actual hardware, for example, a CPU (processor circuit) reads and executes the information processing program from a ROM or HDD, thereby loading each of the above-described multiple functional units into RAM (main storage). Furthermore, dedicated hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array) can also be used to implement some or all of the above-described multiple functional units.

[0090] Furthermore, while the embodiments have been described above, these embodiments are presented as examples and are not intended to limit the scope of the present disclosure. The new embodiments described above can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. The embodiments described above are included within the scope or spirit of the present disclosure and within the scope of the invention described in the claims and their equivalents.

[0091] Description of Reference Numerals

[0092] 10: Moving body; 10A: Communication unit; 10B: Temperature sensor; 10C: Wheel speed sensor; 10D: Output unit; 10E: Ultrasonic sensor; 10F: Camera; 10G: Drive control unit; 10H: Drive unit; 20: ECU; 20A: Processor for processing; 20B: Memory; 20C: On-vehicle network control unit; 20D: Warehouse entry processing unit; 20E: Warehouse exit processing unit; 20F: Warehouse entry judgment unit; 20G: Road surface reflection judgment unit; 20H: Parking judgment unit; 20I: Waveform similarity judgment unit; 20J: Temperature correlation judgment unit.

Claims

1. An information processing device comprising: a communication unit that receives an instruction from a user to cause the movable body to leave the parking space; a delivery processing unit that delivers the moving body out of the warehouse when there is a road surface in the traveling direction of the moving body; and an ultrasonic sensor that transmits ultrasonic waves and receives reflected waves of the ultrasonic waves, The outbound processing unit obtains information on the reflected wave from the road surface received by the ultrasonic sensor as a road surface reflection signal, and determines whether the road surface reflection signal in the direction of travel of the moving body at the time of outbound, obtained by using the gain of the ultrasonic sensor calculated based on the ambient temperature of the moving body at the time of outbound, and the road surface reflection signal obtained at the time of inbound are similar within a specified range. If the similarity is not within the specified range, it is determined that the existence of a road surface cannot be confirmed in the direction of travel of the moving body. If the similarity is within the specified range, it is determined that the existence of a road surface in the direction of travel of the moving body exists.

2. The information processing device according to claim 1, wherein The delivery processing unit terminates delivery control processing for the mobile body when it is determined that the existence of a road surface cannot be confirmed in the traveling direction of the mobile body.

3. The information processing device according to claim 1, wherein The system further includes a parking processing unit for acquiring information about the surroundings of the mobile body when parking the mobile body in a parking space. The unloading processing unit compares the road surface information acquired by the loading processing unit when the movable body is loaded into a parking space with the road surface information acquired when the movable body is unloaded from the parking space.

4. The information processing device according to claim 1, wherein: The communication unit receives an instruction from a user to park the movable body in a parking space. When the communication unit receives the instruction from the user, it determines that the movable body has started autonomous parking and starts a process of acquiring information on the road surface when the movable body enters the parking space. The information processing apparatus according to claim 3 , wherein: When the vehicle is traveling at a speed below a predetermined speed under a user's steering operation that satisfies predetermined conditions, the parking processing unit determines that parking of the moving object into the parking space has started, and starts a process of acquiring information on the road surface when the moving object enters the parking space. The information processing apparatus according to claim 1 , wherein: The outbound processing unit instructs a user to perform a predetermined operation when it determines that no road surface can be confirmed in the traveling direction of the mobile body, and performs outbound control processing on the mobile body when the operation is correctly completed.

7. An information processing device comprising: a communication unit that receives an instruction from a user to cause the movable body to leave the parking space; a delivery processing unit that delivers the moving body out of the warehouse when there is a road surface in the traveling direction of the moving body; and an ultrasonic sensor that transmits ultrasonic waves and receives reflected waves of the ultrasonic waves, The outbound processing unit obtains information on the reflected wave from the road surface received by the ultrasonic sensor as a road surface reflection signal, sets the gain of the ultrasonic sensor in such a way that the similarity between the road surface reflection signal in the direction of travel of the mobile body during outbound travel and the road surface reflection signal obtained during inbound travel is within a prescribed range, and determines whether the correlation between the set gain and the ambient temperature of the mobile body is within a prescribed range. If the similarity is not within the prescribed range, it is determined that the existence of a road surface cannot be confirmed in the direction of travel of the mobile body. If the similarity is within the prescribed range, it is determined that the existence of a road surface is present in the direction of travel of the mobile body.

8. The information processing apparatus according to claim 7, wherein: The delivery processing unit terminates delivery control processing for the moving body when it is determined that the road surface cannot be confirmed in the traveling direction of the moving body.

9. The information processing apparatus according to claim 7, wherein: The system further includes a parking processing unit for acquiring information about the surroundings of the mobile body when parking the mobile body in a parking space. The unloading processing unit compares the road surface information acquired by the loading processing unit when the movable body is loaded into a parking space with the road surface information acquired when the movable body is unloaded from the parking space.

10. The information processing apparatus according to claim 7, wherein: The communication unit receives an instruction from a user to park the movable body in a parking space. When the communication unit receives the instruction from the user, it determines that the movable body has started autonomous parking and starts a process of acquiring information on the road surface when the movable body enters the parking space.

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