Control device, control method, and storage medium

Abstract

Control device, control method, and storage medium. The control device is mounted on a mobile body, and the mobile body includes: a distance measuring device mounted on the mobile body, supported by a support device, irradiates electromagnetic waves, and detects an object based on the detection result of the electromagnetic waves that hit the object and bounce back; a support device that supports the distance measuring device; a detection unit that detects a predetermined object present in the traveling direction of the mobile body; a control unit that controls the state of the support device to change the support state of the distance measuring device to at least a first posture and a second posture or to a first position and a second position, and in the case where the object is detected, after the distance measuring device irradiates electromagnetic waves in the state where the distance measuring device is supported in the first posture or the first position, the control unit causes the distance measuring device to irradiate electromagnetic waves in the state where the distance measuring device is supported in the second posture or the second position, which changes the orientation or position of the distance measuring device relative to the first posture or the first position in at least any one direction of the upward direction and the downward direction.

Description

[0001] This application claims priority based on Japanese Patent Application No. 2022-007775, filed on January 21, 2022, the contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to control devices, control methods, and storage media. Background Technology

[0003] Previously, an invention of an electric vehicle that can be ridden by one person and move on a sidewalk was disclosed (Japanese Patent Application Publication No. 2020-189536). Summary of the Invention

[0004] Previous technologies have not adequately considered the processing related to the detection of objects around the moving object.

[0005] The present invention was made in consideration of such circumstances, and one of its objectives is to provide a control device, control method, and storage medium that can provide support for object detection with greater accuracy.

[0006] Solution for solving the problem

[0007] The control device, control method, and program of the present invention adopt the following structure.

[0008] (1): One aspect of the present invention relates to a control device mounted on a mobile body, wherein the mobile body comprises: a ranging device mounted on the mobile body and supported by a support device, which irradiates electromagnetic waves and detects objects based on the detection result of electromagnetic waves that bounce back after hitting an object; the support device supporting the ranging device; a detection unit that detects a predetermined object present in the direction of travel of the mobile body; and a control unit that controls the state of the support device to change the support state of the ranging device to at least a first posture and a second posture, or to a first position and a second position, wherein the control device controls the mobile body as follows: when the object is detected, after the ranging device irradiates the electromagnetic waves while supported in the first posture or the first position, the control unit controls the support device to support the ranging device in the second posture or the second position after the orientation or position of the ranging device has changed relative to the first posture or the first position, at least in the upward direction and the downward direction, and causes the ranging device to irradiate electromagnetic waves.

[0009] (2): Based on the above (1) scheme, the pre-defined object includes the support of a pillar or the support of a fence, and the pillar or the fence is an object that is difficult to detect by the ranging device without changing its posture or position.

[0010] (3): One aspect of the present invention relates to a control device mounted on a mobile body, wherein the mobile body comprises: a ranging device mounted on the mobile body and supported by a support device, which irradiates electromagnetic waves and detects objects based on the detection result of electromagnetic waves that bounce back after hitting an object; the support device supporting the ranging device; a position recognition unit recognizing the position of the mobile body; and a control unit controlling the state of the support device to change the support state of the support device to at least a first posture and a second posture, or to a first position and a second position, wherein the control device controls the mobile body as follows: when the control unit determines, based on the recognition result of the position recognition unit, that the mobile body has reached or is close to a predetermined range, after the ranging device irradiates the electromagnetic waves while supported in the first posture or the first position, the control unit controls the support device to support the ranging device in the second posture or the second position after the orientation or position of the ranging device has changed relative to the first posture or the first position, at least in the upward direction and the downward direction, and causes the ranging device to irradiate electromagnetic waves.

[0011] (4): Based on the above (2) scheme, the pre-defined range is the range including the entrance of a park, parking lot or facility where the ranging device is installed so that the object is difficult to detect without changing its posture or position.

[0012] (5): Based on any of the above schemes (1) to (4), the ranging device irradiates electromagnetic waves by changing the orientation of the up and down direction for each specified angle without depending on the support state.

[0013] (6): Based on the above (5) scheme, the change in the angle of the direction of the electromagnetic wave irradiated by the ranging device caused by the change of the ranging device from the first posture to the second posture is smaller than the specified angle.

[0014] (7): Based on any of the above schemes (1) to (4), the control unit causes the ranging device to irradiate electromagnetic waves by changing the orientation of the up and down direction for each specified angle in each of the multiple postures including the first posture and the second posture.

[0015] (8): Based on the above (7) scheme, in each of the multiple postures, when the ranging device changes the orientation of the up and down direction to irradiate electromagnetic waves for each specified angle, the reference irradiation direction of each of the multiple postures falls within the specified angle and does not repeat.

[0016] (9): Based on the above scheme (7) or (8), the control unit causes the posture of the ranging device to change at equal intervals. In each of the multiple postures after the change, the ranging device irradiates electromagnetic waves by changing the orientation of the up and down direction of the irradiated electromagnetic waves for each specified angle independently of the support device.

[0017] (10): Based on any of the above schemes (1) to (9), if the control unit detects an obstacle for the moving body in the detection result of the processing of the electromagnetic wave irradiated by the ranging device, the moving body avoids the obstacle.

[0018] (11): Another aspect of the present invention relates to a control method in which a mobile body comprises: a ranging device mounted on the mobile body and supported by a support device, which irradiates electromagnetic waves and detects objects based on the detection result of electromagnetic waves that bounce back after hitting an object; and the support device supporting the ranging device, wherein the control method causes a computer of the mobile body to perform the following processing: detecting a predetermined object present in the direction of travel of the mobile body; controlling the state of the support device to change the support state of the ranging device to at least a first posture and a second posture, or to a first position and a second position; and, in the case of detecting the object, after the ranging device irradiates the electromagnetic waves while supported in the first posture or the first position, and in the state of controlling the support device to support the ranging device in the second posture or the second position after the orientation or position of the ranging device has changed relative to the first posture or the first position, causing the ranging device to irradiate electromagnetic waves.

[0019] (12): Another aspect of the present invention relates to a storage medium storing a program in which a mobile body comprises: a ranging device mounted on the mobile body and supported by a support device, which irradiates electromagnetic waves and detects objects based on the detection results of electromagnetic waves that bounce back after hitting an object; and the support device supporting the ranging device, wherein the program causes a computer of the mobile body to perform the following processing: detecting a predetermined object present in the direction of travel of the mobile body; controlling the state of the support device to change the support state of the ranging device to at least a first posture and a second posture, or to a first position and a second position; and, in the case of detecting the object, after the ranging device irradiates the electromagnetic waves while supported in the first posture or the first position, and in the state of controlling the support device to support the ranging device in the second posture or the second position after the orientation or position of the ranging device has changed relative to the first posture or the first position by at least one of the upward and downward directions, causing the ranging device to irradiate electromagnetic waves.

[0020] Invention Effects

[0021] According to the schemes in (1)-(12), it is possible to provide more accurate and better support for object detection. Attached Figure Description

[0022] Figure 1 This is a diagram illustrating an example of the structure of the moving body and control device in an embodiment.

[0023] Figure 2 This is a perspective view of a moving object viewed from above.

[0024] Figure 3 This is a diagram schematically illustrating the illumination of a LiDAR scanner.

[0025] Figure 4 This is a diagram representing an example of the configuration status of LiDAR.

[0026] Figure 5 This diagram shows an example of the state of the LiDAR when the first support slides along the negative X direction.

[0027] Figure 6 It is a conceptual diagram showing the area illuminated by light when viewed from a moving object.

[0028] Figure 7 This is a diagram illustrating an example of a rope acting as an obstacle.

[0029] Figure 8 This is a flowchart illustrating an example of the processing flow performed by the control device.

[0030] Figure 9 This is a diagram representing an example of the configuration status of LiDAR.

[0031] Figure 10 This is a diagram illustrating an example of the state of light illuminating a LIDAR in Modified Example 2.

[0032] Figure 11 This is a diagram illustrating an example of the state of light illuminating the LIDAR in variation 3. Detailed Implementation

[0033] Hereinafter, embodiments of the control device, control method, and storage medium mounted on a mobile body according to the present invention will be described with reference to the accompanying drawings. The mobile body moves between a lane and a designated area different from the lane. The designated area is, for example, a sidewalk. The designated area may be part or all of a roadside area, bicycle lane, open space, etc., or may include all of the sidewalk, roadside area, bicycle lane, open space, etc. In the following description, the designated area is the sidewalk. The portion referred to as "sidewalk" in the following description can be appropriately referred to as the "designated area."

[0034] The following situations exist: the forward direction of the moving object is called the positive X direction, the backward direction of the moving object is called the negative X direction, the right direction (the right direction when facing the positive X direction) among the directions orthogonal to the forward and backward directions is called the positive Y direction, the left direction (the left direction when facing the positive X direction) among the directions orthogonal to the forward and backward directions is called the negative Y direction, the direction orthogonal to both the X and Y directions and vertically upward is called the positive Z direction, and the direction orthogonal to both the X and Y directions and vertically downward is called the negative Z direction.

[0035] <Implementation Method>

[0036] Figure 1 This diagram illustrates an example of the structure of the mobile body 1 and control device 200 according to an embodiment. The mobile body 1 includes, for example, an external detection device 10, a mobile body sensor 20, an operating element 30, an internal camera 40, a positioning device 50, a dialogue device 60, a movement mechanism 70, a drive device 80, an external reporting device 90, a storage device 100, and a control device 200. Structures that are not essential for achieving the functions of this invention may be omitted.

[0037] The external detection device 10 is a variety of devices that use the direction of travel of the moving body 1 as the detection range. The external detection device 10 includes a LIDAR (Light Detection and Ranging) 12. Moreover, the external detection device 10 may include, for example, an external camera, a radar device, a sensor fusion device, etc. The external detection device 10 outputs information indicating the detection result (image, object position, etc.) to the control device 200. The LIDAR 12 will be described later.

[0038] The moving body sensor 20 includes, for example, a speed sensor, an acceleration sensor, a yaw rate (angular velocity) sensor, an orientation sensor, and an operation amount detection sensor mounted on the operating member 30. The operating member 30 includes, for example, operating members for indicating acceleration / deceleration (e.g., accelerator pedal, brake pedal) and operating members for indicating steering (e.g., steering wheel). In this case, the moving body sensor 20 may include a throttle opening sensor, a brake pedal application sensor, a steering torque sensor, etc. The moving body 1 may also serve as the operating member 30 and possess an operating member with a form other than those described above (e.g., a non-annular rotary operating member, a joystick, a button, etc.).

[0039] The internal camera 40 captures images of at least the heads of the occupants of the moving body 1 from the front. The internal camera 40 is a digital camera utilizing imaging elements such as CCD (Charge Coupled Device) and CMOS (Compoundary Metal Oxide Semiconductor). The internal camera 40 outputs the captured images to the control device 200.

[0040] Positioning device 50 is a device for determining the position of mobile body 1. Positioning device 50 is, for example, a GNSS (Global Navigation Satellite System) receiver, which determines the position of mobile body 1 based on signals received from GNSS satellites and outputs this as position information. The position information of mobile body 1 can also be estimated based on the location of the Wi-Fi base station to which the communication device is connected (described later).

[0041] The dialogue device 60 includes, for example, a speaker, a microphone, a touch panel, and a communication device 62. The dialogue device 60 processes the occupant's voice received by the microphone appropriately and transmits it via the network to a server device through the communication device 62. Based on the information received from the server device, it provides voice-based information through the speaker. The dialogue device 60 is sometimes also referred to as an intelligent agent device, customer service device, or assistant device. The server device has voice recognition, natural language processing, meaning interpretation, and response content determination functions. The dialogue device 60 can also send location information to the server device, which responds with information about suitable facilities based on the location information and the occupant's guidance request (e.g., "What's a good ramen restaurant nearby?"). In this case, the dialogue device 60 provides voice guidance such as "It's located after turning left ahead." Not limited to this, the dialogue device 60 also has the function of accepting natural speech from the occupant and providing appropriate responses. The dialogue device 60 may also have the function of conducting simple dialogues without going through the server device, such as asking questions and receiving replies from the device side, and asking the passenger questions according to the request from the control device 200.

[0042] The moving mechanism 70 is a mechanism for moving the moving body 1 on a road. The moving mechanism 70 can be, for example, a wheel assembly including steering wheels and drive wheels. The moving mechanism 70 can also be legs for multi-legged travel.

[0043] The drive unit 80 outputs force to the moving mechanism 70, causing the moving body 1 to move. For example, the drive unit 80 includes a motor that drives the drive wheels, a battery that stores the electricity supplied to the motor, a steering device that adjusts the steering angle of the steering wheels, and a braking device that is controlled according to information input from the control device 200 or from the operating element 30. The drive unit 80 may also be equipped with an internal combustion engine, fuel cell, etc., as a drive force output mechanism or a power generation mechanism.

[0044] The external reporting device 90 may be, for example, a lamp, display device, or speaker installed on the outer panel of the mobile body 1 for reporting external information to the mobile body 1. The external reporting device 90 operates differently depending on whether the mobile body 1 is moving on a sidewalk or a driveway. For example, the external reporting device 90 may be controlled to illuminate when the mobile body 1 is moving on a sidewalk and not illuminate when the mobile body 1 is moving on a driveway. The light color is preferably a color specified by regulations. The external reporting device 90 may also be controlled to emit green light when the mobile body 1 is moving on a sidewalk and blue light when the mobile body 1 is moving on a driveway. When the external reporting device 90 is a display device, it displays the message "Moving on the sidewalk" in text or graphics when the mobile body 1 is moving on a sidewalk.

[0045] Figure 2 This is a perspective view of the moving body 1 from above. In the figure, FW is the steering wheel, RW is the drive wheel, SD is the steering mechanism, MT is the motor, and BT is the battery. The steering mechanism SD, motor MT, and battery BT are included in the drive unit 80. AP is the accelerator pedal, BP is the brake pedal, WH is the steering wheel, SP is the speaker, and MC is the microphone. The moving body 1 shown is a one-person vehicle, with the occupant P sitting in the driver's seat DS and wearing the seatbelt SB. Arrow D1 indicates the direction of travel (velocity vector) of the moving body 1. An external detection device 10 is located near the front end of the moving body 1, and an internal camera 40 is positioned to capture images of the occupant P's head from in front of P. An external reporting device 90, serving as a display device, is located near the front end of the moving body 1.

[0046] return Figure 1 The storage device 100 is, for example, a non-temporary storage device such as an HDD (Hard Disk Drive), flash memory, or RAM (Random Access Memory). Map information 110 and programs 120 executed by the control device 200 are stored in the storage device 100. Figure 1 The storage device 100 is described outside the frame of the control device 200, but the storage device 100 may also be included in the control device 200.

[0047] [Control Device]

[0048] The control device 200 includes, for example, a road recognition unit 210, an object recognition unit 220, a position recognition unit 230, an actuator control unit 240, and a control unit 250. The road recognition unit 210, object recognition unit 220, position recognition unit 230, actuator control unit 240, and control unit 250 are implemented, for example, by executing programs (software) using a hardware processor such as a CPU (Central Processing Unit). Some or all of these components can be implemented using hardware (including the circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit), or through the coordinated use of software and hardware. The program can be pre-saved in a storage device (not shown) or stored in a removable storage medium (non-temporary storage medium) such as a DVD or CD-ROM, and installed in the storage device by mounting the storage medium onto a drive device.

[0049] The road recognition unit 210 identifies whether the moving body 1 is moving on a lane or a sidewalk. For example, the road recognition unit 210 identifies whether the moving body 1 is moving on a lane or a sidewalk by analyzing an image captured by an external camera of the external detection device 10. Semantic segmentation can be cited as an example of image analysis. The road recognition unit 210 categorizes each pixel within the frame of the image (lane, sidewalk, boundary, object, etc.) and assigns a label. If more pixels in the area corresponding to the front of the moving body 1 are labeled as lanes, the moving body 1 is identified as moving on a lane; if more pixels in the area corresponding to the front of the moving body 1 are labeled as sidewalks, the moving body 1 is identified as moving on a sidewalk. Not limited to this, the road recognition unit 210 can also identify the moving body 1 as moving on a lane if a vehicle is detected in the area corresponding to the front of the moving body 1 in the image, and identify the moving body 1 as moving on a sidewalk if a pedestrian is detected in the area corresponding to the front of the moving body 1 in the image. The road recognition unit 210 can also identify whether the moving body 1 is moving on a lane if the width of the road surface area corresponding to the front of the moving body 1 in the image is large, and identify whether the moving body 1 is moving on a sidewalk if the width of the road surface area corresponding to the front of the moving body 1 in the image is small. The road recognition unit 210 can also compare the position information of the moving body 1 with the map information 110 to identify whether the moving body 1 is moving on a lane or a sidewalk. In this case, the map information needs to have the accuracy to distinguish between a sidewalk and a lane based on the position coordinates. When the "designated area" is not only a sidewalk, the road recognition unit 210 also performs the same processing for roadside areas, bicycle lanes, open spaces, etc.

[0050] The object recognition unit 220 identifies objects surrounding the moving body 1 based on the output of the external detection device 10. These objects include moving bodies such as vehicles, bicycles, and pedestrians; road boundaries such as road markings, steps, guardrails, shoulders, and median strips; road signs and notice boards; fallen objects on the road; and obstacles such as objects in the direction of travel of the moving body 1. The object recognition unit 220 may, for example, input images captured by the external camera into a learned model that outputs information such as the presence, position, and category of objects when an image captured by the external camera of the external detection device 10 is input, thereby obtaining information such as the presence, position, and category of other moving bodies. The category of other moving bodies may also be estimated based on their size in the image, the intensity of reflected waves received by the radar device of the external detection device 10, etc. The object recognition unit 220 may also obtain the speed of other moving bodies detected by the radar device using Doppler frequency shift, etc. The object recognition unit 220 can also identify obstacles based on information input from the LIDAR 12 as described later. The object recognition unit 220 can also be included in an external detection device instead of being included in the control device 200.

[0051] The position identification unit 230 acquires position information measured by the positioning device 50 and determines whether the acquired position is a predetermined position. The predetermined position information is stored in the storage device 100.

[0052] Details regarding the processing of the actuator control unit 240 will be described later.

[0053] The control unit 250 generates a track by referring to information about the driving path obtained from the output of the road recognition unit 210 and information about the object obtained from the output of the object recognition unit 220, and controls the drive device 80 to make the mobile body 1 automatically travel on the generated track. The track is the path that the mobile body 1 will automatically (independent of the driver's operation) will travel in the future. The track includes speed elements, for example. For example, the track is represented by a sequence of locations (track points) that the mobile body 1 should reach. Track points are locations that the mobile body 1 should reach at predetermined travel distances (e.g., a few meters) along the route. In contrast, target speed and target acceleration are generated as part of the target track at predetermined sampling times (e.g., a few tenths of a second). Track points can also be positions that the mobile body 1 should reach at predetermined sampling times. In this case, the information of target speed and target acceleration is represented by the interval of track points.

[0054] For example, when the moving body 1 is moving on a roadway, the control unit 250 controls the motor MT, braking device, and operating device of the drive unit 80 to maintain the distance between the moving body 1 and objects surrounding the moving body 1 at a first distance or more, thereby causing the moving body 1 to move. When the moving body 1 is moving on a sidewalk, the control unit 250 controls the motor MT, braking device, and operating device of the drive unit 80 to maintain the distance between the moving body 1 and objects in front of the moving body 1 at a second distance or more, thereby causing the moving body 1 to move. The second distance is, for example, a distance longer than the first distance. When the moving body 1 is moved by the driver's operation, the control unit 250 controls the drive unit 80 based on the user's operation of the operating device, thereby causing the moving body 1 to move in a manner corresponding to the operation.

[0055] Figure 3 This diagram schematically illustrates the illumination of a LIDAR 12. The LIDAR 12 illuminates the target object, detects the reflected light, and measures the time T from illumination to detection, thereby detecting the distance to the target object's outline. The LIDAR 12 can change the illumination direction based on both elevation (vertical illumination direction) and azimuth (horizontal illumination direction). For example, the LIDAR 12 repeatedly performs the following actions: fixing the vertical illumination direction while changing the horizontal illumination direction, then changing the vertical illumination direction again, fixing the vertical illumination direction at the changed angle, and then changing the horizontal illumination direction while continuing to scan.

[0056] Hereinafter, the vertical illumination direction is referred to as a "layer," a scan performed while fixing the layer and changing the horizontal illumination direction is called a "cycle scan," and the horizontal illumination direction is referred to as the "azimuth." Layers are set in a finite number, for example, from L1 to Ln (n is a natural number). Layer changes are performed discontinuously in terms of angle, for example, in the manner of L1→L4→L2→L5→L3… to avoid interference between the light irradiated in the previous cycle and the detection in the current cycle. Alternatively, the layer changes can be performed continuously in terms of angle. The azimuth direction can also be fixed, and light can be irradiated while changing the layer.

[0057] exist Figure 3 In this example, the LIDAR 12 performs a cyclic scan through layers L1 to L5, illuminating light in a predetermined orientation for each layer. In other words, the LIDAR 12 illuminates light according to each combination of orientations, which is a combination of orientations among a plurality of predetermined vertical orientations and a plurality of predetermined horizontal orientations.

[0058] Figure 4This diagram illustrates an example of the configuration of LIDAR 12. LIDAR 12 is disposed within housing 14. LIDAR 12 is supported by bushing member 15 and first support portion 16-1. Bushing member 15 is disposed between LIDAR 12 and housing 14 (in the positive Z direction of LIDAR 12). Bushing member 15 is a buffer member that fixes the position of LIDAR 12 and cushions vibrations to LIDAR 12. LIDAR 12 is formed of an elastic member such as rubber.

[0059] A first support portion 16-1 is provided in the negative Z direction of LIDAR12. A second support portion 16-2 is provided in the positive X direction of the first support portion 16-1, and a third support portion 16-3 is provided in the negative X direction of the first support portion 16-1. The second support portion 16-2 and the third support portion 16-3 are fixed to the main body of the movable body 1, etc. Between the first support portion 16-1 and the second support portion 16-2, for example, a first spring member 17-1, a first damper 18-1, and a first actuator 19-1 are disposed. Between the first support portion 16-1 and the third support portion 16-3, for example, a second spring member 17-2, a second damper 18-2, and a second actuator 19-2 are disposed.

[0060] The first actuator 19-1 has a lever that extends from a reference position in the negative X direction due to the rotation of a motor (not shown), causing the first support portion 16-1 to slide in the negative X direction. When the lever of the first actuator 19-1 returns to the reference position, the first spring member 17-1 and the first damper 18-1 absorb the energy of the first support portion 16-1 moving in the positive X direction, thereby allowing the first support portion 16-1 to smoothly return to the reference position.

[0061] The second actuator 19-2 has a lever that extends from a reference position in the positive X direction due to the rotation of a motor (not shown), causing the second support portion 16-2 to slide in the positive X direction. When the lever of the second actuator 19-2 returns to the reference position, the second spring member 17-2 and the second damper 18-2 absorb the energy of the first support portion 16-1 moving in the negative X direction, thereby allowing the first support portion 16-1 to smoothly return to the reference position.

[0062] The LIDAR 12 includes, for example, a sensor such as an IMU (Inertial Measurement Unit) 13 to detect changes in its posture. The actuator control unit 240 of the control device 200 detects the posture (or position) of the LIDAR 12 based on information obtained from the IMU 13, and changes the posture of the LIDAR 12 based on the detection result. For example, the actuator control unit 240 controls the first actuator 19-1 or the second actuator 19-2 to slide the position of the first support 16-1, thereby changing the posture of the LIDAR 12.

[0063] Figure 5 This diagram illustrates an example of the state of the LIDAR 12 when the first support portion 16-1 has slid in the negative X direction. When the actuator control unit 240 extends the lever of the first actuator 19-1 in the negative X direction, the first support portion 16-1 slides from the reference position in the negative X direction. The center of gravity of the LIDAR 12 moves forward, and the LIDAR 12 tilts in the negative Z direction. Therefore, the direction of light irradiation of the LIDAR 12 becomes the negative Z direction relative to the direction of irradiation corresponding to the reference position. Figure 5 As shown, the light irradiation direction at the reference position is L1-L5, and the light irradiation direction after the first support 16-1 slides is L1#-L5#.

[0064] As described above, after the LIDAR12 is supported in a first posture and then illuminates the LIDAR12, the control device 200 illuminates the LIDAR12 in a second posture in which the orientation of the LIDAR12 (the orientation of the illumination direction) is offset upward or downward relative to the first posture.

[0065] Figure 6 This is a conceptual diagram showing the area illuminated by light as viewed from the moving body 1. (Example) Figure 6 As shown, the irradiated area of ​​light with irradiation direction L1-L5 is different (or partially overlaps) from the irradiated area of ​​light with irradiation direction L1#-L5#. That is, LIDAR12 irradiates electromagnetic waves by changing the orientation of the vertical direction for each predetermined angle, independent of the support state supported by the first support part 16-1.

[0066] For example, in the second posture, the change in the angle of the LIDAR 12's illumination direction relative to the LIDAR 12's illumination direction in the first posture is smaller than the change in a unit angle. A unit angle refers to the unit angle (angle difference between adjacent layers) in the vertical direction when the LIDAR 12 illuminates light without relying on the control of the actuator control unit 240 (control of the first support unit 16-1). Figure 6 In the example, the orientation of LIDAR12 is controlled so that the illumination direction L5# falls between the illumination directions L4 and L5.

[0067] When the pose changes from a two-stage change to a three-stage or higher change, the pose change falls within the angular range of adjacent layers. The unit angles of illumination by LIDAR12 according to each changed pose can also be equally or approximately equally spaced. Figure 6In the case of a 3-stage posture change, for example, the posture of the LIDAR12 is controlled so that the illumination direction of the light is L1-L5 in the first posture, L1#-L5# in the second posture, and L1##-L5## (not shown) in the third posture. For example, the control is made so that the illumination directions L5# and L5## are different directions, and they are controlled to fall between the illumination directions L4 and L5. Moreover, for example, when illuminating light from the positive Z direction in the order of illumination direction L5, illumination direction L5#, and illumination direction L5##, the angle difference between illumination directions L5 and L5#, the angle difference between illumination directions L5# and L5##, and the angle difference between illumination directions L5## and L4 are equally spaced or approximately equally spaced. In the case of a posture change of 4 stages or more, the illumination can be performed while changing the posture. In this case, in each of the multiple postures, when the LIDAR12 irradiates electromagnetic waves by changing the orientation of the vertical direction for each specified angle, the reference irradiation direction for each of the multiple postures falls within the specified angle and does not repeat. For example, when the irradiation direction is based on irradiation direction L5-irradiation direction L5### (not shown), irradiation direction L5#-irradiation direction L5### falls between irradiation direction L5 and irradiation direction L4 and does not repeat.

[0068] For example, when the object recognition unit 220 detects an object while the LIDAR 12 is in a reference position, depending on the type and shape of the object, sometimes the light from the LIDAR 12 may not reach the object, thus preventing object recognition. For instance, the object recognition unit 220 may sometimes be unable to detect objects using the LIDAR 12. Figure 7 Examples include objects that are narrow in the vertical direction, such as ropes R or chains suspended from two pillars P (e.g., objects parallel to the direction of orientation), and objects with many large gaps, such as fences.

[0069] Therefore, in this embodiment, as described above, the actuator control unit 240 changes the illumination direction of the LIDAR 12 in the vertical direction in multiple stages, causing the LIDAR 12 to emit light. As a result, light is comprehensively illuminated to the area where the object is detected, and the object recognition unit 220 can recognize the object based on the detection results of the LIDAR 12.

[0070] [flow chart]

[0071] Figure 8This is a flowchart illustrating an example of the processing flow performed by the control device 200. In this process, for example, the LIDAR 12 illuminates light at a reference position, and the object recognition unit 220 performs object detection processing based on the detection results of the LIDAR 12. In this embodiment, the control unit 250 controls the moving body 1 to move automatically.

[0072] First, the actuator control unit 240 determines whether a predetermined condition is met (step S100). Whether the predetermined condition is met is determined, for example, based on the recognition result of the object recognition unit 220. The predetermined condition, for example, means that a predetermined object exists at a predetermined distance from the moving body 1 in the direction of travel of the moving body 1. The predetermined object, for example, means that it is conceived to be provided with the aforementioned... Figure 7 The target object is an object that is difficult for LIDAR12 to identify, such as a pillar or fence post (a post for a fence with wire mesh, etc.). Predefined object information is stored, for example, in storage device 100. When the object recognition unit 220 identifies the predefined object by referring to the information stored in storage device 100, the actuator control unit 240 determines that a predetermined condition has been met. The predetermined condition may also be that the moving body 1 is scheduled to travel within a predetermined area. The predetermined area may be, for example, the area between two pillars, the area between two posts, etc.

[0073] Whether a predetermined condition is met is determined, for example, based on the recognition result of the location recognition unit 230. The predetermined condition is, for example, that the moving body 1 arrives at or approaches a predetermined range or location. The predetermined range or location is, as described above, an area or location where objects that are difficult for the LIDAR 12 to recognize are envisioned. The predetermined range or location, for example, includes areas such as park entrances, parking lot entrances, and facility entrances, as well as their locations. The predetermined condition can also be that the moving body 1 is scheduled to pass through a predetermined location. The predetermined location is, for example, a park entrance, parking lot entrance, or facility entrance. In the above process, if the predetermined condition is met, the moving body 1 may also stop or decelerate for subsequent processing.

[0074] Under specified conditions, the actuator control unit 240 controls either the first actuator 19-1 or the second actuator 19-2 to offset the orientation of the LIDAR 12 (step S102), causing the LIDAR 12 to illuminate light at the offset position (step S104). Next, the object recognition unit 220 performs object recognition processing based on the detection results of the LIDAR 12 (step S106). In each routine, the LIDAR 12 illuminates light in different areas (a partially overlapping area), and after each of the above processing steps, the object recognition unit 220 identifies the presence or absence of obstacles based on the information input from the LIDAR 12.

[0075] Next, the actuator control unit 240 determines whether the termination condition is met (step S108). The termination condition is, for example, that the processing of steps S104 and S106 has been performed at multiple pre-set positions. The termination condition is, for example, shifting the LIDAR 12 from the first position to the Nth position (N is any natural number). For example, if N is 3, the actuator control unit 240 sets the LIDAR 12 to the first position in the first routine and performs object recognition processing at the first position; in the next routine, the second routine, sets the LIDAR 12 to the second position and performs object recognition processing at the second position; in the next routine, the third routine, sets the LIDAR 12 to the third position and performs object recognition processing at the third position; if this condition is met, the termination condition is deemed satisfied.

[0076] If the termination condition is not met, the process returns to step S102. If the termination condition is met, the control unit 250 determines whether an obstacle was identified in the identification process of the above-described routine (step S110).

[0077] When an obstacle is detected, the control unit 250 generates a path to avoid the obstacle and controls the mobile body 1 to move along the generated path (step S112). The control unit 250 repeatedly performs the process of illuminating the LIDAR 12 with light a predetermined number of times. If an obstacle is detected for the mobile body 1 in the detection results of the repeated processing, the control unit 250 causes the mobile body 1 to avoid the obstacle. If no obstacle is detected, the control unit 250 determines the travel path as a predetermined path and controls the mobile body 1 to move along the determined path (step S114).

[0078] The order or content of the above processing can also be changed appropriately. For example, if an obstacle is detected in steps S102-S108, step S112 can be executed to control the moving body 1 to avoid the obstacle. In the above example, if the specified conditions are met, the moving body 1 can stop or decelerate and the processing after step S102 can be executed.

[0079] As described above, the actuator control unit 240 can provide more accurate support for object detection by changing the position of the LIDAR 12. Furthermore, the object recognition unit 220 uses the detection results of the LIDAR 12 at each changed position to identify objects, thus enabling more accurate object recognition.

[0080] [Variation Example 1]

[0081] The above description illustrates the case where LIDAR12 is supported by the first support 16-1, bushing member 15, etc., and the position of LIDAR12 changes due to the sliding of the first support 16-1. However, it is also possible for LIDAR12 to be supported and its position changed by other devices or members.

[0082] Figure 9 This diagram illustrates an example of the configuration of the LIDAR 12. The LIDAR 12 can, for example, be mounted on the support 300 and kept stationary. A rotating part 310 is provided in the negative Z direction, at the center of the X direction of the support 300. When the rotating part 310 is driven to rotate by an actuator (not shown), the LIDAR 12 rotates together with the support 300. As a result, the illumination direction of the light from the LIDAR 12 changes.

[0083] As described above, the position of LIDAR12 can also be controlled by rotating the rotating part 310.

[0084] [Variation Example 2]

[0085] The above explanation illustrates an example of changing the direction of the irradiated light by altering the angle in which the LIDAR12 is oriented. However, alternatives can be used, such as... Figure 10 As shown, the direction of the irradiated light is changed by altering the vertical position of the LIDAR 12. For example, after the LIDAR 12 irradiates light in the L1-L5 direction from the first position, the drive unit 320 changes the position of the LIDAR 12 upwards to the second position. The LIDAR 12 then irradiates light in the L1#-L5# direction from the second position.

[0086] As mentioned above, the LIDAR12 changes position to illuminate the light, thereby enabling more accurate and better support for object detection.

[0087] [Variation Example 3]

[0088] The above description illustrates the case where the LIDAR12 illuminates light in each combination of orientations, which is a combination of orientations among a plurality of predefined vertical orientations and a plurality of predefined horizontal orientations. However, alternatively, the LIDAR12 may illuminate light in one vertical orientation along each of the plurality of horizontal orientations. Figure 11 This is a diagram illustrating an example of the illumination state of the LIDAR12 in Modified Example 3. It can also be shown as... Figure 11 As shown, after the LIDAR12 illuminates the light in the L1 direction from the first position, it illuminates the light in the L1# direction from the second position. The LIDAR12 can also change its position multiple times to illuminate the light.

[0089] As mentioned above, the LIDAR12 illuminates light by varying the orientation of the light source in the vertical direction, thereby enabling more accurate and efficient support for object detection.

[0090] According to the embodiments described above, when an object is detected or a moving object arrives at or approaches a predetermined position, the control device 200 illuminates the LIDAR 12 after it is supported in a first posture or position. Then, it illuminates the LIDAR 12 in a second posture or position in which the orientation or position of the LIDAR 12 is offset upward or downward relative to the first posture or position. This enables more accurate and better support for detecting objects.

[0091] The specific control described below can also be performed when the moving body 1 is moving on the sidewalk, but not when it is moving on the roadway. In this specific control, after the LIDAR 12 illuminates light while supported in a first posture or position, it illuminates light again while supported in a second posture or position that offsets the orientation or position of the LIDAR 12 from the first posture or position in the upward or downward direction. For example, the control device 200 can also perform the above-mentioned specific control only when moving on the sidewalk or entering the sidewalk, based on the identification result of whether it is moving on the sidewalk or the roadway. This is because there are no objects such as posts, chains, or fences that are difficult for the LIDAR 12 to detect on the roadway. As a result, unnecessary control can be suppressed, the processing load can be reduced, and the moving body 1 can move more smoothly.

[0092] The above description illustrates the case of specific control of LIDAR12, but it is also possible to implement specific control on a ranging device (such as the radar device included in the external detection device 10) that irradiates electromagnetic waves and detects objects based on the detection results of electromagnetic waves that bounce back after hitting an object, such as millimeter-wave radar.

[0093] The implementation methods described above can be performed as follows.

[0094] A control device for a moving body, wherein,

[0095] The mobile body is configured to include:

[0096] A ranging device mounted on a moving body and supported by a support device, which irradiates electromagnetic waves and detects objects based on the detection results of electromagnetic waves that bounce off the object.

[0097] The supporting device supports the ranging device;

[0098] Storage device, which stores a program; and

[0099] Hardware processor,

[0100] The hardware processor executes the program stored in the storage device to perform the following processing:

[0101] Detect a pre-defined object present in the direction of travel of the moving body;

[0102] Control the state of the support device so that the support state of the ranging device changes to at least a first posture and a second posture, or changes to a first position and a second position;

[0103] The control device controls the moving body as follows: when the object is detected, after the ranging device irradiates the electromagnetic wave while supported in the first posture or the first position, the ranging device irradiates the electromagnetic wave while controlled by the support device to support the ranging device in a second posture or the second position after the orientation or position of the ranging device has changed relative to the first posture or the first position, at least in the upward and downward directions.

[0104] The above description illustrates specific embodiments of the present invention, but the present invention is not limited to such embodiments in any way, and various modifications and substitutions can be made without departing from the spirit of the present invention.

Claims

1. A control device mounted on a moving body, wherein, The mobile body has: A ranging device, mounted on the moving body and supported by a support device, irradiates electromagnetic waves and detects objects based on the detection results of electromagnetic waves that bounce off the object. The supporting device supports the ranging device; The detection unit detects pre-defined objects present in the direction of travel of the moving body; as well as The control unit controls the state of the support device to change the support state of the ranging device to at least a first posture and a second posture, or to a first position and a second position. The control device controls the moving body as follows: when the object is detected, after the ranging device irradiates the electromagnetic wave while supported in the first posture or the first position, the control unit controls the support device to support the ranging device in a second posture or the second position after the orientation or position of the ranging device has changed relative to the first posture or the first position, at least in the upward and downward directions, and causes the ranging device to irradiate the electromagnetic wave.

2. The control device according to claim 1, wherein, The predefined object includes the support pillars of a column or the support pillars of a fence. The pillar or the fence is an object that is difficult to detect by the ranging device without changing its posture or position.

3. A control device mounted on a moving body, wherein, The mobile body has: A ranging device, mounted on the moving body and supported by a support device, irradiates electromagnetic waves and detects objects based on the detection results of electromagnetic waves that bounce off the object. The supporting device supports the ranging device; The position recognition unit identifies the position of the moving body; as well as The control unit controls the state of the support device to change the support state of the support device to at least a first posture and a second posture, or to a first position and a second position. The control device controls the moving body as follows: when the control unit determines, based on the recognition result of the position recognition unit, that the moving body has reached or is approaching a predetermined range, after the ranging device irradiates the electromagnetic wave while supported in the first posture or first position, the control unit controls the support device to support the ranging device in a second posture or second position after the orientation or position of the ranging device has changed relative to the first posture or first position, at least in the upward and downward directions, and causes the ranging device to irradiate the electromagnetic wave.

4. The control device according to claim 3, wherein, The predefined range is a range including the entrance to a park, parking lot, or facility, where the ranging device is installed to detect objects that are difficult to detect without changing their posture or position.

5. The control device according to any one of claims 1 to 4, wherein, The ranging device irradiates electromagnetic waves by changing the orientation of the vertical direction for each specified angle, regardless of the support state.

6. The control device according to claim 5, wherein, The change in the angle of the direction of the electromagnetic wave irradiated by the ranging device caused by the change from the first posture to the second posture is smaller than the specified angle.

7. The control device according to any one of claims 1 to 4, wherein, In each of the multiple postures, including the first posture and the second posture, the control unit causes the ranging device to irradiate electromagnetic waves by changing the orientation of the vertical direction for each specified angle.

8. The control device according to claim 7, wherein, In each of the plurality of postures, when the ranging device irradiates electromagnetic waves by changing the orientation of the vertical direction for each specified angle, the reference irradiation direction of each of the plurality of postures falls within the specified angle and does not repeat.

9. The control device according to claim 7, wherein, The control unit causes the orientation of the ranging device to change at equal intervals. In each of the multiple changed orientations, the ranging device irradiates electromagnetic waves by changing the vertical direction of the irradiated electromagnetic waves for each predetermined angle, independent of the support device.

10. The control device according to any one of claims 1 to 4, wherein, If the control unit detects an obstacle for the moving body in the detection results of the electromagnetic wave irradiated by the ranging device, it causes the moving body to avoid the obstacle.

11. A control method, wherein, The mobile body possesses: A ranging device, mounted on the moving body and supported by a supporting device, irradiates electromagnetic waves and detects objects based on the detection results of electromagnetic waves that bounce off and return from an object; and The supporting device supports the ranging device. The control method causes the computer of the mobile body to perform the following processing: Detect a pre-defined object present in the direction of travel of the moving body; Control the state of the support device so that the support state of the ranging device changes to at least a first posture and a second posture, or changes to a first position and a second position; as well as When the object is detected, after the ranging device irradiates the electromagnetic wave while supported in the first posture or the first position, the ranging device is irradiated with electromagnetic waves while controlled by the support device to support the ranging device in the second posture or the second position after the orientation or position of the ranging device has changed relative to the first posture or the first position, at least in the upward and downward directions.

12. A storage medium storing a program, wherein, The mobile body possesses: A ranging device, mounted on the moving body and supported by a supporting device, irradiates electromagnetic waves and detects objects based on the detection results of electromagnetic waves that bounce off and return from an object; and The supporting device supports the ranging device. The program causes the computer of the mobile body to perform the following processing: Detect a pre-defined object present in the direction of travel of the moving body; Control the state of the support device so that the support state of the ranging device changes to at least a first posture and a second posture, or changes to a first position and a second position; as well as When the object is detected, after the ranging device irradiates the electromagnetic wave while supported in the first posture or the first position, the ranging device is irradiated with electromagnetic waves while controlled by the support device to be supported in a second posture or the second position, in which the orientation or position of the ranging device changes at least in the upward and downward directions relative to the first posture or the first position.

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