Moving body

Abstract

A moving body on which an occupant can ride is provided with: a drive device for moving the moving body; a control device that controls the drive device; a detection device for acquiring the state of the moving body at least on the traveling direction side; and a first operation member provided to an armrest of the moving body, the control device automatically generating a target trajectory for changing the traveling direction of the moving body on the basis of the situation on the traveling direction side in accordance with an operation for instructing either the left or the right on the first operation member, and generating a target trajectory for changing the traveling direction of the moving body on the basis of the situation on the traveling direction side. And controls the drive device so that the moving body moves along the target trajectory.

Description

Technical Field

[0001] The present invention relates to a moving body. Background Art

[0002] In recent years, efforts have been actively made to provide access to sustainable transportation systems that also take into account people who are particularly disadvantaged among traffic participants. In order to achieve this, research and development related to autonomous driving technology is focused on further improving the safety and convenience of traffic. For example, autonomous driving and advanced driving assistance based on the results of sensing the direction of travel of the moving body are being promoted for practical use. These technologies may include a method for the control device of the moving body to control the direction of travel of the moving body and a scheme for accepting any operation performed by the occupants to at least determine the approximate direction of travel. In addition, in recent years, the practical use of moving bodies called micro-moving bodies that can be ridden by one or two people is also being promoted (Patent Document 1).

[0003] Prior Art Literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-197328 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In the conventional technology, it is sometimes impossible for the occupant to perform the operation for designating the traveling direction in a comfortable posture.

[0008] The present invention has been made in consideration of such a situation, and one of its objects is to provide a moving body that enables a passenger to perform an operation for specifying a traveling direction in a comfortable posture, and further contribute to the development of a sustainable transportation system.

[0009] Means for solving problems

[0010] The moving body of the present invention adopts the following structure.

[0011] (1): A moving body according to one embodiment of the present invention is a moving body capable of being boarded by passengers, wherein the moving body comprises: a driving device for moving the moving body; a control device for controlling the driving device; a detection device for obtaining a condition of at least one side of the moving body in the direction of travel; and a first operating member provided on an armrest of the moving body, wherein the control device automatically generates a target track for changing the moving body's direction of travel based on the condition of the moving body in the direction of travel in response to an operation performed on the first operating member to indicate either the left or right side, and controls the driving device in such a manner that the moving body moves along the target track.

[0012] (2): In the above-mentioned aspect (1), the control device generates a target trajectory for causing the moving body to turn left or right or change lanes as a target trajectory for changing the moving body's traveling direction.

[0013] (3): In the above-mentioned embodiment (1), the armrest provided with the first operating element is provided on the inner side of a door provided on the side surface of the moving body.

[0014] (4): Based on the above solution (3), the handrail provided with the first operating member is provided on the inner side of the door on the opposite side of the side where the moving body passes according to regulations, of the two doors provided on the left and right sides of the moving body.

[0015] (5): In the above-mentioned aspect (3), the first operating element is provided at a position that does not overlap with an opening and closing operating element for opening and closing the door when viewed from the side.

[0016] (6): In the above-mentioned aspect (1), the moving body includes two seats arranged in a direction intersecting with the moving direction of the moving body, and the armrest is provided between the two seats.

[0017] (7): In the above-mentioned solution (1), the moving body further comprises a second operating member for manually operating the moving direction of the moving body, and the first operating member is arranged at a rear side of the moving direction of the moving body relative to the second operating member.

[0018] Effects of the Invention

[0019] According to the aspects (1) to (7), the occupant can perform an operation for designating a travel direction in a comfortable posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a diagram showing an example of the structure of a moving object.

[0021] Figure 2 This is a perspective view of the moving body according to the first embodiment as seen from above.

[0022] Figure 3 This is a diagram showing a state in which the right door is opened, as viewed from the inside of the moving body.

[0023] Figure 4 This is a diagram showing an example of an image captured by an external camera of an external environment detection device.

[0024] Figure 5 1 is a diagram illustrating target trajectories before and after the first operating element is operated.

[0025] Figure 6 This is a perspective view of the moving body according to the second embodiment as seen from above. DETAILED DESCRIPTION

[0026] Hereinafter, the mobile body of the present invention will be described with reference to the accompanying drawings. The mobile body is a vehicle capable of being boarded by passengers, and is sometimes referred to as a micro mobile body. The mobile body may be a moving vehicle capable of traveling not only on a lane but also on a sidewalk. In this case, different speed limit controls are performed on the lane and the sidewalk. When traveling on the sidewalk, this may be reported to the outside by some means, but the description thereof is omitted in this specification, and the case where the mobile body moves on the lane is specifically described.

[0027] <First embodiment>

[0028] [constitute]

[0029] Figure 1 1 is a diagram showing an example of the structure of a mobile body 1. The mobile body 1 is equipped with, for example, an external detection device 10, a mobile body sensor 12, an operating member group 14, a positioning device 18, a mode switching switch 22, an HMI 30, a drive device 40, a direction indicator 50, a storage device 70, and a control device 100. It should be noted that some of these structures that are not necessary for realizing the functions of the present invention may be omitted.

[0030] The external detection device 10 is a variety of devices for obtaining the status of at least the traveling direction side of the mobile body 1. The external detection device 10 is an example of a detection device. The external detection device 10 includes, for example, an external camera. The external detection device 10 may also include a radar device, LIDAR (Light Detection and Ranging), a sensor fusion device, etc. The external detection device 10 outputs information (image, position of an object, etc.) indicating the detection result to the control device 100.

[0031] The moving body sensor 12 includes, for example, a velocity sensor, an acceleration sensor, a yaw rate (angular velocity) sensor, an orientation sensor, and an operation amount detection sensor attached to various operating elements included in the operating element group 14 .

[0032] The positioning device 18 is a device for measuring the position of the mobile body 1. The positioning device 18 is, for example, a GNSS (Global Navigation Satellite System) receiver, which determines the position of the mobile body 1 based on the signal received from the GNSS satellite and outputs it as position information. It should be noted that the position information of the mobile body 1 can also be estimated based on the position of the Wi-Fi base station to which the communication device described later is connected.

[0033] The mode switching switch 22 is a switch operated by the occupant. The mode switching switch 22 can be a mechanical switch or a GUI (Graphical User Interface) switch set on the touch panel. The mode switching switch 22 is a switch for indicating the switching of the driving mode. The driving modes that the mobile body 1 can execute include at least a mode A that automatically controls acceleration and deceleration and controls steering based on a simple operation of the first operating member OP1 described later. In addition, the driving mode may also include a mode B that automatically controls acceleration and deceleration and controls steering based on an operation of the second operating member OP2. In addition, the driving mode may also include a driving mode that is changed in a manner based on the acceleration and deceleration in each of the manual operation control modes A and B. In the following description, modes A and B are specifically described.

[0034] The HMI 30 is installed in the interior of the vehicle (typically, a closed space for accommodating passengers, but if the vehicle 1 is a convertible, it is a space surrounding seats). The HMI 30 includes, for example, a display device, a speaker, a touch panel, and the like.

[0035] The driving device 40 is a device for moving the mobile body 1 on the road. The driving device 40 includes, for example, a wheel set including a steering wheel and a driving wheel, a motor driving the driving wheel, a battery storing power supplied to the motor, and a steering device adjusting the steering angle of the steering wheel. The driving device 40 includes an internal combustion engine, a fuel cell, etc. as a driving force output mechanism or a power generation mechanism. In addition, the driving device 40 may also include a braking device based on friction or air resistance.

[0036] The direction indicator 50 is provided on the outer plate of the vehicle 1 , and notifies the outside of the vehicle 1 of a change in the travel route of the vehicle 1 by flashing a lamp.

[0037] Figure 2 This is a perspective view of the mobile body 1 of the first embodiment observed from above. In the figure, FW is a steering wheel, RW is a driving wheel, SD is a steering device, MT is a motor, and BT is a battery. The steering device SD, the motor MT, and the battery BT are included in the driving device 40. In addition, AP is an accelerator pedal, and BP is a brake pedal, which are respectively included in the operating member group 14. In the case where acceleration and deceleration must be automatically controlled, at least the accelerator pedal AP can be omitted. The mobile body 1 shown in the figure is a one-person mobile body, and the passenger P sits in the driver's seat DS and wears a seat belt SB. The arrow D1 is the direction of travel (speed vector) of the mobile body 1. The external detection device 10 is arranged near the front end of the mobile body 1, and the mode switching switch 22 is arranged on the hub of the steering wheel WH. In addition, direction indicators 50 are arranged at the four corners of the mobile body 1.

[0038] [First operating element]

[0039] The mobile body 1 is provided with a left door D_1 and a right door D_r, for example, so that passengers can get on and off from either side. A left handrail Ar_1 is provided inside the left door D_1, and a right handrail Ar_r is provided inside the right door D_r. Among them, a first operating member OP1 is provided on the right handrail Ar_r. This configuration is a configuration when the shipping destination of the mobile body 1 faces a country or region where traffic is on the left. When the shipping destination of the mobile body 1 faces a country or region where traffic is on the right, the first operating member OP1 is provided on the left handrail Ar_1. This configuration assumes the following situation: when getting on and off the mobile body 1 in a country or region where traffic is on the left, the mobile body 1 parked at the left end of the lane is parked on the side of the sidewalk, that is, the left side. If the first operating member OP1 is provided on the door on the side where the passenger P gets on and off, the first operating member OP1 may be hooked on the body or clothes when getting on and off, so the first operating member OP1 is provided on the right handrail Ar_r provided on the right door D_r, which is used less frequently for getting on and off. In other words, the handrail provided with the first operating member OP1 is provided inside the door on the opposite side of the two doors provided on the left and right sides of the moving body 1 to the side where the moving body 1 passes according to regulations.

[0040] The first operating member OP1, for example, accepts discrete operations (for a certain instruction, it means an operation that has only two states of on-operation or off-operation). The first operating member OP1 is in the form of a joystick, a cross key, etc. In the present invention, the first operating member OP1 only needs to be able to be operated in at least the left and right directions. In the case where the first operating member OP1 is a joystick, when the operation is performed to either the left or right side by a predetermined amount or more, the operation amount detection sensor installed on the first operating member OP1 outputs a signal indicating that "operation has been performed to either the left or right side" to the control device 100.

[0041] The second operating member OP2 may be provided on the front side of the passenger P in the moving body 1. The second operating member OP2 has a so-called steering wheel shape (not limited to a ring shape, but may also be a special-shaped steering wheel), and is used to manually operate the travel direction (steering angle) of the moving body 1. The second operating member OP2 receives, for example, continuous operation. A rotation angle sensor and / or a torque sensor are installed on the second operating member OP2 as an operation amount detection sensor, and these sensors detect the operation amount (or operation force) performed by the passenger P and output it to the control device 100.

[0042] The first operating member OP1 is arranged at the rear side in the traveling direction D1 of the mobile body 1 compared to the second operating member OP2. This is because the driving control of the mobile body 1 based on the operation of the first operating member OP1 is performed in a state closer to automatic driving (high degree of driving assistance), so it is assumed that the passenger P is in a relaxed posture. On the other hand, when the second operating member OP2 is operated, at least the steering is performed manually, so it is assumed that the passenger P is in a posture leaning forward than the above. By adopting such a configuration, the driving operation can be appropriately accepted according to the state of the passenger P.

[0043] In addition, the left door D_1 and the right door D_r are respectively provided with opening and closing operating members for opening and closing operations. Figure 3 1 is a diagram showing a state in which the right door D_r is opened as viewed from the inside of the moving body 1. In the diagram, Lb_r is a right opening and closing operating member. The first operating member OP1 is arranged at a position that does not overlap with the right opening and closing operating member Lb_r when viewed from the side. Thus, it is not easy for the passenger P to accidentally operate the right opening and closing operating member Lb_r. In addition, when the passenger P operates the right opening and closing operating member Lb_r, it is not easy for the passenger P to accidentally operate the first operating member OP1.

[0044] return Figure 1 The storage device 70 is a non-temporary storage device such as a HDD (Hard Disk Drive), a flash memory, or a RAM (Random Access Memory). The storage device 70 stores map information 72, a program 74 executed by the control device 100, and the like. In the figure, the storage device 70 is recorded outside the frame of the control device 100, but the storage device 70 may be included in the control device 100. In addition, the storage device 70 may also be set on a server not shown in the figure. It should be noted that the map information 72 may not exist.

[0045] [Control device]

[0046] The control device 100 includes, for example, a recognition unit 120, a target trajectory generation unit 130, a drive control unit 140, and an HMI control unit 150. These components are implemented by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software) 74. Some or all of these components can be implemented by hardware (including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), etc., or by the cooperation of software and hardware. The program can be stored in the storage device 70 in advance, or stored in a removable storage medium (non-temporary storage medium) such as a DVD or CD-ROM, and installed in the storage device 70 by assembling the storage medium in a drive device.

[0047] The recognition unit 120 recognizes the type, position, and the like of an object on at least the traveling direction side of the moving body 1 based on the information input from the external detection device 10 . Figure 4 1 is a diagram showing an example of an image IM captured by an external camera of the external detection device 10. The recognition unit 120 recognizes the state of the travel path boundary 200, pedestrians 210, traffic lights 220, other vehicles not shown, etc. The so-called travel path boundary 200 is a road dividing line, a shoulder, a step, a guardrail, etc., and is the outer edge of the area where the moving body 1 can travel. The recognition unit 120 inputs the image IM to a learned model for recognizing the category of an object, and recognizes the position and category of these objects on the image IM.

[0048] The target trajectory generation unit 130, for example, projects the object identified in the image IM onto an imaginary plane observed from above, and generates a target trajectory that the moving body 1 should travel on the imaginary plane. For example, the target trajectory generation unit 130 generates the target trajectory in such a way that the moving body 1 travels in the center of the width direction of the driving path boundary in principle, and avoids contact when there are pedestrians or other vehicles. At this time, the target trajectory generation unit 130 sets the distribution of the index value, i.e., the risk value, of contact with the driving path boundary and the periphery of the object to be avoided, and generates the target trajectory in such a way as to pass through a place with a small risk value. The target trajectory can be generated in a manner with a speed element attached, or in a manner in which the moving body 1 automatically stops when the traffic light indicates that the road is not passable. It should be noted that the acceleration and deceleration control can also be performed in the drive control unit 140.

[0049] The drive control unit 140 controls the drive device 40 so that the moving body 1 travels along the target track. The content of the control by the drive control unit 140 is well known, and thus a detailed description thereof will be omitted.

[0050] The HMI control unit 150 controls the HMI 30 so as to report the state of the vehicle 1 and the like to the passenger P.

[0051] [Control Based on Operation of First Operating Element]

[0052] When the first operating member OP1 is not operated, the target trajectory generating unit 130 generates the target trajectory based on the aforementioned pointer in such a manner that the moving body 1 moves while maintaining the current driving path (so-called "along the way"). When the first operating member OP1 is operated to the left or right, the target trajectory generating unit 130 generates the target trajectory in such a manner that the moving body 1 automatically turns to the left or right (turns left or right). In the following, it is assumed that the first operating member OP1 is operated to the right. At the time point when the first operating member OP1 is operated to the right, the target trajectory generating unit 130 searches for a driving path that intersects with the driving path currently being driven by the moving body 1, that is, a driving path that is closest to the moving body 1 among the driving paths that can turn right. The driving path that can turn right refers to a driving path that is not too close to the moving body 1 (for example, the distance from the moving body 1 in the longitudinal direction of the driving path currently being driven is more than a predetermined distance). In other words, when there is a sufficient margin for turning right and there is a driving path that intersects with the driving path currently being driven, the target trajectory generating unit 130 generates the target trajectory in such a manner that the moving body 1 turns right toward the driving path.

[0053] Figure 5 1 is a diagram illustrating the target track K before and after the first operating element OP1 is operated. As shown in the figure, according to the operation of the first operating element OP1, it is first confirmed that the distance X1 to the travel path 240 extending to the right is greater than the surplus distance. When the distance X1 is greater than the surplus distance, the path is changed to the target track K entering the travel path 240. At this time, the target track generation unit 130 and the drive control unit 140 automatically perform the deceleration required for the right turn while driving the moving body 1 along the target track K. Figure 5 , the target trajectory generating unit 130 may determine that a lane change is instructed and cause the moving body 1 to change lanes when the first operating element OP1 is operated to the left or right and there is no driving path within a predetermined distance where a right or left turn is possible.

[0054] It should be noted that, when the direction of travel of the mobile body 1 is determined by operating the second operating member OP2, so-called manual steering is performed, and therefore the target trajectory generating unit 130 stops operating (acceleration and deceleration control may also be performed automatically). Alternatively, when the second operating member OP2 is operated during the execution of the aforementioned mode A, the passenger P indicates the intention of manual driving, and the target trajectory generating unit 130 stops operating, and the mode is transferred to the mode B in which the steering operation is performed manually.

[0055] According to the first embodiment described above, there is a first operating member OP1 arranged on the armrest, and in accordance with an operation on the first operating member OP to the left or right, a target track K for changing the travel direction of the moving body 1 is automatically generated based on the detected condition on the travel direction side, so that the driving device 40 is controlled in such a manner that the moving body 1 moves along the target track K, thereby enabling the occupant to perform operations for specifying the travel direction in a comfortable posture.

[0056] <Second embodiment>

[0057] In the first embodiment, one seat is described, but the moving body of the second embodiment includes two seats arranged in a direction intersecting the moving direction of the moving body, and the armrest provided with the first operating element OP1 is provided between the two seats.

[0058] Figure 6 This is a perspective view of the moving body 1A according to the second embodiment as viewed from above. Figure 2 A non-essential part of the figure marks shown. The moving body 1A has two seats S1 and S2, and a center armrest Ar_c therebetween. The first operating member OP1 is provided on the center armrest Ar_c. It should be noted that, in the figure, the center armrest Ar_c is shown as an integrated structure shared by the passengers P1 and P2, but the center armrest Ar_c can also be separated into a part for the passenger P1 and a part for the passenger P2. In this case, the first operating member OP1 is provided on the part for the passenger P1 in the center armrest Ar_c.

[0059] According to the second embodiment described above, the same effects as those of the first embodiment can be achieved. Also, the first operating member OP1 is provided at a position that does not interfere with passengers getting on and off the vehicle, so passengers getting on and off the vehicle can be avoided, which is also the same as the first embodiment.

[0060] Although specific embodiments of the present invention have been described above using the embodiments, the present invention is not limited to such embodiments at all, and various modifications and substitutions can be made without departing from the gist of the present invention.

[0061] Description of Reference Numerals

[0062] 10 External Detection Device

[0063] 40 drive device

[0064] 100 control devices

[0065] 120 Identification Department

[0066] 130 Target orbit generation unit

[0067] 140 drive control unit

[0068] OP1 first operating element

[0069] OP2 second operating element

[0070] Ar_l Left handrail

[0071] Ar_rRight armrest

[0072] Ar_c Central armrest

[0073] D_l Left door

[0074] D_rRight door.

Claims

1. A mobile body, which is a mobile body capable of being boarded by passengers, wherein: The mobile body comprises: A driving device, which is used to move the moving body; a control device for controlling the driving device; A detection device for obtaining a condition of at least a traveling direction side of the moving body; as well as A first operating member is provided on the armrest of the moving body, The control device automatically generates a target trajectory for the moving body to change the moving direction based on the situation on the moving direction side in response to the operation of the first operating element to instruct either left or right, and controls the drive device so that the moving body moves along the target trajectory.

2. The moving object according to claim 1, wherein: The control device generates a target trajectory for causing the moving body to turn left or right or change lanes as a target trajectory for changing the moving body's traveling direction.

3. The moving object according to claim 1, wherein: The armrest provided with the first operating element is provided on the inner side of a door provided on the side surface of the moving body.

4. The moving object according to claim 3, wherein: The handrail provided with the first operating element is provided on the inner side of the door on the opposite side to the side where the moving body passes according to regulations, of the two doors provided on the left and right sides of the moving body.

5. The moving object according to claim 3, wherein: The first operating element is provided at a position not to overlap with an opening and closing operating element for opening and closing the door in a side view.

6. The moving object according to claim 1, wherein: The moving body includes two seats arranged in a direction intersecting a traveling direction of the moving body. The armrest is arranged between the two seats.

7. The moving object according to claim 1, wherein: The moving body further includes a second operating member, the second operating member being used to manually operate the moving direction of the moving body. The first operating element is provided at a rear side of the second operating element in the traveling direction of the moving body.

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