Moving body, control method, and program

Abstract

A moving body on which an occupant can ride is provided with: a drive device for moving the moving body; a detection device for detecting the state of at least the traveling direction side of the moving body; an operation member that is provided to an armrest of the moving body and that can be operated at least in the left-right direction, the operation member being used by the occupant to instruct the traveling direction of the moving body; and a control device that causes the moving body to travel in a mode that automatically accelerates, decelerates, and steers, the control device being configured to control the moving body to travel in accordance with an operation that instructs the travel direction to be performed on the operation element. And a control unit that automatically generates a target trajectory for the moving body to change the traveling direction on the basis of the detected state 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 object, a control method, and a program. 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] However, in the conventional technology, it is sometimes impossible to change the traveling direction of the moving object by a simple operation.

[0008] The present invention has been made in consideration of such a situation, and one of its purposes is to provide a moving body, a control method, and a program that can change the moving direction of the moving body by simple operation, 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 detecting device for detecting the condition of at least one side of the moving body in the direction of travel; an operating member, which is provided on an armrest of the moving body and can be operated at least to the left and right, the operating member being used by the passenger to indicate the direction of travel of the moving body; and a control device for causing the moving body to travel in a mode of automatically accelerating, decelerating and turning, the control device automatically generating a target track for the moving body to change the direction of travel based on the detected condition of the direction of travel according to the operation of indicating the direction of travel performed on the operating member, and controlling the driving device in such a manner that the moving body moves along the target track.

[0012] (2): Based on the scheme of (1) above, when the operating direction of the operating member is a first direction on either the left or right side, the control device generates the target trajectory using the first direction as the travel direction of the changed destination. After the first direction is determined as the travel direction of the changed destination, if the operating member is operated in a direction different from the first direction, the control device cancels the change of the travel direction.

[0013] (3): Based on the scheme of (2) above, when the operating member is operated in a first direction on either side of the left or right side for a first period or more, the control device generates the target trajectory by using the first operated direction as the travel direction of the changed destination; and when the operating member is operated in a direction different from the first direction for a second period or more after the first operated direction is determined as the travel direction of the changed destination, the control device cancels the change of the travel direction, wherein the second period is a period longer than the first period.

[0014] (4): Based on the solution of (2) above, the operating member can be further operated in at least a backward direction.

[0015] The control device generates the target trajectory by using the first direction as the travel direction of the changed destination when the operating element is operated in the first direction for more than a first period. The control device cancels the change of the travel direction when the operating element is operated in a backward direction for more than a third specified period or when the operating element is operated in a direction other than the first direction and the backward direction for more than a second period after the operated first direction is determined to be the travel direction of the changed destination, and the third period is a period shorter than the second period.

[0016] (5): In the above-mentioned aspect (1), the mobile body includes a notification device for notifying the occupant, and when the control device receives an operation on the operating element, the notification device outputs a notification indicating that the operation has been received.

[0017] (6): Based on the above scheme (1), when the moving body moves along the target trajectory, even if the moving body stops or the speed of the moving body decreases to below a specified value due to intervention by the passenger, the control device maintains the instruction to change the travel direction.

[0018] (7): Based on the scheme of (1) above, the moving body has a notification device for notifying the occupant, and when the moving body stops due to the intervention of the occupant while the moving body is moving along the target track, the control device causes the notification device to notify the occupant to perform an operation to cancel the change instruction of the travel direction.

[0019] (8): Based on the scheme of (1) above, when the detection device detects multiple route change destination candidates in the travel direction of the mobile body, the control device determines one of the multiple route change destination candidates as the travel direction of the change destination by accepting multiple operations on the operating element.

[0020] (9): Based on the scheme of (1) above, when the detection device detects a plurality of candidate route change destinations in the direction of travel of the mobile body, the control device determines one of the plurality of candidate route change destinations as the direction of travel of the change destination by detecting any one or more of the occupant's driving history, speech, line of sight, or gesture.

[0021] (10): Based on the above scheme (8), the mobile body has a display device that displays information related to the travel of the mobile body, and the control device displays one of the multiple road change destination candidates in the travel direction determined as the change destination on the display device.

[0022] (11): The control method of another embodiment of the invention is performed by a control device of a moving body, wherein the moving body comprises: a driving device for moving the moving body capable of being boarded by passengers; a detecting device for detecting the condition of at least one side of the moving direction of the moving body; an operating member, which is provided on an armrest of the moving body and can be operated at least to the left and right, the operating member being used by the passenger to indicate the moving direction of the moving body; and the control device for causing the moving body to travel in a mode of automatically accelerating, decelerating and turning, wherein, according to the operation of indicating the moving direction performed on the operating member, a target trajectory for changing the moving direction of the moving body is automatically generated based on the detected condition of the moving direction, and the driving device is controlled in such a manner that the moving body moves along the target trajectory.

[0023] (12): The program of another scheme of the invention is executed by a control device of a moving body, wherein the moving body comprises: a driving device for moving the moving body capable of being boarded by passengers; a detecting device for detecting the condition of at least one side of the moving direction of the moving body; an operating member, which is provided on an armrest of the moving body and can be operated at least to the left and right, the operating member being used by the passenger to indicate the direction of travel of the moving body; and the control device, which causes the moving body to travel in a mode of automatically accelerating, decelerating and turning, wherein the program automatically generates a target trajectory for the moving body to change the direction of travel based on the detected condition of the direction of travel according to the operation of indicating the direction of travel performed on the operating member, and controls the driving device in such a manner that the moving body moves along the target trajectory.

[0024] Effects of the Invention

[0025] According to the aspects (1) to (12), the traveling direction of the moving object can be changed by a simple operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a diagram showing an example of the structure of the moving object 1.

[0027] Figure 2 This is a perspective view of the moving object 1 according to the first embodiment as viewed from above.

[0028] Figure 3 This is a diagram showing a state in which the right door D_r is opened, as viewed from the inner side of the vehicle 1 .

[0029] Figure 4 1 is a diagram showing an example of an image IM captured by an external camera of the external environment detection device 10 .

[0030] Figure 5 1 and 2 are diagrams illustrating the target trajectory K before and after the first operating tool OP1 is operated.

[0031] Figure 6 1 is a diagram showing an example of the operation of the first operating element OP1 performed to cancel the change of the traveling direction of the moving body 1.

[0032] Figure 7 This is a diagram showing an example of a notification screen displayed by HMI 30 .

[0033] Figure 8 This is a diagram showing another example of the notification screen displayed by HMI 30 .

[0034] Fig. 9 This is a diagram showing an example of a method of designating a travel direction via HMI 30 on a multi-branch road.

[0035] Fig.10 It is a diagram showing an example of the flow of processing executed by the control device 100 .

[0036] Fig.11 It is a diagram showing another example of the flow of processing executed by the control device 100 .

[0037] Fig.12 It is a diagram showing another example of the flow of processing executed by the control device 100 .

[0038] Fig.13 This is a perspective view of a moving object 1A according to the second embodiment as viewed from above. DETAILED DESCRIPTION

[0039] Hereinafter, the mobile body, control method, and program of the present invention will be described with reference to the accompanying drawings. The mobile body is a vehicle that can be used by passengers, and is sometimes referred to as a micro mobile body. The mobile body may be a moving vehicle that can travel 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 the vehicle is 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.

[0040] <First embodiment>

[0041] [constitute]

[0042] 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.

[0043] 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.

[0044] 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 .

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] [First operating element]

[0052] The mobile body 1 is provided with, for example, a left door D_l and a right door D_r, and passengers can get on and off from either the left or right side. A left armrest Ar_l is provided on the inner side of the left door D_l, and a right armrest Ar_r is provided on the inner side of the right door D_r. Among them, a first operating member OP1 is provided on the right armrest Ar_r. This configuration is a configuration in the case where the shipping destination of the mobile body 1 faces a country or region where traffic is on the left. In the case where the shipping destination of the mobile body 1 faces a country or region where traffic is on the right, a first operating member OP1 is provided on the left armrest Ar_l. This configuration envisions the following situation: when getting on and off the mobile body 1 in a country or region where traffic is on the left, passengers get on and off from the sidewalk side, that is, the left side, relative to the mobile body 1 parked at the left end of the lane. If the first operating member OP1 is provided on the door on the side where the passenger P gets on or off the vehicle, the first operating member OP1 may get caught on the body or clothes when getting on or off the vehicle. Therefore, the first operating member OP1 is provided on the right handrail Ar_r provided on the right door D_r which is less likely to be used for getting on or off the vehicle. The situation for right-side passage is the opposite. In other words, the handrail provided with the first operating member OP1 is provided on the inner side of the door on the opposite side of the side where the moving body 1 passes according to the law, out of the two doors provided on the left and right sides of the moving body 1.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] In addition, opening and closing operation members for opening and closing operations are respectively provided on the left door D_1 and the right door D_r. Figure 3 1 is a diagram showing a state where the right door D_r is opened as viewed from the inner side of the mobile 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.

[0057] 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.

[0058] [Control device]

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] [Control Based on Operation of First Operating Element]

[0065] 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 in such a manner as to maintain 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.

[0066] 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.

[0067] 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.

[0068] [Change of Travel Direction Based on Operation of First Operating Tool]

[0069] After the first operating element OP1 is operated to the left or right to determine the travel direction of the change destination, the target trajectory generating unit 130 cancels the change of the travel direction if the first operating element OP1 is operated in a direction different from the travel direction of the change destination. Figure 6 1 is a diagram showing an example of the operation of the first operating element OP1 performed to cancel the change of the traveling direction of the moving body 1. Figure 6 In the figure, reference characters R, F, L, and B respectively represent the right direction, the front direction, the left direction, and the rear direction of the moving body 1. Figure 6 This shows a scenario in which the first operating element OP1 is operated in the forward direction (ie, the F direction) under the condition that the first operating element OP1 is operated in the right direction (ie, the R direction) to generate the target trajectory K for the right turn.

[0070] exist Figure 6 In the scenario shown, the target trajectory generation unit 130 cancels the change of the traveling direction to the right direction according to the situation that the first operating member OP1 is operated from the right direction to the forward direction. In this case, the target trajectory generation unit 130 replaces Figure 5 The target trajectory K for turning right at the intersection shown in FIG. 1 is used to generate a target trajectory for going straight at the intersection. The cancellation of the change in the traveling direction is not limited to the operation in the forward direction. For example, the change in the traveling direction may be canceled when the first operating member OP1 is operated in the left direction (i.e., the L direction) or the rear direction (i.e., the B direction). In this case, the target trajectory generating unit 130 may also generate a target trajectory in the direction operated for cancellation.

[0071] Here, when the target track is instantly canceled due to the first operating member OP1 being operated in a direction different from the travel direction of the change destination, even if the operation is an erroneous operation, the target track is canceled, which may be a disadvantage for the occupant P. Therefore, the target track generation unit 130 sets the operation period of the first operating member OP1 for canceling the change of the travel direction to be longer than the operation period of the first operating member OP1 for accepting the change of the travel direction. In this way, by setting the period for determining the cancellation of the change of the travel direction to be longer, the cancellation of the change of the travel direction caused by the erroneous operation of the occupant P can be suppressed.

[0072] Furthermore, the target trajectory generating unit 130 may also set a period for determining the cancellation of the change in the traveling direction by the occupant P operating the first operating member OP1 in the rearward direction to be shorter than a period for determining the cancellation of the change in the traveling direction by the occupant P operating the first operating member OP1 in the forward direction. This is because, generally, in a case where the occupant P operates the first operating member OP1 in the rearward direction, it is inferred that the occupant P attempts to cancel the change in the traveling direction with a stronger motivation. More generally, the period for determining the cancellation of the change based on operating the first operating member OP1 in the rearward direction may also be set to be shorter than the period for determining the cancellation of the change based on operating the first operating member OP1 in a direction other than the rearward direction. In this way, by changing the cancellation determination period according to the operation direction of the first operating member OP1, it is possible to control the moving body 1 in more detailed consideration of the condition of the occupant P.

[0073] [Feedback on the operation of the first operating member]

[0074] As described above, the control device 100 accepts the change of the traveling direction if the first operating element OP1 is operated during the operation period for accepting the change of the traveling direction, and cancels the change of the traveling direction if the first operating element OP1 is operated during the operation period for canceling the change of the traveling direction. Here, when these operation periods have passed, if the passenger P is notified that the operation has been accepted, the passenger P can recognize that his / her operation has been reliably accepted by the moving body 1, and the convenience for the passenger P is improved.

[0075] Therefore, the mobile body 1 may also be provided with a notification device, which outputs a notification indicating that the operation has been accepted when the operation of the first operating member OP1 is accepted after the above-mentioned operation period. The notification device is, for example, a vibration generating device built into the first operating member OP1. The control device 100 causes the vibration generating device to vibrate when the first operating member OP1 is operated during the operation period for accepting a change in the direction of travel or when the first operating member OP1 is operated during the operation period for cancelling a change in the direction of travel. At this time, the vibration generated when the first operating member OP1 is operated during the operation period for accepting a change in the direction of travel may be different from the vibration generated when the first operating member OP1 is operated during the operation period for cancelling a change in the direction of travel. Thereby, the passenger P can recognize that his operation of the first operating member OP1 is reliably accepted by the mobile body 1.

[0076] In addition, for example, the notification device is not limited to the vibration generating device, and may be an HMI 30 such as a display provided indoors in the mobile body 1. When the first operating element OP1 is operated during an operation for accepting a change in the traveling direction or when the first operating element OP1 is operated during an operation for canceling a change in the traveling direction, the control device 100 causes the HMI 30 to display information indicating that these operations have been accepted.

[0077] Figure 7 This is a diagram showing an example of a notification screen displayed by HMI 30 . Figure 7 As an example, the screen displayed on the HMI 30 when the first operating element OP1 is operated during the operation for canceling the change of the traveling direction is shown. At this time, the control device 100 causes the HMI 30 to display a display message indicating that the cancellation of the change of the traveling direction has been accepted. As a result, the passenger P can recognize that the operation of the first operating element OP1 by the passenger P is reliably accepted by the mobile body 1.

[0078] [Occupant intervention]

[0079] When the moving body 1 is traveling along the target track and changing the traveling direction, it is considered that the passenger P wants to intervene in the traveling of the moving body 1 by stepping on the brake pedal BP or the like according to various circumstances (for example, the passenger P feels that the traveling direction is different from the intended direction, etc.). Frequently changing the target track of the moving body 1 according to such intervention of the passenger P is not preferable, especially when traveling in a lane. Therefore, even when the moving body 1 stops due to the intervention of the passenger P, the target track generation unit 130 maintains the received instruction to change the traveling direction and operates in a manner that does not change the destination track.

[0080] Furthermore, when the moving body 1 stops due to intervention of the occupant P when the moving body 1 changes the moving direction, the control device 100 may cause the HMI 30 to notify the operation method for canceling the change of the moving direction.

[0081] Figure 8 This is a diagram showing another example of the notification screen displayed by HMI 30 . Figure 8 The scene in which the vehicle 1 stops due to the intervention of the passenger P when the vehicle 1 turns right at the intersection is shown. At this time, the control device 100 causes the HMI 30 to display display information indicating the operation method for canceling the change of the traveling direction. As a result, the passenger P can recognize the normal procedure for canceling the change of the traveling direction and effectively utilize the travel of the vehicle 1.

[0082] [Determination of the direction of travel on a multi-branch road]

[0083] In the above, the operation of the first operating member OP1 when the moving body 1 turns right or turns left is described. However, in the case where the road that the moving body 1 enters has a multi-branch structure, there are multiple (3 or more) candidates for the direction of travel, and it is sometimes impossible to specify the direction of travel to the multi-branch road only by specifying the right turn or left turn of the first operating member OP1. Therefore, when the target trajectory generation unit 130 detects a multi-branch road by inputting the image IM captured by the external camera of the external detection device 10 into the learned model, it selects one of the multiple candidates for the direction of travel by the method described below, and generates a target trajectory along the direction of travel.

[0084] Fig. 9 3 is a diagram showing an example of a method for specifying a travel direction via HMI 30 in a multi-branch road. As an example, Fig. 9 This shows an example where the moving body 1 enters a multi-branch road with four possible directions of travel. When the target trajectory generation unit 130 detects a multi-branch road and its number by inputting the image IM captured by the external camera of the external detection device 10 into the learned model, the multi-branch road and the possible directions of travel are displayed on the HMI 30, for example. Fig. 9 In the case of, for example, the target trajectory generating unit 130 displays the detected four traveling direction candidates as arrows on the HMI 30 , and displays the traveling direction candidate currently being selected as a thick arrow on the HMI 30 .

[0085] The passenger P, for example, switches the candidate of the currently selected direction of travel in sequence (for example, clockwise) by operating the first operating member OP1 in the right direction multiple times. Then, when the arrow of the desired direction of travel is selected, the passenger P determines the direction of travel to the changed destination by operating the first operating member OP1 in the forward direction. The target track generation unit 130 generates a target track along the determined direction of travel to the changed destination, and causes the moving body 1 to travel along the generated target track. Thus, even when entering a multi-branch road with multiple candidates for the direction of travel, the passenger P can select the direction of travel to the changed destination through a simple operation.

[0086] It should be noted that the method of operating the first operating member OP1 for selecting the direction of travel is not limited to the above method, and more generally, any method can be used as long as it can select by operating the first operating member OP1 multiple times in a specified direction. In addition, the display method of the direction of travel is not necessarily limited to an arrow, and more generally, any method can be used as long as it can identify multiple candidates for the direction of travel and the candidate for the direction of travel being selected.

[0087] In addition, after the HMI 30 displays the candidates for the traveling direction of the branch road, if the passenger P does not select the candidate for the traveling direction within a predetermined time or from the branch road to a predetermined distance, the target trajectory generation unit 130 may stop the moving body 1 or automatically determine the candidate for the traveling direction by a predetermined method. For example, the target trajectory generation unit 130 may select the candidate for the traveling direction that has been selected the most times based on the choices of the passenger P in the past, or may select the candidate for the traveling direction that has been selected the most times by summarizing the choices of multiple other passengers.

[0088] In addition, in addition to the direction in which the first operating member OP1 is operated, other information may be combined to select a candidate for the direction of travel. Fig. 9 When the first operating element OP1 is operated in the right direction on the multi-branch road shown, it is considered that the occupant P is trying to select one of the two candidates for the direction of travel on the right. It is also possible to select the candidate for the direction of travel that the occupant P has selected more times in the past among the two candidates for the direction of travel. In addition, it is also possible to detect the line of sight, finger gestures, etc. of the occupant P and select a candidate for the direction of travel that is closer to the line of sight or the direction indicated by the gesture, or to detect speech such as "the far right" or "the second lane" and select a candidate for the direction of travel indicated by the speech. The method for specifying the direction of travel using these driving records, speech, line of sight, or gestures can also be used as an independent specification method without using the first operating element OP1.

[0089] Next, refer to Figures 10 to 12 The flow of processing executed by the control device 100 will be described. Fig.10It is a diagram showing an example of the flow of processing executed by the control device 100 . Fig.10 The processing shown is repeatedly executed while the vehicle 1 is traveling.

[0090] First, the control device 100 receives an operation on the first operating member OP1 (step S100). Next, the control device 100 determines whether the first operating member OP1 has been operated in either the left or right direction for a first period of time or longer (step S102). If it is determined that the first operating member OP1 has not been operated in either the left or right direction for a first period of time or longer, the control device 100 ends the processing of this flowchart.

[0091] On the other hand, when it is determined that the first operating element OP1 has been operated in either the left or right direction for a first period or more, the control device 100 causes the notification device to notify information indicating that the operation has been accepted (step S104). Next, the control device 100 generates a target track of the travel direction with the operated left or right direction as the destination of the change (step S106). Next, the control device 100 determines whether the first operating element OP1 has been operated in the forward direction for a second period or more, or whether it has been operated in the backward direction for a third period or more (step S108).

[0092] When it is determined that the first operating member OP1 has been operated in the forward direction for more than the second period, or has not been operated in the backward direction for more than the third period, the control device 100 causes the moving body 1 to travel along the generated target track (step S110). On the other hand, when it is determined that the first operating member OP1 has been operated in the forward direction for more than the second period, or has been operated in the backward direction for more than the third period, the control device 100 causes the notification device to notify information indicating that the accepted operation is canceled (step S112). Next, the control device 100 cancels the generated target track (step S114). Thus, the processing of this flowchart ends.

[0093] It should be noted that in the above description and flow chart, the second period related to the operation in the forward direction and the third period related to the operation in the backward direction are set to be different periods, but the processing can be further simplified by using a common period as a threshold for judgment for the operation in the forward direction and the operation in the backward direction.

[0094] Fig.11 It is a diagram showing another example of the flow of processing executed by the control device 100 . Fig.11 The processing shown here generates a target trajectory having either the left or right direction as the travel direction to be changed according to the operation of the first operating element OP1 by the occupant P, and is repeatedly executed while the vehicle 1 travels on the target trajectory.

[0095] First, the control device 100 determines whether the moving body 1 stops due to the intervention of the passenger while the moving body 1 is traveling on the target track with either the left or right direction as the travel direction of the changed destination (step S200). If it is determined that the moving body 1 does not stop due to the intervention of the passenger, the control device 100 ends the processing of this flowchart. It should be noted that not only when the moving body 1 stops completely (the speed becomes 0), but also when the moving body 1 decelerates suddenly or when the speed becomes less than a specified value of an extremely low speed due to deceleration, the determination can be made in a manner that results in the same result as when the moving body 1 stops completely.

[0096] On the other hand, when it is determined that the moving body 1 has stopped due to the intervention of the passenger, the control device 100 causes the notification device to notify the method of the cancellation operation (step S202). Next, the control device 100 determines whether a cancellation operation performed by the passenger P is received (step S204). When it is determined that a cancellation operation performed by the passenger P is received, the control device 100 cancels the target track during travel (step S206). On the other hand, when it is determined that a cancellation operation performed by the passenger P is not received, the control device 100 maintains the target track during travel and causes the moving body 1 to travel (step S208). Thus, the processing of this flowchart ends.

[0097] Fig.12 It is a diagram showing another example of the flow of processing executed by the control device 100 . Fig.12 The processing shown is repeatedly executed while the vehicle 1 is traveling.

[0098] First, the control device 100 determines whether a multi-branch road is detected in the direction of travel of the moving body 1 by the external camera of the external detection device 10 (step S300). If it is determined that a multi-branch road is not detected in the direction of travel of the moving body 1, the control device 100 ends the processing of this flowchart.

[0099] On the other hand, when it is determined that a multi-branch road is detected in the direction of travel of the mobile body 1, the control device 100 causes the HMI 30 to display a plurality of candidates for the direction of travel in the multi-branch road (step S302). Next, the control device 100 determines whether the selection of a candidate for the direction of travel is received from the passenger P via the HMI 30 (step S304). When it is determined that the selection of a candidate for the direction of travel is received from the passenger P via the HMI 30, the control device 100 generates a target track along the received direction of travel and causes the mobile body 1 to travel along the target track (step S306). On the other hand, when it is determined that the selection of a candidate for the direction of travel is not received from the passenger P via the HMI 30, the control device 100 stops the mobile body 1 (step S308). Thus, the processing of this flowchart ends.

[0100] According to the first embodiment described above, when the passenger of the moving body operates the first operating member OP1 in a predetermined direction, the control device determines the moving body's travel direction, generates a target track along the determined travel direction, and causes the moving body to automatically travel along the generated target track. Thus, the moving body's travel direction can be changed by a simple operation.

[0101] <Second embodiment>

[0102] 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.

[0103] Fig.13 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.

[0104] 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.

[0105] 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.

[0106] Description of Reference Numerals

[0107] 10 External Detection Device

[0108] 40 drive device

[0109] 100 control devices

[0110] 120 Identification Department

[0111] 130 Target orbit generation unit

[0112] 140 drive control unit

[0113] OP1 first operating element

[0114] OP2 second operating element

[0115] Ar_l Left handrail

[0116] Ar_rRight armrest

[0117] Ar_c Central armrest

[0118] D_l Left door

[0119] 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 detection device for detecting a condition of at least a traveling direction side of the moving body; An operating member, which is provided on the armrest of the moving body and can be operated at least to the left and right, and the operating member is used by the passenger to indicate the moving direction of the moving body; as well as A control device that causes the moving body to travel in a mode that automatically accelerates, decelerates, and turns. The control device automatically generates a target trajectory for the moving body to change the direction of travel based on the detected condition on the side of the direction of travel in response to an operation performed on the operating member to indicate the direction of travel, and controls the drive device in a manner that causes the moving body to move along the target trajectory.

2. The moving object according to claim 1, wherein: When the operation direction of the operating element is a first direction of either left or right, the control device generates the target trajectory using the first direction as the travel direction of the change destination. The control device cancels the change of the traveling direction when the operating element is operated in a direction different from the first direction after the first direction is determined as the traveling direction of the change destination.

3. The moving object according to claim 2, wherein: When the operating element is operated in the first direction of either left or right for a first period or longer, the control device generates the target trajectory by setting the operated first direction as the travel direction of the change destination. The control device cancels the change of the travel direction when the operating element is operated in a direction different from the first direction for a second period or more after the first direction operated is determined as the travel direction of the change destination. The second period is a period longer than the first period.

4. The moving object according to claim 2, wherein: The operating member can at least be further operated in the rearward direction, The control device generates the target trajectory using the first direction as the travel direction of the change destination when the operating element is operated in the first direction for a first period or longer. The control device cancels the change of the travel direction when the operating element is operated in the rearward direction for more than a third predetermined period or when the operating element is operated in a direction other than the first direction and the rearward direction for more than a second period after the first direction operated is determined as the travel direction of the changed destination. The third period is a period shorter than the second period.

5. The moving object according to claim 1, wherein: The mobile body includes a notification device for notifying the occupant. When the control device receives an operation on the operating element, the control device causes the notification device to output a notification indicating that the operation has been received.

6. The moving object according to claim 1, wherein: When the moving body moves along the target trajectory, even when the moving body stops or the speed of the moving body decreases to or below a predetermined value due to intervention by the passenger, the control device maintains the instruction to change the traveling direction.

7. The moving object according to claim 1, wherein: The mobile body includes a notification device for notifying the occupant. When the moving body stops due to intervention of the occupant while the moving body is moving along the target trajectory, the control device causes the notification device to notify the occupant of an operation to cancel the instruction to change the traveling direction.

8. The moving object according to claim 1, wherein: When the detecting device detects a plurality of route change destination candidates in the traveling direction of the mobile body, the control device determines one of the plurality of route change destination candidates as the traveling direction of the change destination by receiving a plurality of operations on the operating element.

9. The moving object according to claim 1, wherein: When the detection device detects multiple route change destination candidates in the travel direction of the mobile body, the control device determines one of the multiple route change destination candidates as the travel direction of the change destination by detecting any one or more of the occupant's driving history, speech, line of sight, or gestures.

10. The moving object according to claim 8, wherein: The mobile body includes a display device for displaying information related to the travel of the mobile body. The control device causes the display device to display one of the plurality of road change destination candidates in the travel direction determined as the change destination.

11. A control method, which is performed by a control device of a moving body, the moving body comprising: a driving device for moving the moving body capable of being boarded by passengers; a detecting device for detecting the condition of at least the moving body in the direction of travel; an operating member provided on an armrest of the moving body, operable at least in the front and rear directions and in the left and right directions, the operating member being used by the passenger to indicate the moving body's direction of travel; and the control device for driving the moving body in a mode of automatically accelerating, decelerating and turning, wherein: In response to the operation of the operating element to instruct the travel direction, a target trajectory for the moving body to change the travel direction is automatically generated based on the detected condition on the travel direction side, and the driving device is controlled so that the moving body moves along the target trajectory.

12. A program executed by a control device of a moving body, the moving body comprising: a driving device for moving the moving body capable of being boarded by passengers; a detecting device for detecting the condition of at least the moving body in the direction of travel; an operating member provided on an armrest of the moving body and operable at least to the left and right, the operating member being used by the passenger to indicate the direction of travel of the moving body; and the control device for driving the moving body in a mode of automatically accelerating, decelerating and turning, wherein: The program automatically generates a target trajectory for the moving body to change the moving direction based on a detected condition on the moving direction side in response to an operation of the operating element to instruct the moving direction, and controls the driving device so that the moving body moves along the target trajectory.

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