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 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 the moving body to change the traveling direction on the basis of the acquired state on the traveling direction side in accordance with an operation instructing either the left or the right on the first operation member, and generating a target trajectory for the moving body to change the traveling direction of the moving body on the basis of the acquired 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, when the traveling direction of a moving body is changed, the traveling of the moving body may not be properly controlled.

[0008] The solution of the present invention is completed 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 appropriately control the travel of the moving body when the moving direction of the moving body is changed. And further, it contributes 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 causing the moving body to travel in a mode of automatically accelerating, decelerating and turning; a first operating member provided on an armrest of the moving body; and a direction indicator for indicating either a left or right turn made by the moving body, wherein the control device controls the driving device in a manner that decelerates the moving body according to an operation performed on the first operating member to indicate either a left or right turn, and controls the direction indicator in a manner that causes the direction indicator indicating the indicated direction to flash.

[0012] (2): Based on the scheme of (1) above, the moving body further includes a detection device for obtaining the condition of at least one side of the moving direction of the moving body. When the first operating member is operated to indicate either the left or the right, the control device generates a target trajectory for causing the moving body to move in the indicated left or the right direction based on the obtained condition of the moving direction, controls the drive device in a manner to decelerate the moving body, and controls the direction indicator in a manner to make the direction indicator indicating the indicated direction flash.

[0013] (3): Based on the above-mentioned scheme (1) or (2), the mobile body further includes a detection device for obtaining the condition of at least one side of the travel direction of the mobile body, the detection device detects a candidate travel path for the mobile body in either the indicated left or right direction, and when the distance in the length direction of the travel path of the mobile body between the mobile body and the travel path candidate is within a first threshold value, the control device performs control in a manner not to execute the deceleration and the flashing.

[0014] (4): Based on the scheme of (2) above, the detection device detects a candidate travel path for the moving body in the indicated left or right direction, and the control device refers to the speed of the moving body and the target speed calculated based on the target track. When the deceleration required for the moving body to enter the candidate travel path on the target track is greater than a second threshold value, the control device performs control in a manner not to execute the deceleration and the flashing.

[0015] (5): Based on the scheme of (1) or (2) above, the mobile body further includes a detection device for obtaining the condition of at least the traveling direction side of the mobile body, the detection device detects a candidate driving path for the mobile body in either the indicated left or right direction, and when the distance in the length direction of the driving path of the mobile body between the mobile body and the driving path candidate is greater than a third threshold value, or there are other driving paths between the mobile body and the driving path candidate, the control device controls the direction indicator in a manner that delays the flashing of the direction indicator.

[0016] (6): Based on the scheme of (2) above, the moving body further includes a detection device for obtaining the status of at least one side of the moving direction of the moving body, the detection device detects a candidate driving path for the moving body in either the indicated left or right direction, and the control device maintains the target trajectory even if the moving body stops due to the intervention of the occupant before entering the candidate driving path.

[0017] (7): In the above aspect (2), when the determination of the travel path corresponding to the target trajectory fails while the direction indicator is flashing, the control device determines the travel path based on past information of the travel path corresponding to the target trajectory.

[0018] (8): A control method according to another embodiment of the invention is performed by a control device of a moving body, wherein the moving body is capable of being boarded by passengers and comprises: a driving device for moving the moving body; a control device for causing the moving body to travel in a mode of automatically accelerating, decelerating and turning; a first operating member provided on an armrest of the moving body; and a direction indicator for indicating either a left or right turn made by the moving body, wherein the driving device is controlled in a manner to decelerate the moving body in accordance with an operation performed on the first operating member to indicate either a left or right turn, and the direction indicator is controlled in a manner to cause the direction indicator indicating the indicated direction to flash.

[0019] (9): The program of another scheme of the invention is executed by a control device of a moving body, wherein the moving body can be boarded by passengers, and the moving body comprises: a driving device for moving the moving body; a control device for causing the moving body to travel in a mode of automatically accelerating, decelerating and turning; a first operating member provided on an armrest of the moving body; and a direction indicator for indicating either a left or right turn made by the moving body, wherein the driving device is controlled in a manner to decelerate the moving body in accordance with an operation performed on the first operating member to indicate either a left or right turn, and the direction indicator is controlled in a manner to flash the direction indicator indicating the indicated direction.

[0020] Effects of the Invention

[0021] According to the aspects (1) to (9), when the traveling direction of the mobile body is changed, the travel of the mobile body can be appropriately controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a diagram showing an example of the structure of the moving object 1.

[0023] Figure 2 This is a perspective view of the moving object 1 according to the first embodiment as viewed from above.

[0024] 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 .

[0025] 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 .

[0026] Figure 5 1 and 2 are diagrams illustrating the target trajectory K before and after the first operating tool OP1 is operated.

[0027] 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.

[0028] Figure 7 This is a diagram showing an example of a notification screen displayed by HMI 30 .

[0029] Figure 8 This is a diagram showing another example of the notification screen displayed by HMI 30 .

[0030] 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.

[0031] Fig.10 This is a perspective view of a moving object 1A according to the second embodiment as viewed from above. DETAILED DESCRIPTION

[0032] 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.

[0033] <First embodiment>

[0034] [constitute]

[0035] 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.

[0036] 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.

[0037] 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 .

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] [First operating element]

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] [Control device]

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] [Control Based on Operation of First Operating Element]

[0058] When the first operating member OP1 is not operated, the target trajectory generating unit 130 generates a target trajectory based on the aforementioned pointer in such a manner that the moving body 1 maintains the current driving path (the 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 a 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. Based on the image IM captured by the external camera of the external detection device 10, the target trajectory generating unit 130 searches for a driving path that intersects with the driving path on which the moving body 1 is currently traveling, that is, the driving path that is closest to the moving body 1 among the driving paths that can turn right, at the time when the first operating member OP1 is operated to the right. When the target trajectory generating unit 130 searches for a driving path that can turn right, it generates a target trajectory in such a manner that the moving body 1 turns right along the driving path. The searched driving path is an example of a "driving path candidate". It should be noted that, instead of the target trajectory generation unit 130 , the outside world detection device 10 itself may search for travel path candidates based on the image IM, and the target trajectory generation unit 130 may generate the target trajectory based on the travel path candidates received from the outside world detection device 10 .

[0059] 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.

[0060] Figure 51 is a diagram illustrating a target trajectory K before and after the first operating element OP1 is operated. As shown in the figure, the target trajectory generation unit 130 generates a target trajectory K for entering the right turn destination, that is, the travel path 230 of the moving body 1, according to the situation that the first operating element OP1 is operated to the right. The drive control unit 140 controls the drive device 40 in such a manner that the moving body 1 travels along the generated target trajectory K, and more specifically, controls the drive device 40 to decelerate the moving body 1 in such a manner that it can enter the travel path 230 as the right turn destination, and flashes the right direction indicator 50.

[0061] [Control when turning left or right]

[0062] Here, the control of always decelerating the moving body 1 and flashing the direction indicator 50 along the target trajectory K for turning left or right generated by the target trajectory generating unit 130 is sometimes not suitable for the passengers of the moving body 1 and the surrounding vehicles. Therefore, the drive control unit 140 performs the processing described below on the generated target trajectory K for turning left or right. It should be noted that the processing described below only needs to be performed after the first operating member OP1 is operated in either direction, and is not limited to the timing of generating the target trajectory K (for example, the processing described below can also be performed after the first operating member OP1 is operated in either direction and before generating the target trajectory K).

[0063] First, the drive control unit 140 determines whether the distance X1 between the moving body 1 and the driving path 230 related to the length direction of the driving path where the moving body 1 exists is less than the first threshold value Th1. The first threshold value Th1 is set to, for example, the lower limit of the distance that the moving body 1 can turn left or right with a margin. In the case where the distance X1 is less than the first threshold value Th1, it means that the margin in the distance for the moving body 1 to turn right and enter the driving path 230 is low. Therefore, the drive control unit 140 decides not to make the moving body 1 travel along the target track K (that is, continue to go straight), and does not perform any of the deceleration control of the moving body 1 and the flashing control of the direction indicator 50.

[0064] Furthermore, the drive control unit 140 refers to the speed of the moving body 1 and the target speed obtained based on the target track K, calculates the deceleration required for traveling on the target track K (i.e., the deceleration required to enter the travel path 230 of the right turn destination), and determines whether the calculated required deceleration is greater than the second threshold value Th2. For example, the drive control unit 140 determines the target speed of the portion with the largest curvature in the target track K, and calculates the required deceleration by dividing the difference between the speed of the moving body 1 and the target speed by the distance. The second threshold value Th2 is set to, for example, an upper limit value of the deceleration of the moving body 1 that does not cause discomfort to the occupant P. When the required deceleration is greater than the second threshold value Th2, it means that the margin in the speed of the moving body 1 to enter the travel path 230 when turning right is low. Therefore, the drive control unit 140 decides not to drive the moving body 1 along the target track K, and does not perform any of the deceleration control of the moving body 1 and the flashing control of the direction indicator 50.

[0065] Furthermore, the drive control unit 140 determines whether the above-mentioned distance X1 is greater than or equal to a third threshold value Th3. The third threshold value Th3 is set, for example, to an upper limit value of a distance that is considered natural for the direction indicator 50 to flash based on common sense in traffic. When the distance X1 is greater than or equal to the third threshold value Th3, this means that the time when the mobile body 1 flashes the direction indicator 50 in order to enter the driving road 230 is too early. Therefore, the drive control unit 140 delays the flashing of the direction indicator 50 until the distance X1 is less than the third threshold value Th3, and flashes the right direction indicator 50 when the distance X1 is less than the third threshold value Th3. It should be noted that, at this time, the deceleration control of the mobile body 1 can be executed simultaneously with the flashing control of the direction indicator 50, or it can be executed at a time earlier than the flashing control of the direction indicator 50 (that is, when the distance X1 is greater than or equal to the third threshold value Th3).

[0066] Furthermore, the drive control unit 140 delays the blinking control of the direction indicator 50 when there is another travel path between the travel path for the right or left turn and the current position of the vehicle 1 in addition to the third threshold value Th3 . Figure 6 This is a diagram showing an example of a scene in which the blinking control of the direction indicator 50 is delayed. Figure 6 In addition to Figure 5 In addition to the illustrated travel path, there may be another travel path 231 between the mobile body 1 and the travel path 230 .

[0067] like Figure 6 As shown, when there is another driving road 231 between the driving road 230 that is the target of the left or right turn and the current position of the vehicle 1, the drive control unit 140 delays the flashing of the direction indicator 50 until the vehicle 1 passes the other driving road 231 (in other words, before the vehicle 1 passes the other driving road 231). Figure 6It should be noted that, at this time, the deceleration control of the mobile body 1 can be performed simultaneously with the flashing control of the direction indicator 50, or can be performed at a timing earlier than the flashing control of the direction indicator 50 (i.e., when the distance X1 is greater than the distance X2).

[0068] It should be noted that Figure 6 , and selects the travel path 230 as the object of the right turn instead of the travel path 231 located closer to the moving body 1. For example, when the distance between the moving body 1 and the travel path 231 is less than the first threshold value Th1 described above, the travel path 230 is selected as the object of the right turn instead of the travel path 231. In addition, for example, the control device 100 may record the driving history of the moving body 1, and when the history of the moving body 1 turning right on the travel path 230 is obviously more than that on the travel path 231 in the past, the travel path 230 is selected as the object of the left and right turn instead of the travel path 231. In addition, for example, the moving body 1 may also be equipped with an on-board camera, and the travel path 230 is selected as the object of the right turn instead of the travel path 231 based on the line of sight of the occupant P at the time when the first operating member OP1 is operated. In addition, for example, when it is determined that the travel path 231 is impassable (for example, one-way traffic) based on the image IM captured by the external camera, the travel path 230 may be selected as the object of the right turn instead of the travel path 231.

[0069] [Occupant intervention]

[0070] When the moving body 1 is traveling along the target trajectory K and changing the traveling direction, depending on various situations (for example, the passenger P feels that the traveling direction is different from the intended direction, etc.), 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, etc. It is not preferable to frequently change the target trajectory K of the moving body 1 according to such intervention of the passenger P, especially when traveling in a lane. Therefore, even when the moving body 1 stops due to the intervention of the passenger P, the target trajectory generation unit 130 maintains the received instruction to change the traveling direction and operates in a manner that does not change the target trajectory K. At this time, the control device 100 may also cause the HMI30 to notify the operation method for canceling the change in the traveling direction when the moving body 1 stops due to the intervention of the passenger P when the moving body 1 changes the traveling direction.

[0071] [Determination of driving path when turning left or right]

[0072] When the moving body 1 turns left or right along the target track K while flashing the direction indicator 50, the control device 100 may fail to determine the driving path after the turn based on the image information. In this case, it is considered to stop the moving body 1, but especially in the scenario of turning left or right while flashing the direction indicator 50, for example, it is assumed that other vehicles are driving as if the moving body 1 is turning left or right, so it is not preferable to stop the moving body 1 on the spot. Therefore, when the moving body 1 flashes the direction indicator 50 and turns left or right along the target track K, if the determination of the driving path after the turn based on the image information fails, the target track generation unit 130 determines the driving path after the turn by the method described below.

[0073] Figure 7 This is a diagram for explaining determination of a travel path after a left or right turn by the target trajectory generating unit 130 . Figure 7 The figure shows a scene in which the vehicle 1 turns right toward the driving path 230 while flashing the direction indicator 50, but fails to determine the driving path after the right turn and loses the driving path SL. When the determination of the driving path after the right turn fails, the target track generation unit 130 supplements the driving path SL after the right turn based on the past driving path information recorded by the control device 100. Here, the past driving path information is, for example, information recorded by associating an image IM (or road boundary information extracted from the image IM) captured by an external camera when the vehicle 1 traveled on the same driving path in the past and the corresponding GPS coordinates. When the determination of the driving path after the right turn fails, the target track generation unit 130 can obtain the driving path information associated with the GPS coordinates closest to the current position and supplement it as the driving path SL after the right turn. When there is no past driving path information of the current position of the vehicle 1, the target track generation unit 130 can also refer to the map information carried by the vehicle 1 and use the driving path information corresponding to the current position to store the driving path SL.

[0074] Next, refer to Figure 8 and Fig. 9 The flow of processing executed by the control device 100 will be described. Figure 8 It is a diagram showing an example of the flow of processing executed by the control device 100 . Figure 8 The processing shown is repeatedly executed while the vehicle 1 is traveling.

[0075] 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 is operated in either the left or right direction (step S102). If it is determined that the first operating member OP1 is not operated in either the left or right direction, the control device 100 ends the processing of this flowchart.

[0076] On the other hand, when it is determined that the first operating element OP1 is operated in either the left or right direction, the control device 100 generates a target track in a manner of turning in either the left or right direction that is operated (step S104). Next, the control device 100 determines whether the distance between the moving body 1 and the driving path on the target track that is the target of the left or right turn is less than the first threshold value (step S106). When it is determined that the distance between the moving body 1 and the driving path on the target track that is the target of the left or right turn is less than the first threshold value, the control device 100 ends the processing of this flowchart.

[0077] On the other hand, when it is determined that the distance between the moving body 1 and the driving path that is the target of the left or right turn on the target track is greater than the first threshold value, the control device 100 next determines whether the deceleration required to enter the driving path that is the target of the left or right turn is greater than the second threshold value (step S108). When it is determined that the deceleration required to enter the driving path that is the target of the left or right turn is greater than the second threshold value, the control device 100 ends the processing of this flowchart.

[0078] On the other hand, when it is determined that the deceleration required to enter the driving path that is the object of the left or right turn is less than the second threshold value, the control device 100 next determines whether the distance between the moving body 1 and the driving path that is the object of the left or right turn on the target track is greater than or equal to the third threshold value, or whether there is another driving path between the moving body 1 and the driving path (step S110). When it is determined that the distance between the moving body 1 and the driving path that is the object of the left or right turn on the target track is greater than or equal to the third threshold value, or there is another driving path between the moving body 1 and the driving path, the control device 100 executes the process of S110 again after waiting for a certain period of time.

[0079] On the other hand, when it is determined that the distance between the moving body 1 and the driving path on the target track that is the target of the left or right turn is not greater than the third threshold value, or when there is another driving path between the moving body 1 and the driving path, the control device 100 controls the drive device 40 to decelerate the moving body 1 and flash the direction indicator 50 (step S112). Thus, the processing of this flowchart ends.

[0080] Fig. 9 It is a diagram showing an example of the flow of processing executed by the control device 100 . Fig. 9 The illustrated process is executed when the moving body 1 flashes the direction indicator 50 and turns left or right along the target track.

[0081] First, the control device 100 determines whether the travel path after the left or right turn is determined based on the image information (step S200 ). If it is determined based on the image information that the travel path after the left or right turn is determined, the control device 100 ends the processing of this flowchart.

[0082] On the other hand, if it is determined based on the image information that the driving path after the left or right turn has not been determined, the control device 100 determines whether there is past driving path information related to the driving path that failed to be determined (step S202). If it is determined that there is past driving path information related to the driving path that failed to be determined, the control device 100 determines the driving path based on the past driving path information and ends the processing of this flowchart (step S204). On the other hand, if it is determined that there is no past driving path information related to the driving path that failed to be determined, the control device 100 determines whether there is map information related to the driving path that failed to be determined (step S206).

[0083] If it is determined that there is map information related to the driving route that failed to be determined, the control device 100 determines the driving route based on the map information (step S208). On the other hand, if it is determined that there is no map information related to the driving route that failed to be determined, the control device 100 stops the moving body 1 (step S210). Thus, the processing of this flowchart ends.

[0084] According to the first embodiment described above, according to the operation of the first operating member OP to indicate either left or right, the moving body 1 is decelerated and the direction indicator is flashed while considering the condition of the travel path of the moving body 1. Thus, when the travel direction of the moving body is changed, the travel of the moving body can be appropriately controlled.

[0085] <Second embodiment>

[0086] 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.

[0087] Fig.10 This is a perspective view of the moving body 1A according to the second embodiment as viewed from above. Figure 2A 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.

[0088] 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.

[0089] 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.

[0090] Description of Reference Numerals

[0091] 10 External Detection Device

[0092] 40 drive device

[0093] 100 control devices

[0094] 120 Identification Department

[0095] 130 Target orbit generation unit

[0096] 140 drive control unit

[0097] OP1 first operating element

[0098] OP2 second operating element

[0099] Ar_l Left handrail

[0100] Ar_rRight armrest

[0101] Ar_c Central armrest

[0102] D_l Left door

[0103] 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 performs acceleration, deceleration, and steering. 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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