Mobile automation device for mobile body and storage medium storing mobile automation program

Abstract

A movement automation device for a moving body, which controls the moving body so as to automatically move the moving body, is provided with: an input unit that acquires information relating to the moving body or the surroundings of the moving body; a prediction unit that generates, on the basis of the information acquired via the input unit, first predicted movement data associated with a future movement pattern of the moving body; a communication control unit that performs a process relating to communication with another mobile automation device mounted on a mobile body different from the same mobile body, and receives, from the another mobile automation device via the input unit, second predicted movement data relating to a future movement mode of the different mobile body; and a priority determination unit that determines, on the basis of the first predicted movement data and the second predicted movement data, the movement priority order of the moving body and the different moving body, and that controls the movement of the one or more moving bodies on the basis of the result of the determination by the priority determination unit.

Description

Technical Field

[0001] The present invention relates to a mobile automation device for a mobile object and a storage medium storing a mobile automation program. The present invention also relates to a safety ensuring device cooperating with the mobile automation device. Background Art

[0002] Taking a car as an example of a mobile object, an automatic driving system for driving a car has been developed. An automatic driving system that supports the driver in driving a car has been put into practical use. Moreover, the automatic driving system not only supports the driver, but also determines how the car should be driven by itself, and moves the car to a desired location based on the result of the judgment, thereby controlling the car on its own is gradually being put into practical use.

[0003] In order to effectively implement such an automatic driving system, it is necessary to obtain driving-related information related to the driving mode of the vehicle and the driving environment around the vehicle. Various detection devices can be used to collect driving-related information. In particular, cameras can obtain a lot of real-time information related to the driving environment, so they are usually used as detection devices. The information obtained from the detection device is stored in an integrated circuit (IC) installed in the car. The automatic driving system determines the appropriate driving mode of the car based on past information stored in the IC and real-time driving-related information continuously obtained from the detection device, and provides driver support or appropriate control of the car based on the result of the judgment.

[0004] As an example of such an automatic driving system that particularly prevents collisions between vehicles, there is the technology disclosed in the following Patent Document 1. Also, as an example of obtaining information on the driving environment using a camera, there is the technology disclosed in the following Patent Document 2.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2012-123000

[0008] Patent Document 2: Japanese Patent Application Publication No. 2012-198207 Summary of the invention

[0009] Problems to be solved by the invention

[0010] However, in the existing automatic driving system, which essentially obtains information related to the surrounding environment of the moving vehicle only through the camera, only fragmentary information about the surrounding environment of the currently moving vehicle can be obtained. Therefore, the automatic driving system may not be able to properly control the vehicle according to the surrounding environment of the vehicle.

[0011] Below, refer toFig. 9 or Fig.10 , citing examples of adverse conditions caused by existing autonomous driving systems being able to obtain only fragmentary information about the vehicle's surroundings.

[0012] Assume that a car 206 and another car 208, both equipped with existing automatic driving systems, are traveling near a T-shaped road having a somewhat wide road width, for example, a main road 202 having one lane on one side and two lanes on both sides, and a branch road 204 having a road width narrower than the main road 202, for example, a full-width single lane. Assume that the car 206 is automatically traveling from the left side to the right side in the figure on the main road 202, and plans to turn left to the branch road 204 after reaching the T-shaped branch point 210. On the other hand, it is assumed that the car 208 is automatically traveling on the branch road 204 in the direction of the T-shaped branch point 210. In addition, it is assumed that a shelter 212 that can be used when vehicles meet is provided on the branch road 204.

[0013] In existing autonomous driving systems that only use on-board cameras to obtain information about the surrounding environment at that moment, the system cannot formulate a driving plan based on the presence of other vehicles before the camera recognizes the presence of other vehicles. Fig. 9 As shown, when car 206 turns left from T-junction 210 to fork 204 before car 208 reaches T-junction 210, after car 206 enters fork 204, cars 206 and 208 recognize the presence of other cars for the first time through their respective on-board cameras.

[0014] At this time, after the car 208 running in the fork road 204 passes the avoidance 212, the cars 206 and 208 are facing each other on the fork road 204 and cannot move forward or backward. Even if the cars 206 and 208 avoid mutual collision by being equipped with the mobile collision prevention device of Patent Document 1 or other automatic driving systems, since it is unclear what action the other vehicle will take next, the automatic driving systems of the cars 206 and 208 cannot properly operate the car. For example, the cars 206 and 208 stop in the state of facing each other and cannot move temporarily.

[0015] exist Fig.10In another example shown, an undesirable situation that may occur when a car 224 and another car 226 are both equipped with existing automatic driving systems and are traveling near a three-way road consisting of a straight road 220 with two lanes on one side and four lanes on both sides and a branch road 222 that intersects the straight road 220 at an angle to form a so-called Y-shaped road. It is assumed that the car 224 is automatically traveling in one lane 220A of the straight road 220 and is scheduled to cross the opposite lane 220B of the straight road 220 from the Y-shaped branch point 228 and enter the branch road 222 (see arrow A1). On the other hand, it is assumed that the car 226 is automatically traveling in the opposite lane 220B of the straight road 220 toward the direction of the Y-shaped branch point 228.

[0016] In order to ensure the safe passage of cars, pedestrians, etc. near the Y-shaped fork 228, colored light-type traffic signals 230 and 232 are provided near the Y-shaped fork 228. The traffic signal 230 is a device that emits light to indicate a permission to travel or a stop instruction to cars such as the car 224 traveling on the lane 220A. On the other hand, the traffic signal 232 is a device that emits light to indicate a permission to travel or a stop instruction to cars such as the car 226 traveling on the opposite lane 220B.

[0017] In this example, the traffic signal 230 indicates that the car 224 traveling on the lane 220A is allowed to travel, while the traffic signal 232 indicates that the car 226 traveling on the lane 220B is instructed to stop. In this case, if the traveling car 224 continues to travel in this way and reaches the Y-shaped branch point 228, it will cross the opposite lane 220B at an appropriate time in view of the situation of the opposite lane 220B and seek to change the route to the branch road 222. On the other hand, the traveling car 226 starts to drive slowly in order to stop in front of the Y-shaped branch point 228 according to the instruction issued by the traffic signal 232.

[0018] The surrounding environment information that can be obtained by the automatic driving system of the car 224 is limited to the information obtained by the camera mounted on the car. It is sufficient if the instructions from the traffic signal 232 are transmitted to the car 226 and other vehicles traveling on the lane 220B. Therefore, if the traffic signal 232 is a color light type signal of a general structure, the camera mounted on the car 224 traveling on the lane 220A can only recognize the back of the traffic signal 232, and the specific light color display content from the traffic signal 232 cannot be recognized by the car 224.

[0019] Therefore, the automatic driving system and the occupants of the car 224 are likely to infer based on the information obtained from the traffic signal 230 that the traffic signal 232 will also illuminate and display the permission for the car 226 to travel, similar to the traffic signal 230. In other words, the automatic driving system and the occupants of the car 224 will judge that the car 226 traveling in the opposite lane 220B will continue to travel and pass the Y-shaped junction 228.

[0020] However, since the traffic signal 232 actually displays a stop command, the car 226 starts to slow down in preparation for stopping in front of the Y-shaped fork 228. Nevertheless, for the car 224 that cannot recognize the light color display from the traffic signal 232, even if it can recognize whether the car 226 has slowed down, for example, the slow driving of the car 226 itself, it is very difficult to understand its intention. For example, the automatic driving system and the occupants of the car 224 may infer that the car 226 is driving slowly in order to stop in front of the Y-shaped fork 228, or that it may be driving slowly just to prevent the sudden appearance of pedestrians or bicycles near the Y-shaped fork 228. Therefore, the car 224 cannot reliably judge that the car 226 stops in front of the Y-shaped fork 228, and temporarily stops in front of the Y-shaped fork 228 in order to wait for the car 226 to pass through the Y-shaped fork 228.

[0021] However, since the car 226 actually stops before the Y-shaped fork 228 according to the instruction of the traffic signal 232, the car 224 can continue to cross the lane 220B and enter the branch road 222. Only after the car 226 stops before the Y-shaped fork 228, the car 224 understands that the traffic signal 232 has issued a stop instruction and starts to go to the branch road 222 again.

[0022] At this time, if another vehicle is traveling behind the car 224, the following vehicle will also have to stop as the car 224 stops. Therefore, smooth traffic is hindered around the entire periphery of the Y-shaped branch point 228. In addition, the occupants of the car 224 or the car 226 may also feel anxious due to the inconsistency between the situation they have guessed or understood and the actual driving state of the other vehicle.

[0023] As described above, in the conventional automatic driving system, the driving control of the vehicle has to be performed only based on the current surrounding environment obtained as image information by the camera and the past data stored therein, that is, scattered information.

[0024] The present invention has been made in view of such a problem, and an object of the present invention is to provide a mobile automation device for a mobile body and a storage medium storing a mobile automation program, which facilitate more appropriate and smooth automatic movement of the mobile body.

[0025] Technical solutions to solve problems

[0026] In order to solve the above-mentioned problems, the present invention provides a mobile automation device for a mobile body, which controls the mobile body so that the mobile body moves automatically, and is configured to include: an input unit, which obtains information related to the mobile body or its surrounding environment; a prediction unit, which generates first predicted movement data associated with the future movement mode of the mobile body based on the information obtained via the input unit; a communication control unit, which performs communication-related processing with another automation device mounted on a different mobile body, and receives second predicted movement data associated with the future movement mode of a different mobile body from the other mobile automation device via the input unit; and a priority judgment unit, which judges the movement priority of the mobile body and different mobile bodies based on the first predicted movement data and the second predicted movement data, wherein the movement of one or more mobile bodies is controlled according to the judgment result of the priority judgment unit.

[0027] In addition, in order to solve the above-mentioned problems, the present invention stores a movement automation program of a mobile body in a storage medium, and the program enables a computer of a mobile automation device of a mobile body that controls the mobile body so that the mobile body moves automatically, and the computer is configured to function as the following parts: an input unit, which obtains information related to the mobile body or its surrounding environment; a prediction unit, which generates first predicted movement data associated with the future movement mode of the mobile body based on the information obtained via the input unit; a communication control unit, which performs communication-related processing with another automation device mounted on a different mobile body, and receives second predicted movement data associated with the future movement mode of a different mobile body from the other mobile automation device via the input unit; and a priority judgment unit, which judges the movement priority of the mobile body and different mobile bodies based on the first predicted movement data and the second predicted movement data, wherein the movement of one or more mobile bodies is controlled according to the judgment result of the priority judgment unit.

[0028] Furthermore, in order to solve the above-mentioned problems, the present invention provides a safety ensuring device that cooperates with the above-mentioned mobile automation device to ensure the safety of the user's movement, and is configured to include: an input unit that obtains information related to the user carrying the safety ensuring device or the user's surrounding environment; a prediction unit that generates second predicted movement data associated with the user's future movement mode based on the information obtained via the input unit; a communication control unit that performs processing related to communication with the mobile automation device and receives first predicted movement data associated with the future movement mode of a mobile body equipped with the mobile automation device from the mobile automation device via the input unit; a priority judgment unit that judges the movement priority order of the user and the mobile body based on the first predicted movement data and the second predicted movement data; and an output unit that sends a judgment result related to the second predicted movement data or the movement priority order, wherein the processing related to communication with the mobile automation device performed by the communication control unit includes sending a judgment structure related to the second predicted movement data or the movement priority order of the output unit, and the mobile automation device controls the movement of the mobile body based on the judgment result of the priority judgment unit possessed by the safety ensuring device.

[0029] Effects of the Invention

[0030] According to the present invention, there is a unique effect that the automatic movement of a moving body can be realized more appropriately and smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a functional block diagram showing one embodiment of the mobile automation device of the present invention.

[0032] Figure 2 It is a summary of Figure 1 FIG. 1 is a diagram showing an example of a hardware configuration of a mobile automation device.

[0033] Figure 3 It is represented in the form of a flow chart Figure 1 A diagram showing a process of mobile automation processing of a mobile body performed by a mobile automation device.

[0034] Figure 4 It means that by executing Figure 3 The processing steps shown are a diagram of a state in which safe and smooth autonomous driving is achieved.

[0035] Figure 5 It means that by executing Figure 3 The processing sequence shown is a diagram of another state in which safe and smooth autonomous driving is achieved.

[0036] Figure 6 It means that by executing Figure 3 The processing sequence shown is a diagram of yet another state in which safe and smooth autonomous driving is achieved.

[0037] Figure 7 This is a functional block diagram showing one embodiment of the safety ensuring device of the present invention.

[0038] Figure 8 It is represented in the form of a flow chart Figure 1 Mobile automation devices and Figure 7 A diagram of the process of traffic management performed by safety ensuring devices communicating with each other.

[0039] Fig. 9 This is a diagram showing an example of a traffic problem that may occur at a three-way intersection.

[0040] Fig.10 This is a diagram showing another example of a traffic problem that may occur at a three-way intersection. DETAILED DESCRIPTION

[0041] Next, an embodiment of the mobile automation device for a mobile body of the present invention is described in detail with reference to the accompanying drawings. In addition, in the present application, the term "mobile body" is a mobile machine having a mobile mechanism driven by a power source and receiving power from the power source, in particular, a land mobile machine such as a four-wheeled car, a motorcycle, an autonomous mobile robot, an aerial mobile machine such as an airplane or a drone, and a water or underwater mobile machine such as a ship or a submarine, regardless of whether it is manned or unmanned. In the following description of the embodiment, it is described that the mobile body is a four-wheeled car traveling on land, but the present invention can also be applied to mobile machines other than four-wheeled cars.

[0042] According to the embodiment of the mobile automation device 10 of the present invention, it is possible to automatically determine the driving style such as the driving direction and driving speed of the vehicle equipped with the device 10. As a result, the vehicle equipped with the mobile automation device 10 can travel to the destination without human driving operation or while supporting human driving operation.

[0043] Reference Figure 1 The mobile automation device 10 of the automobile comprises: a control unit 12 for controlling the entire device 10 and the hardware components of the automobile connected to the device 10; a storage unit 14 for pre-storing a mobile automation program 16 that specifies the processing sequence related to the determination of the driving style, data required for the execution of the program 16, and the like; and a calculation unit 18 for executing the calculation processing required for the determination of the driving style. The mobile automation device 10 further comprises: various input units 20 for obtaining information required for the determination of the driving style and storing the obtained information in the device 10; and various output units 22 for providing the calculation results and control signals obtained by the processing based on the mobile automation program 16 to the hardware components of the automobile mounted on the device 10 and other automobiles.

[0044] The input unit 20 is connected to various input hardware and can cooperate with the connected input hardware to obtain various information or data from outside the mobile automation device 10. The input unit 20 is also connected to the control unit 12 and sends the obtained information or data to the storage unit 14 under the control of the control unit 12.

[0045] The output unit 22 is connected to the control unit 12 and various output hardware. Under the control of the control unit 12, the output unit 22 cooperates with the connected output hardware to send various information-containing signals or command signals to the outside of the mobile automation device 10.

[0046] The control unit 12 includes a communication control unit 24 that is responsible for control related to transmission and reception of wireless information between the vehicle equipped with the mobile automation device 10 and other vehicles equipped with other mobile automation devices.

[0047] The mobile automation device 10 includes other mobile automation devices with wireless communication functions installed in other vehicles, GPS (Global Positioning System) transmitters, traffic control centers, and a wireless receiving unit 26 capable of receiving wireless signals transmitted from a wireless transmitting device in a broad sense, and the wireless transmitting device conceptually includes wireless transmitters installed on traffic control objects such as traffic signals and road signs. The wireless receiving unit 26 constitutes a part of the input unit 20 of the mobile automation device 10. The wireless receiving unit 26 is connected to the communication control unit 24 of the control unit 12, and performs reception processing of wireless signals under the control of the communication control unit 24.

[0048] The mobile automation device 10 further includes a wireless transmission unit 28, which transmits a wireless signal including the vehicle's travel information such as the destination, the expected time to reach the destination, and the expected travel route to other vehicles equipped with other mobile automation devices. The wireless transmission unit 28 constitutes a part of the output unit 22 of the mobile automation device 10. The wireless transmission unit 28 is connected to the communication control unit 24 of the control unit 12, and performs a wireless signal transmission process under the control of the communication control unit 24.

[0049] The mobile automation device 10 has a detection unit 30 for detecting the driving information of the vehicle and the surrounding environment of the vehicle. The detection unit 30 constitutes a part of the input unit 20 of the mobile automation device 10. The detection unit 30 is connected to input hardware that can detect information about the vehicle or the outside, such as a camera that obtains visual information about the surroundings of the vehicle, a speedometer that detects the driving speed of the vehicle, and a direction sensor that detects the driving direction of the vehicle. A typical example of such input hardware is Figure 2The sensor 32 described later is shown. The information detected by the detection unit 30 via these input hardware is provided to the mobile automation device 10 under the control of the control unit 12.

[0050] The mobile automation device 10 has a manual operation unit 34 that receives information through input hardware operation performed manually by a passenger of the vehicle. The manual operation unit 34 constitutes a part of the input unit 20 of the mobile automation device 10. The manual operation unit 34 is connected to the control unit 12, and the input operation of information by the passenger of the vehicle or other users or the processing of the input information is controlled by the control unit 12. The information received from the passenger by the manual operation unit 34 includes information for determining a planned driving route such as a desired destination or a stopover point and / or information that is the basis for driving support of the mobile automation device 10 when the passenger performs a part of the operation required for driving the vehicle.

[0051] The calculation unit 18 includes a prediction unit 36, which is directly or indirectly connected to the control unit 12, the storage unit 14, and the input unit 20, and predicts the future driving pattern of the automobile equipped with the mobile automation device 10 based on the information obtained through the input unit 20. The prediction processing of the prediction unit 36 ​​is performed under the control of the control unit 12 and in accordance with the provisions of the mobile automation program 16 stored in the storage unit 14.

[0052] Examples of information that can be used to predict future driving patterns include location information obtained via the wireless receiving unit 26 , driving information of the vehicle obtained via the detection unit 30 , information related to the surrounding environment, and information related to the route or destination obtained via the manual operation unit 34 .

[0053] The future driving mode predicted by the prediction unit 36 ​​includes a variety of data items related to automatic driving, such as the driving route to the destination, the expected driving position on the road, the expected passing time of any intermediate point, the expected arrival time at the destination, and the expected driving speed at any intermediate point. The control unit 12 cooperates with the prediction unit 36 ​​to generate a data signal containing these items as predicted driving data (i.e., predicted moving data) according to the provisions of the mobile automation program 16. For example, based on the map information and destination information obtained by the device 10, the prediction unit 36 ​​can calculate the predicted driving position after several seconds to several minutes as at least a part of the predicted driving data. During the process of automatic driving processing, the mobile automation device 10 can also process the predicted driving position after several seconds to several minutes calculated by the prediction unit 36 ​​as a short-term or medium-term destination.

[0054] The predicted driving data generated by the prediction unit 36 ​​of the mobile automation device 10 is supplied from the wireless transmission unit 28 to other mobile automation devices mounted on other vehicles, thereby allowing the predicted driving pattern of the vehicle mounted with the mobile automation device 10 to be shared with other vehicles.

[0055] The calculation unit 18 further includes a priority determination unit 38, which determines the driving priority (i.e., the moving priority) of the vehicle and other vehicles that may intersect or approach the scheduled driving path at a certain moment. The priority determination unit 38 can determine the driving priority based on the predicted driving data generated by the mobile automation device 10 mounted on the vehicle and the predicted driving data generated by the mobile automation device mounted on one or more other vehicles and received via the wireless receiving unit 26. The determination processing of the priority determination unit 38 is performed under the control of the control unit 12 in accordance with the provisions of the mobile automation program 16 stored in the storage unit 14. The control unit 12 cooperates with the priority determination unit 38 to generate a data signal containing a determination result related to the driving priority as priority data in accordance with the provisions of the mobile automation program 16. The priority data attached to the signal can include not only the determination result itself, but also information or data used for the determination material of the priority.

[0056] The determination result of the driving priority calculated by the priority determination unit 38 of the mobile automation device 10 is supplied to other mobile automation devices mounted on other vehicles from the wireless transmission unit 28, thereby making it possible to share the priority data calculated by the mobile automation device 10 with the devices 10 mounted on other vehicles. Since such sharing is achieved, the mobile automation device 10 can not only control the driving of the own vehicle but also indirectly control the driving of other vehicles.

[0057] The priority data shared between the vehicles can be used to compare and confirm the validity of the judgment result by the control unit 12. If there is a difference in the judgment result, the mobile automation device 10 that finds the difference can send a signal to urge the other mobile automation device to make a re-judgment. At the same time, the mobile automation device 10 can also update the predicted driving data as needed, send the updated data to other vehicles, and re-judge the driving priority using the updated data.

[0058] The control unit 12 includes a drive control unit 40 for controlling a drive system 42 of a vehicle including a power source such as an engine or an electric motor, a transmission, drive wheels, etc. The drive control unit 40 controls the drive system 42 via the output unit 22, thereby realizing automatic driving of a vehicle equipped with the mobile automation device 10 or driving support for a driver of the vehicle. When receiving a data signal including priority data generated by the priority determination unit 38, the drive control unit 40 controls the drive system 42 reflecting the content of the priority data. The drive control unit 40 can generate a drive control signal for controlling the drive system 42 by cooperating with the operation unit 18, etc.

[0059] The mobile automation device 10 includes a drive output unit 44 that outputs the drive control signal generated by the drive control unit 40 to the drive system 42. The drive output unit 44 constitutes a part of the output unit 22 of the mobile automation device 10. It can be said that the drive output unit 44 serves as an interface between the mobile automation device 10 and the drive system 42 of the vehicle.

[0060] With the above-described structure, a mobile body equipped with a mobile automation device 10 can directly communicate with other mobile bodies equipped with mobile automation devices in the vicinity thereof. Examples of information that the mobile automation device 10 can communicate with other mobile automation devices include, but are not limited to, predicted driving data and the result of determining driving priority. For example, when the mobile automation device 10 sends and receives a wireless signal including a result of controlling the mobile body to drive based on the result of the determination to one or more other mobile automation devices that provide predicted driving data for determining driving priority, it is helpful to realize smooth traffic. In particular, for a mobile automation device 10 of a car determined to have a low priority, it can immediately recognize that the driving of the car is permitted and quickly transfer to the next driving action.

[0061] In particular, when the moving bodies are moving at high speed, the degree of freedom of the routes that the moving bodies can adopt is high, or the moving bodies are very close to each other at the moment of mutual presence recognition, it is required to judge and control the moving bodies as quickly as possible to avoid collision. Therefore, from the perspective of ensuring safety, it can be said that the ability to communicate directly between moving bodies is an advantage with extremely high effectiveness. However, the communication between moving bodies does not always need to be direct, and communication equipment or machinery such as a traffic control center can be appropriately used for communication according to communication conditions such as the capacity of communication data, the wireless communication environment, the processing capacity of the mobile automation device 10, and the degree of urgency.

[0062] The mobile automation device 10 may further include a display unit 46 for displaying various information obtained from the input unit 20 and / or future travel plans calculated by the calculation unit 18 to the occupants of the vehicle. The display unit 46 constitutes a part of the output unit 22 of the mobile automation device 10. The display unit 46 can be said to function as an interface between the mobile automation device 10 and output hardware such as a display 48 mounted on the vehicle. As an example of a display method of the display unit 46, it is conceivable to display an image of the outside of the vehicle obtained by the vehicle-mounted camera or an image obtained by processing the obtained image on the display 48. Instead of such an image display or superimposed on the displayed image, the information obtained by the input unit 20 and / or the calculation result of the calculation unit 18 may be displayed as a numerical value or a symbol.

[0063] The mobile automation device 10 may further include a voice unit 50 for notifying the occupants of the vehicle by emitting a sound, such as an artificial sound or a warning sound, corresponding to various information obtained from the input unit 20 and / or the calculation result calculated by the calculation unit 18. The voice unit 50 constitutes a part of the output unit 22 of the mobile automation device 10. The voice unit 50 can be said to function as an interface between the mobile automation device 10 and output hardware such as a speaker 52 mounted on the vehicle.

[0064] Next, refer to Figure 1 , an example of a hardware structure of an embodiment of the mobile automation device 10 of the present invention that can realize the above description is described. Figure 2 As shown, at least a major part of the embodiment of the mobile automation device 10 of the present invention can be implemented by a computer 60, which is also generally referred to as a microcomputer or a microcontroller. That is, it can be understood that the computer 60 achieves the functions of the mobile automation device 10 as an embodiment of the present invention by executing the mobile automation program 16.

[0065] The computer 60 is composed of the following devices: a central processing unit (CPU) 62 that controls the operation of the components of the computer 60 and the external devices connected to the computer 60; and a storage device composed of a non-volatile memory 64 that non-temporarily stores information obtained from the outside of the computer 60, the calculation results obtained by the CPU 62, and the like, and a volatile memory 66 that temporarily stores them. The computer 60 also includes an input port 68 that receives various information and data from the outside of the computer 60; and an output port 70 that sends various signals such as control signals obtained by the calculation processing of the CPU 62 and signals containing information to the outside of the computer 60. In the computer 60, the non-volatile memory 64, the volatile memory 66, the input port 68, and the output port 70 are all connected to the CPU 62.

[0066] The CPU 62 of the computer 60 is used as Figure 1 The control unit 12 and the computing unit 18 of the mobile automation device 10 are shown. Figure 2 In order to clearly indicate that the CPU 62 functionally includes the control unit 12 and the calculation unit 18 of the mobile automation device 10 , the control unit 12 and the calculation unit 18 are indicated by dotted blocks within the frame of the CPU 62 .

[0067] The nonvolatile memory 64 and the volatile memory 66 of the computer 60 are used as the storage unit 14 of the mobile automation device 10. Figure 2 In order to clearly indicate that the nonvolatile memory 64 and the volatile memory 66 are components of the storage unit 14 , the functional blocks of the storage unit 14 are depicted using dotted blocks including frames representing the nonvolatile memory 64 and the volatile memory 66 .

[0068] In addition, the non-volatile memory 64 mentioned in the present application refers to a storage device that can maintain the stored content even without external power supply, and is a concept that includes not only the so-called ROM (Read Only Memory) but also a device that can rewrite temporarily stored information. As an example of a storage device that can install the non-volatile memory 64 in the computer 60, a flash memory that can rewrite temporarily stored information using electricity can be cited. However, it is not limited to a flash memory, and other storage devices that can rewrite information can also be used as the non-volatile memory 64.

[0069] On the other hand, the volatile memory 66 mentioned in the present application refers to a storage device that can maintain the stored content only when the power is on. Representative storage devices constituting the volatile memory 66 include RAM (Random Access Memory), and more specifically, DRAM (Dynamic RAM) or SRAM (Static RAM).

[0070] By pre-non-temporarily storing the mobility automation program 16 in the non-volatile memory 64, the CPU 62 can execute the automatic driving or driving assistance of the vehicle equipped with the computer 60 according to the processing sequence specified in the mobility automation program 16. In addition, if the non-volatile memory 64 storing the mobility automation program 16 is a rewritable storage device such as a flash memory, the program can be easily updated as needed.

[0071] The input port 68 and the output port 70 of the computer 60 are used as the input section 20 and the output section 22 of the mobile automation device 10, respectively. Figure 2In order to clearly indicate that the input port 68 and the output port 70 are components of the input unit 20 and the output unit 22, respectively, the functional blocks of the input unit 20 and the output unit 22 are depicted using dashed blocks including boxes representing the input port 68 and the output port 70, respectively.

[0072] Various input hardware is connected to the input port 68. For example, a camera (image sensor) that obtains image signals related to the surrounding pipe diameter, various sensors 32 such as a speedometer and a driving direction detector, a wireless receiving device 74 composed of components such as an antenna, an operation panel 76 that can input driving conditions required by the user such as a destination and a via point, and a driving operation system 78 such as a steering wheel and a brake are connected to the input port 68. The input hardware (32, 74, 76, 78) connected to the input port 68 can also be broadly understood as constituting a part of the input unit 20 of the mobile automation device 10.

[0073] Various output hardware is connected to the output port 70. For example, a wireless transmission device 80 composed of components such as an antenna, a drive system 42 that transmits output from a power source to a drive wheel, a display 48 that displays images related to information obtained from the input unit 20 and / or calculation results of the calculation unit 18, and a speaker 52 that emits sounds related to information obtained from the input unit 20 or calculation results of the calculation unit 18 are connected to the output port 70. The output hardware (42, 48, 52, 80) connected to the output port 70 can also be broadly understood as a part of the output unit 22 constituting the mobile automation device 10.

[0074] However, by pre-storing the mobile automation program 16 readable by the computer 60 in the non-transitory storage medium 90 , the computer 60 can read the mobile automation program 16 and use the computer 60 as an embodiment of the mobile automation device 10 of the present invention.

[0075] The non-temporary storage medium that can be read by a computer (non-temporary computer-readable medium) 90 includes RAM, ROM, ROM whose storage contents can be rewritten by ultraviolet irradiation (UV-EPROM), ROM whose storage contents can be electrically rewritten (EEPROM), flash memory, field programmable gate array (FPGA), CD-ROM, digital versatile disc (DVD), universal serial bus (USB) memory and other optical storage or magnetic storage, but is not limited to these.

[0076] The mobile automation program 16 can be newly written or updated to the computer 60 by connecting the storage medium 90 on which the program 16 is written to the input port 68 by wire or wirelessly, and storing the program 16 received in the computer 60 via the input port 68 in the nonvolatile memory 64 under the control of the control unit 12 (see Figure 2) by arrow P1).

[0077] The connection between the storage medium 90 and the input port 68 can be realized by connecting a read driver that allows the computer 60 to appropriately read the program 16 stored in the storage medium 90 and conforms to the type of the storage medium 90, to the input port 68. Alternatively, it is also possible to configure such that when the non-transitory computer-readable medium 90 is provided in a wireless network, the program 16 is stored in the computer 60 via the wireless transmission unit 28.

[0078] Next, refer to Figure 3 , an example of the processing procedure of the mobile automation program 16 for determining the driving priority (mobile priority) performed by the implementation mode of the mobile automation device 10 of the present invention and for automatically driving a car (mobile body) equipped with the mobile automation device 10 according to the determination is described.

[0079] When the automobile equipped with the device 10 starts automatic driving, the mobile automation device 10 collects information acquired by the input unit 20 and required for generating predicted driving data executed by the prediction unit 36 ​​(step S10 ).

[0080] For example, the mobile automation device 10 can obtain image information obtained by a camera and an image sensor, the current driving speed obtained by a speedometer, and the current driving direction obtained by a direction meter from a detection unit 30 that cooperates with a sensor 32 to detect information related to the driving state of the vehicle and the external environment.

[0081] When the vehicle equipped with the mobile automated device 10 uses GPS, the mobile automated device 10 can also obtain the current position and map information of the surrounding area in which the vehicle is traveling from the wireless receiving unit 26 .

[0082] The mobile automation device 10 can obtain various signals generated due to operations of the driver, passengers, and other users of the vehicle from the manual operation unit 34. For example, the mobile automation device 10 can obtain signals including information on the destination and the via point generated in response to the operation of the operation panel 76 by the user of the vehicle, and signals including the operation contents of the driving operation system 78 such as the steering wheel and the brake when the driver himself assumes part of the driving operation of the vehicle.

[0083] After performing control related to the information acquisition process accompanying the control of the input unit 20, the control unit 12 of the mobile automation device 10 performs control processing for storing the information acquired by the mobile automation device 10 in the volatile memory 66 or the nonvolatile memory 64 constituting the storage unit 14. In addition, the control unit 12 can also temporarily delete or update the acquired information stored in the storage unit 14 as needed. For example, the acquired information related to the oncoming vehicle can be reset after the vehicles safely pass each other and move away from each other.

[0084] The prediction unit 36 ​​of the calculation unit 18 makes predictions about the future driving pattern of the vehicle equipped with the mobile automation device 10 by appropriately using the information stored in the storage unit 14 (step S20 ).

[0085] Matters related to the automatic driving, such as the driving route to the destination, the expected driving position on the road, the expected passing time at any intermediate point, the expected arrival time at the destination, and the expected driving speed at any intermediate point, predicted by the prediction unit 36, are included as predicted driving data in a signal transmitted to the outside of the mobile automation device 10. Under the control of the control unit 12, processing related to the generation of the signal including the predicted driving data is executed according to the provisions of the mobile automation program 16.

[0086] The mobile automation device 10 stores the predicted travel data of the vehicle generated in step S20 in the storage unit 14, and transmits a wireless signal containing the predicted travel data from the wireless transmission unit 28 to an external device (step S30). The external transmission of the predicted travel data signal is performed under the control of the communication control unit 24. The transmission destination of the predicted travel data signal is, for example, another vehicle equipped with another mobile automation device that is traveling within a predetermined distance range from the vehicle.

[0087] The mobile automation device 10 can receive the predicted travel data signal generated by the mobile automation device of the present invention mounted on other vehicles traveling around the mobile automation device 10 through the wireless receiving unit 26 under the control of the communication control unit 24 (step S40). The information included in the received predicted travel data signal is stored in the volatile memory 66 or the non-volatile memory 64 constituting the storage unit 14 under the control of the control unit 12.

[0088] The priority determination unit 38 of the calculation unit 18 compares the predicted driving data of the vehicle generated in step S20 with the predicted driving data of other vehicles included in the wireless signal received in step S40, and makes a priority determination as to which vehicle is given the priority right of travel when the planned driving paths may intersect or approach each other (step S50). The control unit 12 generates a wireless data signal including a determination result related to the driving priority and information related to the determination result as priority data by cooperating with the priority determination unit 38.

[0089] The communication control unit 24 of the mobile automation device 10 controls the wireless transmission unit 28 to transmit the wireless data signal including the priority data generated in step S50 to the other mobile automation device that is the source of the predicted travel data signal received in step S40. Furthermore, the communication control unit 24 of the mobile automation device 10 controls the wireless reception unit 26 to receive the wireless data signal including the priority data generated by the other mobile automation device that is the destination of the predicted travel data signal in step S30. That is, the mobile automation devices that have exchanged the predicted travel data with each other now perform communication to exchange the priority data (step S60).

[0090] However, the mobile automation device 10 can confirm whether its own driving priority determination is appropriate by comparing the priority data received from other vehicles with the priority data generated by its own device 10. By such confirmation, the safety of the automatic driving can be further improved.

[0091] If a difference is found in the results with priority calculated by each other's mobile automation devices 10, the mobile automation device 10 can notify the other mobile automation device that has calculated a result different from its own judgment result that there is a difference between the judgment results, and urge it to re-judge. At the same time, the mobile automation device 10 can also re-judge the driving priority in its own device 10. Furthermore, as needed, the mobile automation device 10 can also re-acquire information related to the driving state and external environment of the own vehicle, update the predicted driving data used for the re-acquired information, re-send the updated predicted driving data to other mobile automation devices, and re-judge using the updated predicted driving data.

[0092] The drive control unit 40 controls the drive system 42 via the drive output unit 44 to realize automatic driving based on the priority data generated by the priority determination unit 38 (step S70). The vehicle that has been controlled by the drive system 42 by the drive control unit 40 drives on the road while performing actions such as adjusting the driving direction, slowing down, and stopping, which are necessary for each vehicle to ensure safe and smooth driving, according to the priority determined by the priority determination unit 38 in comparison with other vehicles traveling near the vehicle.

[0093] In addition, when it is found in the previous processing step S60 that the results with priorities calculated by each mobile automation device are different, the drive control unit 40 preferably controls the car to run slowly, stop, or perform other actions that can easily and quickly ensure the safety of the vehicle and its surroundings to the maximum extent possible in order to ensure the safety of the vehicle and its surroundings quickly and to the maximum extent possible.

[0094] After executing the automatic driving according to step S70, the mobile automation device 10 can transmit the completion of the automatic driving of the vehicle that has been controlled according to the determined driving priority to another mobile automation device by controlling the wireless transmission unit 28 through the communication control unit 24. The mobile automation device 10 can also receive the completion of the automatic driving according to the determined priority in other vehicles from other mobile automation devices via the wireless reception unit 26 (step S80).

[0095] The processing of the mobile automation program 16 from step S10 to step S80 continues until the vehicle equipped with the mobile automation device 10 reaches the destination preset by the user operating the operation panel 76. That is, the mobile automation device 10, in particular, determines whether the vehicle equipped with the device 10 has reached the destination through the cooperation of the control unit 12 and the calculation unit 18 (step S90). If the mobile automation device 10 determines that the vehicle has not reached the destination (the option of step S90 is No), it returns to step S10 to continue the automatic driving processing according to the provisions of the mobile automation program 16. On the other hand, if the mobile automation device 10 determines that the vehicle has reached the destination (the option of step S90 is Yes), the automatic driving processing according to the provisions of the mobile automation program 16 that was previously executed ends.

[0096] In addition, if the judgment result with priority received from the other mobile automation device in the previous processing step S60 is different from the judgment result of the priority judgment unit 38 of the device 10, the option obtained by the mobile automation device 10 in step S90 is of course "No". Therefore, the mobile automation device 10 can return to step S10, and re-collect information (step S10), update the predicted driving data (step S20), re-send the updated predicted driving data to the other mobile automation device (step S30), re-receive the updated predicted driving data of the other mobile automation device (step S40), and re-judge based on the updated predicted driving data obtained in steps S20 and S40 (step S50).

[0097] Next, the embodiment of the mobile automation device 10 of the present invention is described in detail. Figure 3 First, assume that a car 206 and a car 208, both equipped with the mobile automation device 10 of the present invention, are traveling near a T-junction consisting of a main road 202 with one lane on one side and two lanes on both sides and a branch road 204 with a full width of one lane.

[0098] like Fig. 9 As shown, if the mobile automation device mounted on each vehicle is a conventional device, as described in the above item [Problem to be Solved by the Invention], the vehicles 206 and 208 may stop in the opposing state and temporarily be unable to travel on the branch road 204. However, if the vehicles 206 and 208 are equipped with the mobile automation device 10 as an embodiment of the present invention, this situation can be avoided.

[0099] First, an example of a case where the priority right of way of the branch road 204 is given to the car 206 traveling on the main road 202 will be described. As an example of a case where the priority right of way of the branch road 204 is given to the car 206, a case where the car 206 that is scheduled to turn left from the main road 202 to the branch road 204 will soon reach the T-junction 210 and the car 208 that is traveling on the branch road 204 toward the T-junction 210 has not yet reached the escape point 212 can be cited.

[0100] The mobile automation device 10 of the automobile 206 or 208 collects information about the driving pattern of the vehicle and the surrounding environment while driving on the main road 202 or the branch road 204 (step S10). The mobile automation device 10 of the automobile 206 or 208 generates predicted driving data of the vehicle based on the collected information, and appropriately updates the predicted driving data as the collected information is added (step S20).

[0101] The mobile automation device 10 of the automobile 206, 208 transmits a wireless signal including the predicted driving data generated by the own vehicle to the other vehicle, and receives a wireless signal including the predicted driving data generated by the mobile automation device 10 of the other vehicle (steps S30 and S40). Thus, each automobile 206, 208 can recognize the existence of the other vehicle before detecting the other vehicle with its own vehicle-mounted camera.

[0102] The mobile automation device 10 of the automobile 206 or 208 compares the predicted driving data of the automobile 206 or 208 generated by the mobile automation device 10 with the predicted driving data of the other automobile received, and determines which of the automobiles 206 or 208 should be given the priority driving right of the branch road 204 (step S50). In this example, the priority determination unit 38 of the mobile automation device 10 determines that the priority driving right of the branch road 204 should be given to the automobile 206 that is about to arrive at the T-junction 210.

[0103] The mobile automation device 10 of the automobile 206, 208 transmits the judgment result related to the priority driving to the other vehicle. At the same time, the mobile automation device 10 of the automobile 206, 208 can receive the judgment result related to the priority driving calculated by the mobile automation device 10 of the other vehicle from the other vehicle (step S60). By receiving the judgment result calculated by the other vehicle, the mobile automation device 10 of the automobile 206, 208 can confirm that the same judgment result is shared by the automobile 206, 208 regarding the priority driving right.

[0104] The mobile automation devices 10 of the cars 206 and 208 control the drive system 42 via the drive output unit 44 according to the calculated judgment result related to the priority driving (step S70). In this case, since the car 206 has the priority driving right of the branch road 204, the mobile automation device 10 of the car 208 drives the car 208 to the escape 212 and stops the car 208 at the escape 212 until the car 206 that turns left at the T-junction 210 and drives on the branch road 204 passes (refer to Figure 4 The mobile automation device 10 of the car 208 parked at the avoidance 212 detects that the car 206 has passed the avoidance 212 ( Figure 4 After that, the car 208 starts up again and returns to the fork road 204, and the driving on the fork road 204 is restarted.

[0105] As an example of the detection method of the mobile automation device 10 of the car 208 at this time, the processing based on the above step S80 can be cited. More specifically, the mobile automation device 10 of the car 206 sends a wireless signal to the mobile automation device 10 of the car 208, and the wireless signal includes information that the automatic driving according to the priority order of the own car is completed when passing through the avoidance 212. The mobile automation device 10 of the car 208 can detect that the car 206 has passed through the avoidance 212 set on the branch road 204 by receiving the wireless signal.

[0106] On the other hand, an example of a case where the priority right of the fork road 204 is given to the car 208 that is already traveling on the fork road 204 is also described. As an example of a case where the priority right of the fork road 204 is given to the car 208, there can be cited a case where the car 208 that is traveling on the fork road 204 has passed the escape 212 and is expected to reach the T-junction 210 soon, while the distance from the current position of the car 206 that is scheduled to turn left from the main road 202 to the fork road 204 to the T-junction 210 is relatively far, and it is expected that it will take a considerable amount of time for the car 206 to reach the T-junction 210.

[0107] In this case, the priority judgment unit 38 of the mobile automation device 10 mounted on the cars 206 and 208 judges that the car 208 should be given the priority right of travel on the branch road 204 (steps S10 to S50). The mobile automation devices 10 of the cars 206 and 208 control the drive system 42 via the drive output unit 44 according to the judgment results calculated by each other (steps S60 to S70). In the case of this example, since it is the car 208 that has the priority right of travel on the branch road 204, the mobile automation device 10 of the car 206 stops the car 206 in front of the T-junction 210 until the car 208 traveling on the branch road 204 enters the main road 202 via the T-junction 210 (refer to Figure 5 The mobile automation device 10 of the car 206 parked in front of the T-junction 210 detects that the car 208 enters the main road 202 through the T-junction 210 ( Figure 5 After the arrow D3), the car 206 starts again and performs automatic driving control so that the car 206 turns left at the T-junction point 210 and enters the fork 204.

[0108] In addition, when not only the branch road 204 but also the main road 202 has a full-width one-lane road width, and when cars 206 and 208 are traveling near a T-junction where no avoidance shelter 212 is provided on the branch road 204, examples of autonomous driving actions that can be discovered by each car through the mobile automation device 10 are also briefly described.

[0109] exist Figure 6In the vicinity of the T-junction shown, a car 206 is automatically traveling on the main road 202 from the lower side to the upper side in the figure, and is scheduled to turn left to the branch road 204 after reaching the T-junction point 210. On the other hand, a car 208 traveling on the branch road 204 is scheduled to turn right via the T-junction point 210. Here, as a result of the processing of steps S10 to S50, the car 208 is given the priority right of travel.

[0110] First, the mobile automation device 10 of the car 206 controls the drive system 42 to drive the car 206 before passing the T-junction 210, and stops the car 206 at a position slightly past the T-junction 210 (movement shown by arrow D4 in step S70). The mobile automation device 10 of the car 206 sends a signal including information related to the driving result of the car 206 to the car 208. The mobile automation device 10 of the car 208 receives the signal and recognizes that there is no obstacle to the desired driving of the car 208 having the priority driving right (step S80).

[0111] After the car 208 turns right at the T-junction 210 and enters the main road 202 (movement indicated by arrow D5 in step S70), the mobile automation device 10 of the car 208 sends a signal containing information related to the driving result to the car 206. By receiving the signal, the mobile automation device 10 of the car 206 recognizes that the car 208, which has a higher driving priority than the car itself, has left the T-junction, and the driving right near the T-junction 210 has been transferred to the car 206 (step S80). The car 206 temporarily retreats to the front of the T-junction 210, then moves forward again and turns left at the T-junction 210. This action of the car 206 can be regarded as the movement indicated by arrow D6 as a result of executing the processing step S70 of the mobile automation program 16 looped through step S90.

[0112] In addition, as another example, Fig.10 The example shown is an example of the automatic driving actions performed by each car in a situation where cars 224 and 226, both equipped with the mobile automation device 10, are traveling near a three-way intersection where a straight road 220 and a branch road 222 intersect at an angle to form a so-called Y-shaped road.

[0113] The mobile automation device 10 of the car 224 determines whether the car 224 has the right of priority by comparing the predicted driving data of the car generated by itself with the predicted driving data of other cars received, that is, whether the car 224 can have priority over the car 226 driving in the opposite lane 220B at the Y-shaped fork 228 and its surroundings (steps S10 to S50).

[0114] At this time, even if the mobile automation device 10 mounted on the car 224 cannot detect the light display color of the traffic signal 232 from the sensor 32 (especially the camera) of the vehicle, it can recognize the content of the instruction currently issued by the traffic signal 232 to the car 226 based on the information included in the predicted driving data received from the device 10 mounted on the car 226 as the oncoming vehicle. Fig.10 In the illustrated situation, the mobile automation device 10 of the car 224 recognizes that the traffic signal 232 issues a stop signal to the car 226 , and determines that the car 224 has the priority right to enter the branch road 222 over the car 226 .

[0115] The mobile automation device 10 of the car 224 controls the drive system 42 via the drive output unit 44 according to the result of the calculated priority right of travel (steps S60 to S70). That is, the car 224 can cross the opposite lane 220B and enter the branch road 222 without stopping in front of the Y-shaped branch point 228, regardless of the existence of the car 226 that is still moving, regardless of the deceleration.

[0116] On the other hand, in the car 226 traveling in the opposite lane 220B, not only can the light display color of the traffic signal 232 be recognized, but the mobile automation device 10 mounted thereon can also receive the predicted driving data and the judgment result related to the priority driving from the car 224. Therefore, the device 10 mounted on the car 226 recognizes that the priority driving right near the Y-shaped branch point 228 is in the opposite side car 224, and can control the driving of the car 226. At this time, the device 10 mounted on the car 226 preferably performs a process of displaying on the display 48 the traffic conditions near the Y-shaped branch point 228 predicted in the near future, whether there is a priority driving right, and the driving schedule of each car 224, 226 accompanying this. This is because the display of the display 48 can give the occupants of the car 226 a sense of security during the automatic driving being executed.

[0117] In addition, a transmitter for transmitting a wireless signal carrying information required for the mobile automation device 10 to identify the surrounding environment or determine the driving priority can also be installed on a building such as a traffic signal or a traffic sign. Fig.10 In the example shown, the transmitter can be installed on the traffic signal 230, 232, so that even the car 226 or 224 traveling in the opposite lane of these signals can recognize the driving permission or stop instruction transmitted by the traffic signal 230, 232 in the form of light color display. In this way, in the mobile automation device 10, even when other vehicles that can provide predicted driving data are not present near the vehicle, information related to the surrounding environment can be obtained.

[0118] In addition to such information, the transmitters installed on these buildings can also function as relay transmitters that collect traffic information and / or information related to surrounding traffic conditions transmitted by traffic management equipment such as a traffic control center, and appropriately transmit wireless signals containing such information. In this case, the mobile automation device 10 installed in a car traveling near a building equipped with a transmitter can more quickly and efficiently obtain necessary and sufficient information for generating predicted driving data or determining priority driving.

[0119] In addition, a safety device that is essentially the same structure as the mobile automation device of the present invention and is formed in a size and form that is easy to carry can also be said to be an embodiment of the present invention. The safety device 300 as an embodiment of the present invention cooperates with the mobile automation device 10 to build a supporting traffic management system so that all road users including pedestrians, cyclists, etc. can move safely and smoothly. In addition, it can be said that such a safety device 300 is included in many embodiments of the mobile automation device 10.

[0120] Figure 7 One embodiment of a safety device 300 that cooperates with the mobile automation device 10 to form a part of a traffic management system is shown. Among the components of the safety device 300, components that play substantially the same role as the components of the mobile automation device 10 are denoted by the same reference numerals. In other words, most of the components included in the safety device 300 are common to the components of the mobile automation device 10.

[0121] The structure of the safety device 300 is essentially the same as that of the mobile automation device 10, except that it is not necessary to provide components equivalent to the drive control unit 40 and the drive output unit 44 that operate in association with the drive unit provided on the mobile device such as a car. However, the portable safety device 300 may also adopt a structure that can be connected to a mobile body such as a two-wheeled vehicle or an electric wheelchair. In this case, the safety device 300 connected to the mobile body functions as a mobile automation device. In the case of adopting such a structure, the safety device 300 may also adopt a structure including the drive control unit 40 and the drive output unit 44.

[0122] The safety ensuring device 300 that does not include a drive control unit 40 and a drive output unit 44 calls the attention of the user of the safety ensuring device 300, i.e., the carrier, through the action of the output unit 22, thereby ensuring the safe movement of the carrier. As an embodiment of the safety ensuring device 300, taking a smartphone having a safety ensuring program 316 stored in a built-in storage device as an example, the safety ensuring device 300 in the form of a smartphone includes a display unit 46, a voice unit 50, and a vibration unit 352 for vibrating the smartphone in the output unit 22, and can notify the device carrier of information related to the surrounding environment, such as the presence of an approaching vehicle, through vibration. Figure 7 In FIG. 1 , the notification unit 354 as a part of the output unit 22 represents a notification device or unit that notifies the wearer of the safety ensuring device 300 including the display unit 46 , the voice unit 50 , and the vibration unit 352 of information related to the surrounding environment.

[0123] The movement of the carrier of the safety device 300 after the notification unit 354 has called attention is detected by the detection unit 30. The detection result is transmitted to the mobile automation device 10 via the wireless transmission unit 28, and the information related to the movement of the carrier of the safety device 300 is also shared with the device of the communication destination. The notification of calling attention by the output unit 22 is preferably continued until the detection unit 30 can detect that the carrier has taken an action to avoid danger.

[0124] The content of the program that enables the safety ensuring program 316 stored in the storage unit 14 of the safety ensuring device 300 to communicate with other mobile automation devices 10, make priority judgments using received information, and send judgment results, etc., is essentially the same as the content of the mobile automation program 16.

[0125] If the safety device of the present invention is portable, when the person carrying the safety device is walking, or when the person is riding a bicycle without a mobile automation device, the mobile automation device 10 mounted on a mobile device such as a car can quickly detect the presence of a bicycle or pedestrian before the image information is acquired. On the other hand, for a person carrying the safety device 300 and moving on the road, the person can notify the moving car of his or her presence earlier. That is, for a person carrying the safety device 300, the safety device 300 can ensure his or her safe movement.

[0126] Reference Figure 8, an example of the processing of the mobile automation program 16 and the safety assurance program 316 executed by each embodiment of the mobile automation device 10 and the safety assurance device 300 of the present invention with mutual communication between these devices will be described. The following description assumes that the mobile automation device 10 is mounted on a moving car and the safety assurance device 300 is carried by a pedestrian, that is, a moving user.

[0127] The execution actions of the safety assurance device 300 storing the safety assurance program 316 are essentially the same as the execution actions of the mobile automation device 10 storing the mobile automation program 16. Figure 8 In the drawings, the operations performed by the safety ensuring device 300 that are substantially the same as the operations performed by the mobile automation device 10 are directly denoted by the reference numerals of steps S10 to S60 and S80 to S90.

[0128] exist Figure 8 In FIG. 1 , the moving directions of the dashed arrows indicate the transmission and reception of data and calculation results collected by the mobile automation device 10 and the safety device 300 to other devices. The safety device 300 cooperates with the mobile automation device 10 to collect information related to the movement state of the carrier or the environment around the carrier (step S10), predict the movement pattern of the carrier based on the collected information (step S20), transmit and receive the prediction data generated by each device to the mobile automation device 10 (steps S30 to S40), and transmit and receive the priority judgment based on the obtained prediction data and the result thereof (steps S50 to S60).

[0129] exist Figure 7 In the case of the embodiment of the safety device 300 shown in FIG. Figure 1 Unlike the mobile automation device 10 shown, the mobile automation device 10 does not have the drive control unit 40 and the drive output unit 44, and therefore does not perform the direct control of the drive system equivalent to step S70 in the mobile automation device 10. However, the safety device 300 can indirectly control the behavior of the mobile person by outputting a signal from the notification unit 354 to call attention to the person carrying the mobile person (step S170). In addition, in the case where the mobile automation device 10 includes the structure of the safety device 300 as in the illustrated embodiment, such a call for attention can also be performed in the mobile automation device 10.

[0130] The safety device 300 detects the movement of the carrier after the attention is called, and transmits the detection result to the mobile automation device 10. Then, the safety device 300 receives a notification of the driving result of the mobile body, that is, the completion of the automatic driving of the mobile body according to the determined driving priority, from the mobile automation device 10 (step S80). The safety device 300 continues the operations of steps S10 to S80 until the destination is reached (step S90).

[0131] As described above, the embodiments of the present invention have been described, but the specific method of implementing the present invention is not limited to the above-mentioned embodiments. As long as the present invention can be implemented, the design and operation sequence can be appropriately changed. For example, auxiliary elements such as devices, circuits, and software used to assist the functions of the components used in the present invention can be appropriately added or omitted.

[0132] Description of Reference Numerals

[0133] 10 Mobile automation devices

[0134] 12 Control Unit

[0135] 14 Storage

[0136] 16 Mobile Automation Program

[0137] 18 Operation unit

[0138] 20 Input section

[0139] 22 Output section

[0140] 24 Communication Control Unit

[0141] 26 Wireless receiving unit

[0142] 28 Wireless Transmission Unit

[0143] 30. Inspection Department

[0144] 34 Manual operation unit

[0145] 36 Forecasting Department

[0146] 38 Priority Judgment Department

[0147] 40 Drive control unit

[0148] 44 drive output

[0149] 46 Display

[0150] 50 Voice

[0151] 60 Computer

[0152] 62 CPU

[0153] 64 Non-volatile memory

[0154] 66 Volatile Memory

[0155] 68 Input Ports

[0156] 70 Output ports

[0157] 90 Storage Media

[0158] 300 Safety device

[0159] 316 Safety Assurance Procedures

[0160] 352 Vibration Department

[0161] 354 Notification Department

Claims

1. A mobile automation device for a mobile body, which controls the mobile body so that the mobile body moves automatically, characterized in that: The device has: An input unit that acquires information related to the mobile object or the surrounding environment of the mobile object; a prediction unit that generates first predicted movement data associated with a future movement pattern of the moving object based on the information acquired via the input unit; a communication control unit that performs processing related to communication with another mobile automation device mounted on a mobile body different from the mobile body, and receives second predicted movement data related to a future movement pattern of the different mobile body from the other mobile automation device via the input unit; as well as a priority determination unit for determining the movement priority of the moving object and the different moving object based on the first predicted movement data and the second predicted movement data; Here, the movement of the moving object or the different moving object is controlled according to the result of the determination by the priority determination unit.

2. The mobile automation device according to claim 1, characterized in that: The device further includes a drive control unit that controls a drive system of the moving body based on a result of determination by the priority determination unit.

3. The mobile automation device according to claim 1, characterized in that: The device also has an output unit, which sends a judgment result related to the first predicted movement data or the movement priority order. The processing related to the communication with the other mobile automation device performed by the communication control unit includes the output unit transmitting a determination result related to the first predicted movement data or the movement priority order.

4. The mobile automation device according to claim 3, characterized in that: The output unit can also transmit a movement result for controlling the movement of the moving body based on the determination result related to the movement priority order. The communication control unit may perform the communication-related processing with the other mobile automation device, further including sending and receiving the movement result.

5. The mobile automation device according to claim 1, characterized in that: The input unit comprises: a detection unit that acquires information related to the movement of the mobile object or the surrounding environment of the mobile object; a wireless receiving unit that receives a wireless signal containing information related to the surrounding environment of the moving body generated by a wireless communication device located outside the moving body to obtain the information; and a manual operation unit for acquiring information related to the movement plan of the moving body based on an operation input by a user, The first predicted movement data is data generated by the prediction unit based on information acquired via the detection unit, the wireless reception unit, and the manual operation unit.

6. The mobile automation device according to claim 1, characterized in that: The device further includes a display unit configured to display the information acquired by the input unit, the first predicted movement data or the second predicted movement data, or a determination result related to the movement priority order obtained by the priority determination unit.

7. A storage medium storing a movement automation program for a mobile body, wherein the movement automation program causes a computer to function as a movement automation device for a mobile body that controls the mobile body so that the mobile body moves automatically, characterized in that: The mobile automation program stored in the storage medium causes the computer to function as: An input unit that acquires information related to the mobile object or the surrounding environment of the mobile object; a prediction unit that generates first predicted movement data associated with a future movement pattern of the moving object based on the information acquired via the input unit; a communication control unit that performs processing related to communication with another mobile automation device mounted on a mobile body different from the mobile body, and receives second predicted movement data related to a future movement pattern of the different mobile body from the other mobile automation device via the input unit; as well as a priority determination unit for determining the movement priority of the moving object and the different moving object based on the first predicted movement data and the second predicted movement data; Here, the movement of the moving object or the different moving object is controlled according to the result of the determination by the priority determination unit.

8. The storage medium according to claim 7, characterized in that The program further causes the computer to function as a drive control unit that controls a drive system of the moving body based on a result of determination by the priority determination unit.

9. The storage medium according to claim 7, characterized in that: The program further causes the computer to function as an output unit that transmits a determination result related to the first predicted movement data or the movement priority order. The processing related to communication with the other mobile automation device performed by the computer as the communication control unit includes the output unit transmitting a determination result related to the first predicted movement data or the movement priority order.

10. The storage medium according to claim 9, characterized in that The output unit functions to send a movement result of controlling the movement of the moving body according to the judgment result related to the movement priority order, The process related to communication with the other mobile automation device performed by the communication control unit includes sending and receiving the movement result.

11. The storage medium according to claim 7, characterized in that The functions as the input unit implemented by the program on the computer include the following functions: a detection unit that acquires information related to the movement of the mobile object or the surrounding environment of the mobile object; a wireless receiving unit that receives a wireless signal containing information related to the surrounding environment of the moving body generated by a wireless communication device located outside the moving body to obtain the information; and a manual operation unit for acquiring information related to the movement plan of the moving body based on an operation input by a user, The first predicted movement data is data generated by the prediction unit based on information acquired via the detection unit, the wireless reception unit, and the manual operation unit.

12. The storage medium according to claim 7, characterized in that The program further causes the computer to function as a display unit for displaying the information obtained by the input unit, the first predicted movement data or the second predicted movement data, or a determination result related to the movement priority order obtained by the priority determination unit.

13. A safety ensuring device, which ensures the safety of a user's movement by cooperating with the mobile automation device according to claim 1, characterized in that: The safety device has: An input unit that acquires information related to a user carrying the safety ensuring device or the user's surrounding environment; a prediction unit that generates second predicted movement data associated with a future movement pattern of the user based on the information acquired via the input unit; a communication control unit that performs processing related to communication with the mobile automation device and receives, from the mobile automation device via the input unit, first predicted movement data related to a future movement pattern of a mobile body equipped with the mobile automation device; a priority determination unit, which determines the movement priority order of the user and the moving object according to the first predicted movement data and the second predicted movement data; as well as an output unit, which sends a determination result related to the second predicted movement data or the movement priority order, The communication control unit performs the communication-related processing with the mobile automation device, including the output unit sending the determination result related to the second predicted movement data or the movement priority order, The mobile automation device controls the movement of the mobile body based on the result of the determination by the priority determination unit of the safety ensuring device.

14. The safety device according to claim 13, characterized in that: The safety ensuring device further includes a notification unit for notifying the user of the information obtained by the input unit, the first predicted movement data or the second predicted movement data, or a determination result related to the movement priority obtained by the priority determination unit.

15. The safety device according to claim 14, characterized in that: The input unit comprises: a detection unit that acquires information related to the movement of a user carrying the safety ensuring device or to the user's surrounding environment; a wireless receiving unit that receives a wireless signal containing information related to the user's surrounding environment generated by a wireless communication device located outside the safety ensuring device to obtain the information; and a manual operation unit that obtains information related to the user's planned movement according to the user's operation input, The second predicted movement data is data generated by the prediction unit based on information acquired via the detection unit, the wireless reception unit, and the manual operation unit.

16. The safety device according to claim 15, characterized in that: The detection unit is further capable of detecting movement of the user after the notification unit notifies the user of the determination result related to the movement priority order. The output unit can also transmit the movement of the user detected by the detection unit. The communication control unit may also perform the communication-related processing with the mobile automation device including receiving the movement result of the mobile body and transmitting the movement status of the user.

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