Control device of mobile object, control method of mobile object and storage medium

Abstract

Provided are a control device for a mobile body, a control method for a mobile body, and a storage medium that can suppress the generation of a path toward a destination that is not an efficient path in accordance with a robot's habitual direction. A control device for a mobile body, comprising: a recognition unit that recognizes the surrounding conditions of the mobile body based on at least an image obtained by photographing the surrounding conditions of the mobile body; a generation unit that generates a path from the mobile body to the destination based on the recognized surrounding conditions and a set destination; a determination unit that determines whether an angle formed by the moving direction of the mobile body along the generated path and a straight line from the mobile body to the destination satisfies a prescribed condition; and a control unit that controls the mobile body so that the mobile body moves to the destination along the generated path, and when the determination unit determines that the angle satisfies the prescribed condition, the control unit rotates the mobile body in situ, and the generation unit generates a path from the mobile body rotated in situ to the destination again.

Description

Technical Field

[0001] The present invention relates to a control device for a mobile object, a control method for a mobile object and a storage medium. Background Art

[0002] In the past, robots that guide users to desired locations or carry goods are known (see, for example, Japanese Patent Application Publication No. 2012-111011). The robots refer to a movement speed database that establishes a correspondence between the maximum movement speed and each area in the environment, and move in a manner that uses the set maximum movement speed as the upper limit.

[0003] However, conventional robots may generate an inefficient path without changing the robot's usual direction when generating a path to a destination. Summary of the invention

[0004] The present invention was completed in consideration of such a situation, and one of its purposes is to provide a control device, a control method and a storage medium for a moving body that can suppress the generation of a path that is not an efficient path but a robot's habitual direction when generating a path toward a destination.

[0005] The control device for a mobile object, the control method for a mobile object, and the storage medium according to the present invention employ the following configurations.

[0006] (1): One embodiment of the present invention relates to a control device for a mobile body, wherein the control device for the mobile body comprises: an identification unit, which identifies the surrounding conditions of the mobile body based on at least an image obtained by photographing the surrounding conditions of the mobile body; a generation unit, which generates a path from the mobile body to the destination based on the identified surrounding conditions and a set destination; a determination unit, which determines whether an angle formed by a moving direction of the mobile body along the generated path and a straight line from the mobile body to the destination satisfies a prescribed condition; and a control unit, which controls the mobile body so that the mobile body moves to the destination along the generated path, and when the determination unit determines that the angle satisfies the prescribed condition, the control unit rotates the mobile body in situ, and the generation unit again generates a path from the mobile body rotated in situ to the destination.

[0007] (2) In the above-mentioned embodiment (1), the predetermined condition is that the angle is greater than or equal to a first threshold value.

[0008] (3): Based on the scheme of (2) above, the determination unit determines whether the angle formed by the moving direction of the moving body along the regenerated path and the straight line from the moving body to the destination is less than a second threshold value. When it is determined that the angle is less than the second threshold value, the control unit controls the moving body so that the moving body moves to the destination along the regenerated path, and the second threshold value is a value smaller than the first threshold value.

[0009] (4) In the above-mentioned solution (1), the moving body operates in any one of a following mode in which the moving body moves in a manner following the user and an induction mode in which the moving body moves ahead of the user in accordance with the moving speed of the user.

[0010] (5) In the above-mentioned embodiment (4), when the mobile body operates in the following mode, the destination is the user or a point within a predetermined range from the user.

[0011] (6) Based on the above-mentioned scheme (4), when the moving body operates in the induction mode, the destination is a place set by the user, or a place within a predetermined range in front of the user.

[0012] (7): In the above-mentioned scheme (4), when the moving body operates in the induction mode, the destination is a temporary point temporarily set in order to reach the final point set by the user.

[0013] (8): Another embodiment of the present invention relates to a method for controlling a mobile body, wherein the method for controlling a mobile body causes a computer to perform the following processing: identifying the surrounding conditions of the mobile body based at least on an image obtained by photographing the surrounding conditions of the mobile body; generating a path from the mobile body to the destination based on the identified surrounding conditions and a set destination; determining whether an angle formed by a direction of travel of the mobile body along the generated path and a straight line from the mobile body to the destination satisfies a prescribed condition; controlling the mobile body so that the mobile body moves to the destination along the generated path; and, if it is determined that the angle satisfies the prescribed condition, rotating the mobile body in situ and regenerating a path from the mobile body rotated in situ to the destination.

[0014] (9): Another embodiment of the present invention relates to a storage medium storing a program, wherein the program causes a computer to perform the following processing: identifying the surrounding conditions of a moving body based at least on an image obtained by photographing the surrounding conditions of the moving body; generating a path from the moving body to the destination based on the identified surrounding conditions and a set destination; determining whether an angle formed by a direction of travel of the moving body along the generated path and a straight line from the moving body to the destination satisfies a prescribed condition; controlling the moving body so that the moving body moves to the destination along the generated path; and, if it is determined that the angle satisfies the prescribed condition, rotating the moving body in situ and regenerating a path from the rotating moving body in situ to the destination.

[0015] According to the aspects (1) to (9), when generating a path to a destination, it is possible to prevent a non-efficient path from being generated in accordance with the robot's usual direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a diagram showing an example of a configuration of a moving object system including a moving object.

[0017] Figure 2 This is a diagram for explaining an example of the use form of a moving object.

[0018] Figure 3 It is a diagram for explaining the induction mode.

[0019] Figure 4 It is a three-dimensional diagram showing a moving object.

[0020] Figure 5 This is a diagram showing an example of a functional structure of a moving object.

[0021] Figure 6 This is a diagram showing an example of a scene in which a route is regenerated when the moving object travels in the following mode.

[0022] Figure 7 This is a diagram showing an example of a route that is regenerated when the moving object travels in the following mode.

[0023] Figure 8 This is a diagram showing an example of a scenario in which a route is regenerated when the mobile body travels in the induction mode.

[0024] Fig. 9 This is a diagram showing an example of a route that is regenerated when the mobile body travels in the induction mode.

[0025] Fig.10 This is a flowchart showing an example of the flow of processing executed by the control device. DETAILED DESCRIPTION

[0026] Hereinafter, embodiments of a control device for a moving object, a control method for a moving object, and a storage medium according to the present invention will be described with reference to the accompanying drawings.

[0027] Figure 1 1 is a diagram showing an example of a structure of a mobile system 1 including a mobile body 100. The mobile system 1 includes, for example, one or more terminal devices 2, a management device 10, an information providing device 20, and one or more mobile bodies 100. These communicate via, for example, a network NW. The network NW is, for example, any network such as a LAN, a WAN, or an Internet line.

[0028] [Terminal device]

[0029] The terminal device 2 is a computer device such as a smartphone or a tablet terminal. The terminal device 2 requests the management device 10 to provide permission to use the mobile object 100 or obtains information indicating that the use is permitted from the management device 10 based on the operation of the user.

[0030] [Management Device]

[0031] The management device 10 grants the user of the terminal device 2 the right to use the mobile object 100 or manages the reservation for use of the mobile object 100 in response to the request of the terminal device 2. For example, the management device 10 generates and manages schedule information that associates the identification information of the pre-registered user with the date and time of the reservation for use of the mobile object 100.

[0032] [Information providing device]

[0033] The information providing device 20 provides the location of the mobile body 100, the area where the mobile body 100 moves, and map information of the surrounding area to the mobile body 100. The information providing device 20 may also generate a route to the destination of the mobile body 100 in response to a request from the mobile body 100, and provide the generated route to the mobile body 100.

[0034] [Mobile body]

[0035] The mobile object 100 is used by the user in the following usage forms. Figure 2It is a diagram for explaining an example of the use form of the mobile body 100. The mobile body 100 is configured, for example, at a specified position of a facility or a street. When a user wants to use the mobile body 100, he can operate the operation unit (not shown) of the mobile body 100 to start the use, or operate the terminal device 2 to start the use of the mobile body 100. For example, when the user goes out to buy things and has a lot of goods, he starts to use the mobile body 100 and puts the goods into the storage unit of the mobile body 100. And the mobile body 100 moves with the user in a manner of autonomously following the user. The user can continue shopping or go to the next destination while storing the goods in the mobile body 100. For example, the mobile body 100 moves with the user on the sidewalk or the crosswalk of the road. The mobile body 100 can move in areas where pedestrians can pass, such as roads and sidewalks. For example, the mobile body 100 can be used in indoor or outdoor facilities, private land, such as shopping malls, airports, parks, theme parks, etc., and can also move in areas where pedestrians can pass.

[0036] The moving object 100 may be capable of autonomously moving in a mode such as a guidance mode or an emergency mode in addition to (or instead of) the following mode in which the moving object 100 follows the user as described above.

[0037] Figure 3 is a diagram for explaining the guidance mode. The guidance mode is a mode for guiding the user to the destination specified by the user. In this mode, the user is guided by autonomously moving in front of the user at the user's moving speed. Figure 3 As shown, in a shopping mall, when a user is looking for a specified commodity, if the user requests the mobile body 100 to be guided to the location of the specified commodity, the mobile body 100 guides the user to the location of the commodity. In this way, the user can easily find the specified commodity. It should be noted that when the mobile body 100 is used in a shopping mall, the mobile body 100 or the information providing device 20 maintains information such as the location of the commodity, the location of the store, the location of the facilities in the shopping mall, etc., which are associated with the map information, as well as the map information of the shopping mall. The map information includes detailed map information including the width of roads and passages, etc.

[0038] The emergency mode refers to a mode in which, in the event of an abnormality occurring to the user (e.g., a fall) during movement with the user, the mobile body 100 autonomously moves toward nearby people or facilities to seek help in order to help the user. In addition, the mobile body 100 may also move while maintaining a distance from the user in addition to following and guiding as described above (or instead of this).

[0039] Figure 4: is a perspective view showing the moving body 100. In the following description, the front direction of the moving body 100 is set as the positive x direction, the rear direction of the moving body 100 is set as the negative x direction, the width direction of the moving body 100 and the left direction based on the positive x direction is set as the positive y direction, the width direction of the moving body 100 and the right direction based on the positive x direction is set as the negative y direction, and the direction perpendicular to the x direction and the y direction and the height direction of the moving body 100 is set as the positive z direction.

[0040] The mobile body 100 includes, for example, a base 110, a door 112 provided on the base 110, and wheels (a first wheel 120, a second wheel 130, and a third wheel 140) assembled on the base 110. For example, a user can open the door 112 to put goods into or take goods out of the storage portion provided on the base 110. The first wheel 120 and the second wheel 130 are driving wheels, and the third wheel 140 is an auxiliary wheel (driven wheel). The mobile body 100 may also be able to move using a structure other than wheels, such as tracks.

[0041] A cylindrical support body 150 extending in the positive z direction is provided on the surface of the base body 110 in the positive z direction. A camera 180 for photographing the surroundings of the moving body 100 is provided at the end of the support body 150 in the positive z direction. The position where the camera 180 is provided may be any position different from the above.

[0042] The camera 180 is, for example, a camera capable of capturing images of the surroundings of the moving object 100 at a wide angle (eg, 360 degrees). The camera 180 may include a plurality of cameras. The camera 180 may be realized by combining a plurality of 120-degree cameras or a plurality of 60-degree cameras, for example.

[0043] Figure 5 FIG. 1 is a diagram showing an example of a functional configuration of the mobile object 100. The mobile object 100 includes Figure 4 In addition to the functional structure shown, the first motor 122, the second motor 132, the battery 134, the brake device 136, the steering device 138, the communication unit 190 and the control device 200 are further provided. The first motor 122 and the second motor 132 are operated by the power supplied by the battery 134. The first motor 122 drives the first wheel 120, and the second motor 132 drives the second wheel 130. The first motor 122 may be an in-wheel motor provided in the wheel portion of the first wheel 120, and the second motor 132 may be an in-wheel motor provided in the wheel portion of the second wheel 130.

[0044] The brake device 136 outputs a braking torque to each wheel based on an instruction from the control device 200. The steering device 138 includes an electric motor. The electric motor, for example, applies a force to a rack-and-pinion mechanism based on an instruction from the control device 200 to change the direction of the first wheel 120 or the second wheel 130, thereby changing the forward path of the moving body 100.

[0045] The communication unit 190 is a communication interface for communicating with the terminal device 2 , the management device 10 , or the information providing device 20 .

[0046] [Control device]

[0047] The control device 200 includes, for example, an identification unit 202, a path generation unit 204, a path determination unit 206, a drive control unit 208, and a storage unit 220. The identification unit 202, the path generation unit 204, the path determination unit 206, and the drive control unit 208 are implemented by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). 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 can be implemented by the coordination of software and hardware. The program can be pre-stored in an HDD (Hard Disk Drive) or a storage device such as a processor. e ), flash memory or other storage devices (storage devices with non-temporary storage media), or may be stored in removable storage media (non-temporary storage media) such as DVD and CD-ROM, and installed by assembling the storage medium on a drive device. The storage unit 220 is implemented by storage devices such as HDD, flash memory, RAM (Random Access Memory), etc. The storage unit 220 stores map information 222 referenced by the mobile body 100. The map information 222 is, for example, map information such as the location of the mobile body 100, the area where the mobile body 100 moves, and the surrounding area provided by the information providing device 20. A part or all of the functional structure included in the control device 200 may also be included in other devices. For example, other devices may communicate with the mobile body 100 and cooperate to control the mobile body 100.

[0048] The recognition unit 202 recognizes the position (distance from the mobile body 100 and direction relative to the mobile body 100), speed, acceleration and other states of objects in the vicinity of the mobile body 100 based on the image captured by the camera 180, for example. Objects include traffic participants, obstacles existing in facilities and roads, etc. The recognition unit 202 recognizes and tracks the user of the mobile body 100. For example, the recognition unit 202 tracks the user based on an image captured of the user registered when the user uses the mobile body 100 (for example, a facial image of the user), and a facial image of the user provided by the terminal device 2 or the management device 10 (or a feature amount obtained from the facial image of the user). The recognition unit 202 recognizes gestures made by the user. It should be noted that a detection unit other than a camera, such as a radar device or LIDAR, may be provided in the mobile body 100. In this case, the recognition unit 202 recognizes the state of the vicinity of the mobile body 100 using the detection results of the radar device or LIDAR instead of (or in addition to) the image.

[0049] The path generation unit 204 generates a path to a destination based on the surrounding conditions of the mobile body 100 identified by the identification unit 202. Here, the so-called destination, when the mobile body 100 is in the following mode, indicates the user itself that is the following object, or a place within a specified range from the user. For example, the path generation unit 204 may set a specified place behind the user as the destination so that the mobile body 100 can be visually recognized from the user while the mobile body 100 follows the user. In addition, for example, the path generation unit 204 may determine the destination in a manner that keeps within a specified distance based on the walking speed of the user in order to prevent the mobile body 100 from being too far away from the user. In the case of the induction mode, the destination indicates, for example, the location of a commodity or facility set by the user. In this case, the user specifies the location of the commodity or facility, and the mobile body 100 compares the specified location of the commodity or facility with the map information 222. As a result of the comparison, the determined location of the commodity or facility is set as the destination. In addition, when the location set by the user is far from the current location of the moving body 100, the path generation unit 204 may set the location set by the user as the final destination and set a location within a specified range from the current location as a tentative destination when the location set by the user is in the guidance mode. In addition, the destination may not necessarily be set by the user in the guidance mode, and the moving body 100 may predict the direction in which the user is moving and move autonomously in front of the user in accordance with the user's moving speed. In this case, the path generation unit 204 may also set the destination of the moving body 100 to a location within a specified range in front of the user.

[0050] The path is a path that allows the moving body 100 to reasonably reach the destination by taking into account the forward direction of the moving body 100 (i.e., the x direction of the moving body 100). For example, the distance to the destination, the time to reach the destination, the ease of passage of the path, etc. are fractionalized, and a path is derived in which each score and a score obtained by combining each score are greater than a threshold. The path may be generated by any algorithm that at least takes into account the forward direction of the moving body 100. Details of the processing performed by the path determination unit 206 will be described later.

[0051] The drive control unit 208 controls the motors (the first motor 122 and the second motor 132 ), the brake device 136 , and the steering device 138 so that the moving body 100 travels along the path generated by the path generation unit 204 .

[0052] [Regeneration of the path]

[0053] When the path generation unit 204 generates the path, the path determination unit 206 determines whether the angle formed by the moving direction of the moving body 100 along the generated path and the straight line from the moving body 100 to the destination is greater than the first threshold value Th1. When the path determination unit 206 determines that the angle is greater than the first threshold value Th1, the drive control unit 208 controls the motor (the first motor 122, the second motor 132) and the steering device 138 to rotate the moving body 100 in place. Thereafter, the path generation unit 204 generates a path from the moving body 100 that has rotated in place to the destination again, and the path determination unit 206 determines whether the angle formed by the moving direction of the moving body 100 along the regenerated path and the straight line from the moving body 100 to the destination is less than the second threshold value Th2. When the path determination unit 206 determines that the angle is less than the second threshold value Th2, the drive control unit 208 causes the moving body 100 to travel along the path generated again by the path generation unit 204. Here, the second threshold value Th2 is set in advance to a value smaller than the first threshold value Th1. By setting the second threshold Th2 to a value smaller than the first threshold Th1 in advance, it is assumed that the regenerated path is a more efficient path with respect to the forward direction of the moving body 100. That is, it is possible to suppress the generation of an inefficient path with respect to the robot's habitual direction when generating a path toward the destination. A specific example of regenerating a path according to the mode of the moving body 100 is described below.

[0054] Figure 6 1 is a diagram showing an example of a scenario in which a route is regenerated when the moving object 100 is traveling in the following mode. Figure 6 In the illustrated scene, the mobile body 100 is traveling in the following mode, so the user U himself is set as the destination of the mobile body 100. Figure 6In the figure, reference symbol DL represents the direction of travel of the user U identified by the identification unit 202. When the moving body 100 is traveling in the following mode, there is a case where the user U suddenly changes the direction of travel DL. In this case, the path generation unit 204 may sometimes generate an inefficient (detour) path for the moving body 100 in order to follow the user U who suddenly changed the direction of travel DL. When the path generation unit 204 generates the path TP1, the path determination unit 206 determines whether the angle α formed by the direction of travel of the moving body 100 along the generated path TP1 and the straight line RL from the moving body 100 to the user U is greater than the first threshold Th1. Figure 6 In the case of , the path determination unit 206 determines that the angle αα is greater than the first threshold Th1, so the drive control unit 208 rotates the moving body 100 on the spot, and the path generation unit 204 generates a path from the moving body 100 that has rotated on the spot to the user U again.

[0055] Figure 7 1 is a diagram showing an example of a route that is regenerated when the vehicle 100 travels in the follow-up mode. Figure 7 The scenario shown is represented in Figure 6 In the scenario shown, the drive control unit 208 rotates the moving body 100 in place, and the path generation unit 204 regenerates a path from the moving body 100 after the in-place rotation to the user U. The path determination unit 206 determines whether the angle αα formed by the moving direction of the moving body 100 along the regenerated path TP2 and the straight line from the moving body 100 to the user U is less than the second threshold Th2. Figure 7 In the case of , the path determination unit 206 determines that the angle αα is smaller than the second threshold value Th2, so the drive control unit 208 causes the moving body 100 to travel along the path generated again by the path generation unit 204. Figure 6 The path TP1 generated in the illustrated scenario is an inefficient (widely detour) path for the mobile body 100 because the user U suddenly changes the traveling direction DL, whereas the path TP2 generated again after the mobile body 100 is rotated on the spot becomes a more efficient path for the mobile body 100. Thus, when the mobile body 100 travels in the following mode, the mobile body 100 can follow the user U more efficiently.

[0056] Figure 8 1 is a diagram showing an example of a scenario in which a route is regenerated when the vehicle 100 is traveling in the induction mode. Figure 8 In the illustrated scenario, the vehicle 100 is traveling in the induction mode, and therefore the destination G is set in advance by the user. Figure 8In the example, the destination G is shown as the final destination set by the user, but as mentioned above, the destination G may also be a temporary destination set in order to reach the final destination set by the user and within a specified range from the current location. Figure 8 In the figure, reference numeral OB represents an obstacle recognized by the recognition unit 202. There is a case where the recognition unit 202 cannot recognize the obstacle OB before the moving body 100 approaches the obstacle OB. In this case, the path generation unit 204 may sometimes generate an inefficient (circumventing a large curve) path for the moving body 100 in order to avoid the suddenly recognized obstacle OB. When the path generation unit 204 generates the path TP1, the path determination unit 206 determines whether the angle α formed by the moving direction of the moving body 100 along the generated path TP1 and the straight line RL from the moving body 100 to the destination G is greater than the first threshold Th1. Figure 8 In the case of , the path determination unit 206 determines that the angle α is greater than the first threshold value Th1, so the drive control unit 208 rotates the moving body 100 on the spot, and the path generation unit 204 generates a path from the moving body 100 after the on-the-spot rotation to the destination G again.

[0057] Fig. 9 1 is a diagram showing an example of a route that is regenerated when the vehicle 100 travels in the induction mode. Fig. 9 The scenario shown is represented in Figure 8 In the scenario shown, the drive control unit 208 rotates the moving body 100 in place, and the path generation unit 204 regenerates a path from the moving body 100 that has rotated in place to the destination G. The path determination unit 206 determines whether the angle α formed by the moving direction of the moving body 100 along the regenerated path TP2 and the straight line from the moving body 100 to the destination G is less than a second threshold value Th2. Figure 8 In the case of , the path determination unit 206 determines that the angle α is smaller than the second threshold value Th2, so the drive control unit 208 causes the moving body 100 to travel along the path generated again by the path generation unit 204. Figure 6 The path TP1 generated in the illustrated scenario is an inefficient (widely detour) path for the moving body 100 due to the sudden recognition of the obstacle OB, while the path TP2 generated again after the moving body 100 is rotated on the spot becomes a more efficient path for the moving body 100. Thus, when the moving body 100 travels in the induction mode, the moving body 100 can be moved to the destination G more efficiently.

[0058] [Processing flow]

[0059] Below, refer to Fig.10 The flow of processing executed by the control device 200 will be described. Fig.10 This is a flowchart showing an example of the flow of processing executed by the control device 200 . Fig.10 The illustrated process is repeatedly executed while the vehicle 100 is traveling in the following mode or the inducing mode.

[0060] First, the recognition unit 202 recognizes the surrounding conditions of the moving body 100 based on at least an image of the surrounding conditions of the moving body 100 (step S100). Next, the route generation unit 204 generates a route from the moving body 100 to the destination based on the recognized surrounding conditions and the set destination (step S102).

[0061] Next, the path determination unit 206 determines whether the angle formed by the moving direction of the mobile body 100 along the generated path and the straight line from the mobile body 100 to the destination is greater than a first threshold value (step S104). If it is determined that the angle formed by the moving direction of the mobile body 100 along the generated path and the straight line from the mobile body 100 to the destination is less than the first threshold value, the drive control unit 208 causes the mobile body 100 to travel along the path generated by the path generation unit 204 (step S110).

[0062] When it is determined that the angle formed by the moving direction of the moving body 100 along the generated path and the straight line from the moving body 100 to the destination is greater than the first threshold, the drive control unit 208 rotates the moving body 100 locally by a predetermined angle, and the path generation unit 204 generates a path to the destination again (step S106). Next, the path determination unit 206 determines whether the angle formed by the moving direction of the moving body 100 along the regenerated path and the straight line from the moving body 100 to the destination is less than the second threshold (step S108).

[0063] If it is determined that the angle formed by the moving direction of the mobile body 100 along the regenerated path and the straight line from the mobile body 100 to the destination is not less than the second threshold value, the control device 200 executes the process of step 106 again. On the other hand, if it is determined that the angle formed by the moving direction of the mobile body 100 along the regenerated path and the straight line from the mobile body 100 to the destination is less than the second threshold value, the drive control unit 208 causes the mobile body 100 to travel along the path regenerated by the path generation unit 204 (step S110). Thus, the process of this flowchart ends.

[0064] According to the present embodiment described above, when the angle between the moving direction of the moving body along the generated path and the straight line from the moving body to the destination is less than the first threshold, the moving body is caused to travel along the generated path, and when the angle is greater than the first threshold, the path is regenerated until the angle between the moving direction of the moving body along the regenerated path and the straight line from the moving body to the destination becomes less than the second threshold. Thus, when generating a path toward the destination, it is possible to suppress the generation of an inefficient path with respect to the robot's habitual direction.

[0065] The above-described embodiment can be expressed as follows.

[0066] A control device for a mobile object, comprising:

[0067] a storage medium storing computer-readable instructions; and

[0068] a processor connected to the storage medium,

[0069] The processor executes the computer-readable instructions to:

[0070] recognizing the surrounding conditions of the moving body based at least on an image obtained by photographing the surrounding conditions of the moving body;

[0071] generating a route from the moving object to the destination based on the identified surrounding conditions and the set destination;

[0072] determining whether an angle formed by a travel direction of the moving body along the generated path and a straight line from the moving body to the destination satisfies a predetermined condition;

[0073] controlling the moving object so that the moving object moves to the destination along the generated path; and

[0074] When it is determined that the angle satisfies the predetermined condition, the moving body is rotated on the spot, and a route from the moving body rotated on the spot to the destination is generated again.

[0075] 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.

Claims

1. A control device for a mobile object, wherein: The control device of the mobile body comprises: a recognition unit that recognizes the surrounding conditions of the moving body based on at least an image obtained by capturing the surrounding conditions of the moving body; a generating unit that generates a route from the moving object to the destination based on the recognized surrounding conditions and the set destination; a determination unit that determines whether an angle formed by a moving direction of the moving body along the generated path and a straight line from the moving body to the destination satisfies a predetermined condition; as well as a control unit that controls the moving body so that the moving body moves to the destination along the generated path, When the determination unit determines that the angle satisfies the predetermined condition, the control unit rotates the moving body in place, and the generation unit regenerates a route from the moving body that has rotated in place to the destination.

2. The control device for a moving object according to claim 1, wherein: The predetermined condition is that the angle is greater than or equal to a first threshold.

3. The control device for a moving object according to claim 2, wherein: The determination unit determines whether an angle formed between a moving direction of the moving body along the regenerated path and a straight line from the moving body to the destination is smaller than a second threshold value, When it is determined that the angle is smaller than the second threshold, the control unit controls the moving body so that the moving body moves to the destination along the regenerated path. The second threshold is a value smaller than the first threshold.

4. The control device for a moving object according to claim 1, wherein: The moving body operates in any one of a following mode in which the moving body moves to follow the user and an induction mode in which the moving body moves ahead of the user in accordance with the moving speed of the user.

5. The control device for a moving object according to claim 4, wherein: When the mobile object operates in the following mode, the destination is the user or a point within a predetermined range from the user.

6. The control device for a moving object according to claim 4, wherein: When the moving object operates in the induction mode, the destination is a point set by the user or a point within a predetermined range in front of the user.

7. The control device for a moving object according to claim 4, wherein: When the moving object is operating in the induction mode, the destination is a temporary point that is temporarily set in order to reach a final point set by the user.

8. A method for controlling a moving object, wherein: The control method of the mobile body causes the computer to perform the following processing: recognizing the surrounding conditions of the moving body based at least on an image obtained by photographing the surrounding conditions of the moving body; generating a route from the moving object to the destination based on the identified surrounding conditions and the set destination; determining whether an angle formed by a travel direction of the moving body along the generated path and a straight line from the moving body to the destination satisfies a predetermined condition; controlling the moving object so that the moving object moves to the destination along the generated path; as well as When it is determined that the angle satisfies the predetermined condition, the moving body is rotated on the spot, and a route from the moving body rotated on the spot to the destination is generated again.

9. A storage medium storing a program, wherein: The program causes the computer to perform the following processing: recognizing the surrounding conditions of the moving body based at least on an image obtained by photographing the surrounding conditions of the moving body; generating a route from the moving object to the destination based on the identified surrounding conditions and the set destination; determining whether an angle formed by a travel direction of the moving body along the generated path and a straight line from the moving body to the destination satisfies a predetermined condition; controlling the moving object so that the moving object moves to the destination along the generated path; as well as When it is determined that the angle satisfies the predetermined condition, the moving body is rotated on the spot, and a route from the moving body rotated on the spot to the destination is generated again.

Images