Moving body control system, moving body, program, and recording medium

Abstract

A moving body control system according to the present invention is a system for controlling the operation of a moving body, the moving body control system comprising: a route generation means for generating a reference route indicating a route from the position of the moving body on which the moving body travels; a portion determination means for determining a portion of the reference route to be referenced in order to control the travel of the moving body, from among the reference routes; and a control amount determination means for determining a control amount for controlling the travel of the moving body by referring to a part of the determined reference path. The portion determination means determines a portion of the reference path. A part of the reference path includes a position at a distance from the position of the moving body among the terminal of the straight line constituting the reference path recognized by the first recognition process, and the terminal of the curved line constituting the reference path recognized by the second recognition process, or a change point of a predetermined curvature.

Description

Technical Field

[0001] The present invention relates to a moving body control system, a control method thereof, a moving body, a program, and a recording medium. Background Art

[0002] In recent years, the demand for ultra-small moving bodies (micro moving bodies) that support the movement of people within a small area has increased. Among micro moving bodies, there are moving bodies with a seating capacity of about one person, moving bodies that transport goods while traveling together with people instead of carrying people, and the like. Micro moving bodies require autonomous movement technology that can travel in both the moving area of motor vehicles and the moving area of pedestrians.

[0003] In autonomous movement technology, there is known a technology for generating a travel path for a moving body and controlling the travel of the moving body according to the generated path. Regarding the generation of the travel path, there is known the following technology: in a device that controls the travel of a vehicle so as to follow a preceding vehicle traveling in front of the own vehicle, a straight line or a curve is applied to an observation point representing the position passed by the preceding vehicle, thereby generating the travel trajectory of the preceding vehicle (Patent Document 1).

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2020-32844 Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] However, in order to turn right or left at intersections and avoid obstacles, micro moving bodies require control with high responsiveness for accurately tracking the path to be traveled and control for stabilizing the behavior of the moving body considering the movement of the passengers.

[0009] The present invention has been made in view of the above problems, and an object thereof is to realize a technology capable of achieving both responsiveness to a path to be traveled and stability of behavior.

[0010] Means for Solving the Problems

[0011] According to the present invention, there is provided a moving body control system that controls the operation of a moving body, characterized in that

[0012] the moving body control system includes:

[0013] a path generation mechanism that generates a reference path representing a path from the position of the moving body for the moving body to travel;

[0014] A partial determination mechanism that determines a part of the reference path for controlling the travel of the moving body; and

[0015] A control quantity determination mechanism that determines a control quantity for controlling the travel of the moving body with reference to the determined part of the reference path.

[0016] The partial determination mechanism determines a part of the reference path so that the part of the reference path includes a terminal of a straight line constituting the reference path identified by a first identification process, and a terminal of a curve constituting the reference path or a point of change in a predetermined curvature identified by a second identification process, at a position far from the position of the moving body.

[0017] Advantages of the Invention

[0018] According to the present invention, it is possible to balance responsiveness to a desired travel path and stability of behavior.

[0019] Other features and advantages of the present invention will become apparent from the following description with reference to the drawings. In addition, the same or similar components are denoted by the same reference numerals in the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings are incorporated in the specification and form a part of the specification, showing embodiments of the present invention and used to explain the principles of the present invention together with the description thereof.

[0021] Figure 1A It is a diagram (1) showing a configuration example of a moving body according to an embodiment of the present invention.

[0022] Figure 1B It is a diagram (2) showing a configuration example of a moving body according to an embodiment of the present invention.

[0023] Figure 2 It is a block diagram showing a configuration example of a control system of a moving body according to an embodiment.

[0024] Figure 3 It is a block diagram showing a functional configuration example related to a control unit of a moving body according to an embodiment.

[0025] Figure 4 It is a diagram for explaining an outline of travel control at an intersection according to an embodiment.

[0026] Figure 5 It is a flowchart showing a series of operations of a travel control process in a moving body according to an embodiment.

[0027] Figure 6This is a diagram for explaining the determination of the reference path length using the curvature change point related to the embodiment.

[0028] Figure 7 This is a diagram for explaining the first example of the determination of the reference path length using the end point of a straight line related to the embodiment.

[0029] Figure 8 This is a diagram for explaining the second example of the determination of the reference path length using the end point of a straight line related to the embodiment.

[0030] Figure 9 This is a flowchart showing a series of operations of the reference path length determination process related to the embodiment. Detailed Embodiment

[0031] Hereinafter, the embodiment will be described in detail with reference to the drawings. In addition, the following embodiment does not limit the invention related to the technical solution, and not all combinations of the features described in the embodiment are essential for the invention. Two or more of the multiple features described in the embodiment can be arbitrarily combined. In addition, the same or similar components are labeled with the same reference numerals, and repeated descriptions are omitted.

[0032] In the following embodiment, as an example of a micro-moving body, that is, a moving body, a very small electric vehicle with a seating capacity of about one person is taken as an example for explanation. However, the micro-moving body may also include a micro-moving body that transports goods while traveling with people instead of carrying people. In addition, the present embodiment is not limited to the example where the moving body is an electric vehicle, and can also be applied to moving bodies other than electric vehicles. Further, in the following description, a moving body having one driven wheel is taken as an example for explanation, but it is not necessarily required to have a driven wheel, and the number of driven wheels is not limited to one, and there may be two or more driven wheels.

[0033] In a moving body such as the above-mentioned micro-moving body, it is useful to achieve autonomous driving considering the situation of people riding, the situation where the target position frequently changes, and the situation where a high-precision map is not used. The micro-moving body is not limited to traveling on a specific determined path. In addition, since it can travel in both the moving area based on motor vehicles and the moving area of pedestrians, it is necessary to appropriately travel in an area where a high-precision map is not equipped. Further, for example, in the case of traveling in a shopping mall or an event venue, in a situation where there are multiple obstacles irregularly, it is required to travel while appropriately avoiding obstacles. In addition, when a person rides in the micro-moving body, a stable driving considering riding comfort is required.

[0034] The mobile body 100 according to the present embodiment identifies the driving area without using a high-precision map and autonomously drives according to the generated path. Since it autonomously drives without using a high-precision map, information identified from the output of a detection unit described later is used to identify the area where the mobile body 100 can drive. For example, the mobile body 100 identifies road structures such as straight roads and intersections on the road and generates a path (reference path) for driving on the identified straight roads and intersections. Then, the mobile body 100 determines the length of the path actually referred to in the reference path and determines the control amount of the mobile body 100 within the determined length range by referring to the reference path. The mobile body 100 controls the drive system according to the determined control amount. In addition, in the present embodiment, as an example, the path in a straight road and an intersection is described, but other paths that need to include turning right and left, starting, and stopping of the mobile body can also be included. For example, the present invention can also be applied when changing lanes, traveling back and forth between a sidewalk and a lane, traveling while avoiding obstacles, traveling on a road combining a straight road and a curved road, etc. In addition, an intersection is a road structure where two roads are connected. In addition to a crossroads, other forms of intersections such as a T-shaped road can also be included. In addition, an intersection can also include an L-shaped driving road where two roads are connected.

[0035] <Configuration of Mobile Body>

[0036] The configuration of the mobile body 100 will be described with reference to FIG. 1. Figure 1A It shows the side of the mobile body 100 according to the present embodiment, Figure 1B showing the internal configuration of the mobile body 100. In the figure, the arrow X indicates the front-rear direction of the mobile body 100, F indicates the front, and R indicates the rear. The arrow Y indicates the width direction (left-right direction) of the mobile body 100, and the arrow Z indicates the up-down direction of the mobile body 100.

[0037] The mobile body 100 is an electric autonomous vehicle equipped with a driving unit 112 and using a battery 113 as the main power source. The battery 113 is, for example, a rechargeable battery such as a lithium-ion battery, and the mobile body 100 travels on its own by the power supplied from the battery 113 and through the driving unit 112. The driving unit 112 adopts the form of a three-wheeled vehicle having a pair of left and right driving wheels 120 as front wheels and a single driven wheel 121 as a rear wheel. In addition, the driving unit 112 can also be in other forms such as the form of a four-wheeled vehicle. The mobile body 100 is provided with, for example, a single-person seat 111.

[0038] The traveling unit 112 includes a drive mechanism 122. The drive mechanism 122 is a mechanism that rotates the corresponding drive wheels 120 using the motors 122a and 122b as drive sources. The drive mechanism 122 can move the moving body 100 forward or backward by rotating the respective drive wheels 120. In addition, the drive mechanism 122 can change the traveling direction of the moving body 100 by generating a rotational difference between the motors 122a and 122b. The traveling unit 112 includes driven wheels 121. The driven wheels can rotate about the Z axis.

[0039] The moving body 100 includes detection units 114 to 116 that detect objects around the moving body 100. The detection units 114 to 116 are a group of external sensors that monitor the surroundings of the moving body 100. In the case of the present embodiment, the detection units 114 to 116 are all imaging devices that capture images of the surroundings of the moving body 100, and include, for example, an optical system such as a lens and an image sensor. However, instead of or in addition to the imaging device, radar, lidar (Light Detection and Ranging) can also be used.

[0040] For example, two detection units 114 are arranged at intervals in the Y direction at the front of the moving body 100, and are mainly used to detect objects in front of the moving body 100. The detection units 115 are respectively arranged on the left side and the right side of the moving body 100, and are mainly used to detect objects on the sides of the moving body 100. The detection unit 116 is arranged at the rear of the moving body 100, and is mainly used to detect objects behind the moving body 100.

[0041] Figure 2 It is a block diagram of the control system of the moving body 100. The moving body 100 includes a control unit (ECU) 130. The control unit 130 includes one or more processors represented by a CPU, a memory device such as a semiconductor memory, and an interface with external devices. Programs executed by the processor, data used by the processor for processing, etc. are stored in the memory device. The processor, the memory device, and the interface can be configured to have multiple sets according to the functions of the moving body 100 and be able to communicate with each other.

[0042] The control unit 130 acquires the outputs (such as image information) of the detection units 114 to 116, the input information of the operation unit 131, the voice information input from the voice input device 133, etc., and executes processing corresponding to each piece of information. For example, the control unit 130 controls the motors 122a and 122b (travel control of the travel unit 112), controls the display of the display panel included in the operation unit 131, reports to the occupants of the moving body 100 based on voice, and outputs information. The control unit 130 can execute processing using a machine learning model for image recognition (such as a deep neural network) on the outputs (such as image information) from the detection units 114 to 116. In addition, the control unit 130 can also execute processing using a machine learning model for voice recognition (such as a deep neural network) on the outputs (such as voice information) from the voice input device 133.

[0043] The voice input device 133 includes, for example, a microphone that picks up the voices of the occupants of the moving body 100. The control unit 130 can recognize the input voice and execute corresponding processing. The GNSS (Global Navigation Satellite system) sensor 134 receives GNSS signals and detects the current position of the moving body 100.

[0044] The storage device 135 includes a non-volatile recording medium that stores various data. Programs executed by the processor, data used by the processor for processing, etc. can also be stored in the storage device 135. The storage device 135 can also store various parameters (such as learning completion parameters and hyperparameters of a deep neural network) of the machine learning models for voice recognition and image recognition executed by the control unit 130.

[0045] The communication device 136 is, for example, a communication device that can communicate with an external device (such as a communication terminal 140 possessed by a user) via wireless communication such as Wi-Fi and fifth-generation mobile communication.

[0046] Next, with reference to Figure 3 A functional configuration example related to the control unit 130 will be described. The user instruction acquisition unit 301 acquires a user instruction input via the operation unit 131 or the voice input device 133. The user instruction includes the specification of the final target position that the moving body 100 should reach. The final target position can also be the position of a target object identified in the image output by the detection units 114 to 116 and specified by the spoken voice. In addition, the user instruction can also include an instruction to change the travel such as turning right or left during the travel of the moving body 100.

[0047] The image information processing unit 302 identifies the position, shape, driving area, etc. of the obstacle based on the outputs (such as image information) of the detection units 114 to 116. For example, by applying a machine learning model for image recognition that has been pre-learned to the images obtained from the two detection units 114, the position, shape, driving area, road structure, etc. of the obstacle in front of the moving body 100 are identified. In addition, it may include an inference of the depth from the moving body 100 using the images obtained from the two detection units 114 as stereoscopic images. Further, in order to identify the target object in the image, a machine learning model for image recognition (such as a deep neural network) that has been pre-learned may be applied to the monocular image or the stereoscopic image.

[0048] The path generation unit 303 generates a reference path based on the driving area identified by the image information processing unit 302. The reference path represents the path along which the moving body 100 travels. For example, when there is an intersection with a road structure of a crossroads and the moving body 100 turns right at the intersection, the path generation unit 303 generates a reference path in such a way that it travels through a position that is only a first predetermined distance away from the center of the intersection and a position that is only a second predetermined distance away from the left end of the road after the right turn. Further, the path generation unit 303 may also generate a reference path based on the identified obstacle. In addition, in the present embodiment, the path generation unit 303 may generate a reference path by any method, or may generate a reference path by a known method.

[0049] The control amount determination unit 304 determines the length of the path actually referred to in the reference path (reference path length), and determines the control amount of the moving body based on the reference path within the range of the determined reference path length. Details of the reference path length determination process for determining the reference path length will be described later.

[0050] The travel control unit 305 controls the travel of the moving body 100 according to the control determined by the path generation unit 303 (for example, controls the motor 122a and the motor 122b).

[0051] <Travel control of the moving body using the reference path>

[0052] Reference Figure 4 , an outline of the travel control of the moving body using the reference path will be described. Figure 4This represents a situation where the moving body 100 traveling in the X direction makes a left turn at an intersection and then travels straight in the Y direction. The travel route 404 includes, for example, two straight roads and an intersection. 407 represents a reference path generated by the path generation unit 303. Multiple points (reference points) indicating positions on the reference path 407 such as the reference point 405 and the reference point 406 are schematically shown on the reference path 407. The reference path 407 includes a straight portion 401, a straight portion 403, and a curved portion 402 for traveling on a straight line. The reference point 405 represents the end of the straight portion 401 (the start of the curved portion 402), and the reference point 406 represents the start of the straight portion 403 (the end of the curved portion 402).

[0053] In the travel control of the moving body 100, the travel behavior of the moving body 100 may vary depending on the length of the reference path generated for reference. For example, consider a case where the current position of the moving body 100 is the position of the reference point 408, and only a 3-meter amount on the reference path 407 (for example, three reference points from the reference point 408 to the reference point 405) is referred to. In this case, it is possible to sensitively respond to changes in the reference path 407 and achieve travel control for traveling along a path close to the reference path 407. On the other hand, since it sensitively responds to changes in the reference path 407, there are cases where the travel behavior of the moving body 100 becomes unstable, such as easy swaying to the left and right. On the other hand, in the case of referring to a 13-meter amount on the reference path 407 (for example, thirteen reference points from the reference point 408 to the reference point 409), the position of the path after a left turn such as the reference point 409 is added to the nearest travel control of the moving body. In this case, the travel behavior can be stabilized by considering the positions of more reference points, but in the Figure 4 example shown, the degree of traveling inside the reference path 407 becomes larger (the degree of inner rotation is large). That is, compared to the case of referring to the reference path within a shorter range, the followability to the reference path 407 decreases.

[0054] In the present embodiment, by performing the reference path length determination process, the length of the reference path to be referred to is made different according to the situation. In particular, the length of the reference path to be referred to is set based on the position of the change point in the traveling area. For example, when the moving body 100 travels on the straight portion 401, the control amount determination unit 304 determines the length of the path actually referred to from the moving body 100 to the end of the straight portion 401 (reference point 405). Further, when the moving body 100 travels on the curved portion 402, the control amount determination unit 304 determines the length of the path actually referred to from the moving body 100 to the end of the curved portion 402. Further, when the moving body 100 travels on the straight portion 403, the control amount determination unit 304 determines the length of the path actually referred to from the moving body 100 to the end of the straight portion 403 (not shown). In addition, Figure 4 The illustrated curved portion 402 has been described by taking the case of a curve with a left turn as an example, but there can also be a traveling area where curves are continuous, such as a combination of a right-turn curve and a left-turn curve like an S-turn. In such a curve, at the intersection of the two curves, the sign of the curvature changes. Therefore, for convenience, a point where the sign of the curvature of the curve changes is referred to as a curvature change point (which is also considered to be the end of each curve portion).

[0055] However, in the actual generation of the reference path, there are also cases where the straight line and the curved line are not clear, and there are cases where the straight line and the curved line are not divided as shown in Figure 4 In the reference path length determination process of the present embodiment, the control amount determination unit 304 causes the process of identifying the end of the straight line constituting the reference path and the process of identifying the end of the curve constituting the reference path and the above-mentioned predetermined curvature change point to operate in parallel, and determines the length of the path actually referred to up to the position farther from the moving body 100 among the identified positions.

[0056] By doing so, it is possible to use a path that can be referred to within a specific type of path such as a straight line or a curve, and a longer path recognized as a straight line or a curve. As a result, for example, the degree of inner rotation in the example shown in Figure 4 is reduced, and a stable traveling behavior is obtained. That is, it is possible to balance the responsiveness to the path to be traveled and the stability of the behavior.

[0057]

[0058] Next, referring to Figure 5A series of operations of the travel control process in the moving body 100 will be described. In addition, this process is implemented by the control unit 130 expanding and executing the program stored in the storage device 135 in the memory device of the control unit 130. In addition, the final target position is set to the position specified in advance by the user.

[0059] In S501, the image information processing unit 302 of the control unit 130 acquires the outputs (image information) of the detection units 114 to 116. The image information processing unit 302, for example, uses a deep neural network and identifies the travel area (e.g., road structure), the positions and shapes of obstacles, etc. based on the image information.

[0060] In S502, the path generation unit 303 of the control unit 130 generates a reference path based on the identified road structure. As an example, when the moving body 100 turns right at an intersection, the path generation unit 303 generates a reference path in such a way that it passes through a position that is only a first predetermined distance away from the center of the intersection. In addition, the path generation unit 303 also generates a reference path in such a way that it is only a second predetermined distance away from the left end of the road after the right turn. In addition, the reference path generated by the path generation unit 303 is not limited to this example and can also be other paths.

[0061] In S503, the control amount determination unit 304 of the control unit 130 executes the above-described reference path length determination process and determines the length of the path actually referred to in the reference path (reference path length). The specific operations in the reference path length determination process will be described later. In S504, the control amount determination unit 304 determines the control amounts (speed v and angular velocity ω) of the moving body 100 based on the reference path within the determined range of the reference path length.

[0062] In S505, the travel control unit 305 of the control unit 130 controls the motors 122a and 122b using the control amounts determined by the path generation unit 303 and controls the travel of the moving body 100.

[0063] In S506, the control unit 130 determines whether the final target position has been reached. If it is determined that the final target position has not been reached, the control unit 130 returns the process to S501 and repeats the process. If it is determined that the final target position has been reached, the control unit 130 ends this series of processes. In addition, in this process, the case of generating a reference path based on the identified road structure has been described as an example, but it is not limited to the case based on the road structure, and a reference amount path can be generated based on the travel area identified from the image.

[0064]

[0065] Next, with reference to Figure 9 a series of operations of the reference path length determination process performed by the control amount determination unit 304 will be described. In addition, this process is implemented by the control unit 130 expanding and executing the program stored in the storage device 135 in the memory device of the control unit 130. In addition, this process is executed when the above-described S503 starts.

[0066] In S901, the control amount determination unit 304 searches for a curvature change point on the reference path and determines the terminal position of the curve. With reference to Figure 6 a process of determining the terminal position of the curve will be described.

[0067] Figure 6 The example shown represents an example of a process in which the moving body 100 determines the reference path length with reference to the reference path in a road 601 including a road structure capable of making a right turn. Specifically, the reference path 603 is given, and there are a plurality of reference points on the reference path 603 starting from the position of the moving body 602. In the present embodiment, the control amount determination unit 304 selects consecutive reference points included in a predetermined range (for example, four reference points in the range 604 including the reference reference point 605), approximates an arc passing through these reference points, and determines the change in the curvature of the approximated arc. For example, the control amount determination unit 304 sequentially moves the reference reference point from the position closest to the moving body 602 to a farther position, thereby obtaining the change in curvature at each reference point. For example, the control amount determination unit 304 calculates the average value and deviation of the curvature among the selected reference points. When the deviation exceeds the threshold value, the position of the reference reference point 605 can be set as the curvature change point. Since the curvature of the curved portion within the intersection is substantially constant, the portion where the deviation becomes large, that is, the portion where the curvature becomes equal to or less than a predetermined value, can become the curvature change point. In Figure 6 the example, the control amount determination unit 304 can, for example, determine the position of the reference reference point 605 as the terminal position of the curve.

[0068] In S902, the control amount determination unit 304 determines the reference path and the terminal position of a straight line whose degree of coincidence with a straight line from a specific point on the reference path to the moving body becomes equal to or greater than a threshold value. With reference to Figure 7 a process of determining the terminal position of the straight line in this step will be described.

[0069] Figure 7The example shown represents an example of a process in which the moving body 702 traveling on the road 701 determines the reference path length with reference to the reference path 703. The control amount determination unit 304 sequentially performs fitting of the straight line connecting the moving body 702 and the reference point, and the reference path, starting from the reference point located at a predetermined distance in the far distance only, or the farthest recognizable reference point. For example, the control amount determination unit 304 determines whether the straight line connecting the moving body 702 and the reference point 704, and the reference path between the moving body 702 and the reference point 704 reach a degree of coincidence equal to or higher than a threshold value. In the determination of the degree of coincidence, it is also possible to determine whether the deviation from the straight line connecting the moving body 702 and the reference point 704 to the reference path satisfies a certain condition (whether the sum of the squares of the deviations becomes equal to or lower than a predetermined threshold value). For example, when the straight line connecting the moving body 702 and the reference point 704, and the reference path do not show a degree of coincidence equal to or higher than the threshold value, the control amount determination unit 304 further processes the reference point closer to the moving body 702. For example, the control amount determination unit 304 can determine the degree of coincidence between the straight line connecting the moving body 702 and the reference point 706 and the reference path. When the straight line and the reference path have a degree of coincidence equal to or higher than the threshold value, the control amount determination unit 304 determines the reference point 706 as the terminal position of the straight line. That is, the control amount determination unit 304 determines the reference point located at the farthest distance from the moving body 702, for which the deviation from the straight line to the reference path satisfies a certain condition, as the terminal position of the straight line.

[0070] In S903, the control amount determination unit 304 determines the terminal position of the straight line on the reference path as the reference point that is the farthest and has a deviation from the straight line indicating the current traveling direction of the moving body 100 that is less than the threshold value. Refer to Figure 8 The process of determining the terminal position of the straight line in this step will be described.

[0071] Figure 8The example shown represents an example of a process in which the moving body 702 traveling on the road 701 determines the reference path length with reference to the reference path 703. In this example, the control quantity determination unit 304 determines the terminal position of the straight line as the farthest reference point from which the deviation of the position of the straight line 802 indicating the current traveling direction of the moving body 702 is less than the threshold value. For example, the control quantity determination unit 304 determines whether the degree of dissociation of each reference point from the straight line 802 is less than the threshold value. The triangle 803 represents a threshold range for determining the degree of dissociation of each reference point from the straight line 802 based on the distance from the reference reference point on the straight line 802 and a preset angle. The control quantity determination unit 304 determines whether each reference point is less than the threshold value while moving the reference reference point on the straight line 802 from the current position of the moving body 702 toward the far distance. At this time, several consecutive reference points may be evaluated in sequence. When each reference point is within the threshold range illustrated by the triangle 803, it is determined that the reference point is less than the threshold value. For example, it is determined that the deviation of the position of the reference point 801 from the straight line 802 satisfies a certain condition (less than the threshold value). Further, the position of the next reference point after the reference point 801 is a position where the deviation from the straight line 802 is equal to or greater than the threshold value. In this case, the control quantity determination unit 304 determines the position of the reference point 801 as the terminal position of the straight line on the reference path.

[0072] In S904, the control quantity determination unit 304 determines the length from the moving body 100 to the farthest terminal position among the terminal positions determined in S901 to S903 as the reference path length. After that, the control quantity determination unit 304 ends this series of operations and returns to the calling source.

[0073] In addition, in the above description, in the reference path length determination process, an example of determining the length of the reference path for controlling the traveling of the moving body 100 is described. However, if this embodiment is a part of the reference path for controlling the traveling of the moving body 100, it is not limited to the determination of the length of the reference path. In addition, in the above embodiment, an example in which a reference path is generated and referred to for the traveling of the moving body is described. However, if the reference path is a path referred to for controlling the traveling of the moving body, it may also be a path generated for other purposes.

[0074] As described above, in the above-described embodiment, a reference path for the travel of the moving body 100 is generated, and a part of the reference path that is referred to for controlling the travel of the moving body is determined. In particular, the control amount determination unit 304 identifies the terminals of the straight lines constituting the reference path through the first identification process, and identifies the terminals of the curves constituting the reference path or the change points of a predetermined curvature through the second identification process. Then, a part of the reference path is determined so as to include the position among the identified terminals that is far from the position of the moving body 100. By doing so, it is possible to use the length of a path that can limit the reference path to a specific type of path such as a straight line or a curve, and to identify a longer path as a straight line or a curve. That is, it is possible to balance the responsiveness to the path to be traveled and the stability of the behavior.

[0075] In addition, the configuration of the above-described control unit 130 can also function in various ways as a moving body control system. For example, the moving body control system can be configured by forming at least a part of the above-described control unit 130 in a device outside the moving body 100, such as an external server. Alternatively, the moving body control system can be the moving body 100, and can also be configured to be incorporated inside the moving body 100 (that is, it can also be the control unit 130). In addition, the computer program for operating the above-described moving body 100 can also be a computer program for causing one or more computers to function as the respective mechanisms of the moving body control system.

[0076] <Summary of the Embodiment>

[0077] 1. The moving body control system that controls the operation of the moving body (for example, 100) of the above-described embodiment has:

[0078] A path generation mechanism (for example, 303) that generates a reference path representing a path from the position of the moving body for the moving body to travel;

[0079] A partial determination mechanism (for example, 304) that determines a part of the reference path that is referred to for controlling the travel of the moving body; and

[0080] A control amount determination mechanism (for example, 304) that determines a control amount for controlling the travel of the moving body with reference to the determined part of the reference path,

[0081] The partial determination mechanism determines a part of the reference path so that a part of the reference path includes a terminal of a straight line constituting the reference path identified by the first identification process, and a terminal of a curve constituting the reference path or a change point of a predetermined curvature identified by the second identification process, at a position far from the position of the moving body.

[0082] According to this embodiment, it is possible to balance the responsiveness to the path to be traveled and the stability of the behavior.

[0083] 2. In the mobile body control system according to the above-described embodiment,

[0084] The first identification process identifies a terminal of a straight line constituting the reference path based on the degree of coincidence between the reference path and a straight line from a specific point on the reference path to the moving body.

[0085] According to this embodiment, it is possible to separate a part of the reference path that is approximate to a straight line starting from the position of the moving body as a straight line part constituting the reference path.

[0086] 3. In the mobile body control system according to the above-described embodiment,

[0087] The first identification process identifies a terminal of a straight line constituting the reference path based on the deviation from a straight line representing the current traveling direction of the moving body.

[0088] According to this embodiment, it is possible to separate a part of the reference path that extends along the traveling direction of the moving body as a straight line part constituting the reference path.

[0089] 4. In the mobile body control system according to the above-described embodiment,

[0090] The first identification process performs a process that is both a first process based on the degree of coincidence between the reference path and a straight line from a specific point on the reference path to the moving body, and a second process based on the deviation from a straight line representing the current traveling direction of the moving body, and identifies a terminal far from the moving body as the terminal of the straight line.

[0091] According to this embodiment, it is possible to set an interval that can be recognized as a straight line from the position of the moving body to a farther distance as a straight line part constituting the reference path, identify a longer straight line part, and thereby stabilize the behavior of the moving body.

[0092] 5. In the mobile body control system according to the above-described embodiment,

[0093] The second recognition process identifies the end points of the curves constituting the reference path based on the change in the curvature of the arcs at multiple positions on the reference path.

[0094] According to this embodiment, it is possible to easily identify the end position of the turning section of the road included in the range where the curvature is constant in the reference path, and the curves of the reference path can be separated into the curve portions constituting the reference path.

[0095] 6. In the mobile body control system according to the above-described embodiment,

[0096] The mobile body control system further includes a recognition mechanism (for example, 302) that recognizes the driving area for generating the reference path based on an image of the outside of the mobile body captured.

[0097] According to this embodiment, even without additional information such as a map representing the driving road, it is possible to recognize the driving area of the road in front of the mobile body inside the mobile body and drive autonomously on the road.

[0098] The invention is not limited to the above-described embodiments, and various modifications and changes can be made within the scope of the gist of the invention.

[0099] This application claims priority based on Japanese Patent Application No. 2022-195843 filed on December 7, 2022, and incorporates the entire contents thereof herein.

[0100] Description of Reference Numerals

[0101] 100: Mobile body;

[0102] 120: Driving wheel;

[0103] 130: Control unit;

[0104] 303: Path generation unit;

[0105] 304: Control amount determination unit;

[0106] 305: Driving control unit.

Claims

1. A mobile body control system that controls the actions of a mobile body, characterized in that: The mobile body control system has: A path generation mechanism that generates a reference path representing the path from the position of the mobile body for the mobile body to travel; A partial determination mechanism that determines a part of the reference path to be referred to for controlling the travel of the mobile body; and A control amount determination mechanism that determines the control amount for controlling the travel of the mobile body with reference to the determined part of the reference path, The partial determination mechanism determines a part of the reference path so that the part of the reference path includes the terminal of the straight line constituting the reference path identified by the first identification process, and the terminal of the curve constituting the reference path identified by the second identification process or a change point of a predetermined curvature, at a position far from the position of the mobile body.

2. The mobile body control system according to claim 1, characterized in that, The first identification process identifies the terminal of the straight line constituting the reference path based on the degree of coincidence between the reference path and the straight line from a specific point on the reference path to the mobile body.

3. The mobile body control system according to claim 1, wherein The first identification process identifies the terminal of the straight line constituting the reference path based on the deviation from the straight line representing the current traveling direction of the mobile body.

4. The mobile body control system according to claim 1, characterized in that, The first identification process performs a process that is a combination of a first process based on the degree of coincidence between the reference path and the straight line from a specific point on the reference path to the mobile body, and a second process based on the deviation from the straight line representing the current traveling direction of the mobile body, and identifies the terminal far from the mobile body as the terminal of the straight line.

5. The mobile body control system according to claim 1, characterized in that, The second identification process identifies the terminal of the curve constituting the reference path based on the change in the curvature of the circular arc at multiple positions on the reference path.

6. The mobile body control system according to claim 1, wherein The mobile body control system further has an identification mechanism that identifies the traveling area for generating the reference path based on an image of the outside world where the mobile body is photographed.

7. A mobile body, characterized in that: The mobile body has: A path generation mechanism that generates a reference path representing the path from the position of the mobile body for the mobile body to travel; A partial determination mechanism that determines a part of the reference path to be referred to for controlling the travel of the mobile body; and A control amount determination mechanism that determines the control amount for controlling the travel of the mobile body with reference to the determined part of the reference path, The partial determination mechanism determines a part of the reference path so that the part of the reference path includes the terminal of the straight line constituting the reference path identified by the first identification process, and the terminal of the curve constituting the reference path identified by the second identification process or a change point of a predetermined curvature, at a position far from the position of the mobile body.

8. A control method for a mobile body control system that controls the actions of a mobile body, characterized in that: The control method for the mobile body control system has: A path generation step in which a reference path representing a path starting from the position of the moving body for the moving body to travel is generated; A partial determination step in which a part of the reference path that is referred to for controlling the travel of the moving body is determined in the reference path; and A control amount determination step in which a control amount for controlling the travel of the moving body is determined with reference to the determined part of the reference path, In the partial determination step, a part of the reference path is determined so that the part of the reference path includes a terminal of a straight line constituting the reference path identified by a first identification process, and a terminal of a curve constituting the reference path identified by a second identification process or a point of change in a predetermined curvature, which is a position far from the position of the moving body.

9. A program, characterized in that, The program causes a computer to function as each mechanism of the moving body control system according to any one of claims 1 to 6.

10. A recording medium, characterized in that, The recording medium stores a program for causing a computer to function as each mechanism of the moving body control system according to any one of claims 1 to 6.

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