Control device, control method, and control program product

Abstract

The invention provides a control device, a control method, and a control program product capable of efficiently controlling the movement of a moving body while ensuring safety. A control device is provided with: a communication unit (55) that communicates with an information terminal (60) held by a user of a vehicle (10); an outside world identification unit (56) that acquires outside world identification data of the vehicle (10); and a control unit (57) that performs movement control of the vehicle (10) on the basis of an instruction from the information terminal (60). The control unit (57) switches, on the basis of the distance between the vehicle (10) and the information terminal (60), between a first control in which the movement speed of the vehicle (10) during the movement control is controlled on the basis of the state of communication, and a second control in which the movement speed of the vehicle (10) during the movement control is controlled on the basis of the outside identification data.

Description

Technical Field

[0001] The present invention relates to a control device, a control method and a control program product. Background Art

[0002] In recent years, efforts to provide sustainable transportation systems that take into account vulnerable individuals, particularly those in traffic, have intensified. To achieve this goal, research and development related to autonomous driving technology is being pursued to further improve traffic safety and convenience.

[0003] Conventionally, there is known a remote parking system that uses a smartphone to remotely operate a vehicle to park the vehicle in a designated parking space or to move the vehicle out of the parking space.

[0004] For example, Patent Document 1 describes a vehicle control device that controls the movement of a vehicle via instructions from a remote operation terminal outside the vehicle. The vehicle control device determines whether remote control of the vehicle can be performed based on the difference between the distance between the vehicle and the operator and the distance between the vehicle and the remote operation terminal. For example, remote control is prohibited when the operator's position is more than a specified distance from the position of the remote operation terminal, or when the operator is not detected.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent No. 7000401 Summary of the Invention

[0008] Problems to be solved by the invention

[0009] However, in spacious parking lots such as public parking lots, unloading a vehicle from a parking position and calling the vehicle to a designated unloading position, depending on the parking position, can lead to problems such as the long call distance. For example, the vehicle takes a long time to reach the unloading position, and the user calling the vehicle must perform remote operations for a long time. However, Patent Document 1 does not describe solutions to these problems.

[0010] An object of the present invention is to provide a control device, a control method, and a control program product that can efficiently control the movement of a moving object while ensuring safety.

[0011] Solutions to Problems

[0012] The present invention is a control device for a mobile object, comprising:

[0013] a communication unit that communicates with an information terminal held by a user of the mobile object;

[0014] an external recognition unit that acquires external recognition data of the mobile object; and

[0015] a control unit that controls the movement of the mobile body based on an instruction from the information terminal,

[0016] The control unit switches between a first control and a second control according to the distance between the mobile body and the information terminal. In the first control, the moving speed of the mobile body in the mobile control is controlled based on the communication status, and in the second control, the moving speed of the mobile body in the mobile control is controlled based on the external identification data.

[0017] The present invention is a control method for a control device for a mobile object, wherein the control device comprises: a communication unit for communicating with an information terminal carried by a user of the mobile object; an external recognition unit for acquiring external recognition data of the mobile object; and a control unit for controlling the movement of the mobile object based on an instruction from the information terminal.

[0018] The control method causes the control unit to perform the following processing:

[0019] Switching is performed between a first control and a second control according to the distance between the mobile object and the information terminal. In the first control, the moving speed of the mobile object in the mobile control is controlled based on the state of the communication, and in the second control, the moving speed of the mobile object in the mobile control is controlled based on the external identification data.

[0020] The present invention is a control program product including a control program for a control device for a mobile object, wherein the control device comprises: a communication unit for communicating with an information terminal carried by a user of the mobile object; an external recognition unit for acquiring external recognition data of the mobile object; and a control unit for controlling movement of the mobile object based on instructions from the information terminal.

[0021] The control program causes the control unit to execute the following processing:

[0022] Switching is performed between a first control and a second control according to the distance between the mobile object and the information terminal. In the first control, the moving speed of the mobile object in the mobile control is controlled based on the state of the communication, and in the second control, the moving speed of the mobile object in the mobile control is controlled based on the external identification data.

[0023] Effects of the Invention

[0024] According to the present invention, it is possible to provide a control device, a control method, and a control program product capable of efficiently controlling the movement of a moving object while ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a side view showing an example of a vehicle 10 equipped with the control device of the present invention.

[0026] Figure 2 yes Figure 1 A top view of vehicle 10 is shown.

[0027] Figure 3 Yes Figure 1 FIG. 1 is a block diagram showing an example of the internal structure of the vehicle 10 .

[0028] Figure 4 1 is a diagram showing an example of the hardware configuration of an information terminal 60 owned by a user of the vehicle 10 .

[0029] Figure 5 This is a flowchart showing an example of processing of the information terminal 60 when the vehicle 10 leaves the garage.

[0030] Figure 6 1 is a diagram showing an example of a call instruction screen 67 displayed on the display screen 66 of the information terminal 60 .

[0031] Figure 7 This is a flowchart showing an example of the processing of the vehicle 10 when leaving the garage.

[0032] Figure 8 This is a flowchart showing an example of the first control of the moving speed according to the determination result.

[0033] Figure 9 This is a flowchart showing an example of the second control of the moving speed according to the determination result.

[0034] Figure 10 This is a diagram showing an example of a call start state in which a user makes a vehicle call.

[0035] Figure 11 This is a diagram showing an example of a departure route of the host vehicle V1.

[0036] Figure 12 This is a diagram showing an example of a call completion state of the host vehicle V1.

[0037] Figure 13 This is a flowchart showing a modified example of the processing of the information terminal 60 when the vehicle 10 leaves the garage.

[0038] Figure 14 This is a flowchart showing a modified example of the process of the vehicle 10 when leaving the garage.

[0039] Figure 15 This is a flowchart showing a modified example of the first control of the moving speed according to the determination result.

[0040] Figure 16 This is a flowchart showing a modified example of the second control of the moving speed according to the determination result.

[0041] Figure 17 1 is a diagram showing an example of a vehicle confirmation notification screen 68 displayed on the display screen 66 of the information terminal 60 .

[0042] Description of reference numerals:

[0043] 10 Vehicle (mobile object)

[0044] 20 Control ECU (control unit)

[0045] 55 Ministry of Communications

[0046] 56 External Identification Department

[0047] 57 Control Department

[0048] 60 Information terminals. DETAILED DESCRIPTION

[0049] Hereinafter, an embodiment of the control device, control method, and control program product of the present invention will be described based on the accompanying drawings. In addition, the accompanying drawings are viewed along the directions of the accompanying drawings. In addition, in this specification, etc., in order to make the description simple and clear, the directions of front and back, left and right, and up and down are as follows: Figure 1 and Figure 2 The directions are described based on the direction viewed from the driver of the illustrated vehicle 10. In the drawings, the front of the vehicle 10 is represented as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0050] <Vehicle 10 Equipped with Control Device of the Present Invention>

[0051] Figure 1 1 is a side view showing an example of a vehicle 10 equipped with the control device of the present invention. Figure 2 yes Figure 1 FIG. 1 is a top view of a vehicle 10. The vehicle 10 is an example of a "mobile object" in the present invention.

[0052] The vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable wheels. In the present embodiment, the vehicle 10 is a four-wheeled automobile having a pair of left and right front wheels and a pair of left and right rear wheels. The drive source of the vehicle 10 is, for example, an electric motor. Alternatively, the drive source of the vehicle 10 may be an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Furthermore, the drive source of the vehicle 10 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or four wheels comprising a pair of left and right front wheels and a pair of left and right rear wheels. The front wheels and the rear wheels may both be steerable wheels, or either one may be a steerable wheel.

[0053] The vehicle 10 also includes side mirrors 11L and 11R. These mirrors are located outside the front doors of the vehicle 10 and are used by the driver to check the rear and side areas (rearview mirrors). Each mirror 11L and 11R is fixed to the main body of the vehicle 10 via a vertically extending rotation axis and can be opened and closed by rotating about the rotation axis.

[0054] The vehicle 10 also includes a front camera 12Fr, a rear camera 12Rr, a left camera 12L, and a right camera 12R. The front camera 12Fr is an imaging device (e.g., a digital camera) installed in front of the vehicle 10 and captures images of the front of the vehicle 10. The rear camera 12Rr is a digital camera installed in the rear of the vehicle 10 and captures images of the rear of the vehicle 10. The left camera 12L is a digital camera installed in the left rearview mirror 11L of the vehicle 10 and captures images of the left side of the vehicle 10. The right camera 12R is a digital camera installed in the right rearview mirror 11R of the vehicle 10 and captures images of the right side of the vehicle 10.

[0055] <Internal Structure of Vehicle 10>

[0056] Figure 3 Yes Figure 1 FIG. 1 is a block diagram showing an example of the internal structure of the vehicle 10. Figure 3 As shown, vehicle 10 includes a sensor group 16 , a navigation device 18 , an electronic control unit (ECU) 20 , an electric power steering (EPS) system 22 , and a communication interface 24 . Vehicle 10 also includes a driving force control system 26 and a braking force control system 28 .

[0057] The sensor group 16 acquires various detection values ​​used to control the ECU 20. The sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left camera 12L, and a right camera 12R. Furthermore, the sensor group 16 includes a front sonar group 32a, a rear sonar group 32b, a left sonar group 32c, and a right sonar group 32d. Furthermore, the sensor group 16 includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0058] The front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R capture images of the vehicle 10's surroundings, thereby acquiring external world recognition data (e.g., peripheral images) used to identify the outside world of the vehicle 10. The images of the vehicle 10's surroundings captured by the front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R are referred to as the front image, rear image, left image, and right image, respectively. An image composed of the left and right images may also be referred to as a side image. An image of the vehicle 10 and its surroundings, generated by synthesizing the images captured by the front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R, is referred to as a bird's-eye view image of the vehicle 10.

[0059] The front sonar group 32a, rear sonar group 32b, left sonar group 32c, and right sonar group 32d transmit sound waves around the vehicle 10 and receive reflected sound from other objects. The front sonar group 32a, for example, includes four sonars. The sonars that make up the front sonar group 32a are located at the diagonally front left, front left, front right, and diagonally front right of the vehicle 10. The rear sonar group 32b, for example, includes four sonars. The sonars that make up the rear sonar group 32b are located at the diagonally rear left, rear left, rear right, and diagonally rear right of the vehicle 10. The left sonar group 32c, for example, includes two sonars. The sonars that make up the left sonar group 32c are located at the front and rear left sides of the vehicle 10. The right sonar group 32d, for example, includes two sonars. The sonars that make up the right sonar group 32d are located at the front and rear right sides of the vehicle 10.

[0060] Wheel sensors 34a and 34b detect the rotation angles of the wheels of vehicle 10. Wheel sensors 34a and 34b can be configured as angle sensors or displacement sensors. Wheel sensors 34a and 34b output detection pulses each time the wheels rotate a predetermined angle. The detection pulses output from wheel sensors 34a and 34b are used to calculate the wheel rotation angles and wheel rotation speeds. Based on the wheel rotation angles, the travel distance of vehicle 10 is calculated. For example, wheel sensor 34a detects the rotation angle θa of the left rear wheel. Wheel sensor 34b detects the rotation angle θb of the right rear wheel.

[0061] The vehicle speed sensor 36 detects the speed of the vehicle 10, that is, the vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based on, for example, the rotation of the countershaft of the transmission.

[0062] The operation detection unit 38 detects the content of a user's operation performed using the operation input unit 14 and outputs the detected content of the operation to the control ECU 20. The operation input unit 14 includes various user interfaces such as a side mirror switch for switching the open and closed states of the side mirrors 11L and 11R and a shift lever (selector).

[0063] The navigation device 18 detects the current location of the vehicle 10 using, for example, a GPS (Global Positioning System) and guides the user on a route to their destination. The navigation device 18 includes a storage device (not shown) that contains a map information database. The navigation device 18 also includes a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for the control ECU 20. The speaker 44 outputs various guidance information to the user of the vehicle 10 via voice.

[0064] The touch panel 42 is configured to input various commands to the control ECU 20. For example, the user can input commands related to vehicle 10 maneuvering assistance via the touch panel 42. Maneuvering assistance includes parking assistance and exit assistance for the vehicle 10. Furthermore, the touch panel 42 is configured to display various screens related to the control contents of the control ECU 20. For example, screens related to vehicle 10 maneuvering assistance are displayed on the touch panel 42. Specifically, the touch panel 42 displays a parking assistance button for requesting parking assistance for the vehicle 10 and an exit assistance button for requesting exit assistance. The parking assistance buttons include a remote parking button for requesting parking assistance based on the automatic steering of the control ECU 20 and an assisted parking button for requesting parking assistance via user operation. The exit assistance buttons include a remote exit button for requesting exit assistance based on the automatic steering of the control ECU 20 and an assisted exit button for requesting exit assistance via user operation. Alternatively, components other than the touch panel 42, such as information terminals such as smartphones and tablets, may be used as input devices or display devices.

[0065] Furthermore, "parking" is synonymous with "parking." For example, "parking" refers to stopping for passengers to board or exit the vehicle, and does not include temporary stops at traffic signals, etc. Furthermore, a "parking position" refers to a position where a moving object (vehicle 10) is stopped, i.e., a parking position.

[0066] The control ECU 20 includes an input / output unit 50, a computing unit 52, and a storage unit 54. The computing unit 52 is comprised of, for example, a CPU (Central Processing Unit). The computing unit 52 controls various components based on programs stored in the storage unit 54, thereby performing various controls. Furthermore, the computing unit 52 inputs and outputs signals to and from various components connected to the control ECU 20 via the input / output unit 50. The control ECU 20 is an example of a "control device" in the present invention. The storage unit 54 also stores information related to remote movement (remote entry and exit) of the vehicle 10.

[0067] The operation unit 52 includes: a communication unit 55 that communicates with the outside of the vehicle 10; an external recognition unit 56 that recognizes the external recognition image of the vehicle 10; a control unit 57 that performs control related to the remote movement of the vehicle 10; and a notification unit 58 that notifies the movement information of the vehicle 10.

[0068] The communication unit 55 wirelessly communicates with other communication devices 120 via the communication IF 24. Other communication devices 120 include base stations, communication devices in other vehicles, and information terminals 60 such as smartphones and tablets that can be carried by users of the vehicle 10. The communication unit 55 transmits and receives information related to the remote movement of the vehicle 10 with the information terminals 60 and the like via the communication IF 24.

[0069] The outside world recognition unit 56 acquires outside world recognition data indicating recognition results of the outside of the vehicle 10 captured by the front camera 12Fr, the rear camera 12Rr, the left camera 12L, and the right camera 12R from each camera.

[0070] The control unit 57 performs remote parking assistance and remote exit assistance for the vehicle 10 using automatic steering. This automatic steering automatically operates the steering device 110 under the control of the control unit 57. During remote parking assistance and remote exit assistance, the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 are automatically operated. Furthermore, the control unit 57 performs assisted parking assistance and assisted exit assistance when the user (driver) manually parks or exits the vehicle 10 by operating the accelerator pedal, brake pedal, and operation input unit 14. During remote parking assistance and remote exit assistance, the user can be in the vehicle 10 or outside (not in the vehicle).

[0071] For example, the control unit 57 performs movement control to move the vehicle 10 based on the external recognition data of the vehicle 10 acquired by the front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R, and a specified parking space designated by the user. Movement control includes parking control for remotely parking the vehicle 10 in a specified parking space (parking position) and unloading control for remotely unloading the vehicle 10 from a parking space to a specified target location (unloading position). The control unit 57 performs parking control and unloading control based on instruction signals input via the input / output unit 50. These input instruction signals include instruction signals transmitted via wireless communication from an information terminal 60, etc., held by the user of the vehicle 10. Furthermore, the control unit 57 outputs information related to parking control and unloading control to the information terminal 60, etc., via the input / output unit 50.

[0072] Specifically, the control unit 57 controls the moving speed of the vehicle 10 during movement control using different control methods depending on the distance between the vehicle 10 and the information terminal 60. For example, when the distance between the vehicle 10 and the information terminal 60 is greater than a first predetermined value, the control unit 57 performs a first control method to control the moving speed of the vehicle 10 based on the communication status with the information terminal 60. Furthermore, when the distance between the vehicle 10 and the information terminal 60 is less than the first predetermined value, the control unit 57 performs a second control method to control the moving speed of the vehicle 10 based on external recognition data acquired by a camera or the like. The first predetermined value is, for example, the distance at which the face of the user holding the information terminal 60 becomes unrecognizable in the image captured by the camera. The control unit 57 switches the control of the moving speed of the vehicle 10 during movement control between the first and second control methods depending on the distance between the vehicle 10 and the information terminal 60. The "distance" between the vehicle 10 and the information terminal 60 is measured through wireless communication (e.g., UWB (Ultra Wide Band) communication) between the vehicle 10 and the information terminal 60.

[0073] For example, in the first control, the control unit 57 determines whether the vehicle 10 is in the first confirmation state in which the user can confirm the vehicle 10 based on the communication status with the information terminal 60 , and controls the moving speed of the vehicle 10 in the movement control based on the determination result.

[0074] In the first control, when the section between the vehicle 10 and the information terminal 60 is a straight section, the control unit 57 determines that the vehicle 10 is in the first confirmation state, in which the user can confirm the vehicle 10. The so-called straight section refers to, for example, the surrounding environment where the user carrying the information terminal 60 can directly see the location of the vehicle 10. The so-called surrounding environment that can be directly seen includes, for example, a state where there are no objects that hinder communication between the vehicle 10 and the information terminal 60. In addition, in the first control, when the information terminal 60 is facing the vehicle 10, the control unit 57 determines that the vehicle 10 is in the first confirmation state, in which the user can confirm the vehicle 10. The so-called facing refers to a state in which, based on the communication status with the information terminal 60, for example, the back of the information terminal 60 is facing the vehicle 10 when viewed from above, and it can be inferred that the user is looking at the vehicle 10.

[0075] If the control unit 57 determines that the vehicle 10 is in the first confirmation state during the first control, it increases the moving speed of the vehicle 10 during the movement control compared to when it is determined that the vehicle 10 is not in the first confirmation state. Furthermore, if the control unit 57 determines that the vehicle 10 is not in the first confirmation state, it issues a notification via the notification unit 58 urging the user to confirm the vehicle 10. Urging confirmation means, for example, urging the user to move to a location where the vehicle 10 can be directly seen or urging the user to look at the vehicle 10.

[0076] For example, in the second control, the control unit 57 determines whether the vehicle 10 is in the second confirmation state where the user is confirming the vehicle 10 based on the external recognition data obtained by the camera, etc., and controls the moving speed of the vehicle 10 in the movement control based on the determination result.

[0077] In the second control, if the control unit 57 detects a user based on the external recognition data, it determines that the vehicle 10 is in the second confirmation state, in which the user is confirming the vehicle 10. Detecting the user means, for example, detecting the user's face. The user's face refers to a face that can be used to determine that the user is confirming the vehicle 10. Confirmation can also be determined by, for example, whether the user's line of sight or face is facing the vehicle 10.

[0078] The control unit 57 controls the movement of the vehicle 10 while the information terminal 60 performs image authentication of the user. The control unit 57 receives the user's characteristic information obtained through image authentication from the information terminal 60 and detects the user in the second control based on the external recognition data and the user's characteristic information. The user's characteristic information includes, for example, the user's facial features, the user's clothing, and the user's hairstyle.

[0079] By detecting the user, the control unit 57 narrows the acquisition area of ​​external recognition data, such as from the camera, to locations where the user is located that match the stored characteristic information. For example, when detecting a person with a high degree of consistency with the characteristic information during object detection (person detection) based on the external recognition data (camera image), the control unit 57 then narrows the acquisition area to that person's surroundings to monitor the user's status. Alternatively, the control unit 57 may only detect people with a high degree of consistency with the user's characteristic information during object detection (person detection) based on the external recognition data (camera image).

[0080] If the control unit 57 determines that the vehicle 10 is in the second confirmation state during the second control, it increases the moving speed of the vehicle 10 during the movement control compared to when it is determined that the vehicle 10 is not in the second confirmation state. Furthermore, if the control unit 57 determines that the vehicle 10 is not in the second confirmation state, it issues a notification via the notification unit 58 urging the user to confirm the vehicle 10. Urging confirmation means, for example, urging the user to find (confirm) the vehicle 10 and to turn their face toward the vehicle 10.

[0081] In the first control, the control unit 57 determines whether the vehicle 10 is in the first confirmation state in which the user can confirm the vehicle 10 based on the state of communication with the information terminal 60. If the vehicle 10 is determined to be in the first confirmation state, the control unit 57 sets the moving speed of the vehicle 10 under movement control to the first speed, which is higher than when the vehicle 10 is determined not to be in the first confirmation state. Furthermore, in the second control, if the control unit 57 determines that the vehicle 10 is in the second confirmation state based on external recognition data acquired by a camera or the like, the control unit 57 sets the moving speed of the vehicle 10 under movement control to the second speed, which is higher than when the vehicle 10 is determined not to be in the second confirmation state and higher than the first speed in the first control.

[0082] In addition, in the movement control of the vehicle 10, when the distance between the vehicle 10 and an obstacle located around the vehicle 10 is greater than the second specified value, the control unit 57 increases the movement speed of the vehicle 10 in the movement control compared to the case where the distance between the vehicle 10 and the obstacle is less than the second specified value.

[0083] For example, when the notification unit 58 determines that the vehicle 10 is not in the first confirmation state in which the user can confirm the vehicle 10, the notification unit 58 issues a notification urging the user to confirm the vehicle 10. Furthermore, when the notification unit 58 determines that the vehicle 10 is not in the second confirmation state in which the user is currently confirming the vehicle 10, the notification unit 58 issues a notification urging the user to confirm the vehicle 10. This notification may be issued, for example, via the navigation device 18 of the vehicle 10 or via the user's information terminal 60.

[0084] The EPS system 22 includes a steering angle sensor 100 , a torque sensor 102 , an EPS motor 104 , a resolver 106 , and an EPS ECU 108 . The steering angle sensor 100 detects a steering angle θst of a steering device 110 . The torque sensor 102 detects a torque TQ applied to the steering device 110 .

[0085] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 connected to the steering system 110, thereby assisting the occupant in steering the vehicle 110 and performing automatic steering during parking assistance. The resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for overall control of the EPS system 22. The EPS ECU 108 includes an input / output unit (not shown), a computing unit (not shown), and a storage unit (not shown).

[0086] The communication IF 24 can perform wireless communication with other communication devices 120. For example, the communication IF 24 includes a UWB interface that can perform UWB communication with the information terminal 60.

[0087] The driving force control system 26 includes a driving ECU 130 . The driving force control system 26 controls the driving force of the vehicle 10 . The driving ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like based on user operation of an accelerator pedal (not shown).

[0088] The braking force control system 28 includes a brake ECU 132. The braking force control system 28 controls the braking force of the vehicle 10. The brake ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like based on user operation of a brake pedal (not shown).

[0089] <Hardware Configuration of User's Information Terminal 60>

[0090] Figure 4 1 is a diagram showing an example of the hardware configuration of an information terminal 60 owned by a user of the vehicle 10. The information terminal 60 includes a processor 61, a memory 62, a communication interface 63, and a user interface 64. The processor 61, the memory 62, the communication interface 63, and the user interface 64 are connected via a bus 65, for example.

[0091] The processor 61 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) responsible for overall control of the information terminal 60. Alternatively, the processor 61 may be implemented using other digital circuits, such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). Furthermore, the processor 61 may be implemented by combining multiple digital circuits.

[0092] The memory 62 includes, for example, a main memory and an auxiliary memory. The main memory is, for example, a RAM (Random Access Memory). The main memory is used as a work area for the processor 61 .

[0093] The auxiliary memory is a non-volatile memory such as a magnetic disk, an optical disk, or a flash memory. Various programs for operating the information terminal 60 are stored in the auxiliary memory. The programs stored in the auxiliary memory are loaded into the main memory and executed by the processor 61.

[0094] Furthermore, the auxiliary memory may include a portable memory that is detachable from the information terminal 60. Portable memories include USB (Universal Serial Bus) flash drives, memory cards such as SD (Secure Digital) memory cards, and external hard disk drives.

[0095] The communication interface 63 is a communication interface for wireless communication with the outside of the information terminal 60 (eg, the communication IF 24 of the vehicle 10 ). For example, the communication interface 63 includes a UWB interface for UWB communication with the vehicle 10 . The communication interface 63 is controlled by the processor 61 .

[0096] The user interface 64 includes, for example, an input device for receiving user input and an output device for outputting information to the user. The input device can be implemented, for example, by a touch panel. The output device can be implemented, for example, by a display, a speaker, etc. The user interface 64 is controlled by the processor 61.

[0097] The processor 61 performs movement instruction control to instruct the movement of the vehicle 10. For example, the processor 61 performs movement instruction control (including parking instruction control and unloading instruction control) for the vehicle 10 based on specific user operations on the display screen of the information terminal 60. Specific operations include, for example, tap operations for instructing parking and unloading (calling) the vehicle 10, and slide operations for moving the vehicle 10. Slide operations include continuous position indication operations (e.g., swipe operations) and rotation indication operations in a predetermined rotation direction (e.g., rotational swipe operations). Furthermore, the processor 61 controls the generation of a guidance image that urges the user to perform instruction operations on the display screen of the information terminal 60, and displays the generated guidance image on the display screen.

[0098] Processor 61 transmits a parking instruction for remote parking of vehicle 10 and a remote unloading instruction for remote unloading of vehicle 10 to vehicle 10 based on a specific operation performed on the display screen of information terminal 60. Information terminal 60 is installed with an application that can automatically move vehicle 10 (remote parking, remote unloading) by transmitting and receiving information related to the movement control of vehicle 10 with vehicle 10.

[0099] <Processing by Information Terminal 60>

[0100] Figure 5 This is a flowchart showing an example of processing of the information terminal 60 when the vehicle 10 leaves the garage.

[0101] The information terminal 60 (processor 61) determines whether the user has called the vehicle 10 to the depot (step S11). The call to the vehicle 10 is executed by starting the application for remote depotting the vehicle 10 installed on the information terminal 60 and clicking the execution button.

[0102] If a call is not made in step S11 (step S11: No), the information terminal 60 repeats the determination process of step S11. If a call is made in step S11 (step S11: Yes), the information terminal 60 performs user authentication using the facial authentication system (step S12). User authentication obtains user feature information from a facial image captured by the camera of the information terminal 60 and determines whether the user is registered as a user of the vehicle 10 based on the acquired feature information.

[0103] Next, the information terminal 60 begins transmitting movement instructions to the vehicle 10 based on user operations on the display screen of the information terminal 60 (step S13). As described above, user operations include tapping, swiping, and rotary swiping operations. For example, the information terminal 60 continues transmitting movement instruction signals while the user's rotary swiping operation continues, and stops transmitting movement instruction signals (or may send a stop instruction) when the user stops the operation. Figure 6 Describes user actions on the display.

[0104] Next, the information terminal 60 determines whether the vehicle 10 has arrived at the departure location from which the vehicle 10 is called, that is, the calling location (step S14 ).

[0105] In step S14 , if the call location has not been reached (step S14 : No), the information terminal 60 repeats the determination process of step S14 . In step S14 , if the call location has been reached (step S14 : Yes), the information terminal 60 ends this process.

[0106] <Display Screen of Information Terminal 60>

[0107] Figure 6 66 of the information terminal 60. The call instruction screen 67 is displayed on the display screen 66 of the information terminal 60. Figure 5 This is an example of a screen displayed in step S13 of FIG. The user can call the vehicle 10 to the delivery position by performing a specific operation on the call instruction screen 67 .

[0108] like Figure 6 As shown, a message 67a, such as "Calling a vehicle.", is displayed on the call instruction screen 67. Furthermore, a guidance message 67b is displayed on the call instruction screen 67, such as "Rotary swipe to move the vehicle. Release your finger to stop." Furthermore, a move icon 67c is displayed on the call instruction screen 67, for example, which moves according to the user's touch position during the rotary swipe operation.

[0109] <Handling of Vehicle 10>

[0110] Figure 7 This is a flowchart showing an example of the processing of the vehicle 10 when leaving the garage.

[0111] The vehicle 10 (control ECU 20 ) determines whether a movement instruction to leave the vehicle 10 has been received from the information terminal 60 (step S21 ).

[0112] In step S21, if no movement instruction is received from the information terminal 60 (step S21: No), the vehicle 10 repeats the judgment process of step S21. In step S21, if a movement instruction is received from the information terminal 60 (step S21: Yes), the vehicle 10 starts movement control corresponding to the user operation at a movement speed V11 (step S22). Figure 5As described in step S13 , the user operation includes specific operations such as a tap operation, a swipe operation, and a rotation swipe operation. The vehicle 10 stops movement control when it cannot receive a movement instruction from the information terminal 60 or when it receives a stop instruction from the information terminal 60 .

[0113] Next, the vehicle 10 acquires the distance between the vehicle 10 and the information terminal 60 (step S23 ). The distance between the vehicle 10 and the information terminal 60 is measured by UWB communication with the information terminal 60 .

[0114] The vehicle 10 determines whether the distance between the vehicle 10 and the information terminal 60 acquired in step S23 is equal to or greater than a predetermined value (step S24 ).

[0115] In step S24, if the distance between vehicle 10 and information terminal 60 is greater than a predetermined value (step S24: Yes), vehicle 10 determines its relative position based on the communication status with information terminal 60 (step S25). Determining relative position based on the communication status means determining whether the vehicle 10 is in a state where the user holding information terminal 60 can confirm the vehicle 10 (a first confirmation state) based on the communication status with information terminal 60. The first confirmation state includes, for example, when the distance between vehicle 10 and information terminal 60 is a straight line or when information terminal 60 is facing vehicle 10 (where it can be inferred that the user is looking at vehicle 10). This relative position determination can be performed, for example, using UWB communication functionality. Alternatively, this relative position determination can be performed using a three-dimensional sensor such as LiDAR in addition to or in place of UWB communication.

[0116] Next, vehicle 10 performs a first control to move vehicle 10 at a speed corresponding to the determination result of step S25 (step S26). Specifically, when vehicle 10 is in the first confirmed state relative to information terminal 60, the speed of vehicle 10 during the movement control is increased compared to when the vehicle 10 is not in the first confirmed state.

[0117] Then, the vehicle 10 returns to step S23 and repeats each process.

[0118] On the other hand, if the distance between vehicle 10 and information terminal 60 is not greater than the specified value in step S24 (step S24: No), vehicle 10 determines the relative position using the onboard camera (step S27). Determining the relative position using the onboard camera determines whether the vehicle 10 is in a state where a user is checking the vehicle (a second checking state) based on external recognition data acquired by the camera. The second checking state refers to, for example, when the user's face is detected based on the external recognition data. Furthermore, to identify the user of information terminal 60, information pre-stored as user feature points may be used.

[0119] Next, vehicle 10 performs a second control to move vehicle 10 at a speed corresponding to the determination result of step S27 (step S28). Specifically, when vehicle 10 is in the second confirmation state relative to information terminal 60, the speed of vehicle 10 during the movement control is increased compared to when the vehicle 10 is not in the second confirmation state.

[0120] Next, the vehicle 10 determines whether it has reached the dispatch location called by the information terminal 60, i.e., the called location (step S29). If the vehicle has not reached the called location in step S29 (step S29: No), the vehicle 10 returns to step S27 and repeats the process. If the vehicle has reached the called location in step S29 (step S29: Yes), the vehicle 10 ends the process.

[0121] <First Control of Movement Speed>

[0122] Figure 8 This is a flowchart showing an example of the first control of the moving speed according to the judgment result. Figure 7 The control in step S26 is performed.

[0123] First, the vehicle 10 determines whether the section between the vehicle 10 and the information terminal 60 is a straight section (step S31). In step S31, if the section between the vehicle 10 and the information terminal 60 is a straight section (step S31: Yes), the vehicle 10 sets the correction value A1 for adjusting the vehicle 10's moving speed to A1 = 1 [km / h] (step S32). In step S31, if the section between the vehicle 10 and the information terminal 60 is not a straight section (step S31: No), the vehicle 10 sets the correction value A1 for adjusting the vehicle 10's moving speed to A1 = 0 [km / h] (step S33).

[0124] After setting correction value A1 in step S32 or step S33, vehicle 10 determines whether information terminal 60 is facing vehicle 10 (whether it can be inferred that the user is looking at vehicle 10) (step S34). In step S34, if information terminal 60 is facing vehicle 10 (step S34: Yes), vehicle 10 sets correction value A2 for adjusting vehicle 10's moving speed to A2 = 1 [km / h] (step S35). In step S34, if information terminal 60 is not facing vehicle 10 (step S34: No), vehicle 10 sets correction value A2 for adjusting vehicle 10's moving speed to A2 = 0 [km / h] (step S36).

[0125] After the correction value A2 is set in step S35 or step S36, the vehicle 10 sets the moving speed V01 of the vehicle 10 to V01 = V11 + A1 + A2 (step S37). V11 is Figure 7 The moving speed of the vehicle 10 started in step S22.

[0126] Secondary Movement Speed ​​Control

[0127] Figure 9 This is a flowchart showing an example of the second control of the moving speed according to the judgment result. Figure 7 The control in step S28.

[0128] First, the vehicle 10 determines whether a user has been detected (step S41). Detecting a user means that the user's face is detected looking toward the vehicle 10 based on the external recognition data. In step S41, if a user has been detected (step S41: Yes), the vehicle 10 sets the correction value A3 used to adjust the vehicle's moving speed to A3 = 1 [km / h] (step S42). In step S41, if a user has not been detected (step S41: No), the vehicle 10 sets the correction value A3 used to adjust the vehicle's moving speed to A3 = 0 [km / h] (step S43).

[0129] After setting the correction value A3 in step S42 or step S43, the vehicle 10 sets its moving speed V02 to V02 = V12 + A3 (step S44). V12 may be the same as or different from V11. Here, V01 < V02, i.e., V11 + A1 + A2 < V12 + A3.

[0130] <Calls from vehicles in parking lots>

[0131] Next, refer to Figures 10 to 12 , the call to the vehicle in parking lot 70 is explained.

[0132] Figure 10 This diagram illustrates an example of a user calling a vehicle in the call initiation state. User U1 attempts to call their own vehicle V1, which is parked in a parking lot 70, to their location using their information terminal 60. In addition to user U1's own vehicle V1, several other vehicles V2 are parked in parking lot 70. When an application for remote unloading of their own vehicle V1 is activated on information terminal 60, user U1's facial recognition is performed by the camera on information terminal 60, and remote unloading of their own vehicle V1 begins in response to their operation. Their own vehicle V1 is an example of a "mobile object" in the present invention.

[0133] Figure 11 This diagram shows an example of an exit path for vehicle V1. When vehicle V1 receives an exit movement instruction from information terminal 60, it generates an exit path 73 from its parking position 71 to the requested exit position 72 based on external recognition data acquired by a camera, etc., and controls the movement of vehicle V1 based on the generated exit path 73.

[0134] When the distance between the host vehicle V1 and the information terminal 60 is, for example, a distance (above a first predetermined value) at which the face of the user U1 cannot be recognized through a camera image, the host vehicle V1 performs a first control for controlling the moving speed based on the communication status with the information terminal 60. During the first control, when the host vehicle V1 is in a first confirmation state in which the user U1 can confirm the host vehicle V1, for example, when the section between the host vehicle V1 and the information terminal 60 is a straight section, the moving speed of the host vehicle V1 is set to a first speed that is faster than when the host vehicle V1 is not in the first confirmation state.

[0135] Furthermore, when the distance between the host vehicle V1 and the information terminal 60 is, for example, such that the face of the user U1 can be recognized using a camera image (less than a first predetermined value), the host vehicle V1 performs a second control for controlling the moving speed based on external recognition data acquired by a camera, etc. During the second control, when the host vehicle V1 is in a second confirmation state in which the user U1 is confirming the host vehicle V1, for example, when it can be determined based on the external recognition data that the face of the user U1 is facing the direction of the host vehicle V1, the moving speed of the host vehicle V1 is set to a second speed that is faster than when the host vehicle V1 is not in the second confirmation state and faster than the first speed during the first control.

[0136] Figure 12 This figure shows an example of a state where the call of the own vehicle V1 is completed. The own vehicle V1 switches between the first control and the second control for controlling the moving speed of the own vehicle V1 in the movement control based on the distance between the own vehicle V1 and the information terminal 60, and moves to the outbound position 72 (see FIG. Figure 11 ).

[0137] As described above, the control device (control ECU 20) of this embodiment performs first control, which controls the moving speed of the host vehicle V1 during unloading control (movement control), based on the communication status, when the distance between the host vehicle V1 (vehicle 10) parked in the parking lot 70 and the information terminal 60 held by the user U1 is greater than a first predetermined value. If the distance between the host vehicle V1 and the information terminal 60 is less than the first predetermined value, the control device performs second control, which controls the moving speed of the vehicle 10 during unloading control based on external identification data. Therefore, by appropriately controlling the distance between the host vehicle V1 and the information terminal 60 along the movement path, the moving speed of the host vehicle V1 can be varied, enabling efficient movement control of the vehicle 10 while ensuring safety. This reduces the time required to move the host vehicle V1 to the unloading position, even when the host vehicle V1 is parked in a large parking lot 70 with a long movement path. Furthermore, it reduces the time required for the user U1 to operate the information terminal 60 to unload the host vehicle V1.

[0138] Furthermore, when the distance between the host vehicle V1 and the information terminal 60 is greater than a first predetermined value, the control device of this embodiment determines whether the host vehicle V1 is in a first confirmation state, in which the user U1 can confirm the host vehicle V1, based on the state of communication with the information terminal 60. If the host vehicle V1 is in the first confirmation state, the control device increases the moving speed of the host vehicle V1 compared to when the host vehicle V1 is not in the first confirmation state. Furthermore, when the distance between the host vehicle V1 and the information terminal 60 is less than the first predetermined value, the control device determines whether the host vehicle V1 is in a second confirmation state, in which the user U1 is confirming the host vehicle V1, based on external recognition data acquired by the host vehicle V1's camera. If the host vehicle V1 is in the second confirmation state, the control device increases the moving speed of the host vehicle V1 compared to when the host vehicle V1 is not in the second confirmation state. This allows the host vehicle V1's moving speed to be appropriately controlled regardless of whether the distance between the host vehicle V1 and the information terminal 60 is greater than the first predetermined value or less than the first predetermined value, enabling efficient movement control of the host vehicle V1 to, for example, a delivery location while ensuring safety.

[0139] Furthermore, the control device of this embodiment determines that the user U1 is in a first confirmation state, allowing the user U1 to confirm the vehicle V1, when the distance between the host vehicle V1 and the information terminal 60 is greater than a first predetermined value, when the distance between the host vehicle V1 and the information terminal 60 is a straight line and the host vehicle V1 is directly visible from the information terminal 60, or when the information terminal 60 is facing the host vehicle V1 (which indicates that the user U1 is presumably looking at the host vehicle V1). This allows the control device to appropriately control the movement speed of the host vehicle V1, ensuring safety while efficiently controlling the movement of the host vehicle V1, such as to a pickup location.

[0140] Furthermore, when the distance between the host vehicle V1 and the information terminal 60 is less than a first predetermined value, the control device of this embodiment determines that the host vehicle V1 is in the second confirmation state, in which the user U1 is confirming and looking at the host vehicle V1, based on the external recognition data. Therefore, the moving speed of the host vehicle V1 can be appropriately controlled, and the movement of the host vehicle V1 can be efficiently controlled to, for example, a departure location while ensuring safety.

[0141] Furthermore, the control device of this embodiment sets the second speed of vehicle 10 during the second control when the distance between host vehicle V1 and information terminal 60 is less than a first predetermined value to a higher speed than the first speed of vehicle 10 during the first control when the distance is greater than the first predetermined value. This allows the moving speed of host vehicle V1 to be appropriately set according to the distance between host vehicle V1 and information terminal 60, enabling efficient movement control of the moving object while ensuring safety.

[0142] <Modification of the Processing of Information Terminal 60>

[0143] Figure 13 This is a flowchart showing a modified example of the processing of the information terminal 60 when the vehicle 10 leaves the garage. First, the information terminal 60 (processor 61) and Figure 5 Similarly to the process of step S11 in FIG. 1 , it is determined whether the user has called the vehicle 10 to the delivery position (step S11 ).

[0144] In step S11 , when a call is made (step S11 : YES), the information terminal 60 performs user authentication using a facial authentication system and transmits user feature information acquired through the user authentication to the vehicle 10 (step S121 ).

[0145] The processing from step S13 to step S14 is the same as Figure 5 The processing from step S13 to step S14 is the same.

[0146] <Modification of the Processing of Vehicle 10>

[0147] Figure 14 This is a flowchart showing a modified example of the process of the vehicle 10 when leaving the garage. In the process of the modified example, first, the vehicle 10 (control ECU 20) receives the user's characteristic information transmitted from the information terminal 60 (step S211).

[0148] The processing from step S21 to step S26 is the same as Figure 7 The processing from step S21 to step S26 is the same.

[0149] If the distance between the vehicle 10 and the information terminal 60 is not greater than the predetermined value in step S24 (step S24: No), the vehicle 10 determines the relative position using the vehicle-mounted camera based on the user's feature information received in step S211 (step S271). Figure 7 As described in step S27, determining relative position using the vehicle-mounted camera determines whether the user is currently checking vehicle 10 (a second checking state) based on the external recognition data acquired by the camera. The second checking state refers to, for example, a situation where the user's face is detected looking toward vehicle 10 based on the external recognition data. Therefore, using user feature information means superimposing the user's feature information with the external recognition data to accurately determine whether the user holding information terminal 60 is the intended communication partner.

[0150] The processing from step S28 to step S29 is the same as Figure 7 The processing from step S28 to step S29 is the same.

[0151] Thus, according to this modified example of the processing of vehicle 10, in the second control for controlling the moving speed of vehicle 10 based on external recognition data, whether the vehicle 10 is in the second confirmation state, in which the user is currently confirming the vehicle, is determined based on the external recognition data and the user's characteristic information acquired through image authentication on information terminal 60. This makes it possible to more accurately determine whether the target user is currently confirming the vehicle 10, and to efficiently control the movement of the moving object while ensuring safety.

[0152] <Modification of the First Control of Moving Speed>

[0153] Figure 15 1 is a flowchart showing a modified example of the first control of the moving speed according to the judgment result. The processing of steps S31 to S33 is the same as that of Figure 8 The processing from step S31 to step S33 in is the same.

[0154] After setting the correction value A1 to A1 = 0 [km / h] in step S33, vehicle 10 transmits a notification urging the user to confirm the called vehicle 10 to the information terminal 60 (user) (step S331). The notification urging the user to confirm the call may, for example, be a notification urging the user to move to a location where they can directly see vehicle 10. After transmitting the notification urging the user to confirm the call, vehicle 10 proceeds to step S34.

[0155] The processing of steps S34 to S36 is the same as Figure 8 The processing from step S34 to step S36 is the same.

[0156] After setting the correction value A2 to A2 = 0 [km / h] in step S36, the vehicle 10 sends a notification to the information terminal 60 (user) urging confirmation of the vehicle 10 (step S361). The notification urging confirmation is, for example, a notification urging the user to look at the vehicle 10. After the notification urging confirmation of the vehicle 10 is sent, the vehicle 10 proceeds to step S37. The processing of step S37 is the same as Figure 8 The processing is the same as step S37 in .

[0157] <Modification of the Second Control of Moving Speed>

[0158] Figure 16 4 is a flowchart showing a modified example of the second control of the moving speed according to the judgment result. The processing from step S41 to step S43 is the same as Figure 9 The processing from step S41 to step S43 is the same.

[0159] After setting the correction value A3 to A3 = 0 [km / h] in step S43, the vehicle 10 sends a notification to the information terminal 60 (user) urging the user to confirm the called vehicle 10 (step S431). The notification urging the user to confirm the vehicle 10 is, for example, a notification urging the user to find the vehicle 10 and to look towards the vehicle 10. After the vehicle 10 sends the notification urging the user to confirm the vehicle 10, the process proceeds to step S44. The processing of step S44 is the same as Figure 9 The processing of step S44 in is the same.

[0160] <Display Screen of Information Terminal 60>

[0161] Figure 17 66 of the information terminal 60. The vehicle confirmation notification screen 68 is a diagram showing an example of a vehicle confirmation notification screen 68 displayed on the display screen 66 of the information terminal 60. Figure 15 Steps S331, S361 and Figure 16 An example of the screen displayed in step S431.

[0162] like Figure 17As shown, a message 68a is displayed on the vehicle confirmation notification screen 68, such as "Please confirm the vehicle to increase the moving speed. If you cannot see the vehicle, please move to a place where you can see the vehicle." In addition, the vehicle confirmation notification screen 68 also displays a guidance message 67b, which is displayed during the call of the vehicle 10, such as "Move the vehicle by rotating and swiping. Release your finger to stop." and a movement icon 67c that moves according to the user's touch position during the rotary swiping operation.

[0163] According to the modified examples of the first and second control of the moving speed, when the control device determines that the user cannot confirm the vehicle 10 during the first control for controlling the moving speed of the vehicle 10 based on the communication status, or when the control device determines that the user is not confirming the vehicle 10 during the second control for controlling the moving speed of the vehicle 10 based on the external recognition data, the control device issues a notification urging the user to confirm the vehicle 10. This allows the user to be guided to bring the status of the user and the moving object into the first confirmation state or the second confirmation state, thereby enabling efficient movement control of the moving object while ensuring safety.

[0164] In addition, the control method described in the aforementioned embodiment can be implemented by executing a pre-prepared control program by a computer. This control program is recorded in a computer-readable storage medium and is executed by reading it from the storage medium. In addition, this control program can be provided in the form of a non-temporary storage medium such as a flash memory, or can be provided via a network such as the Internet. The computer that executes this control program can be included in a control device, or in an electronic device such as a smartphone, tablet terminal, or personal computer that can communicate with the control device, or in a server device that can communicate with these control devices and electronic devices.

[0165] As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, and it can make deformation|transformation, improvement, etc. as needed.

[0166] In the above embodiments, the mobile object is described as a vehicle (a four-wheeled automobile), but the present invention is not limited to this. For example, a two-wheeled vehicle, a Segway, or the like may also be used. Furthermore, the concept of the present invention is not limited to vehicles and can also be applied to robots, ships, aircraft, and the like that have a drive source and can be moved by the power of the drive source.

[0167] In addition, at least the following matters are described in this specification: Although corresponding components and the like in the above-mentioned embodiment are shown in brackets, the present invention is not limited thereto.

[0168] (1) A control device is a control device (control ECU 20 ) of a mobile object (vehicle 10 ), wherein:

[0169] The control device comprises:

[0170] a communication unit (communication unit 55 ) for communicating with an information terminal held by a user of the mobile object;

[0171] an external recognition unit (external recognition unit 56 ) that acquires external recognition data of the mobile object; and

[0172] a control unit (control unit 57) for controlling the movement of the mobile body based on an instruction from the information terminal,

[0173] The control unit switches between a first control and a second control based on the distance between the mobile body and the information terminal. In the first control, the moving speed of the mobile body in the mobile control is controlled based on the communication status, and in the second control, the moving speed of the mobile body in the mobile control is controlled based on the external identification data.

[0174] According to (1), the present invention can switch the control of the moving speed of the moving object between control based on the communication status and control based on external identification data according to the distance between the moving object and the information terminal in the moving path. Therefore, the moving speed of the moving object can be appropriately controlled in the interval corresponding to the distance, and the movement of the moving object can be efficiently controlled while ensuring safety.

[0175] (2) The control device according to (1), wherein:

[0176] The control unit performs the first control when the distance is equal to or greater than a first predetermined value, and performs the second control when the distance is less than the first predetermined value.

[0177] According to (2), when the distance between the mobile object and the information terminal is greater than a first predetermined value, the moving speed of the mobile object is controlled by a first control based on the communication state. When the distance is less than the first predetermined value, the moving speed of the mobile object is controlled by a second control based on the external identification data. Therefore, the moving speed of the mobile object can be appropriately controlled according to the distance between the mobile object and the information terminal, and the movement of the mobile object can be efficiently controlled while ensuring safety.

[0178] (3) The control device according to (1) or (2), wherein:

[0179] In the first control, the control unit determines whether the mobile object is in a first confirmation state in which the user can confirm the mobile object based on the communication state, and controls the moving speed of the mobile object in the movement control based on the determination result of whether the mobile object is in the first confirmation state.

[0180] According to (3), when the distance between the mobile object and the information terminal is greater than the first predetermined value, it is possible to determine whether the user can confirm the mobile object based on the communication status, and to control the moving speed of the mobile object. Therefore, when the distance between the mobile object and the information terminal is greater than the first predetermined value, the moving speed of the mobile object can be appropriately controlled, thereby ensuring safety while efficiently controlling the movement of the mobile object.

[0181] (4) The control device according to (3), wherein:

[0182] In the first control, the control unit increases the moving speed of the moving object in the movement control when it is determined that the moving object is in the first confirmation state, compared to when it is determined that the moving object is not in the first confirmation state.

[0183] As described in (4), when the distance between the mobile object and the information terminal is greater than the first predetermined value, the moving speed of the mobile object is increased when the user can confirm the mobile object, thereby enabling efficient movement control of the mobile object while ensuring safety.

[0184] (5) The control device according to (3) or (4), wherein:

[0185] When the section between the mobile object and the information terminal is a straight section, the control unit determines that the mobile object is in the first confirmation state.

[0186] As described in (5), in order for the user to be able to confirm the state of the moving object, it is preferable that the section between the moving object and the information terminal is a straight section.

[0187] (6) The control device according to any one of (3) to (5), wherein:

[0188] The control unit determines that the information terminal is in the first confirmation state when the information terminal is facing the mobile object.

[0189] As described in (6), as a state in which the user can confirm the moving object, it is preferable that the information terminal is directed toward the moving object.

[0190] (7) The control device according to any one of (3) to (6), wherein:

[0191] The control unit issues a notification urging the user to confirm the moving object when determining that the moving object is not in the first confirmation state.

[0192] As described in (7), by notifying the user to urge him to confirm the moving object, the state of the user and the moving object can be brought into the first confirmation state, thereby enabling efficient movement control of the moving object while ensuring safety.

[0193] (8) The control device according to any one of (1) to (7), wherein:

[0194] In the second control, the control unit determines whether the user is confirming the moving object based on the external recognition data, and controls the moving speed of the moving object in the movement control based on the determination result of whether the user is confirming the moving object in the second confirmation state.

[0195] According to (8), when the distance between the mobile object and the information terminal is less than the first specified value, it is possible to determine whether the user is confirming the mobile object based on the external recognition data, and to control the moving speed of the mobile object. Therefore, when the distance between the mobile object and the information terminal is less than the first specified value, the moving speed of the mobile object can be appropriately controlled, thereby ensuring safety while efficiently controlling the movement of the mobile object.

[0196] (9) The control device according to (8), wherein:

[0197] In the second control, when the control unit determines that the moving object is in the second confirmation state, the control unit increases the moving speed of the moving object in the movement control compared to when the control unit determines that the moving object is not in the second confirmation state.

[0198] As described in (9), when the distance between the mobile object and the information terminal is less than the first predetermined value, the moving speed of the mobile object is increased while the user is checking the state of the mobile object, thereby enabling efficient movement control of the mobile object while ensuring safety.

[0199] (10) The control device according to (8) or (9), wherein:

[0200] In the second control, the control unit determines that the user is in the second confirmation state when the user is detected based on the external recognition data.

[0201] As described in (10), as the state in which the user is confirming the moving object, it is preferable to be able to detect the state of the user based on the outside world recognition data.

[0202] (11) The control device according to (10), wherein:

[0203] The control unit performs the movement control in a state where the image authentication of the user is performed in the information terminal,

[0204] The control unit receives the feature information of the user acquired in the image authentication from the information terminal,

[0205] In the second control, the control unit detects the user based on the external recognition data and the feature information of the user.

[0206] According to (11), by detecting the user based on external identification data and the user's characteristic information, the user can be identified more quickly and accurately, and the movement of the mobile object can be efficiently controlled while ensuring safety.

[0207] (12) The control device according to any one of (8) to (11), wherein:

[0208] The control unit issues a notification urging the user to confirm the moving object when determining that the moving object is not in the second confirmation state.

[0209] As described in (12), by notifying the user to urge confirmation of the moving object, the state of the user and the moving object can be brought into the second confirmation state, thereby enabling efficient movement control of the moving object while ensuring safety.

[0210] (13) The control device according to any one of (8) to (12), wherein:

[0211] The control unit determines, in the first control, based on the state of the communication, whether the mobile body is in a first confirmation state in which the user can confirm the mobile body, and, if it is determined that the mobile body is in the first confirmation state, sets the moving speed of the mobile body in the movement control to a first speed higher than that in the case where it is determined that the mobile body is not in the first confirmation state.

[0212] In the second control, when the control unit determines that the moving object is in the second confirmation state, the control unit sets the moving speed of the moving object in the movement control to a second speed that is higher than when it is determined that the moving object is not in the second confirmation state and higher than the first speed.

[0213] As described in (13), by making the second speed of the moving body in the second control when the distance between the moving body and the information terminal is less than the first specified value higher than the first speed of the moving body in the first control when the distance is greater than the first specified value, the speed of the moving body can be appropriately controlled according to the distance, and the movement of the moving body can be efficiently controlled while ensuring safety.

[0214] (14) The control device according to any one of (1) to (13), wherein:

[0215] The control unit increases the moving speed of the moving body in the movement control when the distance between the moving body and the obstacle is greater than a second specified value, compared with a case where the distance between the moving body and the obstacle is less than the second specified value.

[0216] As described in (14), it is preferable to increase the moving speed of the moving object when the distance between the moving object and the obstacle is large.

[0217] (15) A control method for a control device for a mobile body, wherein the control device comprises: a communication unit for communicating with an information terminal carried by a user of the mobile body; an external recognition unit for acquiring external recognition data of the mobile body; and a control unit for controlling movement of the mobile body based on an instruction from the information terminal.

[0218] The control method causes the control unit to perform the following processing:

[0219] Switching is performed between a first control and a second control based on the distance between the mobile body and the information terminal. In the first control, the moving speed of the mobile body in the mobile control is controlled based on the state of the communication. In the second control, the moving speed of the mobile body in the mobile control is controlled based on the external identification data.

[0220] According to (15), the present invention can switch the control of the moving speed of the moving object between control based on the communication status and control based on external identification data according to the distance between the moving object and the information terminal in the moving path. Therefore, the moving speed of the moving object can be appropriately controlled in the interval corresponding to the distance, and the movement of the moving object can be efficiently controlled while ensuring safety.

[0221] (16) A control program product comprising a control program for a control device for a mobile object, wherein the control device comprises: a communication unit for communicating with an information terminal carried by a user of the mobile object; an external recognition unit for acquiring external recognition data of the mobile object; and a control unit for controlling movement of the mobile object based on an instruction from the information terminal.

[0222] The control program causes the control unit to execute the following processing:

[0223] Switching is performed between a first control and a second control based on the distance between the mobile body and the information terminal. In the first control, the moving speed of the mobile body in the mobile control is controlled based on the state of the communication. In the second control, the moving speed of the mobile body in the mobile control is controlled based on the external identification data.

[0224] According to (16), the present invention can switch the control of the moving speed of the moving object between control based on the communication status and control based on external identification data according to the distance between the moving object and the information terminal in the moving path. Therefore, the moving speed of the moving object can be appropriately controlled in the interval corresponding to the distance, and the movement of the moving object can be efficiently controlled while ensuring safety.

Claims

1. A control device, which is a control device for a mobile body, wherein: The control device comprises: a communication unit that communicates with an information terminal held by a user of the mobile object; an external recognition unit that acquires external recognition data of the mobile object; and a control unit that controls the movement of the mobile body based on an instruction from the information terminal, The control unit switches between a first control and a second control based on the distance between the mobile body and the information terminal. In the first control, the moving speed of the mobile body in the mobile control is controlled based on the communication status, and in the second control, the moving speed of the mobile body in the mobile control is controlled based on the external identification data.

2. The control device according to claim 1, wherein: The control unit performs the first control when the distance is equal to or greater than a first predetermined value, and performs the second control when the distance is less than the first predetermined value.

3. The control device according to claim 1, wherein: In the first control, the control unit determines whether the user is in a first confirmation state in which the moving object can be confirmed based on the communication, and controls the moving speed of the moving object in the movement control based on the determination result of whether the moving object is in the first confirmation state.

4. The control device according to claim 3, wherein: In the first control, the control unit increases the moving speed of the moving object in the movement control when it is determined that the moving object is in the first confirmation state, compared to when it is determined that the moving object is not in the first confirmation state.

5. The control device according to claim 3, wherein: When the section between the mobile object and the information terminal is a straight section, the control unit determines that the mobile object is in the first confirmation state.

6. The control device according to claim 3, wherein: The control unit determines that the information terminal is in the first confirmation state when the information terminal is facing the mobile object.

7. The control device according to claim 3, wherein: The control unit issues a notification urging the user to confirm the moving object when determining that the moving object is not in the first confirmation state.

8. The control device according to claim 1, wherein: In the second control, the control unit determines whether the user is confirming the moving object based on the external recognition data, and controls the moving speed of the moving object in the movement control based on the determination result of whether the user is confirming the moving object in the second confirmation state.

9. The control device according to claim 8, wherein: In the second control, when the control unit determines that the moving object is in the second confirmation state, the control unit increases the moving speed of the moving object in the movement control compared to when the control unit determines that the moving object is not in the second confirmation state.

10. The control device according to claim 8, wherein: In the second control, the control unit determines that the user is in the second confirmation state when the user is detected based on the external recognition data.

11. The control device according to claim 10, wherein: The control unit performs the movement control in a state where the image authentication of the user is performed in the information terminal, The control unit receives the feature information of the user acquired in the image authentication from the information terminal, In the second control, the control unit detects the user based on the external recognition data and the feature information of the user.

12. The control device according to claim 8, wherein: The control unit issues a notification urging the user to confirm the moving object when determining that the moving object is not in the second confirmation state.

13. The control device according to claim 8, wherein: The control unit determines, in the first control, based on the communication, whether the mobile body is in a first confirmation state in which the user can confirm the mobile body, and, if it is determined that the mobile body is in the first confirmation state, sets the moving speed of the mobile body in the movement control to a first speed higher than that in a case where it is determined that the mobile body is not in the first confirmation state. In the second control, when the control unit determines that the moving object is in the second confirmation state, the control unit sets the moving speed of the moving object in the movement control to a second speed that is higher than when it is determined that the moving object is not in the second confirmation state and higher than the first speed.

14. The control device according to any one of claims 1 to 13, wherein: In the movement control of the moving body, the control unit increases the movement speed of the moving body in the movement control when the distance between the moving body and the obstacle is greater than a second specified value, compared with a case where the distance between the moving body and the obstacle is less than the second specified value.

15. A control method for a control device of a mobile object, wherein: The control device includes: a communication unit that communicates with an information terminal carried by a user of the mobile body; an external recognition unit that acquires external recognition data of the mobile body; and a control unit that controls the movement of the mobile body based on an instruction from the information terminal. The control method causes the control unit to perform the following processing: Switching is performed between a first control and a second control based on the distance between the mobile body and the information terminal. In the first control, the moving speed of the mobile body in the mobile control is controlled based on the state of the communication. In the second control, the moving speed of the mobile body in the mobile control is controlled based on the external identification data.

16. A control program product comprising a control program for a control device of a mobile object, wherein: The control device includes: a communication unit that communicates with an information terminal carried by a user of the mobile body; an external recognition unit that acquires external recognition data of the mobile body; and a control unit that controls the movement of the mobile body based on an instruction from the information terminal. The control program causes the control unit to execute the following processing: Switching is performed between a first control and a second control based on the distance between the mobile body and the information terminal. In the first control, the moving speed of the mobile body in the mobile control is controlled based on the state of the communication. In the second control, the moving speed of the mobile body in the mobile control is controlled based on the external identification data.

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