Moving body, control device and control method for moving body, storage medium, and program product

Abstract

The invention provides a moving body, a control device and control method for the moving body, a storage medium, and a program product. A control device for a moving body is provided with a generation unit that generates a route for the moving body such that the moving body avoids each of an actual obstacle and a virtual obstacle. The actual obstacle is an obstacle located around the moving body detected by a detection means of the moving body. The virtual obstacle is an obstacle virtually set in an entry prohibition area in which entry of the moving body is prohibited.

Description

Technical Field

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

[0002] In recent years, there has been a growing demand for ultra-small mobile vehicles (micromobiles) designed to support the movement of people within small areas. Micromobiles include those with a seating capacity of approximately one person and those that carry passengers while also transporting cargo. Patent Document 1 describes a method for planning a route for a mobile vehicle so that it avoids obstacles identified based on the output of a detection unit.

[0003] Prior art literature Patent Literature Patent Document 1: Japanese Patent Application Laid-Open No. 2024-036933 Summary of the Invention Problems to be solved by the invention Simply avoiding obstacles identified based on the output of the detection unit may generate a route that passes through an area that the moving object should not enter. One aspect of the present invention is to provide a technique for appropriately generating a route for a moving object.

[0004] Means used to solve problems According to some embodiments, a control device is provided, which is a control device for a mobile object and includes a generating mechanism that generates a route for the mobile object so that the mobile object avoids both real obstacles and virtual obstacles. The real obstacles are obstacles located around the mobile object detected by the mobile object's detection unit, and the virtual obstacles are obstacles virtually set in a no-entry zone where the mobile object is prohibited from entering. According to other embodiments, a control method is provided, which is a control method for a mobile object and includes a generating step in which a route for the mobile object is generated so that the mobile object avoids both real obstacles and virtual obstacles. The real obstacles are obstacles located around the mobile object detected by the mobile object's detection unit, and the virtual obstacles are obstacles virtually set in a no-entry zone where the mobile object is prohibited from entering.

[0005] Effects of the Invention According to some embodiments, a route of a moving object can be appropriately generated. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 It is a schematic diagram showing a configuration example of a moving object according to some embodiments.

[0007] Figure 2 This is a block diagram showing a configuration example of a control system for a mobile object according to some embodiments.

[0008] Figure 3 This is a block diagram showing an example of a functional configuration related to a control unit of a mobile object according to some embodiments.

[0009] Figure 4 This is a schematic diagram illustrating an example of a route generation method according to some embodiments.

[0010] Figures 5A to 5C This is a schematic diagram illustrating an example of a route generation method according to some embodiments.

[0011] Figure 6 This is a flowchart for explaining an example of a method for controlling a moving object according to some embodiments.

[0012] Description of Reference Numerals 100: Mobile object; 130: Control unit; 511: No-entry area; 520: Obstacle map. DETAILED DESCRIPTION

[0013] The following embodiments are described in detail with reference to the accompanying drawings. The following embodiments do not limit the inventions described herein. Furthermore, not all combinations of features described in the embodiments are essential to the invention. Any combination of two or more of the multiple features described in the embodiments may be used. Identical or similar components are denoted by the same reference numerals, and duplicate descriptions are omitted.

[0014] <Moving body structure> Reference Figure 1 The structure of the mobile body 100 is described. In the following embodiment, as an example of the mobile body 100, an ultra-small vehicle with a passenger capacity of about one person is taken as an example. Such a vehicle can be called a micro mobile body. The vehicle can be an electric vehicle or a vehicle that is driven by other power. The mobile body 100 uses the image captured by the mobile body 100 itself to identify the driving area to generate a route, and drives autonomously according to the generated route. Furthermore, the mobile body 100 uses the positioning results based on the positioning sensor and map information to generate a route. Alternatively, the mobile body 100 can drive autonomously regardless of whether there are people on board. Alternatively, the mobile body 100 can drive according to the driving operation of the passenger.

[0015] Figure 1 (A) in FIG. 1 shows a side surface of the moving object 100 according to the present embodiment. Figure 1(B) in the figure shows the internal structure of the moving body 100. In the figure, arrow X indicates the front-back direction of the moving body 100, F indicates the front, and R indicates the rear. Arrow Y indicates the width direction (left-right direction) of the moving body 100, and arrow Z indicates the up-down direction.

[0016] The mobile object 100 includes a travel unit 112 and is an electric autonomous vehicle using a battery 113 as its main power source. Battery 113 is, for example, a rechargeable battery such as a lithium-ion battery. The mobile object 100 is autonomously driven by the travel unit 112 using the power supplied by battery 113. The travel unit 112 takes the form of a three-wheeled vehicle, comprising a pair of front, left and right drive wheels 120 and a single, rear, driven wheel 121. Alternatively, the travel unit 112 may be in another form, such as a four-wheeled vehicle. For example, the mobile object 100 includes a seat 111 for one person.

[0017] The travel unit 112 includes a drive mechanism 122. The drive mechanism 122 uses motors 122a and 122b as drive sources to rotate the corresponding drive wheels 120. The drive mechanism 122 can move the mobile body 100 forward or backward by rotating the drive wheels 120. Furthermore, the drive mechanism 122 can change the direction of travel of the mobile body 100 by generating a rotational difference between motors 122a and 122b. The travel unit 112 includes driven wheels 121. The driven wheels can rotate about the Z direction.

[0018] Mobile object 100 includes detection units 114 through 116 for detecting objects around mobile object 100. Detection units 114 through 116 are a set of external sensors that monitor the surroundings of mobile object 100. In this embodiment, detection units 114 through 116 are imaging devices (cameras) that capture images of the surroundings of mobile object 100. These devices include, for example, an optical system such as a lens and an image sensor. However, radar or optical radar (light detection and ranging) may be used in place of or in addition to the imaging devices.

[0019] For example, two detection units 114 are arranged at intervals along the Y direction at the front of the mobile body 100, and are primarily used to detect objects in front of the mobile body 100. Detection units 115 are arranged on the left and right sides of the mobile body 100, respectively, and are primarily used to detect objects to the sides of the mobile body 100. Detection unit 116 is arranged at the rear of the mobile body 100, and is primarily used to detect objects behind the mobile body 100.

[0020] Figure 2This is a block diagram of the control system of mobile object 100. Mobile object 100 includes a control unit (ECU) 130. Control unit 130 includes one or more processors, typically a CPU, memory devices such as semiconductor memory, and interfaces for external devices. Therefore, control unit 130 is a type of computer. The memory devices store programs executed by the processors and data processed by the processors. Multiple processors, memory devices, and interfaces can be provided depending on the functions of mobile object 100 to enable communication between them.

[0021] The control unit 130 receives outputs from the detection units 114 and 116 (e.g., image information), input from the operating unit 131, and voice information input from the voice input device 133, and performs corresponding processing. The control unit 130 controls the motors 122a and 122b (driving control of the driving unit 112), controls the display on the display panel included in the operating unit 131, and provides voice notifications to occupants of the mobile object 100 and outputs information. The control unit 130 can process the outputs from the detection units 114 and 116 using a machine learning model for image recognition (e.g., a deep neural network). Furthermore, the control unit 130 can process the outputs from the voice input device 133 using a machine learning model for voice recognition (e.g., a deep neural network). In this way, the control unit 130 controls the mobile object 100. Therefore, the control unit 130 can be considered a control device for the mobile object 100.

[0022] The voice input device 133 includes, for example, a microphone, and receives the voices of passengers of the mobile object 100. The control unit 130 can recognize the input voice and perform corresponding processing. The GNSS (Global Navigation Satellite System) sensor 134 is a positioning sensor that receives GNSS signals and detects the current position of the mobile object 100.

[0023] The storage device 135 includes a recording medium that stores various data. The storage device 135 may also store programs executed by the processor and data used by the processor for processing. The storage device 135 may also store various parameters (e.g., learning completion parameters and hyperparameters of deep neural networks) of machine learning models used for voice recognition and image recognition executed by the control unit 130. The storage device 135 may also store map information of locations where the mobile object 100 is traveling.

[0024] The communication device 136 is a communication device capable of communicating with an external device (eg, the communication terminal 140 owned by a user) via wireless communication such as Wi-Fi (registered trademark) or fifth-generation mobile communication.

[0025] Next, refer to Figure 3 An example of the functional configuration involved in the control unit 130 will be described. The user instruction acquisition unit 301 acquires the input user instruction via the operation unit 131 or the voice input device 133. The user instruction may include the designation of the destination location that the mobile body 100 should reach. The destination location may be the location of a target object designated by a voice in the target object recognized in the image output by the detection unit 114 to the detection unit 116. Furthermore, the destination location may be a geographical location designated by the user using the mobile body 100, or a geographical location stored in the storage device 135 pre-set by the administrator of the mobile body 100. For example, the mobile body 100 may be set to autonomously return to a pre-set geographical location after use based on the user.

[0026] The image information processing unit 302 identifies the position, shape, and other aspects of obstacles based on the outputs (e.g., image information) from the detection units 114 and 116. For example, the depth from the moving object 100 is determined using stereo images obtained from two detection units 114, thereby identifying the position, shape, and other aspects of obstacles in front of the moving object 100. To identify obstacles, a pre-learned machine learning model for image recognition (e.g., a deep neural network) can be applied to monocular or stereo images. Obstacles can be any objects that obstruct the movement of the moving object 100, and can be either stationary or moving. Examples of obstacles include people, pets, trees, walls, stairs, doors, vehicles, shopping carts, and areas marked with no-entry signs.

[0027] The map management unit 303 manages a map of the environment used by the mobile object 100. No-entry zones can be set on this map. No-entry zones are geographical areas where the mobile object 100 is prohibited from entering. The administrator or user of the mobile object 100 can set the geographical location of the no-entry zone. The map can be stored in the storage device 135 of the mobile object 100. The map management unit 303 can receive the map from an external server and store it in the storage device 135.

[0028] The route generation unit 304 generates a route for the mobile object 100 to travel. For example, if there are no obstacles in the straight-ahead direction from the current position to the destination, the route generation unit 304 generates a route along the straight-ahead direction. If there are obstacles in the straight-ahead direction from the current position to the destination, the route generation unit 304 generates a route so that the mobile object avoids the obstacles and approaches the destination. The route generation unit 304 may also generate a route so that the angular acceleration of the mobile object 100 falls below a threshold. Details of route generation will be described later.

[0029] The travel control unit 305 controls the mobile object 100 so that it autonomously moves along the route generated by the route generation unit 304. If the mobile object 100 is a vehicle, the movement of the mobile object 100 can be represented as the mobile object 100 traveling. If the mobile object 100 is a flying object, the movement of the mobile object 100 can be represented as the mobile object 100 flying. When the travel control unit 305 receives an instruction from the user, such as a right turn, a left turn, or a stop, while the mobile object 100 is traveling, the mobile object 100 can be controlled so that the mobile object 100 travels according to the instruction.

[0030] Reference Figure 4 , a specific example of the route generation method based on the route generation unit 304 is described. Figure 4 (A) in FIG. 1 shows a top view of an example of an actual environment 400 in which the moving object 100 is located. In the actual environment 400 , there are obstacles 401 and 402 around the moving object 100 . Figure 4 In (A) and the subsequent figures, the shape of the obstacle is represented by a circle for the sake of simplicity. Alternatively, the obstacle may have any shape. Figure 4 In (A) and the subsequent drawings, the upper side of the drawings is assumed to be the front of the vehicle. Figure 4 In the example (A) in FIG, it is assumed that there is a destination at the upper side of the drawing, and the moving body 100 is autonomously traveling toward the destination. In this case, the moving body 100 may or may not be carrying a person.

[0031] The route generation unit 304 generates a route 403 so that the mobile object 100 approaches the destination while avoiding obstacles 401 and 402, and uses this route as the route that the mobile object 100 should travel. The obstacle may be a person, so there is a risk that the mobile object 100 may travel very close to the obstacle, causing the person to feel uneasy. Furthermore, if there are passengers on the mobile object 100, there is a risk that the mobile object 100 may travel very close to the obstacle, causing the passenger to feel uneasy. Therefore, a margin M to be maintained between the mobile object 100 and the obstacle may be set for the mobile object 100. In this case, the mobile object 100 generates a route so that the distance between the obstacle and the mobile object 100 is greater than the margin M. The value of the margin M can be predetermined and stored in the control unit 130 or the storage device 135. The margin M can be set to a value that a person feels safe traveling with the mobile object 100, for example, between 0.3 m and 1.0 m, and more specifically, 0.6 m. In the example of actual environment 400, even after the mobile object 100 has passed between obstacles 401 and 402, the distances between each of obstacles 401 and 402 and the mobile object 100 are still greater than the margin M. Therefore, the route generation unit 304 generates a route 403 such that the mobile object 100 travels between obstacles 401 and 402. In some embodiments, the margin M may not be set, in which case the mobile object 100 is allowed to travel very close to the obstacles.

[0032] Figure 4 (B) in FIG. 1 shows a top view of another example of the actual environment 410 in which the moving object 100 is located. In the actual environment 410 , there are obstacles 411 and 412 around the moving object 100 . Figure 4 In the example (B) of FIG, the destination position is also located at the upper side of the drawing. In this example, the distance 414 between obstacles 411 and 412 is less than the sum of twice the margin M and the width W of the moving object 100. Therefore, the moving object 100 cannot travel between obstacles 411 and 412 while maintaining the margin M. Therefore, the route generation unit 304 generates a route 413 such that the moving object 100 does not travel between obstacles 401 and 402, but instead circumvents obstacle 411 from the left.

[0033] Next, refer to Figures 5A to 5C , explains the route generation method when a prohibited entry area is set. Figure 5AAn overhead view of an example of an actual environment 500 in which the mobile body 100 is located is shown. The right side of the actual environment 500 is set as the inside of the parking lot, and the left side of the actual environment 500 is set as the outside of the parking lot. At the current time point, the mobile body 100 is located in the parking lot. In the actual environment 500, there are obstacles 501 to 503 around the mobile body 100. Obstacle 501 is, for example, a pedestrian or a vehicle. Obstacles 502 and 503 are structures that define the outer edge of the parking lot, such as walls, fences, steps, curbstones, lane dividing lines, etc. There is an exit 504 of the parking lot between obstacle 502 and obstacle 503. Exit 504 can also be used as an entrance to the parking lot. Assume that the destination position of the mobile body 100 is located at Figure 5A In this case, the route generation unit 304 generates a route 505 so that the moving object 100 avoids obstacles 501 to 503 and approaches the destination. There are no obstacles at the exit 504 of the parking lot, so the route 505 extends outside the parking lot.

[0034] When the manager or user of the mobile object 100 wants to prohibit the mobile object 100 from driving out of the parking lot, Figure 5B As shown, an administrator or user can set a no-entry area 511 on a map 510 used by the mobile object 100. The no-entry area 511 is defined as a geographical location. The map 510 is managed by the map management unit 303, for example.

[0035] Reference Figure 5C The setting of the virtual obstacle 521 will be described. In order to prevent the route generation unit 304 from generating a route such that the moving object 100 passes through the no-entry area 511 , the virtual obstacle 521 is set in the no-entry area 511 . Figure 5C This indicates a state where a virtual obstacle 521 is set in the actual environment 500. Hereinafter, obstacles detected by the detection units 114 and 116 (e.g., obstacles 501 to 503) are referred to as actual obstacles. The route generation unit 304 generates a route 522 for the mobile object 100 such that the mobile object 100 avoids both the actual obstacle and the virtual obstacle 521. This prevents the mobile object 100 from entering the no-entry zone 511.

[0036] The case where the virtual obstacle 521 is set in the no-entry area 511 may include the case where the virtual obstacle 521 is set so that the area where the virtual obstacle 521 is set overlaps at least partially with the no-entry area 511. The route generation unit 304 may set the virtual obstacle 521 so that the outer edge 511e of the no-entry area 511 coincides with the outer edge 521e of the virtual obstacle 521. Figure 5CAs shown, the route generation unit 304 may set the virtual obstacle 521 so that the outer edge 521e of the virtual obstacle 521 is located inside the no-entry area 511. In this way, even when the virtual obstacle 521 is set, the route 522 is determined so that the mobile object 100 does not enter the no-entry area 511 by coordinating the actual obstacles (specifically, the obstacles 502 and 503) with the virtual obstacle 521.

[0037] To simplify processing, the route generation unit 304 may generate a route by treating both the real obstacle and the virtual obstacle 521 in the same manner. For example, if a margin M is set between the mobile object 100 and the real obstacle, the route generation unit 304 may also ensure the margin M between the mobile object 100 and the virtual obstacle 521. In this case, the route generation unit 304 generates the route 522 for the mobile object 100 such that the distance between the real obstacle and the virtual obstacle 521 and the mobile object 100 is greater than the margin M.

[0038] like Figure 5A as well as Figure 5B As shown, the prohibited entry area 511 is set to cover the exit 504 of the parking lot. When the virtual obstacle is arranged so as to overlap with the exit 504, the route generation unit 304 generates a route so that the mobile body 100 does not approach the exit 504 within the margin M. However, since there is no actual obstacle at the exit 504, even if the mobile body 100 approaches the exit 504, the possibility of the occupants of the mobile body 100 and the surrounding people feeling uneasy is very low. Therefore, as shown in FIG. Figure 5C As shown, the virtual obstacle 521 is set so that the outer edge 521e of the virtual obstacle 521 is located inside the no-entry area 511, thereby preventing the range in which the moving body 100 can travel from being excessively restricted.

[0039] The route generation unit 304 may set the virtual obstacle 521 so that the distance D between the outer edge 511e of the no-entry area 511 and the outer edge 521e of the virtual obstacle 521 is smaller than the sum of twice the margin M and the width W of the moving object 100. Figure 4 Similarly to the description in (B), the route generation unit 304 does not generate a route in which the moving object 100 passes between the virtual obstacle 521 , the obstacle 502 , and the obstacle 503 , thereby suppressing the moving object 100 from entering the no-entry area 511 .

[0040] The route generation unit 304 determines the positional relationship between the mobile object 100 and the actual obstacle based on the outputs of the detection units 114-116. Meanwhile, the route generation unit 304 determines the position of the virtual obstacle 521 relative to the mobile object 100 based on the relationship between the geographical location of the mobile object 100 measured by the mobile object 100's positioning sensor (e.g., the GNSS sensor 134) and the geographical location of the virtual obstacle 521 set in the no-entry area 511. Positioning sensors can have errors. Therefore, there is a possibility that the virtual obstacle 521 may be determined to deviate from the nominal error of the positioning sensor relative to the actual obstacles (e.g., obstacles 501-503) in the actual environment 500 and the mobile object 100 by a maximum of 100%.

[0041] If the distance D between the outer edge 511e of the no-entry area 511 and the outer edge 521e of the virtual obstacle 521 is too small, there is a risk that the virtual obstacle 521 will be set outside the no-entry area 511 due to errors in the positioning sensor. In this case, there is a risk of excessively restricting the range within which the mobile object 100 can travel. Therefore, the route generation unit 304 may set the virtual obstacle 521 so that the distance D between the outer edge 511e of the no-entry area 511 and the outer edge 521e of the virtual obstacle 521 is greater than the nominal error E of the GNSS sensor 134.

[0042] On the other hand, if the distance D between the outer edge 511e of the no-entry area 511 and the outer edge 521e of the virtual obstacle 521 is too large, the distance between the virtual obstacle 521 and the actual obstacles (e.g., obstacles 502 and 503) may widen due to positioning sensor errors. In this case, there is a risk of generating a route that causes the mobile object 100 to pass between the virtual obstacle 521 and the actual obstacle. Therefore, the route generation unit 304 may set the virtual obstacle 521 so that the distance D between the outer edge 511e of the no-entry area 511 and the outer edge 521e of the virtual obstacle 521 is less than the value obtained by subtracting the nominal error E of the GNSS sensor 134 from the sum of twice the margin M and the width W of the mobile object 100.

[0043] If the margin M is 0.6 m, the nominal error E of the GNSS sensor 134 is 0.6 m, and the width W of the mobile object 100 is 1.3 m, the route generation unit 304 can set the virtual obstacle 521 so that the distance D between the outer edge 511 e of the no-entry area 511 and the outer edge 521 e of the virtual obstacle 521 is, for example, 1.0 m. In this setting example, the distance D (1.0 m) is greater than the nominal error E (0.6 m). Furthermore, the distance D (1.0 m) is less than the value (1.9 m) obtained by subtracting the nominal error E (0.6 m) of the GNSS sensor 134 from the sum of twice the margin M (0.6 m) and the width W (1.3 m) of the mobile object 100.

[0044] As described above, by generating the route of the moving object 100 , it is possible to utilize the route generation process for existing actual obstacles and generate an appropriate route such that the moving object 100 does not enter the no-entry area 511 .

[0045] Next, refer to Figure 6 An example of a method for controlling the vehicle 100 will be described. Figure 6 For example, the autonomous driving of the mobile body 100 may be started based on an instruction from an occupant of the mobile body 100, or based on a predetermined time period after the end of user use, or based on a command received from an external server, or based on other conditions being met. Figure 6 The starting time point of the method is set to the target position of the mobile body 100. Figure 6 The starting time point of the method is that the mobile body 100 stores a map in which the prohibited entry area 511 is set. The CPU of the control unit 130 can execute a program read out from the memory of the control unit 130. Figure 6 Alternatively, the steps of the method may be performed by a dedicated circuit such as an application specific integrated circuit (ASIC). Figure 6 part or all of the steps of the method.

[0046] In S601, as described above, control unit 130 (e.g., route generation unit 304) sets virtual obstacle 521 in no-entry area 511. Alternatively, a device separate from mobile object 100 may set virtual obstacle 521 in no-entry area 511, and mobile object 100 may obtain the setting of virtual obstacle 521 (i.e., the geographic location) from this device.

[0047] In S602, the control unit 130 (e.g., the route generation unit 304) determines the positions of actual obstacles and virtual obstacles relative to the mobile object 100. For example, as described above, the control unit 130 (e.g., the image information processing unit 302) uses the detection units 114 to 116 of the mobile object 100 to detect actual obstacles (e.g., obstacles 501 to 503) located around the mobile object 100. Based on the detection results, the control unit 130 (e.g., the route generation unit 304) determines the positions of the actual obstacles relative to the mobile object 100. Furthermore, the control unit 130 (e.g., the route generation unit 304) determines the positions of the actual obstacles relative to the mobile object 100 based on the detection results. The control unit 130 (e.g., the route generation unit 304) determines the positions of the virtual obstacles relative to the mobile object 100 based on the relationship between the measurement results of the GNSS sensor 134 (i.e., the geographical location of the mobile object 100) and the geographical locations of the virtual obstacles set in S601.

[0048] In S603, as described above, the control unit 130 (e.g., the route generation unit 304) generates a route for the mobile object 100 so that the mobile object 100 approaches the destination while avoiding both the actual obstacles detected in S602 and the virtual obstacles set in S601. In S604, as described above, the control unit 130 (e.g., the travel control unit 305) causes the mobile object 100 to travel according to the route generated in S604.

[0049] In S605, the control unit 130 (e.g., the travel control unit 305) determines whether the mobile object 100 has reached the destination. If it is determined that the mobile object 100 has reached the destination ("Yes" in S605), the control unit 130 terminates the process. If it is determined that the mobile object 100 has not reached the destination ("No" in S605), the control unit 130 transfers the process to S602. The control unit 130 then repeats S602 through S605. As the mobile object 100 travels, if the position of an actual obstacle changes or a new actual obstacle is detected by the detection units 114 through 116, the control unit 130 generates a new route in S603 and causes the mobile object 100 to travel along this new route.

[0050] exist Figure 6 In the following, a method for autonomous driving of the vehicle 100 is described. Alternatively, the vehicle 100 may present the route generated in S604 to the passengers of the vehicle 100 instead of executing S604. The passengers of the vehicle 100 may drive the vehicle 100 by themselves with reference to the presented route.

[0051] Summary of implementation methods [Item 1] A control device, which is a control device (130) for a moving object (100), The control device (130) of the mobile body (100) is provided with a generating mechanism for generating a route (522) of the mobile body in such a manner that the mobile body avoids the actual obstacles (501-503) and the virtual obstacles (521), The actual obstacle is an obstacle located around the moving body and detected by the detecting unit (114-116) of the moving body, and the virtual obstacle is an obstacle virtually set in a prohibited entry area (511) that prohibits the moving body from entering.

[0052] According to this item, it is possible to appropriately generate a route for the mobile body so that the mobile body does not enter the no-entry area.

[0053] [Item 2] According to the control device of item 1, the virtual obstacle is set so that the outer edge (521e) of the virtual obstacle is located inside the no-entry area.

[0054] According to this item, it is possible to appropriately generate a route of the mobile body without excessively restricting the range in which the mobile body can move.

[0055] [Item 3] According to the control device described in item 2, the generating unit generates the path of the moving object so that the distance between the real obstacle and the virtual obstacle and the moving object is larger than a predetermined margin (M).

[0056] According to this item, it is possible to appropriately generate a route of a moving object without causing anxiety to the occupants of the moving object or surrounding people.

[0057] [Item 4] According to the control device described in item 3, the virtual obstacle is set so that the distance (D) between the outer edge (511e) of the no-entry area and the outer edge (521e) of the virtual obstacle is smaller than the sum of twice the predetermined margin and the width (W) of the moving object.

[0058] According to this item, it is possible to appropriately generate a route for a mobile body so that a real obstacle and a virtual obstacle are linked together to prevent the mobile body from entering a no-entry area.

[0059] [Item 5] The control device according to item 3 or 4, The prohibited areas are defined by geographical location, The generating means determines the position of the virtual obstacle relative to the moving body based on the relationship between the geographical position of the moving body and the geographical position of the virtual obstacle measured by the positioning sensor (134) of the moving body, The virtual obstacle is set so that a distance between an outer edge of the prohibited entry area and an outer edge of the virtual obstacle is greater than a nominal error of the positioning sensor.

[0060] According to this item, even when the positioning result includes an error, it is possible to appropriately generate a route of the mobile body without excessively restricting the movable range of the mobile body.

[0061] [Item 6] According to the control device described in item 5, the virtual obstacle is set so that the distance between the outer edge of the prohibited entry area and the outer edge of the virtual obstacle is less than the sum of twice the predetermined margin and the width of the mobile body minus the nominal error of the positioning sensor.

[0062] According to this item, even when the positioning result includes an error, it is possible to appropriately generate a route for the mobile body so that the mobile body does not enter the no-entry area by coordinating the actual obstacle with the virtual obstacle.

[0063] [Item 7] A mobile object comprising the control device according to any one of items 1 to 6.

[0064] According to this item, a moving object including the above-mentioned control device can be provided.

[0065] [Item 8] A program for causing a computer to function as each mechanism of the control device according to any one of items 1 to 6.

[0066] According to this item, a program for realizing the above-mentioned control device can be provided.

[0067] [Item 9] A control method is a control method for a moving object (100), The control method of the mobile body (100) comprises a generation step (S603), in which a route (522) of the mobile body is generated in such a manner that the mobile body avoids actual obstacles (501-503) and virtual obstacles (521), respectively. The actual obstacle is an obstacle located around the moving object detected by the detection unit (114-116) of the moving object. The virtual obstacle is an obstacle virtually set in a prohibited entry area (511) that prohibits the mobile body from entering.

[0068] According to this item, it is possible to appropriately generate a route for the mobile body so that the mobile body does not enter the no-entry area.

[0069] The present invention is not limited to the above-described embodiment, and various modifications and changes can be made within the scope of the gist of the invention.

Claims

1. A control device, which is a control device for a mobile body, wherein: The control device for the mobile body includes a generating unit that generates a path for the mobile body so that the mobile body avoids both real obstacles and virtual obstacles. The actual obstacle is an obstacle located around the moving object detected by the detecting unit of the moving object. The virtual obstacle is an obstacle virtually set in a prohibited entry area where entry of the mobile body is prohibited.

2. The control device according to claim 1, wherein: The virtual obstacle is set so that an outer edge of the virtual obstacle is located inside the prohibited entry area.

3. The control device according to claim 2, wherein: The generating unit generates the route of the moving object so that the distance between the real obstacle and the virtual obstacle and the moving object is greater than a predetermined margin.

4. The control device according to claim 3, wherein: The virtual obstacle is set so that a distance between an outer edge of the no-entry zone and an outer edge of the virtual obstacle is smaller than a sum of twice the predetermined margin and a width of the moving object.

5. The control device according to claim 3, wherein: The prohibited areas are defined by geographical location, The generating unit determines the position of the virtual obstacle relative to the moving body based on the relationship between the geographical position of the moving body and the geographical position of the virtual obstacle measured by the positioning sensor of the moving body. The virtual obstacle is set so that a distance between an outer edge of the prohibited entry area and an outer edge of the virtual obstacle is greater than a nominal error of the positioning sensor.

6. The control device according to claim 5, wherein: The virtual obstacle is set so that a distance between an outer edge of the no-entry zone and an outer edge of the virtual obstacle is smaller than a value obtained by subtracting the nominal error of the positioning sensor from the sum of twice the predetermined margin and the width of the moving object.

7. A mobile object, wherein: The mobile object includes the control device according to any one of claims 1 to 6.

8. A program product, wherein The program product is for causing a computer to function as each mechanism of the control device according to any one of claims 1 to 6.

9. A storage medium, wherein: The storage medium stores a program for causing a computer to function as each mechanism of the control device according to any one of claims 1 to 6.

10. A control method, which is a method for controlling a moving object, wherein: The control method of the mobile body includes a generation step of generating a route of the mobile body in such a manner that the mobile body avoids both real obstacles and virtual obstacles. The actual obstacle is an obstacle located around the moving object detected by the detecting unit of the moving object. The virtual obstacle is an obstacle virtually set in a prohibited entry area where entry of the mobile body is prohibited.

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