Moving body, control method, and control program product

Abstract

The invention provides a moving object, a control method and a control program product which can improve convenience of a user when movement control based on position coordinates and surrounding environment data is carried out. The present invention is provided with: a storage unit that associates and stores one path of a vehicle including positions (P1-P4) with position coordinates and surrounding environment data; and a control unit that moves the vehicle from the position (P1) to the position (P4) via the positions (P2-P3) on the basis of the position coordinates and the surrounding environment data. The storage unit (54) stores a path from the position (P1) to the position (P2) in one path as a first section and a path from the position (P3) to the position (P4) as a second section, and the control unit moves the vehicle from the position (P3) to the position (P4) via the second section when detecting that the vehicle moves from the position (P2) to the position (P3) after moving the vehicle from the position (P1) to the position (P2) via the first section.

Description

Technical Field

[0001] This invention relates to a mobile body, a control method, and a control program product. Background Technology

[0002] In recent years, efforts to provide pathways to sustainable transportation systems that also take into account vulnerable members of the transportation population have become active. To achieve this goal, research and development related to autonomous driving technologies are being undertaken to further improve the safety and convenience of transportation.

[0003] In existing technologies, it is known that in autonomous driving systems that enable vehicles to drive automatically without user intervention, paths taken to a target location via user operation are pre-stored. When driving towards the same target location or along the same path, the vehicle is driven based on the stored path history. Furthermore, it is known to drive the vehicle by generating path information from the current location to the target location based on information obtained from onboard sensors.

[0004] For example, Patent Document 1 describes an intelligent parking system that has multiple 3D detectors, a communication device and a path generator. The 3D detectors can simultaneously park or park multiple unmanned vehicles based on the posture and current position of multiple unmanned vehicles parked in a multi-level parking garage.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Chinese Patent Application Publication No. 115126312 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] However, in autonomous driving systems, when storing the vehicle's movement path, for example, sometimes the path is inferred based on tire rotation and feature points from images of the surrounding environment obtained by cameras. Then, by matching feature points obtained in other situations with the stored feature points, the vehicle's position is determined, and the stored vehicle movement path is reproduced when driving in the same location to assist driving.

[0010] In such systems, for example, when a vehicle is parked in a multi-level parking lot, the vehicle's movement path sometimes includes a path where the tires do not rotate, i.e., the vehicle moves vertically while parked. Even though the vehicle is not moving, the images of the surrounding environment captured by the camera before and after the movement change, making it impossible to determine that the vehicle was parked in the same location, and sometimes making it difficult to utilize the stored movement path.

[0011] Patent document 1 describes parking multiple driverless vehicles in a multi-level parking garage, but it does not describe the movement control of the vehicles after they are raised and lowered. Therefore, there is room for improvement in the parking control of vehicles in a parking garage that are raised and lowered.

[0012] The purpose of this invention is to provide a mobile vehicle, control method, and control program product that improves user convenience when performing motion control based on location coordinates and surrounding environmental data. This, in turn, contributes to the development of sustainable transportation systems.

[0013] Solution for solving the problem

[0014] This invention relates to a mobile body equipped with an external identification unit that acquires data about the surrounding environment.

[0015] The mobile body has:

[0016] The storage unit, which associates and stores a path and position coordinates of the moving body, including the first, second, third, and fourth positions, with the surrounding environment data; and

[0017] The control unit, based on the position coordinates and the surrounding environment data, performs movement control to move the moving body from the first position through the second and third positions to the fourth position.

[0018] The storage unit stores the path from the first position to the second position in the path as a first segment, and stores the path from the third position to the fourth position in the path as a second segment.

[0019] After the control unit moves the moving body from the first position to the second position via the first section, if it detects that the moving body is moving from the second position to the third position, it moves the moving body from the third position to the fourth position via the second section.

[0020] This invention is a control method for a moving body equipped with an external recognition unit that acquires data about the surrounding environment.

[0021] The mobile body has:

[0022] The storage unit, which associates and stores a path and position coordinates of the moving body, including the first, second, third, and fourth positions, with the surrounding environment data; and

[0023] The control unit, based on the position coordinates and the surrounding environment data, performs movement control to move the moving body from the first position through the second and third positions to the fourth position.

[0024] The storage unit stores the path from the first position to the second position in the path as a first segment, and stores the path from the third position to the fourth position in the path as a second segment.

[0025] After the control unit moves the moving body from the first position to the second position via the first section, if it detects that the moving body is moving from the second position to the third position, it moves the moving body from the third position to the fourth position via the second section.

[0026] This invention is a control program product comprising a control program, wherein the control program is a control program for a moving body equipped with an external recognition unit that acquires surrounding environmental data, wherein...

[0027] The mobile body has:

[0028] The storage unit, which associates and stores a path and position coordinates of the moving body, including the first, second, third, and fourth positions, with the surrounding environment data; and

[0029] The processor, based on the position coordinates and the surrounding environment data, performs movement control to move the moving body from the first position through the second and third positions to the fourth position.

[0030] The control program causes the processor to perform the following processing:

[0031] The path from the first position to the second position in the given path is stored as a first segment in the storage unit, and the path from the third position to the fourth position in the given path is stored as a second segment in the storage unit.

[0032] After moving the moving body from the first position to the second position via the first section, if movement of the moving body from the second position to the third position is detected, the moving body is moved from the third position to the fourth position via the second section.

[0033] Invention Effects

[0034] According to the present invention, a mobile body, control method, and control program product can be provided that improves user convenience when performing mobile control based on location coordinates and surrounding environment data. Attached Figure Description

[0035] Figure 1 This is a side view of a vehicle 10, which is an example of a "moving body" according to the present invention.

[0036] Figure 2 yes Figure 1 The top view of vehicle 10 shown.

[0037] Figure 3 It means Figure 1 A block diagram illustrating an example of the internal structure of the vehicle 10.

[0038] Figure 4 This diagram illustrates the movement of vehicle 10 from a first position to a second position along a path.

[0039] Figure 5 This diagram illustrates the movement of vehicle 10 from a second position to a third position along a path.

[0040] Figure 6 This is a diagram showing the situation where vehicle 10 moves from the third position to the fourth position on a path.

[0041] Figure 7 This is a flowchart representing the first example of storage processing for a move path.

[0042] Figure 8 This is a flowchart illustrating the first example of parking processing based on automated driving.

[0043] Figure 9 This is a graph representing the surrounding environment data stored in the first instance of storage processing in the movement path.

[0044] Figure 10 This is a flowchart representing the second example of storage processing for the move path.

[0045] Figure 11 This is a flowchart illustrating the second example of parking processing based on automated driving.

[0046] Figure 12 This is a diagram representing the surrounding environment data stored in the second example of storage processing in the movement path.

[0047] Explanation of reference numerals in the attached figures:

[0048] 10. Vehicles (mobile vehicles)

[0049] 53 Control Department

[0050] 54. Storage Department. Detailed Implementation

[0051] Hereinafter, one embodiment of the moving body, control method, and control program product of the present invention will be described based on the accompanying drawings. The drawings are viewed along the orientation indicated by the reference numerals. Furthermore, in this specification, etc., for the sake of simplicity and clarity, the front-back, left-right, and up-down directions are arranged according to... Figure 1 and Figure 2 The directions observed from the driver's position of the vehicle 10 are recorded in the attached drawings. The front of the vehicle 10 is denoted as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0052] <Vehicle 10 of the present invention>

[0053] Figure 1 This is a side view of a vehicle 10, which is an example of a "moving body" according to the present invention. Figure 2 yes Figure 1 The top view of vehicle 10 shown.

[0054] 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 steering wheels capable of steering. In this embodiment, 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 vehicle 10 is, for example, an electric motor. Alternatively, the drive source of vehicle 10 can 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 vehicle 10 can drive the pair of left and right front wheels, the pair of left and right rear wheels, or all four wheels. The front wheels and rear wheels can both be steering wheels capable of steering, or only one of them can be a steering wheel capable of steering.

[0055] The vehicle 10 also includes side rearview mirrors 11L and 11R. The side rearview mirrors 11L and 11R are mirrors (rearview mirrors) located on the outside of the front doors of the vehicle 10, used to allow the driver to see behind and to the sides. The side rearview mirrors 11L and 11R are fixed to the main body of the vehicle 10 by a rotating shaft extending in a vertical direction, and can be opened and closed by rotating around the rotating shaft.

[0056] The vehicle 10 also includes a front camera 12Fr, a rear camera 12Rr, a left-side camera 12L, and a right-side camera 12R. The front camera 12Fr is a camera device (e.g., a digital camera) positioned in front of the vehicle 10 to capture images of the front of the vehicle 10. The rear camera 12Rr is a digital camera positioned behind the vehicle 10 to capture images of the rear of the vehicle 10. The left-side camera 12L is a digital camera positioned at the left-side rearview mirror 11L of the vehicle 10 to capture images of the left side of the vehicle 10. The right-side camera 12R is a digital camera positioned at the right-side rearview mirror 11R of the vehicle 10 to capture images of the right side of the vehicle 10.

[0057] <Internal structure of vehicle 10>

[0058] Figure 3 It means Figure 1 A block diagram illustrating an example of the internal structure of vehicle 10. (As shown) Figure 3 As shown, vehicle 10 includes a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. Vehicle 10 also includes a drive force control system 26 and a braking force control system 28.

[0059] Sensor group 16 acquires various detection values ​​for controlling ECU 20. Sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left-side camera 12L, and a right-side camera 12R. Furthermore, sensor group 16 includes a front sonar group 32a, a rear sonar group 32b, a left-side sonar group 32c, and a right-side sonar group 32d. Additionally, sensor group 16 includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detection unit 38. Although not shown in the figure, sensor group 16 includes sensors for acquiring state data representing the state of vehicle 10. The state of vehicle 10 refers to the acceleration of vehicle 10. "Acceleration" is detected by an acceleration sensor.

[0060] The front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R capture images of the surroundings of the vehicle 10, thereby obtaining surrounding environment data (e.g., surrounding images) for identifying the surroundings of the vehicle 10. The front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R are examples of the "external identification unit" of this invention. The images of the surroundings of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R are respectively referred to as the front image, rear image, left image, and right image. An image composed of the left image and the right image can also be referred to as a side image. The image of the vehicle 10 and its surroundings generated by combining the images captured by the front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R is referred to as a top-view image of the vehicle 10.

[0061] The front sonar group 32a, rear sonar group 32b, left sonar group 32c, and right sonar group 32d emit sound waves to the periphery of the vehicle 10 and receive reflected sounds from other objects. The front sonar group 32a, for example, contains four sonars. The sonars constituting the front sonar group 32a are respectively positioned at the left diagonally forward, the left front, the right front, and the right diagonally forward of the vehicle 10. The rear sonar group 32b, for example, contains four sonars. The sonars constituting the rear sonar group 32b are respectively positioned at the left diagonally rear, the left rear, the right rear, and the right diagonally rear of the vehicle 10. The left sonar group 32c, for example, contains two sonars. The sonars constituting the left sonar group 32c are respectively positioned at the front left side and the rear left side of the vehicle 10. The right sonar group 32d, for example, contains two sonars. The sonars constituting the right sonar group 32d are respectively positioned at the front right side and the rear right side of the vehicle 10.

[0062] Wheel sensors 34a and 34b detect the rotation angle of the wheels of vehicle 10. Wheel sensors 34a and 34b can be composed of angle sensors or displacement sensors. Wheel sensors 34a and 34b output detection pulses every time the wheel rotates a predetermined angle. The detection pulses output from wheel sensors 34a and 34b are used to calculate the rotation angle and rotational speed of the wheels. Based on the rotation angle of the wheels, the distance traveled by vehicle 10 is calculated. For example, wheel sensor 34a detects the rotation angle θa of the left rear wheel. Wheel sensor 34b, for example, detects the rotation angle θb of the right rear wheel.

[0063] Vehicle speed sensor 36 detects the speed of the vehicle body 10, i.e., vehicle speed V, and outputs the detected vehicle speed V to control ECU 20. Vehicle speed sensor 36 detects vehicle speed V, for example, based on the rotation of the transmission countershaft.

[0064] The operation detection unit 38 detects the user's operation performed using the operation input unit 14 and outputs the detected operation to the control ECU 20. The operation input unit 14 includes various user interfaces such as a side mirror switch for switching the opening and closing states of the side mirrors 11L and 11R, and a gear shift lever (selector lever, selector).

[0065] The navigation device 18 uses, for example, GPS (Global Positioning System) to detect the current position (location coordinates) of the vehicle 10 and guides the user to the destination. The navigation device 18 has a storage device (not shown) containing a map information database. Additionally, the navigation device 18 has a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and display device for controlling the ECU 20. The speaker 44 outputs various guidance information to the user of the vehicle 10 via sound.

[0066] The touch panel 42 is configured to input various commands to the control ECU 20. For example, the user can input commands related to the mobility assistance of the vehicle 10 via the touch panel 42. Mobility assistance includes parking assistance and exit assistance of the vehicle 10. Furthermore, the touch panel 42 is configured to display various screens related to the control content of the control ECU 20. For example, screens related to the mobility assistance of the vehicle 10 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 button includes a remote parking button for requesting parking based on the automatic steering of the control ECU 20 and an auxiliary parking button for requesting assistance when parking by the user. The exit assistance button includes a remote exit button for requesting exit based on the automatic steering of the control ECU 20 and an auxiliary exit button for requesting assistance when exiting by the user. Alternatively, components other than the touch panel 42, such as smartphones, tablets, or other information terminals, can also be used as input devices or display devices.

[0067] Furthermore, "parking" is synonymous with "parking." For example, "parking" refers to the stopping of a vehicle when a user gets in or out, excluding temporary stops at traffic lights, etc. Additionally, "parking position" refers to the position where the vehicle stops, i.e., the parking position.

[0068] The control ECU 20 includes an input / output unit 50, an arithmetic unit 52, and a storage unit 54. The arithmetic unit 52 is, for example, a CPU (Central Processing Unit). The arithmetic unit 52 controls each unit based on the program stored in the storage unit 54, thereby performing various controls. In addition, the arithmetic unit 52 performs signal input and output with each unit connected to the control ECU 20 via the input / output unit 50.

[0069] Storage unit 54 stores information related to the remote movement (remote entry and exit) of vehicle 10. For example, storage unit 54 stores a path of vehicle 10 including a first position, a second position, a third position, and a fourth position, associated with the position coordinates of vehicle 10 and surrounding environmental data of vehicle 10. "Position coordinates" are, for example, two-dimensional coordinates. "A path including a first position, a second position, a third position, and a fourth position" is a path traversed in the order of the first, second, third, and fourth positions. This path is stored in storage unit 54 based on user operations. Storage unit 54 stores, for example, the path from the first position to the second position as a first segment, and the path from the third position to the fourth position as a second segment.

[0070] The storage unit 54 stores the surrounding environment data at the second position as, for example, first surrounding environment data, and the surrounding environment data at the third position as, for example, second surrounding environment data. Furthermore, as the vehicle 10 moves from the second position to the third position, the storage unit 54 stores state change data representing changes in the state data of the vehicle 10 obtained by the sensors. For example, the storage unit 54 stores acceleration change data representing changes in the acceleration of the vehicle 10 obtained by the acceleration sensor.

[0071] The arithmetic unit 52 includes a control unit 53 for controlling the movement of the vehicle 10. The control unit 53 provides remote parking assistance and remote exit assistance for the vehicle 10 based on automatic steering, which automatically operates the steering device 110 under the control of the control unit 53. In remote parking assistance and remote exit assistance, the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 are operated automatically. Additionally, the control unit 53 provides auxiliary parking support and auxiliary exit support when the user (driver) manually parks and exits the vehicle 10 by operating the accelerator pedal, brake pedal, and operation input unit 14. Furthermore, during remote parking assistance and remote exit assistance, the driver can be either a passenger in the vehicle 10 or an individual outside the vehicle (not a passenger).

[0072] For example, the control unit 53 performs movement control of the vehicle 10 based on the surrounding environment data of the vehicle 10 obtained by the front camera 12Fr, the rear camera 12Rr, the left camera 12L, and the right camera 12R, and a designated parking space. Movement control includes parking control, which remotely parks the vehicle 10 to a designated parking space (target parking position), and exit control, which remotely moves the vehicle 10 from the parking space to a designated exit position (target exit position). The control unit 53 can perform parking control and exit control based on indication signals input via the input / output unit 50. The input indication signals include indication signals transmitted wirelessly from a user's information terminal or the like. Furthermore, the control unit 53 outputs information related to parking control and exit control to an information terminal or the like via the input / output unit 50.

[0073] Based on the position coordinates of the vehicle 10 and surrounding environmental data, the control unit 53 performs movement control to move the vehicle 10 from the first position through the second and third positions to the fourth position. The fourth position is the parking position of the vehicle 10.

[0074] If the control unit 53 detects that the vehicle 10 has moved from the first position to the second position via the first section after moving the vehicle 10 from the first position to the second position, it moves the vehicle 10 from the third position to the fourth position via the second section. The second and third positions are, for example, positions in an elevator that can raise and lower the vehicle 10. The "second position" is, for example, the position before raising or lowering. The "third position" is, for example, the position after raising or lowering.

[0075] The second and third positions can also be positions on a turntable that allows the vehicle 10 to rotate. The position of the vehicle 10, which rotates via the turntable, is approximately the same before and after the rotation. However, if the position of the GPS mounted on the vehicle 10 deviates from the rotation center of the turntable, the position of the vehicle 10 may change.

[0076] A path that proceeds in the order of first, second, third, and fourth positions includes a path through multiple floors. Multiple floors could be, for example, the first and second floors of a multi-level parking garage. A path that proceeds in the order of first, second, third, and fourth positions is the path taken by vehicles 10 within the parking garage.

[0077] The control unit 53 detects the movement of the vehicle 10 from the second position to the third position based on the surrounding environment data identified by the external environment recognition unit, the first surrounding environment data representing the second position stored in the storage unit 54, and the second surrounding environment data representing the third position. The control unit 53 determines that the vehicle 10 has moved from the second position to the third position when the surrounding environment data identified by the external environment recognition unit changes from the first surrounding environment data representing the second position to the second surrounding environment data representing the third position. "The surrounding environment data changes from the first surrounding environment data to the second surrounding environment data" refers to a situation where the surrounding environment data changes from a state where it is consistent with the first surrounding environment data to a state where it is consistent with the second surrounding environment data. A consistent state means, for example, a similarity threshold or higher.

[0078] The control unit 53 detects the movement of the vehicle 10 from the second position to the third position based on changes in the vehicle 10's state data acquired by sensors and state change data stored in the storage unit 54. For example, when the vehicle 10 moves from the second position to the third position by the lifting action of an elevator, the change in state data is the change in acceleration in the vertical direction detected by an accelerometer. Furthermore, when the vehicle 10 moves from the second position to the third position by the rotation action of a turntable, the change in state data is, for example, the change in acceleration in the rotational direction detected by an accelerometer.

[0079] When the control unit 53 detects that the vehicle 10 has moved from the second position to the third position, it moves the vehicle 10 from the third position to the fourth position via the second section after a certain period of time. This "certain period of time" can be either a standby time until, for example, the elevator ascending to the second-floor parking garage has completed its operation, or it can be a time allowed for the user to confirm the surrounding conditions of the vehicle 10 after it has moved to the third position. The second section is the path from the third position to the fourth position.

[0080] When the vehicle 10 is moved to the second position, the control unit 53 moves the vehicle 10 to the fourth position based on an instruction from the user. "Moving to the second position" refers to a state where, after moving to the second position, the vehicle 10 does not move further due to any driving force. The control unit 53 does not distinguish between the second and third positions (or between the second and third positions), but rather receives an instruction from the user to move to the fourth position. The user instruction could be, for example, "Since the third position has been reached, move to the fourth position."

[0081] When the control unit 53 has moved the vehicle 10 to the second position, if it does not detect any movement of the vehicle 10 from the second position to the third position within a predetermined period, it receives an instruction operation from the user and moves the vehicle 10 to the fourth position based on the instruction operation. Although the control unit 53 determines whether the vehicle is in the second or third position, if it cannot determine this, it guides the user as follows: if the vehicle moves to the third position (e.g., after the elevator lift has finished moving), it will issue a movement start instruction operation; if it receives a movement start instruction operation, it will consider the vehicle to be in the third position and move the vehicle 10 to the fourth position.

[0082] In addition, after the control unit 53 detects that the vehicle 10 has moved from the second position to the third position based on the surrounding environment data, or after it detects that the vehicle 10 has moved from the second position to the third position based on the change in state data obtained by the sensor, it may further receive an instruction from the user to move the vehicle 10 to the fourth position.

[0083] The EPS system 22 includes a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a rotary transformer 106, and an EPS ECU 108. The steering angle sensor 100 detects the steering angle θst of the steering unit 110. The torque sensor 102 detects the torque TQ applied to the steering unit 110.

[0084] The EPS motor 104 can assist the user in operating the steering device 110 and perform automatic steering during parking assistance by applying driving or reaction force to the steering column 112 connected to the steering device 110. The rotary transformer 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for the overall control of the EPS system 22. The EPS ECU 108 includes an input / output unit (not shown), an arithmetic unit (not shown), and a storage unit (not shown).

[0085] The communication unit 24 is capable of wireless communication with other communication devices 120. These other communication devices 120 include base stations, communication devices of other vehicles, and information terminals such as smartphones or tablets held by the user of vehicle 10. For example, the communication unit 24 is equipped with a UWB interface capable of UWB (Ultra Wide Band) communication with the information terminal. The communication unit 24 is capable of transmitting and receiving information related to remote parking / departure and assisted parking / departure of vehicle 10 with the information terminal and other such devices.

[0086] The drive force control system 26 includes a drive ECU 130. The drive force control system 26 controls the drive force of the vehicle 10. The drive ECU 130 controls the engine (not shown) and other components based on user operations on the accelerator pedal (not shown), thereby controlling the drive force of the vehicle 10.

[0087] The braking force control system 28 includes a braking ECU 132. The braking force control system 28 controls the braking force of the vehicle 10. The braking ECU 132 controls the braking mechanism (not shown) and other components based on the user's operation of the brake pedal (not shown), thereby controlling the braking force of the vehicle 10.

[0088]

[0089] Reference Figures 4 to 6 The movement of vehicle 10 along a path within a parking lot will be illustrated. Figure 4 This is a diagram showing the situation where vehicle 10 moves from a first position to a second position along a path. Figure 5 This is a diagram showing the situation where vehicle 10 moves from a second position to a third position on a path. Figure 6 This is a diagram showing the situation where vehicle 10 moves from the third position to the fourth position on a path.

[0090] The parking lot shown in this example is a multi-level parking lot equipped with an elevator 73 (e.g., a lift). The elevator 73 has a turntable 74 that allows the orientation of the vehicle 10 to rotate. The parking lot is provided with, for example, a first-floor area 71 and a second-floor area 72. The elevator 73 is provided with a gate 71a in the first-floor area 71 and a gate 72a in the second-floor area 72. One path within the parking lot is a movement path that includes a first position P1 and a second position P2 set in the first-floor area 71, and a third position P3 and a fourth position P4 set in the second-floor area 72.

[0091] The first position P1 is the starting position for parking (remote parking) of the vehicle 10 based on autonomous driving. The second position P2 is the parking position of the vehicle 10 within the elevator 73 of the first-floor area 71. The third position P3 is the parking position within the elevator 73 of the second-floor area 72 when the vehicle 10 moves to the second-floor area 72 via the rising of the elevator 73. However, the vehicle 10, having moved to the second-floor area 72, changes its orientation and stops by rotating the turntable 74. The fourth position P4 is the target parking position of the vehicle 10. The path from the first position P1 to the second position P2 is the first segment, and the path from the third position P3 to the fourth position P4 is the second segment. The vehicle 10 moves from the first position P1 through the second position P2 and the third position P3 to the fourth position P4.

[0092] like Figure 4As shown, the user drives vehicle 10 to a first position P1 on a path within the parking lot and stops vehicle 10. The user presses a parking assist button to initiate parking based on automatic driving. Based on the current position coordinates of vehicle 10 and the surrounding environment data obtained by the camera of vehicle 10 and the position coordinates and surrounding environment data stored in the storage unit 54, vehicle 10 begins parking based on automatic driving. Vehicle 10 travels from the first position P1 through a first section (e.g., in the direction of arrow 75) into the elevator 73 with the gate 71a open, and stops at the second position P2 within the elevator 73.

[0093] like Figure 5 As shown, when vehicle 10 stops at the second position P2 within elevator 73 and gate 71a is closed, elevator 73 moves upward, for example, in the direction of arrow 76. As elevator 73 rises, vehicle 10 moves to the third position P3 within elevator 73 in the second-floor area 72. The third position P3 is a position that rises approximately vertically from the second position P2; therefore, the two-dimensional coordinates of the third position P3 and the second position P2 are the same. When vehicle 10 moves to the third position P3, elevator 73 activates and rotates turntable 74, causing vehicle 10 to face the direction of gate 72a.

[0094] like Figure 6 As shown, when the gate 72a of the elevator 73 opens, the vehicle 10 resumes parking based on its current position coordinates in the second-floor area 72, the current surrounding environment data obtained by the camera, and the position coordinates and surrounding environment data stored in the storage unit 54. The vehicle 10 moves from the third position P3 of the elevator 73 through the second section (e.g., moving in the direction of arrow 77) to the fourth position P4, which is the target parking position.

[0095] <The First Example of Storing and Processing Move Paths>

[0096] In order to enable parking of the vehicle 10 based on autonomous driving, a movement path storage process is performed, which pre-acquires and stores information about the path 10 has traversed. Figure 7 This is a flowchart illustrating the first example of storage processing for a movement path. Furthermore, the following uses... Figures 4 to 6 The described multi-level parking garage includes a movement path from the first position P1 to the fourth position P4, which serves as a path for the vehicle 10 to park automatically. Furthermore, the fourth position P4, the target parking location, is, for example, a parking location used by a user as a monthly rental parking space.

[0097] First, the user moves vehicle 10 to, for example, a parking position P1 within a parking lot. The first position P1 can be any position that the user can arbitrarily determine. Next, the user presses, for example, a path storage button (illustration omitted) to initiate the path storage process.

[0098] If vehicle 10 receives a path storage button press, it acquires the vehicle 10's position coordinates at the first position P1 and the surrounding environment data captured by the vehicle 10's camera. The surrounding feature points obtained from the surrounding environment data are used as the starting point of the current segment in the path, and are registered in the storage unit 54 along with the position coordinates and surrounding environment data, as an association with the first position P1 (current segment starting point) (step S11). The current segment starting point refers to the starting point of the path (first segment) from the first position P1 to the second position P2 in the first layer area 71. Furthermore, if vehicle 10 receives a path storage button press, it continuously acquires the vehicle 10's position coordinates and the vehicle 10's surrounding environment data.

[0099] Next, the user moves vehicle 10 from the first position P1 and stops vehicle 10 in the parking position, i.e., the second position P2, within the elevator 73 of the first floor area 71.

[0100] Vehicle 10 determines whether it has received a temporary stop operation that temporarily halts the storage processing of the movement path (step S12). The temporary stop operation is performed by the user. After vehicle 10 reaches the second position P2 within elevator 73, the user performs a braking operation to stop vehicle 10 and presses a path storage stop button (illustration omitted) that stops the storage processing of the movement path.

[0101] If no temporary stop operation is received in step S12 (step S12: No), vehicle 10 determines whether an end operation to terminate the storage process of the movement path has been received (step S13). The end operation is performed by the user. After parking vehicle 10 at the target parking position of vehicle 10, i.e., the fourth position P4 of the second-level area 72, the user presses a button to terminate the storage process of the movement path, such as a path storage end button (illustration omitted). If no end operation is received in step S13 (step S13: No), vehicle 10 returns to step S12 and executes each process.

[0102] On the other hand, if a temporary stop operation is received in step S12 (step S12: Yes), the vehicle 10 temporarily stops storing the surrounding feature points obtained based on the surrounding environment data (step S14).

[0103] Vehicle 10 registers the peripheral feature point obtained from the last surrounding environment data when it temporarily stops storing peripheral feature points—that is, the peripheral feature point obtained from the surrounding environment data captured by the second position P2 inside the elevator 73—as the peripheral feature point of the current segment endpoint in the path, along with its position coordinates and surrounding environment data, and associates it with the second position P2 (current segment endpoint) in the storage unit 54 (step S15). The current segment endpoint refers to the endpoint in the path (first segment) from the first position P1 to the second position P2 in the first floor area 71.

[0104] Next, vehicle 10 adds a segment to the path (step S16). In addition to the "current segment" stored as the path from the first position P1 to the second position P2, vehicle 10 also adds a new segment (e.g., "next segment"). Here, elevator 73 begins to rise, and vehicle 10 inside elevator 73 moves from the first floor area 71 to the second floor area 72.

[0105] Vehicle 10 determines whether it has received a restart operation to resume the storage processing of the movement path (step S17). The restart operation is performed by the user. After the elevator 73 rises to the second-floor area 72, and the parking position of vehicle 10 reaches the third position P3 within the elevator 73 in the second-floor area 72, and the gate 72a of the elevator 73 is opened, the user presses the path storage restart button to resume the storage processing of the movement path (illustration omitted). The user releases the brake operation of vehicle 10, allowing vehicle 10 to move.

[0106] If no restart operation is received in step S17 (step S17: No), vehicle 10 repeats the process of step S17 until a restart operation is received. In step S17, if a restart operation is received (step S17: Yes), vehicle 10 resumes the continuous acquisition of vehicle 10's position coordinates and surrounding environment data, and the storage of surrounding feature points detected from the surrounding environment data (step S18).

[0107] Vehicle 10 registers the surrounding feature points, obtained from the surrounding environment data captured since the restart of operation (i.e., the surrounding feature points obtained from the surrounding environment data captured at the third position P3 within the elevator 73), as the starting point of the next segment in the path, along with their position coordinates and surrounding environment data, in the storage unit 54 (step S19). However, since the third position P3 is the position where the vehicle moves vertically upwards from the second position P2 via the elevator 73, the position coordinates of the third position P3 are the same as those of the second position P2. The starting point of the next segment refers to the starting point of the path (second segment) from the third position P3 to the fourth position P4 in the second-floor area 72.

[0108] Next, the user moves the vehicle 10, which is traveling from the third position P3, to the fourth position P4 in the second-floor area 72, which is the target parking position of the vehicle 10.

[0109] After vehicle 10 completes the registration process in step S19, it returns to step S12 to execute various processes. If vehicle 10 is stopped at the fourth position P4, the temporary stop operation for storing the user's movement path is not performed (step S12: No), so vehicle 10 proceeds to step S13 after step S12.

[0110] If an end operation is received in step S13 (step S13: Yes), vehicle 10 will register the surrounding feature point obtained from the last surrounding environment data at the time the end operation was received, i.e., the surrounding feature point obtained from the surrounding environment data captured at the fourth position P4 in the second-layer region 72, as the surrounding feature point of the current segment endpoint in the path, together with its position coordinates and surrounding environment data, in the storage unit 54 (step S20), thus ending this process. The current segment endpoint refers to the endpoint in the path (second segment) from the third position P3 to the fourth position P4 in the second-layer region 72.

[0111] <The First Case of Parking Processing Based on Automated Driving>

[0112] Figure 8 This is a flowchart illustrating the first example of parking processing based on autonomous driving. The process begins with the presence of a parking instruction from the user based on autonomous driving and the detection of surrounding feature points at the starting point of the current segment.

[0113] Specifically, the user stops the vehicle 10 at the first position P1 and presses a parking assist button to initiate parking towards the target parking position (fourth position P4) based on automatic driving. The vehicle 10 detects surrounding feature points from the surrounding environment data of the surrounding images captured by the camera and determines whether the detected surrounding feature points are consistent with the surrounding environment data associated with the current segment start point (first position P1) stored in the storage unit 54. The vehicle 10 begins this process if the surrounding feature points are consistent.

[0114] Based on the vehicle's position coordinates and the surrounding environment data obtained by the camera, the vehicle 10 begins to drive automatically (step S31). The vehicle 10 drives automatically from the first position P1 to the second position P2 via the first section stored in the storage unit 54.

[0115] Vehicle 10 determines whether it can detect the surrounding feature points of the current segment endpoint (second position P2) in the acquired surrounding image data (step S32). That is, vehicle 10 determines whether vehicle 10 has reached the elevator 73 of the first-floor area 71.

[0116] If no surrounding feature point is detected at the end of the current segment in step S32 (step S32: No), vehicle 10 repeats the process of step S32. If a surrounding feature point is detected at the end of the current segment in step S32 (step S32: Yes), vehicle 10 stops automatic driving (step S33). In addition, vehicle 10 continuously acquires its position coordinates and surrounding environment data.

[0117] Next, vehicle 10 determines whether the currently traveling segment is the last segment (step S34). Based on segment information of a path stored in storage unit 54, vehicle 10 determines the current segment that vehicle 10 is automatically traveling in. In this example, the target parking position of vehicle 10 is the fourth position P4 of the second-level area 72, therefore the second segment from the third position P3 to the fourth position P4 of the second-level area 72 becomes the last segment.

[0118] If the currently traveled segment in step S34 is the last segment (step S34: Yes), vehicle 10 ends this process. If the currently traveled segment in step S34 is not the last segment (step S34: No), vehicle 10 determines whether the surrounding feature points of the starting point of the next segment (third position P3) can be detected in the acquired surrounding image data (step S35). That is, for vehicle 10, vehicle 10 is transported to the second-floor area 72 by the elevator 73, the orientation of vehicle 10 is changed by the rotation of the turntable 74, and vehicle 10 is determined to be in an automatic driving state by opening the gate 72a.

[0119] If no surrounding feature point of the next segment starting point is detected in step S35 (step S35: No), vehicle 10 repeats the process of step S35. If a surrounding feature point of the next segment starting point is detected in step S35 (step S35: Yes), vehicle 10 resumes automatic driving (step S36). Vehicle 10 automatically drives from the third position P3 to the fourth position P4 via the second segment stored in the storage unit 54. Furthermore, when resuming automatic driving, it is also possible to resume automatic driving again after a preset standby time following the detection of a surrounding feature point of the next segment starting point.

[0120] After vehicle 10 resumes automatic driving in step S36, it returns to step S32 to determine whether the surrounding feature points of the current segment endpoint (fourth position P4) can be detected in the acquired surrounding image data (step S32). That is, vehicle 10 determines whether it has reached the target parking position (fourth position P4) of the second-level area 72.

[0121] The processing after the determination in step S32 is the same as the processing described above. If vehicle 10 reaches the fourth position P4, it is determined in step S34 to be the last segment and the process ends.

[0122] <The surrounding environment data stored in the first example of storage processing>

[0123] Figure 9 This is a graph representing the surrounding environment data stored in the first instance of storage processing along the movement path. For example... Figure 9 As shown, the surrounding environment data is stored in the storage unit 54 as surrounding environment data 81 for a path along which the vehicle 10 moves. As described above, a path includes, for example, a first position, a second position, a third position, and a fourth position.

[0124] The surrounding environment data 81 includes first surrounding environment data 82 obtained in the first segment of the vehicle 10's path from a first position P1 to a second position P2 in the first-level area 71, and second surrounding environment data 83 obtained in the second segment of the vehicle 10's path from a third position P3 to a fourth position P4 in the second-level area 72. The first surrounding environment data 82 includes, for example, a sidewall feature point 82a, which is one of the feature points in the surrounding environment of the first segment. The second surrounding environment data 83 includes, for example, a sidewall feature point 83a, which is one of the feature points in the surrounding environment of the second segment.

[0125] As described above, in a movement path of the vehicle 10 in this embodiment, which includes a first position P1 and a second position P2 in a first-floor area 71 of a parking lot and a third position P3 and a fourth position P4 in a second-floor area 72, the path from the first position P1 to the second position P2 is stored as a first segment, the path from the third position P3 to the fourth position P4 is stored as a second segment, the surrounding environment data of the second position P2 is stored as first surrounding environment data, and the surrounding environment data of the third position P3 is stored as second surrounding environment data. After moving from the first position P1 to the second position P2 via the first segment, if it can be confirmed that the surrounding environment data obtained by the camera has switched from the first surrounding environment data to the second surrounding environment data, it is determined that the position of the vehicle 10 has moved from the second position P2 to the third position P3, and from the third position P3 to the fourth position P4 via the second segment. According to this structure, even if the second position P2 and the third position P3 are positions in the elevator 73 of the parking lot where the two-dimensional coordinates of the first and second floors do not change before and after the lift, the movement from the second position P2 in the first floor area 71 to the third position P3 in the second floor area 72 can be accurately detected based on the surrounding environment data. Therefore, the convenience of users when performing control based on position coordinates and surrounding environment data can be improved.

[0126] <Second example of storing and processing movement paths>

[0127] Figure 10 This is a flowchart illustrating the second example of storage processing for the move path. For example... Figure 10 As shown, the processing of steps S11 to S13 is similar to... Figure 7 The processes in steps S11 to S13 of the first example of storage processing are the same.

[0128] In the second example, if a temporary stop operation is received in step S12 (step S12: Yes), vehicle 10 temporarily stops storing peripheral feature points based on surrounding environment data and begins recording acceleration data (step S14). The acceleration data is data obtained by the acceleration sensor as described above. Vehicle 10 detects changes in acceleration in the vertical direction (from the second position P2 to the third position P3) as the elevator 73 moves with the acceleration sensor, and records the detected acceleration changes as acceleration change data in the storage unit 54. Additionally, vehicle 10 can also detect and record changes in acceleration in the rotational direction when its orientation changes due to the rotation of the turntable 74, using the acceleration sensor. Furthermore, vehicle 10 can also detect and record changes in acceleration in the vertical direction and changes in acceleration in the rotational direction when its orientation changes, using the acceleration sensor.

[0129] Processing of steps S15 to S17 Figure 7 The processes in steps S15 to S17 of the first example of storage processing are the same.

[0130] Next, upon receiving confirmation of restarting the operation in step S17 (step S17: Yes), vehicle 10 ends the recording of acceleration data and resumes the continuous acquisition of vehicle 10's position coordinates and surrounding environment data, as well as the storage of surrounding feature points detected from the surrounding environment data (step S18). The restarting of the operation signifies that vehicle 10 has reached the third position P3 in the second-layer region 72, and the recording of acceleration data ends.

[0131] Afterwards, the processing of steps S19 and S20 is... Figure 7 The processing of steps S19 and S20 in the first example of storage processing is the same.

[0132]

[0133] Figure 11 This is a flowchart illustrating a second example of parking processing based on automated driving. For example... Figure 11 As shown, the processing of steps S31 to S34 is similar to... Figure 8 The steps S31 to S34 in the first example of parking processing are the same.

[0134] Next, if the currently traveled segment is not the last segment in step S34 (step S34: No), vehicle 10 determines whether the acceleration sensor detects a change in acceleration that is the same as the acceleration change data recorded in storage unit 54 (step S35). That is, vehicle 10 determines whether vehicle 10 has moved from the second position P2 to the third position P3 due to the rise of elevator 73.

[0135] Processing after step S36 and Figure 7 The processing after step S36 in the first example of parking handling is the same.

[0136] <The surrounding environment data stored in the second example of storage processing>

[0137] Figure 12 This is a graph representing the surrounding environment data stored in the second example of the storage processing of the movement path. For example... Figure 12 As shown, the surrounding environment data is stored in the storage unit 54 as surrounding environment data 81 for a path along which the vehicle 10 moves. A path may include, for example, a first position, a second position, a third position, and a fourth position.

[0138] The surrounding environment data 81 includes: first surrounding environment data 82 obtained in the first segment of the path of vehicle 10 from a first position P1 to a second position P2 in the first-floor area 71; vertical acceleration change data 84 detected by an acceleration sensor when vehicle 10 moves from the second position P2 to the third position P3 via elevator 73; and second surrounding environment data 83 obtained in the second segment of the path of vehicle 10 from the third position P3 to the fourth position P4 in the second-floor area 72. The acceleration change data 84 includes, for example, positive acceleration when rising from the second position P2 and, for example, negative acceleration when stopping at the third position P3. The first surrounding environment data 82 includes, for example, a sidewall feature point 82a, which is one of the feature points in the surrounding environment of the first segment. The second surrounding environment data 83 includes, for example, a sidewall feature point 83a, which is one of the feature points in the surrounding environment of the second segment. Furthermore, the acceleration change data 84 may also include changes in the direction of acceleration of vehicle 10 when its orientation changes due to the rotation of turntable 74.

[0139] Thus, in this embodiment, the vehicle 10, within a movement path encompassing the first position P1 and the second position P2 of the first-floor area 71 in the parking lot, and the third position P3 and the fourth position P4 of the second-floor area 72, stores the path from the first position P1 to the second position P2 as a first segment and the path from the third position P3 to the fourth position P4 as a second segment. The change in acceleration obtained by the acceleration sensor as the vehicle 10 moves from the second position P2 to the third position P3 is stored as acceleration change data. After moving from the first position P1 to the second position P2 via the first segment, if the acceleration sensor obtains an acceleration change identical to the stored acceleration change data, it is determined that the vehicle 10's position has moved from the second position P2 to the third position P3, and from the third position P3 to the fourth position P4 via the second segment. According to this structure, even if the second position P2 and the third position P3 are positions in the elevator 73 of the parking lot where the two-dimensional coordinates of the first and second floors do not change before and after the lift, the movement from the second position P2 in the first floor area 71 to the third position P3 in the second floor area 72 can be accurately detected based on the change in acceleration. Therefore, it can improve the convenience for users when performing control based on position coordinates and surrounding environment data.

[0140] Furthermore, the control method described in the foregoing embodiments can be implemented by a computer executing a pre-prepared control program. This control program is recorded in a computer-readable storage medium and executed by reading it from the storage medium. Additionally, this control program can be provided in the form of storage on a non-transitory storage medium such as flash memory, or via a network such as the Internet. The computer executing this control program can be included in a mobile device, or in an electronic device such as a smartphone, tablet computer, or personal computer capable of communicating with the mobile device, or in a server device capable of communicating with these mobile devices and electronic devices.

[0141] The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments and can be appropriately modified or improved.

[0142] For example, in the above embodiments, the storage processing of the movement path and the parking processing based on automatic driving were described in the first and second examples, respectively, but the present invention is not limited to these. For example, the first and second examples can also be combined. That is, the determination of whether the parking position of vehicle 10 has moved from the second position P2 to the third position P3 can also be based on both the surrounding feature points obtained from the surrounding environment data and the change in acceleration detected by the acceleration sensor. In addition, in the above embodiments, a parking lot with a first-level area 71 and a second-level area 72 was described, but the number of levels in a parking lot can also be more than one.

[0143] Furthermore, while the above embodiments illustrate the use of a vehicle (four-wheeled car) as the moving body, the invention is not limited to this. For example, it could also be a two-wheeled vehicle, a Segway, or other similar vehicle. Moreover, the concept of this invention is not limited to vehicles and can also be applied to robots, aircraft, and other devices that possess a drive source and are capable of movement powered by that drive source.

[0144] In addition, at least the following matters are described in this specification. Furthermore, although the corresponding components and the like are shown in parentheses in the above embodiments, the present invention is not limited thereto.

[0145] (1) A mobile body (vehicle 10) having an external identification unit that acquires surrounding environmental data, wherein,

[0146] The mobile body has:

[0147] Storage unit (storage unit 54) that associates and stores a path and position coordinates of the moving body, including a first position, a second position, a third position, and a fourth position, with the surrounding environment data; and

[0148] The control unit (control unit 53) performs movement control based on the position coordinates and the surrounding environment data, causing the moving body to move from the first position through the second position and the third position to the fourth position.

[0149] The storage unit stores the path from the first position to the second position in the path as a first segment, and stores the path from the third position to the fourth position in the path as a second segment.

[0150] After the control unit moves the moving body from the first position to the second position via the first section, if it detects that the moving body is moving from the second position to the third position, it moves the moving body from the third position to the fourth position via the second section.

[0151] According to (1), in the case of a path from the first position to the fourth position via the second and third positions, after moving from the first position to the second position via the first segment, if a movement from the second position to the third position is detected, then the movement proceeds from the third position to the fourth position via the second segment. Therefore, even if the moving body moves or rotates from the second position to the third position via an elevator, turntable, etc., movement control from the first position to the fourth position can be easily performed. Thus, user convenience is improved when performing control based on position coordinates and surrounding environment data.

[0152] (2) The movable body according to (1), wherein,

[0153] The storage unit stores the surrounding environment data of the second location as first surrounding environment data, and stores the surrounding environment data of the third location as second surrounding environment data.

[0154] The control unit detects the movement of the moving body from the second position to the third position based on the surrounding environment data identified by the external identification unit and the first and second surrounding environment data stored in the storage unit.

[0155] According to (2), by using the surrounding environment data stored in the second and third positions of the storage unit, it is possible to appropriately detect movement from the second position to the third position.

[0156] (3) The movable body according to (2), wherein,

[0157] When the surrounding environment data identified by the external identification unit changes from the first surrounding environment data to the second surrounding environment data, the control unit determines that the moving body has moved from the second position to the third position.

[0158] As in (3), it is preferable to determine the movement from the second position to the third position by switching from the first surrounding environment data stored in the storage unit to the second surrounding environment data based on the surrounding environment data.

[0159] (4) The mobile body according to any one of (1) to (3), wherein,

[0160] The mobile body also includes sensors that acquire state data representing the state of the mobile body.

[0161] The storage unit stores state change data, which represents the changes in the state data obtained by the sensor as the moving body moves from the second position to the third position.

[0162] The control unit detects the movement of the moving body from the second position to the third position based on the changes in the state data obtained by the sensor and the state change data stored in the storage unit.

[0163] According to (4), by using the state change data obtained by the sensor when moving from the second position to the third position, the movement from the second position to the third position can be properly detected, which can improve the convenience for users when performing control based on position coordinates and surrounding environment data.

[0164] (5) The movable body according to (4), wherein,

[0165] The state of the moving body is the acceleration of the moving body.

[0166] As in (5), the change in state data obtained by the sensor when moving from the second position to the third position is preferably a change in acceleration.

[0167] (6) The mobile body according to any one of (1) to (5), wherein,

[0168] When the control unit detects that the moving body has moved from the second position to the third position, it causes the moving body to move from the third position to the fourth position via the second section after a certain period of time.

[0169] As in (6), a certain amount of standby time can be ensured before starting to move to the fourth position.

[0170] (7) The mobile body according to any one of (1) to (6), wherein,

[0171] When the control unit moves the mobile body to the second position, it moves the mobile body to the fourth position based on an instruction from the user.

[0172] As in (7), after moving to the second position, it is not necessary to determine whether it has moved to the third position, but to move to the fourth position based on the user's instruction.

[0173] (8) The movable body according to (7), wherein,

[0174] If, while the control unit has moved the moving body to the second position, it does not detect any movement of the moving body from the second position to the third position within a specified period, it receives the instruction operation and, based on the instruction operation, moves the moving body to the fourth position.

[0175] As in (8), if, after moving to the second position, the movement from the second position to the third position cannot be detected within a specified period, the movement to the fourth position can also be made based on the user's instruction.

[0176] (9) The mobile body according to any one of (1) to (8), wherein,

[0177] The second position and the third position are positions in an elevator that enables the moving body to rise and fall.

[0178] As in (9), as an example of the second and third positions, it can also be a position that can be reached by lifting or lowering via an elevator.

[0179] (10) The mobile body according to any one of (1) to (9), wherein,

[0180] The second position and the third position are positions on a turntable that allow the moving body to rotate.

[0181] As in (10), as an example of the second and third positions, the positions can also be reached by rotating through a turntable.

[0182] (11) The mobile body according to any one of (1) to (10), wherein,

[0183] The path is stored based on the user's actions.

[0184] As in (11), it is preferable to store a path based on the user's actions on the mobile body.

[0185] (12) The mobile body according to any one of (1) to (11), wherein,

[0186] A path may include paths on multiple floors.

[0187] As in (12), preferably, a path contains paths to multiple floors.

[0188] (13) The mobile body according to any one of (1) to (12), wherein,

[0189] The path in question is a path within the parking lot.

[0190] As in (13), a preferred path is a path within the parking lot.

[0191] (14) The mobile body according to any one of (1) to (13), wherein,

[0192] The fourth position is the parking position of the mobile body.

[0193] As in (14), the fourth position in a path is preferably the parking position of the moving body.

[0194] (15) A control method for a moving body equipped with an external identification unit that acquires data about the surrounding environment, wherein,

[0195] The mobile body includes: a storage unit that associates and stores a path and position coordinates of the mobile body, including a first position, a second position, a third position, and a fourth position, with the surrounding environment data; and

[0196] The control unit, based on the position coordinates and the surrounding environment data, performs movement control to move the moving body from the first position through the second and third positions to the fourth position.

[0197] The storage unit stores the path from the first position to the second position in the path as a first segment, and stores the path from the third position to the fourth position in the path as a second segment.

[0198] The following processing is performed in the control method:

[0199] After the control unit moves the moving body from the first position to the second position via the first section, if it detects that the moving body is moving from the second position to the third position, it moves the moving body from the third position to the fourth position via the second section.

[0200] According to (15), in the case of a path from the first position to the fourth position via the second and third positions, after moving from the first position to the second position via the first segment, if a movement from the second position to the third position is detected, then the movement proceeds from the third position to the fourth position via the second segment. Therefore, even if the moving body moves or rotates from the second position to the third position via an elevator, turntable, etc., movement control from the first position to the fourth position can be easily performed. Thus, user convenience is improved when performing control based on position coordinates and surrounding environment data.

[0201] (16) A control program product comprising a control program, said control program being a control program for a moving body having an external identification unit that acquires surrounding environmental data, wherein,

[0202] The mobile body has:

[0203] The storage unit, which associates and stores a path and position coordinates of the moving body, including the first, second, third, and fourth positions, with the surrounding environment data; and

[0204] The processor, based on the position coordinates and the surrounding environment data, performs movement control to move the moving body from the first position through the second and third positions to the fourth position.

[0205] The control program causes the processor to perform the following processing:

[0206] The path from the first position to the second position in the given path is stored as a first segment in the storage unit, and the path from the third position to the fourth position in the given path is stored as a second segment in the storage unit.

[0207] After moving the moving body from the first position to the second position via the first section, if movement of the moving body from the second position to the third position is detected, the moving body is moved from the third position to the fourth position via the second section.

[0208] According to (16), in the case of a path from the first position to the fourth position via the second and third positions, after moving from the first position to the second position via the first segment, if a movement from the second position to the third position is detected, then the movement proceeds from the third position to the fourth position via the second segment. Therefore, even if the moving body moves or rotates from the second position to the third position via an elevator, turntable, etc., movement control from the first position to the fourth position can be easily performed. Thus, user convenience is improved when performing control based on position coordinates and surrounding environment data.

Claims

1. A mobile body, comprising an external identification unit for acquiring surrounding environmental data, wherein, The mobile body has: The storage unit stores a path and position coordinates of the moving body, including the first position, second position, third position, and fourth position, as well as the surrounding environment data in an associated manner. as well as The control unit, based on the position coordinates and the surrounding environment data, performs movement control to move the moving body from the first position through the second and third positions to the fourth position. The storage unit stores the path from the first position to the second position in the path as a first segment, and stores the path from the third position to the fourth position in the path as a second segment. After the control unit moves the moving body from the first position to the second position via the first section, if it detects that the moving body is moving from the second position to the third position, it moves the moving body from the third position to the fourth position via the second section.

2. The mobile body according to claim 1, wherein, The storage unit stores the surrounding environment data of the second location as first surrounding environment data, and stores the surrounding environment data of the third location as second surrounding environment data. The control unit detects the movement of the moving body from the second position to the third position based on the surrounding environment data identified by the external identification unit and the first and second surrounding environment data stored in the storage unit.

3. The mobile body according to claim 2, wherein, When the surrounding environment data identified by the external identification unit changes from the first surrounding environment data to the second surrounding environment data, the control unit determines that the moving body has moved from the second position to the third position.

4. The mobile body according to claim 1, wherein, The mobile body also includes sensors that acquire state data representing the state of the mobile body. The storage unit stores state change data, which represents the changes in the state data obtained by the sensor as the moving body moves from the second position to the third position. The control unit detects the movement of the moving body from the second position to the third position based on the changes in the state data obtained by the sensor and the state change data stored in the storage unit.

5. The mobile body according to claim 4, wherein, The state of the moving body is the acceleration of the moving body.

6. The mobile body according to claim 1, wherein, When the control unit detects that the moving body has moved from the second position to the third position, it causes the moving body to move from the third position to the fourth position via the second section after a certain period of time.

7. The mobile body according to claim 1, wherein, When the control unit moves the mobile body to the second position, it moves the mobile body to the fourth position based on an instruction from the user.

8. The mobile body according to claim 7, wherein, If, while the control unit has moved the moving body to the second position, it does not detect any movement of the moving body from the second position to the third position within a specified period, it receives the instruction operation and, based on the instruction operation, moves the moving body to the fourth position.

9. The mobile body according to claim 1, wherein, The second position and the third position are positions in an elevator that enables the moving body to rise and fall.

10. The mobile body according to claim 1, wherein, The second position and the third position are positions on a turntable that allow the moving body to rotate.

11. The mobile body according to claim 1, wherein, The path is stored based on the user's actions.

12. The mobile body according to claim 1, wherein, A path may include paths on multiple floors.

13. The mobile body according to claim 1, wherein, The path in question is a path within the parking lot.

14. The mobile body according to any one of claims 1 to 13, wherein, The fourth position is the parking position of the mobile body.

15. A control method for a moving body equipped with an external recognition unit that acquires surrounding environmental data, wherein, The mobile body has: The storage unit stores a path and position coordinates of the moving body, including the first position, second position, third position, and fourth position, as well as the surrounding environment data in an associated manner. as well as The control unit, based on the position coordinates and the surrounding environment data, performs movement control to move the moving body from the first position through the second and third positions to the fourth position. The following processing is performed in the control method: The storage unit stores the path from the first position to the second position in the path as a first segment, and stores the path from the third position to the fourth position in the path as a second segment. After the control unit moves the moving body from the first position to the second position via the first section, if it detects that the moving body is moving from the second position to the third position, it moves the moving body from the third position to the fourth position via the second section.

16. A control program product comprising a control program, said control program being a control program for a moving body equipped with an external identification unit that acquires surrounding environmental data, wherein, The mobile body has: The storage unit stores a path and position coordinates of the moving body, including the first position, second position, third position, and fourth position, as well as the surrounding environment data in an associated manner. as well as The processor, based on the position coordinates and the surrounding environment data, performs movement control to move the moving body from the first position through the second and third positions to the fourth position. The control program causes the processor to perform the following processing: The path from the first position to the second position in the given path is stored as a first segment in the storage unit, and the path from the third position to the fourth position in the given path is stored as a second segment in the storage unit. After the moving body is moved from the first position to the second position via the first section, if the movement of the moving body from the second position to the third position is detected, the moving body is moved from the third position to the fourth position via the second section.

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