Control device, control method, and control program product

Abstract

Provided are a control device, a control method, and a control program product with which it is possible to reduce power consumption associated with a position estimation process while suppressing a decrease in convenience. The present invention is provided with: a storage unit (54) that stores parking information indicating a movement start point (61) of a vehicle (10), a parking section of the vehicle, and a movement path (63) along which the vehicle (10) moves from the movement start point to the parking section; a position estimation unit that performs position estimation processing including acquisition of external information of the vehicle, extraction of feature points from the external information, and position estimation of the vehicle on the basis of the feature points and map information; and a movement control unit (56) that performs movement control for moving the vehicle from the movement start point to the parking zone on the basis of the result of the position estimation processing and the parking information. The position estimation unit controls the estimation accuracy of the position estimation processing on the basis of the distance between the movement start point and the vehicle.

Description

Technical Field

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

[0002] In recent years, efforts to promote the use of sustainable transportation systems, which also take into account vulnerable groups among transportation participants, have become active. To achieve this goal, research and development related to driver assistance 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 where the vehicle moves automatically without user intervention, the path taken to the target location via user operation is pre-stored. When traveling towards the same target location or along the same path, the vehicle's movement is controlled based on the stored path history. Furthermore, it is known to control the vehicle's movement 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 a parking assist device configured to perform parking assist control when the current position of the vehicle obtained by the position acquisition device is near a registered parking position stored in the memory, and the registered parking position is used as the target parking position.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2024-024924 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] However, when controlling a vehicle to move to a target location, a technique is used to estimate the vehicle's position by comparing stored feature points of the surrounding environment with feature points of the surrounding environment obtained during the current movement. To accurately travel along the path to the stored target location, it is necessary to frequently extract feature points of the surrounding environment during movement and compare the extracted feature points with stored feature points. However, the processing load for obtaining surrounding environment information, extracting feature points from the obtained information, and comparing the extracted feature points is high, resulting in increased power consumption. Patent Document 1 does not describe a method for controlling the movement of a vehicle along a path to a target location, but rather reduces power consumption by decreasing the processing load for estimating the vehicle's position.

[0010] The purpose of this invention is to provide control devices, control methods, and control programs that can suppress the reduction in convenience and reduce the power consumption associated with location estimation processing. This, in turn, contributes to the development of sustainable transportation systems.

[0011] Solution for solving the problem

[0012] This invention is a control device for a moving body, comprising:

[0013] The system includes: a storage unit that stores parking information, which indicates the starting point of the movement of the mobile vehicle, the parking area of ​​the mobile vehicle, and the movement path of the mobile vehicle from the starting point to the parking area; a location estimation unit that performs location estimation processing, which includes acquiring external information of the mobile vehicle, extracting feature points from the external information, and estimating the location of the mobile vehicle based on the feature points and map information; and...

[0014] The movement control unit, based on the result of the location estimation processing and the parking information, performs movement control to move the moving body from the starting point of movement to the parking area.

[0015] The position estimation unit controls the estimation accuracy of the position estimation process based on the distance between the starting point of the movement and the moving body.

[0016] This invention relates to a control method for a control device of a moving body.

[0017] The control method causes the control device to perform the following processing:

[0018] The system stores parking information, which includes the starting point of the movement of the mobile vehicle, the parking area of ​​the mobile vehicle, and the movement path of the mobile vehicle from the starting point to the parking area.

[0019] A location estimation process is performed, which includes acquiring external information about the moving object, extracting feature points from the external information, and estimating the location of the moving object based on the feature points and map information.

[0020] Based on the result of the location estimation process and the parking information, movement control is performed to move the mobile body from the starting point of movement to the parking area.

[0021] The estimation accuracy of the position estimation process is controlled based on the distance between the starting point of the movement and the moving body.

[0022] This invention is a control program product that includes a control program for a control device of a moving body, wherein,

[0023] The control program causes the processor of the control device to perform the following processing:

[0024] The system stores parking information, which includes the starting point of the movement of the mobile vehicle, the parking area of ​​the mobile vehicle, and the movement path of the mobile vehicle from the starting point to the parking area.

[0025] A location estimation process is performed, which includes acquiring external information about the moving object, extracting feature points from the external information, and estimating the location of the moving object based on the feature points and map information.

[0026] Based on the result of the location estimation process and the parking information, movement control is performed to move the mobile body from the starting point of movement to the parking area.

[0027] The estimation accuracy of the position estimation process is controlled based on the distance between the starting point of the movement and the moving body.

[0028] Invention Effects

[0029] According to the present invention, control devices, control methods, and control programs can be provided that can suppress the reduction in convenience and reduce the power consumption associated with location estimation processing. Attached Figure Description

[0030] Figure 1 This is a side view showing an example of a vehicle 10 equipped with the control device of the present invention.

[0031] Figure 2 yes Figure 1 The top view of vehicle 10 shown.

[0032] Figure 3 It means Figure 1 A block diagram illustrating an example of the internal structure of the vehicle 10.

[0033] Figure 4 This is a diagram representing the first example of the estimation accuracy in the control position estimation process.

[0034] Figure 5 This is a flowchart representing the first example of the location estimation process.

[0035] Figure 6 This is the first example of a graph illustrating the variation in estimation accuracy during the position estimation process.

[0036] Figure 7 This is a second example of a diagram illustrating the estimation accuracy of the control position estimation process.

[0037] Figure 8This is a flowchart representing the second example of the location estimation process.

[0038] Figure 9 This is a second example of a figure illustrating the variation in estimation accuracy during the position estimation process.

[0039] Figure 10 This is a flowchart representing the third example of the position estimation process.

[0040] Explanation of reference numerals in the attached figures:

[0041] 10. Vehicles (mobile vehicles)

[0042] 20. Control ECU (Control Unit)

[0043] 54 Storage Department

[0044] 55 Position Estimation Section

[0045] 56. Motion Control Department

[0046] 57 Moving Object Detection Department

[0047] 61. Starting point of movement

[0048] 62 Parking Zones

[0049] 63. Movement path. Detailed Implementation

[0050] Hereinafter, one embodiment of the control device, control method, and control program product of the present invention will be described based on the accompanying drawings. Furthermore, the drawings are viewed along the directions indicated by the reference numerals. Additionally, in this specification and the like, 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.

[0051] <Vehicle 10 equipped with the control device of the present invention>

[0052] Figure 1 This is a side view showing an example of a vehicle 10 equipped with the control device of the present invention. Figure 2 yes Figure 1 The image shows a top view of vehicle 10. Vehicle 10 is an example of a "moving body" according to the present invention.

[0053] 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.

[0054] The vehicle 10 also includes side rearview mirrors 11L and 11R. The side rearview mirrors 11L and 11R are reflective mirrors (rearview mirrors) located on the outside of the front doors of the vehicle 10, used to allow the driver to see the rear and side rear. 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.

[0055] 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.

[0056] <Internal structure of vehicle 10>

[0057] 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.

[0058] 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.

[0059] 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 external information (e.g., external images) for identifying the external environment of the vehicle 10. The external images 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 and right images can also be called 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 called a top-view image of the vehicle 10.

[0060] 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.

[0061] 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. Wheel sensor 34a, for example, 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.

[0062] 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.

[0063] 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).

[0064] 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 a 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.

[0065] 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 memory 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 memory 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.

[0066] Furthermore, "parking" is synonymous with "parking." For example, "parking" refers to stopping the vehicle when a user gets in or out, excluding temporary stops at traffic lights, etc. Additionally, "parking zone" refers to a designated area where vehicles stop, i.e., a parking area.

[0067] 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 various components based on programs stored in the storage unit 54, thereby performing various controls. Furthermore, the arithmetic unit 52 performs signal input / output with various components connected to the control ECU 20 via the input / output unit 50. The control ECU 20 is an example of the "control device" of the present invention.

[0068] Storage unit 54 stores information related to the memory movement (memory parking / exit) of vehicle 10. The information related to memory movement is used to enable vehicle 10 to move automatically or assist its movement based on pre-stored movement information. For example, storage unit 54 stores parking information indicating the start point of the memory movement, the parking area where vehicle 10 stops by the memory movement, and the movement path of vehicle 10 from the start point to the parking area.

[0069] The arithmetic unit 52 includes: a position estimation unit 55, which performs position estimation processing of the vehicle 10; a movement control unit 56, which performs movement control of the vehicle 10; and a moving object detection unit 57, which detects moving objects around the vehicle 10.

[0070] The position estimation unit 55 performs position estimation processing, which includes acquiring external information of the vehicle 10, extracting feature points from the external information, and estimating the position of the vehicle 10 based on the feature points and map information. "Acquiring external information" refers to acquiring external information of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R. "Feature points from the external information" refers to characteristic features, such as objects, contained in the external information along the vehicle 10's movement path.

[0071] The mobility control unit 56 performs memory parking assist and memory exit assist for the vehicle 10 based on automatic steering, which automatically operates the steering device 110 under the control of the mobility control unit 56. In memory parking assist and memory exit assist, the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 are operated automatically. Furthermore, the mobility control unit 56 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. Additionally, during memory parking assist and memory exit assist, the driver can be either in the vehicle 10 or outside the vehicle (not in the vehicle).

[0072] For example, the movement control unit 56 performs movement control to move the vehicle 10 based on the result of the position estimation processing of the position estimation unit 55 and the parking information stored in the storage unit 54, which indicates the movement start point, parking area, and movement path. Movement control, for example, is parking control that causes the vehicle 10 to remember and park at a designated parking area (target parking position) from the movement start point. The movement control unit 56 can perform parking control and exit control based on instruction signals input via the input / output unit 50. The input instruction signals include instruction signals transmitted wirelessly from a user's information terminal or the like. Furthermore, the movement control unit 56 outputs information related to parking control and exit control to an information terminal or the like via the input / output unit 50.

[0073] The moving object detection unit 57 detects moving objects around the vehicle 10 based on external information about the vehicle 10. "Moving objects" include, for example, pedestrians, bicycles, and other vehicles.

[0074] Furthermore, the position estimation unit 55 controls the estimation accuracy of the position estimation process based on the distance between the starting point of movement and the vehicle 10. This "distance" is detected, for example, based on GPS information. The position estimation unit 55 controls the estimation accuracy of the position estimation process to be higher as the distance between the starting point of movement and the vehicle 10 decreases. For example, the position estimation unit 55 can perform position estimation processing using a first position estimation process and a second position estimation process with higher estimation accuracy and processing load than the first position estimation process. The first position estimation process is performed when the "distance" is above a predetermined value, and the second position estimation process is performed when the "distance" is below the predetermined value. The estimation accuracy of the position estimation process can switch between three or more levels, or it can continuously vary according to the distance.

[0075] "Controlling the estimation accuracy of the position estimation process" refers to changing at least one of the processes from the image acquisition process of capturing external information to the matching process of feature points compared with the external information. For example, "controlling the estimation accuracy of the position estimation process" includes increasing estimation accuracy by improving the image quality of the camera, and decreasing estimation accuracy by decreasing the image quality. Additionally, "controlling the estimation accuracy of the position estimation process" includes increasing estimation accuracy by narrowing the range of the camera image used for comparison, and decreasing estimation accuracy by expanding that range. Furthermore, "controlling the estimation accuracy of the position estimation process" includes changing the estimation accuracy by interrupting the matching process for a certain period of time. Additionally, "controlling the estimation accuracy of the position estimation process" includes pre-setting high-priority parking lots and low-priority parking lots, and reducing matching targets by prioritizing the position estimation processing of high-priority parking lots. Generally, the higher the estimation accuracy, the greater the processing load on the position estimation unit 55, and the higher the power consumption.

[0076] When the specified conditions related to the starting point of movement are met, the position estimation unit 55 improves the estimation accuracy of the position estimation process during the period when the vehicle 10 travels in the section in front of the starting point of movement, compared to when the specified conditions are not met. "Section in front of the starting point of movement" refers, for example, to a specified distance (e.g., 10m) in front of the starting point of movement. "Improving estimation accuracy" means, for example, setting the highest estimation accuracy when multiple levels of estimation accuracy for position estimation processing can be switched. Improving the estimation accuracy may not be done across the entire "section in front," or it may be improved in at least a portion of it.

[0077] The specified conditions include, for example, that the starting point of the movement is set near the boundary between a general road and a non-general road. "Non-general road" could be, for example, a private road or an area not designated as a road. "Near the boundary" means, for example, a distance from the boundary that is below a threshold. Additionally, the specified conditions include the situation where the starting point of the movement is set near the boundary and the vehicle 10 is traveling on a general road. "Traveling on a general road" means, for example, not that the vehicle is traveling from a private road to a general road, but rather that it is entering a private road from a general road.

[0078] When specified conditions are met, the position estimation unit 55 sets the estimation accuracy in the interval preceding the starting point of movement to a specified accuracy. If the vehicle 10 enters an unconventional road, the estimation accuracy is set to variable. "Specified accuracy" refers to a fixed value of estimation accuracy; for example, if multiple levels of estimation accuracy can be switched, the highest estimation accuracy is set. "Setting the estimation accuracy to variable" means, for example, controlling the estimation accuracy based on the surrounding environment and driving state of the vehicle 10, and making it lower than the specified accuracy.

[0079] The position estimation unit 55 controls the estimation accuracy of the position estimation process based on the number of moving objects detected by the moving object detection unit 57 around the vehicle 10. For example, when the number of moving objects around the vehicle 10 is a first predetermined number or more, the position estimation unit 55 controls the estimation accuracy of the position estimation process to be higher than when the number of moving objects is less than the first predetermined number. Conversely, when the number of moving objects around the vehicle 10 is a second predetermined number or more than the first predetermined number, the position estimation unit 55 controls the estimation accuracy of the position estimation process to be lower than when the number of moving objects is greater than the first predetermined number but less than the second predetermined number. "Lower" means, for example, setting the estimation accuracy to be the same as (e.g., identical) as when the number of moving objects is less than the first predetermined number. Alternatively, when the number of moving objects is a second predetermined number or more, the estimation accuracy may be lower than when the number is less than the first predetermined number. Specifically, when there are too many pedestrians or other such objects around the vehicle 10 (a second predetermined number or more), the load on feature point matching processing, etc., increases, thus reducing the estimation accuracy.

[0080] 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.

[0081] The EPS motor 104 can assist the user in operating the steering device 110 and in 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).

[0082] 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 can send and receive information related to the vehicle 10's memory parking / exit and assisted parking / exit functions with the information terminal and other such devices.

[0083] 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.

[0084] 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.

[0085] <The First Example of Controlling Estimated Accuracy>

[0086] Figure 4 This is a diagram illustrating the first example of the estimation accuracy in the control position estimation process. (See diagram for example.) Figure 4 As shown, the vehicle 10, for example, controls the change in the estimation accuracy of the position estimation process when the vehicle 10 is memory-parked using the parking facility 60.

[0087] Parking facility 60 is, for example, a shopping mall parking facility frequently used by users of vehicle 10. Users of vehicle 10 frequently use parking area 62 as one of the multiple parking areas of parking facility 60 to park their vehicle, and register parking area 62 as a parking area that can be remembered for parking space usage in storage unit 54. For example... Figure 4 As shown, the parking zone 62, together with the starting point 61 of the movement of the vehicle 10 when the parking is remembered, and the movement path 63 (dashed arrow) of the vehicle 10 from the starting point 61 to the parking zone 62, are registered in the storage unit 54 as parking information for remembering parking.

[0088] Regarding the registration of parking information, firstly, the user manually drives vehicle 10 to a stop at any starting point of movement (e.g., starting point 61). Next, the user presses a button for starting parking information registration, such as "Start Parking Information Registration" (illustration omitted), to begin registration. The user manually drives vehicle 10 along any path (e.g., movement path 63) to park in any parking area (e.g., parking area 62). Then, the user presses a button for ending parking information registration, such as "End Parking Information Registration" (illustration omitted), to end registration. Furthermore, while movement path 63 is shown in this example, there may be a turning back path, such as when reversing vehicle 10 to park in parking area 62. Additionally, parking information may also include feature points of external information acquired while driving along movement path 63.

[0089] <The First Case of Location Estimation Processing>

[0090] Figure 5 This is a flowchart illustrating the first example of position estimation processing. This example serves as a case study in... Figure 4 The position estimation process for the parking facility 60 shown, which enables the vehicle 10 to be parked in a memory state, will be explained below. This position estimation process is repeatedly executed while the vehicle 10 is in motion.

[0091] First, vehicle 10 determines whether to initiate position estimation processing (step S11). Position estimation processing, for example, involves detecting that vehicle 10 has entered a parking area containing parking information related to memory parking. Figure 4 The location estimation process can begin when the distance between the starting point 61 of the parking facility 60 and the vehicle 10 is less than a predetermined distance (e.g., 100m). Alternatively, the location estimation process can begin when the user, for example, presses the "parking assist button" to activate the memory parking function. Furthermore, it is assumed that the vehicle 10 is driven manually by the user.

[0092] If it is determined in step S11 that the position estimation process will not begin (step S11: No), the vehicle 10 repeatedly performs the process of step S11. If it is determined in step S11 that the position estimation process will begin (step S11: Yes), the vehicle 10, for example, calculates the distance from the current position of the vehicle 10 to the starting point of movement 61 based on GPS information (step S12).

[0093] Based on the distance derived in step S12, vehicle 10 sets the parameters for its position estimation process (step S13). These parameters determine the estimation accuracy of the position estimation process and include, for example, the image quality of the camera, the range of the camera image, the time and object of the matching process, and the algorithm. The parameters are based on the distance to the starting point 61 of the movement, for example, as referenced... Figure 6 The change in estimation accuracy is set as described later. Furthermore, if the estimation accuracy is increased, the processing load of the position estimation unit 55 increases, and if the estimation accuracy is decreased, the processing load of the position estimation unit 55 decreases.

[0094] Using the parameters set in step S13, vehicle 10 begins the position estimation process based on feature points and map information extracted from external information (step S14).

[0095] Next, vehicle 10 determines whether the driving position has reached the starting point of movement 61 (step S15). For example, vehicle 10 uses GPS information from navigation device 18 to determine whether the driving position has reached the starting point of movement 61. Alternatively, when the user stops vehicle 10 and presses the "parking assist button" to start memory parking, vehicle 10 determines that vehicle 10 has reached the starting point of movement 61.

[0096] If it is determined in step S15 that the starting location 61 has not been reached (step S15: No), vehicle 10 calculates the distance from its current location to the starting location 61 based on, for example, GPS information (step S16). Vehicle 10 sets parameters for the location estimation process based on the distance calculated in step S16 (step S17). Vehicle 10 returns to step S15 and performs location estimation processing according to the parameters set in step S17.

[0097] On the other hand, if it is determined in step S15 that the starting point of movement 61 has been reached (step S15: Yes), the vehicle 10 starts memory parking by moving from the starting point of movement 61 to the parking area 62 based on the result of the position estimation process and the parking information stored in the storage unit 54 (step S18).

[0098] Next, vehicle 10 determines whether parking in parking area 62 by vehicle 10 with memory parking is complete (step S19).

[0099] If it is determined in step S19 that parking is not completed (step S19: No), vehicle 10 repeats the process of step S19. If it is determined in step S19 that parking is completed (step S19: Yes), vehicle 10 performs end position estimation processing and memory parking (step S20).

[0100] Furthermore, during the memory parking process in steps S18 and S19, the estimation accuracy can be controlled (e.g., reduced) based on the surrounding environment and driving status of the vehicle 10, or it can be set to a fixed estimation accuracy (e.g., the highest accuracy). Additionally, in the above description, the movement of the vehicle 10 from entering the parking facility 60 to reaching the movement start point 61 is described as manual driving based on the user, but it is not limited to this. The movement of the vehicle 10 can also be, for example, automatic driving controlled by the movement start point 61 based on the result of the position estimation processing and the movement start point 61.

[0101] <The first example of changes in estimated accuracy>

[0102] Figure 6 This is a diagram illustrating the first example of changes in estimation accuracy during the position estimation process. The change in estimation accuracy in this example is shown in... Figure 4 The parking facility 60 shown is applicable when using memory parking. Figure 6 In the diagram, time t1 on the horizontal axis represents the starting point of the position estimation process. Time t2 is the point at which vehicle 10 arrives at the starting point 61 of the parking facility 60, indicating the start of the parking memory process. Time t3 represents the point at which vehicle 10 completes the parking memory process. The vertical axis represents the level of estimation accuracy.

[0103] The period T10, from time t1 to t3, is the period for performing the position estimation process for vehicle 10. Additionally, the period T11, from time t1 to t2, is the period of manual driving by the user from when vehicle 10 enters the parking facility 60 until it reaches the start of movement 61. Furthermore, the period T12, from time t2 to t3, is the period for remembering parking, during which vehicle 10 moves from the start of movement 61 to the parking area 62 based on the position estimation process results and parking information.

[0104] The start time t1 of the position estimation process is when the vehicle 10 is detected to have entered the parking facility 60. Position estimation processing begins when the vehicle 10 enters the parking facility 60, and the estimation accuracy 71 of the position estimation process increases in stages based on the distance between the vehicle 10 and the movement start point 61. In this example, after the position estimation process begins (time t1), the estimation accuracy increases in four levels as the distance from the vehicle 10 to the movement start point 61 decreases. Furthermore, in this example, the estimation accuracy is maintained at the highest level after reaching the movement start point 61 (time t2), but it can also be appropriately reduced. For example, the estimation accuracy could increase as the vehicle 10 approaches the movement start point 61, be set to the highest level just before reaching the movement start point 61, and then decrease after reaching it. By reducing the estimation accuracy, the processing load on the position estimation unit 55 can be reduced.

[0105] As described above, the control device of this embodiment controls the estimation accuracy of the position estimation process based on the distance between the starting point 61 and the vehicle 10; the shorter the distance, the higher the estimation accuracy. According to this structure, the position of the vehicle 10 near the starting point 61 can be accurately estimated. Therefore, situations where memory parking cannot begin along the movement path 63 from the starting point 61 to the parking area 62 can be suppressed, allowing the vehicle 10 to smoothly begin driving along the movement path 63. Furthermore, in areas where the distance to the starting point 61 is not so close, the estimation accuracy of the position estimation process can be kept low, thus reducing the power consumption associated with the position estimation process.

[0106]

[0107] Figure 7This is a second example of a diagram illustrating the estimation accuracy of the control position estimation process. (See diagram below.) Figure 7 As shown, when vehicle 10 enters a private driveway 83 within private land 82 from a general road 81 and parks in a garage 84 within private land 82, control is performed to change the estimation accuracy of the position estimation process. Private driveway 83 is an example of a "non-general road" in this invention.

[0108] The user of vehicle 10 registers parking area 62 within garage 84 as a parking area capable of implementing memory parking for vehicle 10 in storage unit 54. For example... Figure 7 As shown, the parking zone 62, together with the starting point 61 of the movement of the vehicle 10 when the parking is remembered, and the movement path 63 (dashed arrow) of the vehicle 10 from the starting point 61 to the parking zone 62, are registered in the storage unit 54 as parking information for remembering parking.

[0109] Regarding the registration of parking information, firstly, the user manually drives the vehicle to move, such as... Figure 7 As shown by the solid arrow, the vehicle 10 enters the private driveway 83 of private land 82 from the general road 81, stopping the vehicle at a position close to the boundary of the general road 81 (the distance from the boundary is less than a threshold), i.e., the movement start point (e.g., movement start point 61). Next, the user presses a button for starting parking information registration, such as "Start Parking Information Registration" (illustration omitted), to begin registration. The user manually drives the vehicle 10 along a path (e.g., movement path 63) along the private driveway 83, parking the vehicle 10 in the garage 84 (e.g., parking area 62). Then, the user presses a button for ending parking information registration, such as "End Parking Information Registration" (illustration omitted), to end registration. Furthermore, parking information may also include feature points of external information acquired while driving on movement path 63.

[0110] <Second example of location estimation processing>

[0111] Figure 8 This is a flowchart illustrating the second example of the position estimation process. This position estimation process is used as... Figure 5 The first variation of step S17 in the flowchart shown is executed. Additionally, this position estimation process is performed as a... Figure 7 The position estimation process is performed when the vehicle 10 is parked in the garage 84 due to the general road 81 entering the private land 82.

[0112] Figure 5The processes in steps S11 to S16 are also performed in the same way in this position estimation process. After vehicle 10 derives the distance from vehicle 10 to the starting point of movement 61 in step S16, as... Figure 8 As shown, it is determined whether the starting point of the movement 61 is set near the boundary between the general road 81 and the private road (private driveway 83) (step S17a).

[0113] If it is determined in step S17a that the vehicle is located near the boundary (step S17a: yes), the vehicle 10 determines whether the vehicle 10 is currently driving on the general road 81 (step S17b).

[0114] Then, in step S17b, if it is determined that the vehicle is traveling on a general road 81 (step S17b: Yes), the vehicle 10 sets the parameters for the position estimation process based on the distance to the starting point 61 derived in step S16 and the first algorithm that changes the estimation accuracy (step S17c). The algorithm described here is an algorithm (e.g., a function) that calculates parameters based on the distance to the starting point 61. The first algorithm is an algorithm with higher estimation accuracy compared to the second algorithm described later. That is, when the distance to the starting point 61 is the same, the estimation accuracy of the first algorithm is higher than that of the second algorithm. However, in both the first and second algorithms, there may be distances to the starting point 61 with the same estimation accuracy. For example, the cumulative value of the estimation accuracy based on the first algorithm within a certain distance interval from the starting point 61 is higher than the cumulative value of the estimation accuracy based on the second algorithm within the same interval. Regarding the change in the estimation accuracy of the first algorithm corresponding to the distance to the starting point 61, for example, refer to... Figure 9 Described later. After setting the parameters, vehicle 10 returns... Figure 5 In step S15, the position is estimated using the parameters set in step S17c.

[0115] On the other hand, if it is determined in step S17a that the starting point of movement 61 is not set near the boundary (step S17a: No), or if it is determined in step S17b that the vehicle 10 is not traveling on a general road 81 (step S17b: No), the vehicle 10 sets the parameters for the position estimation process based on the distance to the starting point of movement 61 derived in step S16 and the second algorithm that changes the estimation accuracy (step S17d). For example Figure 6 The change in estimated accuracy corresponding to the distance to the starting point 61 is based on the change in the second algorithm. After setting the parameters, vehicle 10 returns... Figure 5 In step S15, the position is estimated using the parameters set in step S17d.

[0116] Furthermore, in this example, as Figure 5 The first variation of step S17 in the flowchart shown has been illustrated, but it is not limited thereto. For example, as Figure 5 The first variation of step S13 in the flowchart shown can also be processed in the same way. Furthermore, in the above description, the movement of vehicle 10 from the general road 81 to the starting point 61 of the movement from the entry point 81 onto the private land 82 and to the private driveway 83 was described as manual driving based on the user, but it is not limited to this. The movement of vehicle 10 can also be, for example, automatic driving controlled by the movement starting point 61 based on the result of the position estimation process and the starting point 61.

[0117]

[0118] Figure 9 This is a second example illustrating the variation in estimation accuracy during the position estimation process. The variation in estimation accuracy in this example, for instance, applies to... Figure 7 The illustration shows a scenario where a vehicle 10 is parked in a garage 84 after entering private land 82 from a general road 81. In this parking memory scenario, the starting point 61 of the movement is set near the boundary between the general road 81 and the private driveway 83.

[0119] Figure 9 The second case is also related to Figure 6 Similarly, in the first example, time t1 on the horizontal axis represents the timing of the start of the position estimation process. Time t2 is the timing when vehicle 10 arrives at the starting point 61 of the parking facility 60, indicating the timing of starting the parking memory process. Time t3 represents the timing when vehicle 10 completes the parking memory process. The vertical axis represents the level of estimation accuracy.

[0120] Additionally, the period T10 from time t1 to t3 is the period for estimating the location of vehicle 10. The period T11 from time t1 to t2 is the period during which the user manually drives vehicle 10 from the general road 81 into private land 82 and to the starting point 61 of the private driveway 83. The period T12 from time t2 to t3 is the period for remembering parking, during which vehicle 10 moves from the starting point 61 to the parking area 62 based on the results of the location estimation process and parking information.

[0121] However, in this example, the specified period before time t2 in period T11 is set as "the preceding interval 85". This "the preceding interval 85" is, for example, in... Figure 7 The section shown by the thick solid arrow when vehicle 10, traveling on general road 81, turns left and enters private land 82, before reaching the starting point of movement 61.

[0122] The start time t1 for position estimation processing is when the distance between the vehicle 10 traveling on the general road 81 and the starting point 61 of the private lane 83 is detected to be, for example, less than 100m. Position estimation processing begins when the distance to the starting point 61 becomes less than 100m, and the estimation accuracy 72 of the position estimation process increases progressively based on the distance between the vehicle 10 and the starting point 61. In this example, after the start of position estimation processing (time t1), the estimation accuracy increases in four levels as the distance to the starting point 61 decreases. Furthermore, since the starting point 61 is set near the boundary between the general road 81 and the private lane 83, the vehicle 10 is controlled to ensure that the estimation accuracy is higher when traveling in the section 85 immediately preceding the starting point 61 (e.g., within 10m) than when traveling before the section 85 immediately preceding it. In this example, the vehicle 10 increases the estimation accuracy to the highest level when it reaches the section 85 immediately preceding it. Additionally, vehicle 10 is controlled to make the increase in estimated accuracy 72 during the period preceding the preceding interval 85 steeper. Furthermore, the estimated accuracy after reaching the starting point 61 (time t2) can be appropriately reduced. For example, the estimated accuracy of the interval 85 before reaching the starting point 61 can be set to the highest level, and the level of estimated accuracy can be reduced after arrival.

[0123] In this way, when the starting point 61 is set near the boundary between the general road 81 and the private driveway 83 within the private land 82, and the vehicle 10 is about to enter the private driveway 83 from the general road 81, the control device improves the estimation accuracy of the position estimation process in the section 85 preceding the starting point 61. According to this structure, the position of the vehicle 10 near the starting point 61 can be accurately estimated. Therefore, the vehicle 10 can smoothly begin driving along the movement path 63 from the starting point 61 set near the boundary to the parking area 62 within the garage 84. Furthermore, the estimation accuracy of the position estimation process can be kept low when the vehicle 10 is traveling in a section of road further ahead than the section 85 preceding the starting point 61, thus reducing the power consumption associated with the position estimation process.

[0124] Furthermore, as described above, the control device improves the estimation accuracy of the position estimation process in the section 85 preceding the starting point 61. However, if the vehicle enters the private driveway 83, the estimation accuracy is lower than that of the preceding section 85, for example, depending on the surrounding environment and driving conditions. As a result, the vehicle 10 can smoothly begin driving along the movement path 63 from the starting point 61 to the parking area 62, and the power consumption associated with the position estimation process can be further reduced.

[0125] <The Third Case of Location Estimation Processing>

[0126] Figure 10 This is a flowchart illustrating the third example of the position estimation process. This position estimation process is used as... Figure 5 The second variation of step S17 in the flowchart shown is executed. Additionally, the position estimation process is performed as a... Figure 7 The position estimation process is performed when the vehicle 10 is parked in the garage 84 due to the general road 81 entering the private land 82.

[0127] Figure 5 The processes in steps S11 to S16 are also performed in the same way in this position estimation process. After vehicle 10 derives the distance from vehicle 10 to the starting point of movement 61 in step S16, as... Figure 10 As shown, moving objects around vehicle 10 are detected (step S17A).

[0128] The vehicle 10 determines whether the number of moving objects detected in step S17A that exist around the vehicle 10 is less than a first predetermined value (step S17B).

[0129] If the number of moving objects in step S17B is less than the first predetermined value (step S17b: Yes), vehicle 10 sets the parameters for position estimation processing based on the distance to the starting point 61 derived in step S16 and the third algorithm (step S17C). The third algorithm is an algorithm with lower estimation accuracy than the fourth algorithm described later. That is, when the number of moving objects around vehicle 10 is small, position estimation processing is performed with relatively low estimation accuracy.

[0130] If the number of moving objects in step S17B is greater than or equal to a first predetermined value (step S17b: No), the vehicle 10 determines whether the number of moving objects present around the vehicle 10 is greater than or equal to a second predetermined value (step S17D). The second predetermined value is a value greater than the first predetermined value.

[0131] If the number of moving objects is less than the second predetermined value in step S17D (step S17b: No), vehicle 10 sets the parameters for position estimation processing based on the distance to the starting point 61 derived in step S16 and the estimation accuracy of the fourth algorithm (step S17E). The fourth algorithm is an algorithm with higher estimation accuracy than the third algorithm. For example, the cumulative value of the estimation accuracy based on the fourth algorithm in a certain distance interval up to the starting point 61 is higher than the cumulative value of the estimation accuracy based on the fifth algorithm in the same interval. That is, when there are many moving objects around vehicle 10, position estimation processing is performed with higher estimation accuracy.

[0132] If the number of moving objects exceeds the second predetermined value in step S17D (step S17D: Yes), vehicle 10 sets the parameters for position estimation processing based on the distance to the starting point 61 derived in step S16 and the estimation accuracy of the fifth algorithm (step S17F). The fifth algorithm is an algorithm with a lower estimation accuracy than the fourth algorithm. For example, the fifth algorithm may have the same estimation accuracy as the third algorithm, or it may have a lower estimation accuracy (lowest estimation accuracy). That is, if the number of moving objects around vehicle 10 is too large, vehicle 10 performs position estimation processing with a relatively low estimation accuracy. Alternatively, vehicle 10 may stop position estimation processing until the number of moving objects is less than the second predetermined value, during which time parking is not performed.

[0133] The estimation accuracy of each algorithm depends on the distance to the starting point 61, but this difference is relative, for example, when comparing distances of the same magnitude. However, it is not necessary to assign differences in estimation accuracy across all distances to the starting point 61. Regarding the method for controlling this estimation accuracy, refer to... Figure 8 The same control method is used in the processing described.

[0134] Furthermore, in this example, as Figure 5 A second variation of step S17 in the flowchart shown has been described, but it is not limited to this. For example, as Figure 5 The second variation of step S13 in the flowchart shown can also be processed in the same way.

[0135] In this way, when the number of moving objects detected around the vehicle 10 is small (less than a first predetermined number), the control device reduces the estimation accuracy of the position estimation process; when the number of moving objects is large enough (more than the first predetermined number), the estimation accuracy of the position estimation process is increased. According to this structure, the position of the vehicle 10 near the movement start point 61 can be accurately estimated, and the vehicle 10 can smoothly begin driving while keeping an eye on moving objects along the movement path 63 from the movement start point 61, which is set near the boundary between the general road 81 and the private driveway 83.

[0136] 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 control device, or in an electronic device such as a smartphone, tablet computer, or personal computer capable of communicating with the control device, or in a server device capable of communicating with these control devices and electronic devices.

[0137] 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.

[0138] In the above embodiments, an example of a four-wheeled automobile was described, but the invention is not limited to this. For example, it could also be a two-wheeled vehicle, a Segway, or other similar vehicle. Furthermore, the concept of the present invention is not limited to vehicles, but can also be applied to robots, ships, aircraft, and other devices that have a drive source and are capable of movement powered by that drive source.

[0139] 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.

[0140] (1) A control device (control ECU 20) for a mobile body (vehicle 10), comprising:

[0141] The storage unit (storage unit 54) stores parking information, which indicates the starting point of the movement of the mobile body (starting point of movement 61), the parking area of ​​the mobile body (parking area 62), and the movement path of the mobile body from the starting point of movement to the parking area (movement path 63).

[0142] A location estimation unit (location estimation unit 55) performs location estimation processing, which includes acquiring external information about the moving body, extracting feature points from the external information, and estimating the location of the moving body based on the feature points and map information; and

[0143] The movement control unit (movement control unit 56) performs movement control to move the moving body from the starting point of movement to the parking area based on the result of the position estimation processing and the parking information.

[0144] The position estimation unit controls the estimation accuracy of the position estimation process based on the distance between the starting point of the movement and the moving body.

[0145] According to (1), by controlling the estimation accuracy of the position estimation process based on the distance between the starting point of the movement and the moving body, it is possible to suppress the decrease in convenience caused by the inability to accurately estimate the position of the starting point of the movement, and to reduce the power consumption associated with the position estimation process.

[0146] (2) The control device according to (1), wherein,

[0147] The shorter the distance, the higher the estimation accuracy of the position estimation unit.

[0148] As in (2), the shorter the distance between the starting point of the movement and the moving body, the higher the estimation accuracy of the position estimation process, thereby accurately estimating the position of the starting point of the movement and smoothly controlling the movement of the moving body starting from the starting point of the movement.

[0149] (3) The control device according to (1) or (2), wherein,

[0150] When the predetermined conditions related to the starting point of movement are met, the position estimation unit improves the estimation accuracy of the mobile body during its travel in the section before the starting point of movement, compared to when the predetermined conditions are not met.

[0151] According to (3), by setting specified conditions, it is possible to reduce the power consumption associated with the position estimation process while improving the estimation accuracy of the position estimation process during the interval travel in front of the starting point of the movement.

[0152] (4) The control device according to (3), wherein,

[0153] The specified conditions include that the starting point of the movement is set near the boundary between a general road and a non-general road.

[0154] As in (4), as a condition for improving the estimation accuracy, it is preferable that the starting point of the movement is set near the boundary between the general road and the non-general road.

[0155] (5) The control device according to (4), wherein,

[0156] The specified conditions include that the starting point of the movement is set near the boundary and that the moving body is traveling on the general road.

[0157] As in (5), as a condition for improving the estimation accuracy, it is more preferable to have the situation where the moving body is traveling on a normal road and is about to enter a non-normal road.

[0158] (6) The control device according to (5), wherein,

[0159] When the specified conditions are met, the position estimation unit sets the estimation accuracy in the interval before the starting point of the movement to a specified accuracy. If the moving body enters the non-normal road, the estimation accuracy is made variable.

[0160] As in (6), by setting the estimated accuracy in the preceding interval to a predetermined accuracy, the estimated accuracy after entering a non-standard road can be made variable, which can further reduce the power consumption associated with the position estimation process.

[0161] (7) The control device according to any one of (1) to (6) further comprises:

[0162] The moving object detection unit (moving object detection unit 57) detects moving objects around the moving body based on the external information.

[0163] The position estimation unit controls the estimation accuracy based on the number of detected moving objects.

[0164] According to (7), by controlling the estimation accuracy of the position estimation process based on the number of moving objects detected around the moving body, the power consumption associated with the position estimation process can be reduced.

[0165] (8) The control device according to (7), wherein,

[0166] The position estimation unit controls the estimation accuracy to be improved when the number of moving objects is greater than or equal to the number of moving objects being less than the first predetermined number.

[0167] As in (8), when there are many moving objects detected around the moving body, it is preferable to improve the estimation accuracy of the position estimation process compared to when there are few moving objects.

[0168] (9) The control device according to (8), wherein,

[0169] When the number of moving objects is greater than or equal to a second predetermined number, the position estimation unit controls the estimation accuracy to be reduced compared to when the number of moving objects is greater than or equal to the first predetermined number but less than the second predetermined number.

[0170] As in (9), when there are too many moving objects detected around the moving body, it is preferable not to improve the estimation accuracy of the position estimation process.

[0171] (10) A control method for a control device of a moving body,

[0172] The control method causes the control device to perform the following processing:

[0173] The system stores parking information, which includes the starting point of the movement of the mobile vehicle, the parking area of ​​the mobile vehicle, and the movement path of the mobile vehicle from the starting point to the parking area.

[0174] A location estimation process is performed, which includes acquiring external information about the moving object, extracting feature points from the external information, and estimating the location of the moving object based on the feature points and map information.

[0175] Based on the result of the location estimation process and the parking information, movement control is performed to move the mobile body from the starting point of movement to the parking area.

[0176] The estimation accuracy of the position estimation process is controlled based on the distance between the starting point of the movement and the moving body.

[0177] According to (10), by controlling the estimation accuracy of the position estimation process based on the distance between the starting point of the movement and the moving body, it is possible to suppress the decrease in convenience caused by the inability to accurately estimate the position of the starting point of the movement, and to reduce the power consumption associated with the position estimation process.

[0178] (11) A control program product comprising a control program for a control device of a moving body,

[0179] The control program causes the processor of the control device to perform the following processing:

[0180] The system stores parking information, which includes the starting point of the movement of the mobile vehicle, the parking area of ​​the mobile vehicle, and the movement path of the mobile vehicle from the starting point to the parking area.

[0181] A location estimation process is performed, which includes acquiring external information about the moving object, extracting feature points from the external information, and estimating the location of the moving object based on the feature points and map information.

[0182] Based on the result of the location estimation process and the parking information, movement control is performed to move the mobile body from the starting point of movement to the parking area.

[0183] The estimation accuracy of the position estimation process is controlled based on the distance between the starting point of the movement and the moving body.

[0184] According to (11), by controlling the estimation accuracy of the position estimation process based on the distance between the starting point of the movement and the moving body, it is possible to suppress the decrease in convenience caused by the inability to accurately estimate the position of the starting point of the movement, and to reduce the power consumption associated with the position estimation process.

Claims

1. A control device for a moving body, wherein, The control device includes: The storage unit stores parking information, which indicates the starting point of the movement of the mobile body, the parking area of ​​the mobile body, and the movement path of the mobile body from the starting point to the parking area. The location estimation unit performs location estimation processing, which includes acquiring external information of the moving body, extracting feature points from the external information, and estimating the location of the moving body based on the feature points and map information. as well as The movement control unit, based on the result of the location estimation processing and the parking information, performs movement control to move the moving body from the starting point of movement to the parking area. The position estimation unit controls the estimation accuracy of the position estimation process based on the distance between the starting point of the movement and the moving body.

2. The control device according to claim 1, wherein, The shorter the distance, the higher the estimation accuracy of the position estimation unit.

3. The control device according to claim 1, wherein, The position estimation unit improves the estimation accuracy of the mobile body during its travel in the section preceding the starting point of movement, when the predetermined conditions related to the starting point of movement are met, compared to when the predetermined conditions are not met.

4. The control device according to claim 3, wherein, The specified conditions include that the starting point of the movement is set near the boundary between a general road and a non-general road.

5. The control device according to claim 4, wherein, The specified conditions include that the starting point of the movement is set near the boundary and that the moving body is traveling on the general road.

6. The control device according to claim 5, wherein, When the specified conditions are met, the position estimation unit sets the estimation accuracy in the preceding interval to a specified accuracy. If the moving body enters the non-normal road, the estimation accuracy becomes variable.

7. The control device according to any one of claims 1 to 6, wherein, The control device also includes a moving object detection unit, which detects moving objects around the moving body based on the external information. The position estimation unit controls the estimation accuracy based on the number of detected moving objects.

8. The control device according to claim 7, wherein, When the number of moving objects is greater than or equal to a first predetermined number, the position estimation unit controls the estimation accuracy to improve.

9. The control device according to claim 8, wherein, When the number of moving objects is greater than or equal to a second predetermined number, the position estimation unit controls the reduction of estimation accuracy compared to when the number of moving objects is greater than or equal to the first predetermined number but less than the second predetermined number.

10. A control method, which is a control method for a control device of a moving body, wherein, The control method causes the control device to perform the following processing: The system stores parking information, which includes the starting point of the movement of the mobile vehicle, the parking area of ​​the mobile vehicle, and the movement path of the mobile vehicle from the starting point to the parking area. A location estimation process is performed, which includes acquiring external information about the moving object, extracting feature points from the external information, and estimating the location of the moving object based on the feature points and map information. Based on the result of the location estimation process and the parking information, movement control is performed to move the mobile body from the starting point of movement to the parking area. The estimation accuracy of the position estimation process is controlled based on the distance between the starting point of the movement and the moving body.

11. A control program product comprising a control program for a control device of a moving body, wherein, The control program causes the processor of the control device to perform the following processing: The system stores parking information, which includes the starting point of the movement of the mobile vehicle, the parking area of ​​the mobile vehicle, and the movement path of the mobile vehicle from the starting point to the parking area. A location estimation process is performed, which includes acquiring external information about the moving object, extracting feature points from the external information, and estimating the location of the moving object based on the feature points and map information. Based on the result of the location estimation process and the parking information, movement control is performed to move the mobile body from the starting point of movement to the parking area. The estimation accuracy of the position estimation process is controlled based on the distance between the starting point of the movement and the moving body.

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