Control device, control method, and control program product

Abstract

A control device, control method, and control program product that improves the usability of motion control functions are provided. It includes: an external identification unit (55) that acquires external information about the vehicle (10); a storage unit (54) that stores parking information indicating the vehicle's starting point (61), the vehicle's parking space (62), and the vehicle's movement path (63) from the starting point (61) to the parking space (62); a position estimation unit (56) that performs position estimation of the vehicle based on feature points extracted from the external information and map information; a motion control unit (57) that performs a memory parking operation based on the position estimation result and the parking information, causing the vehicle to move from the starting point (61) to the parking space (62); and a notification control unit (58) that provides guidance notifications to the user to improve reliability based on the reliability of the position estimation.

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 that also take into account vulnerable members of the transportation population 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 to the target location is pre-stored based on user driving operations. When traveling on the same target location and the same path, the vehicle's movement is controlled based on the stored path information. Furthermore, it is known to estimate the vehicle's position based on information obtained from onboard sensors and generate path information from the current position to the target location for vehicle movement control.

[0004] For example, Patent Document 1 describes an autonomous vehicle that stores the locations where its own position estimation fails, the time when its own position estimation fails, and image data of the locations in a storage device, and extracts and registers the locations where its own position estimation fails multiple times as candidate change points for map data that should be corrected.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2024-097775 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] When controlling the vehicle's movement based on stored path information, it is preferable to continue driving the vehicle without interrupting the movement control even when it becomes difficult to estimate the vehicle's position during the execution of the movement control. However, in the vehicle of Patent Document 1, if the estimation of its own position fails, the movement control is interrupted, and the vehicle cannot continue driving. Furthermore, Patent Document 1 does not describe how to allow the vehicle to continue driving without interrupting the movement control.

[0010] The purpose of this invention is to provide control devices, control methods, and control programs that improve the usability of mobility control functions, thereby contributing to the development of sustainable transportation systems.

[0011] Methods for solving problems

[0012] This invention relates to a control device, which is a control device for a moving body, wherein,

[0013] The control device includes:

[0014] An external identification unit acquires external information about the moving body;

[0015] The storage unit stores parking information, which indicates the starting point of the movement of the mobile body, the parking space of the mobile body, and the movement path of the mobile body from the starting point to the parking space.

[0016] The position estimation unit performs position estimation of the moving body based on feature points extracted from the external information and map information;

[0017] A movement control unit, based on the position estimation result and the parking information, performs movement control to move the moving body from the starting point of movement to the parking space; and

[0018] The control unit is notified that, based on the estimated reliability of the location, it provides guidance to the user on actions to improve the reliability.

[0019] This invention relates to a control method, which is a control method utilizing a control device for a moving body, wherein...

[0020] The control method causes the control device to perform the following processing:

[0021] Obtain external information about the moving body;

[0022] The vehicle stores parking information, which indicates the starting point of the movement of the mobile body, the parking space of the mobile body, and the movement path of the mobile body from the starting point of the movement to the parking space.

[0023] The position estimation of the moving body is performed based on feature points and map information extracted from the external information;

[0024] Based on the estimated location and the parking information, movement control is performed to move the mobile body from the starting point of movement to the parking space; and

[0025] Based on the estimated reliability of the location, a guidance notification is sent to the user to guide them to take actions to improve the reliability.

[0026] This invention relates to a control program product comprising a control program for a control device of a moving body, wherein,

[0027] The control program causes the processor of the control device to perform the following processing:

[0028] Obtain external information about the moving body;

[0029] The vehicle stores parking information, which indicates the starting point of the movement of the mobile body, the parking space of the mobile body, and the movement path of the mobile body from the starting point of the movement to the parking space.

[0030] The position estimation of the moving body is performed based on feature points and map information extracted from the external information;

[0031] Based on the estimated location and the parking information, movement control is performed to move the mobile body from the starting point of movement to the parking space; and

[0032] Based on the estimated reliability of the location, a guidance notification is sent to the user to guide them to take actions to improve the reliability.

[0033] Invention Effects

[0034] According to the present invention, control devices, control methods, and control programs that can improve the availability of mobile control functions can be provided. Attached Figure Description

[0035] Figure 1 This is a side view showing an example of a vehicle 10 equipped with the control device of 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 is a diagram showing an example of parking information for vehicle 10 in a parking facility.

[0039] Figure 5 This is a diagram illustrating an example of the relationship between the feature point acquisition rate and the feasibility of location estimation.

[0040] Figure 6 This is a diagram representing the first example of location estimation information displayed based on the feature point acquisition rate.

[0041] Figure 7 This is a second example of a graph showing location estimation information based on the feature point acquisition rate.

[0042] Figure 8 This is the third example of a graph showing positional estimation information based on the feature point acquisition rate.

[0043] Figure 9 This is the fourth example of a graph showing the location estimation information displayed based on the feature point acquisition rate.

[0044] Figure 10 This is the fifth example of a figure showing the positional information inferred based on the feature point acquisition rate.

[0045] Figure 11 This is a flowchart representing the first example of the location estimation process.

[0046] Figure 12 This is a flowchart representing the second example of the location estimation process.

[0047] Figure 13 This is a flowchart illustrating the first example of handling lost locations.

[0048] Figure 14 This is a flowchart illustrating the second example of handling lost locations.

[0049] Explanation of reference numerals in the attached figures

[0050] 10. Vehicles (mobile vehicles)

[0051] 20. Control ECU (Control Unit)

[0052] 54 Storage Department

[0053] 55 External Identification Department

[0054] 56. Position estimation section

[0055] 57. Motion Control Unit

[0056] 58. Notification to the Control Department

[0057] 61. Starting point of movement

[0058] 62 parking spaces

[0059] 63. Movement path. Detailed Implementation

[0060] 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.

[0061] <Vehicle 10 equipped with the control device of the present invention>

[0062] 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 vehicle 10 shown is a top view. Vehicle 10 is an example of the "moving body" of the present invention.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] <Internal structure of vehicle 10>

[0067] Figure 3 It means Figure 1 A block diagram illustrating an example of the internal structure of vehicle 10. (As shown) Figure 3As 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.

[0068] 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.

[0069] 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., surrounding images) for identifying the external environment of the vehicle 10. The surrounding 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 synthesizing the images captured by each camera is called a top-view image of the vehicle 10. Furthermore, the image processed by performing three-dimensional reconstruction on the synthesized image of the images captured by each camera is called a three-dimensional image.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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, for example, various user interfaces such as a side mirror switch for switching the on / off state of the side mirrors 11L and 11R, a gear lever (selector lever, selector), and a headlight switch for switching the headlights between on / off and high beam / low beam.

[0074] 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.

[0075] The touch panel 42 is configured to input various commands to the control ECU 20. For example, a 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 automatic steering-based parking control of the ECU 20 and an auxiliary parking button for requesting assistance when parking via user operation. The exit assistance button includes a memory exit button for requesting automatic steering-based exit control of the ECU 20 and an auxiliary exit button for requesting assistance when exiting via user operation. Alternatively, components other than the touch panel 42, such as smartphones or tablets, can also be used as input devices or display devices.

[0076] Furthermore, "parking" is synonymous with "parking." For example, "parking" refers to stopping the vehicle when a user gets in or out, excluding temporary stops due to traffic signals, etc. Additionally, "bay" indicates a designated area where a vehicle can stop, i.e., a parking area.

[0077] 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 component based on a program stored in the storage unit 54, thereby performing various controls. Furthermore, the arithmetic unit 52 inputs and outputs signals to each component 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.

[0078] Storage unit 54 stores information related to the memory movement (memory parking / exit) of vehicle 10. This memory movement-related information is used to automatically move or assist the movement of vehicle 10 based on pre-stored movement information. For example, storage unit 54 stores parking information, which indicates the starting point of the memory movement, the parking space where vehicle 10 stops via the memory movement, and the movement path of vehicle 10 from the starting point to the parking space. Additionally, storage unit 54 stores feature points extracted from external information.

[0079] The arithmetic unit 52 includes an external identification unit 55 for acquiring external information of the vehicle 10, a position estimation unit 56 for estimating the position of the vehicle 10, a movement control unit 57 for controlling the movement of the vehicle 10, and a notification control unit 58 for guiding the user of the vehicle 10 in operation.

[0080] The external recognition unit 55 acquires images of the vehicle 10's surroundings from the front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R. Based on these images, the external recognition unit 55 obtains external information about the vehicle 10.

[0081] The position estimation unit 56 performs position estimation based on feature points extracted from external information and map information. "Feature points extracted from external information" refers to characteristic features, such as objects, contained in the external information along the movement path of the vehicle 10. "Map information" is map information containing feature points saved in past memory movements, and is stored in the storage unit 54.

[0082] The mobility control unit 57 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 57. 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. Additionally, the mobility control unit 57 provides parking assist support and exit assist 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 memory parking assist and memory exit assist, the driver can be either riding in the vehicle 10 or have exited the vehicle 10 and are outside (not riding in the vehicle).

[0083] For example, the movement control unit 57 performs movement control to move the vehicle 10 based on the position estimation result of the position estimation unit 56 and the parking information stored in the storage unit 54, indicating the movement start point, parking space, and movement path. The movement control includes: parking control, which moves the vehicle 10 from the movement start point to a designated parking space (target parking position), and exit control, which moves the vehicle 10 from the parking space to a designated exit area (target exit position). The movement control unit 57 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 movement control unit 57 outputs information related to parking control and exit control to an information terminal or the like via the input / output unit 50.

[0084] Furthermore, the movement control unit 57 performs movement control of the vehicle 10 when the reliability of the position estimation by the position estimation unit 56 is at or above a first predetermined value. "Reliability of position estimation" refers to the degree of consistency between feature points extracted from external information and stored feature points; it is the "feature point acquisition rate" that enables the acquisition of feature points from external information. The first predetermined value is, for example, a feature point acquisition rate of 30%.

[0085] Furthermore, when the reliability of the estimated location is less than a first predetermined value, the motion control unit 57 establishes a correspondence between the location where the vehicle 10 is located when the reliability is less than the first predetermined value and the user operation performed by the user when the reliability of the estimated location at that location changes from less than the first predetermined value to greater than the first predetermined value, and saves this correspondence in the storage unit 54. The "location where the vehicle is located" can be approximate location coordinates. In the following explanation, the location where the vehicle 10 is located when the reliability is less than the first predetermined value is also referred to as the "lost location." A lost location is a location where the reliability of the estimated location is low and its own location cannot be estimated. "User operation" includes, for example, changing the speed of the vehicle 10, changing the travel path of the vehicle 10, and switching the headlights of the vehicle 10 to high beam. Furthermore, user operation is not limited to operations previously guided to the user via a guidance notification. That is, even if the user performs an operation guided by a guidance notification, but the reliability of the estimated location does not improve through that operation, and the user performs an operation other than that, thus improving the reliability, in this case, the user's own operation is saved as a user operation. Hereinafter, the user operation performed when the estimated reliability of the location changes from a state less than the first specified value to a state greater than the first specified value will also be referred to as the "recovery operation".

[0086] Furthermore, when the vehicle 10 returns to a location where the reliability of the estimated location is less than a first predetermined value and is stored in the storage unit 54 (the lost location), the motion control unit 57 executes the control corresponding to the user operation established with respect to that location. "Control corresponding to the user operation" refers to control performed by the motion control unit 57 that achieves the same result as the user's operation, not through the user's operation (e.g., speed change, trajectory change, high beam switching, etc.). Additionally, the motion control unit 57 can also suggest (introduce) control to the user before execution, and execute the control if it receives an execution instruction from the user.

[0087] The notification control unit 58 provides guidance to the user on operations to improve the reliability based on the estimated reliability of the location. "Operations to improve the reliability" include, for example, reducing the moving speed of vehicle 10, turning on the headlights at night, switching between high and low beams of the headlights, and moving vehicle 10 to approach a feature point. For example, reducing the moving speed of vehicle 10 when it is remembered as parked refers to the user pressing the brake. However, in this case, steering is controlled by the movement control unit 57.

[0088] "Guidance notifications" can be either visually displayed or audio-based. For example, if vehicle 10 can remember its parking position but the reliability of its position estimation is low, the guidance notification might be something like, "The reliability of this vehicle's position has decreased. Please...". Conversely, if vehicle 10 cannot remember its parking position and the reliability of its position estimation is so low that it cannot even estimate its own position, the guidance notification might be something like, "Unable to determine this vehicle's position / Unable to automatically park. Please...".

[0089] The notification control unit 58 provides guidance to improve reliability when the estimated reliability of the location is less than a second predetermined value, which is higher than a first predetermined value. The second predetermined value is, for example, a feature point acquisition rate of 70%. The notification control unit 58 provides different guidance when the estimated reliability of the location is less than the first predetermined value and when the reliability is higher than the first predetermined value but lower than the second predetermined value.

[0090] The notification control unit 58 displays a surrounding image of the vehicle 10 based on external information, and prominently displays local areas of the surrounding image according to the reliability of the position estimation. A "local area" refers to a region in the surrounding image from which feature points should be extracted if the current estimated position is correct. The region from which feature points should be extracted is determined based on the positions of feature points stored in the storage unit 54 along with the starting point of movement, the parking space, and the movement path. A local area can also be a region from which feature points should be extracted but cannot be extracted. "Prominent display" emphasizes the local area to draw the user's attention, for example, by surrounding the local area with a box or pointing to it with an arrow icon. The notification control unit 58 performs the prominent display when the reliability of the position estimation is less than a predetermined value (e.g., a second predetermined value).

[0091] The notification control unit 58 adjusts the display method based on the reliability estimated from the location. For example, when the reliability is above a first predetermined value and below a second predetermined value, the notification control unit 58 displays a yellow box in a local area; when the reliability is below the first predetermined value, it displays a red box in a local area. Alternatively, the notification control unit 58 can finely control the brightness based on the reliability estimated from the location for prominent display. Furthermore, the notification control unit 58 can, for example, display extracted feature points using a "+" marker and change the color of the marker. Alternatively, the notification control unit 58 can choose not to prominently display areas where feature points can be extracted (e.g., areas marked with "+"), thereby allowing the user to focus only on areas where feature points cannot be extracted.

[0092] When vehicle 10 returns to a location where the estimated reliability of its location is less than a first predetermined value and is stored in storage unit 54 (the lost location), notification control unit 58 sends a guidance notification to the user to establish a correspondence with the stored user operations for that location. The user operations stored to establish the correspondence include, for example, reducing the vehicle 10's speed, turning on the headlights at night, switching between high and low beams, moving the vehicle 10 to approach the feature point, and operations other than those previously guided to the user via notification.

[0093] 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.

[0094] 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).

[0095] 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 the vehicle 10's memory parking / exit and assisted parking / exit functions with the information terminal and other such devices.

[0096] 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 the user's operation of the accelerator pedal (not shown), thereby controlling the drive force of the vehicle 10.

[0097] 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.

[0098] Parking information in parking facilities

[0099] Figure 4 This is a diagram showing an example of parking information for vehicle 10 in a parking facility. Figure 4 The parking facility 60 shown is a parking facility frequently used by users of vehicle 10, such as in a shopping mall. Users of vehicle 10 frequently use parking space 62 as one of the multiple parking spaces in parking facility 60 to park their vehicle, and register parking space 62 as a parking space that can be remembered for parking in the storage unit 54. Figure 4 As shown, the parking space 62, together with the starting point 61 for 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 space 62, are registered in the storage unit 54 as parking information for the purpose of remembering parking.

[0100] 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 space (e.g., parking space 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 sharp turns, such as when reversing vehicle 10 to park in parking space 62. Additionally, although in Figure 4 It is not shown in the text, but the parking information includes feature points obtained from external information when driving on the movement path 63.

[0101] <Relationship between feature point acquisition rate and location estimation feasibility>

[0102] Figure 5This is a graph illustrating an example of the relationship between the feature point acquisition rate and the feasibility of location estimation. For example... Figure 5 As shown, when the feature point acquisition rate (reliability of location estimation) is between 0% and TH1%, vehicle 10 is determined to be in a "position cannot be estimated" state, meaning the position of vehicle 10 cannot be estimated based on feature points extracted from external information. TH1 is an example of the "first predetermined value" of this invention. TH1% is, for example, 30%. In the state where the position cannot be estimated, vehicle 10 does not perform memory parking from the starting point of movement 61 to the parking space 62 (memory parking: not performed). In addition, in the state where the position cannot be estimated, vehicle 10 provides guidance to the user to perform operations to improve the feature point acquisition rate (guidance notification: performed).

[0103] Furthermore, when the feature point acquisition rate is between TH1% and TH2%, vehicle 10 is determined to be in a first state of "position estimation capability," meaning the position of vehicle 10 can be estimated based on feature points extracted from external information. TH2 is an example of the "second predetermined value" of this invention. TH2% is, for example, 70%. In the first state of position estimation capability, vehicle 10 performs memory parking from the starting point of movement 61 to the parking space 62 (memory parking: execution). Additionally, in the first state of position estimation capability, vehicle 10 provides guidance to the user to perform operations to improve the feature point acquisition rate (guidance notification: execution).

[0104] Furthermore, when the feature point acquisition rate is TH2% to 100%, vehicle 10 is determined to be in a second state of "position estimation capability," meaning the position of vehicle 10 can be estimated based on feature points extracted from external information. In this second state, vehicle 10 performs a memory parking maneuver from the starting point 61 to the parking space 62 (memory parking: executed). Additionally, in this second state, vehicle 10 does not provide guidance to the user to improve the feature point acquisition rate (guidance notification: not executed).

[0105] <Location estimation information>

[0106] Figure 6 This is a diagram representing the first example of location estimation information displayed based on the feature point acquisition rate. For example... Figure 6 As shown, the location estimation information in the first example is the location estimation information when the "feature point acquisition rate," which indicates the reliability of the location estimation, is 83%. The location estimation information is displayed, for example, on the touch panel 42 of the navigation device 18.

[0107] The location estimation information in the first example includes a three-dimensional image 71A representing the surrounding image of vehicle 10, a top-view image 72A, and a reliability display 73 representing the feature point acquisition rate. The three-dimensional image 71A displays a vehicle image 74 representing the moving vehicle 10 and feature points 75a to 75h that can be extracted from the surrounding image captured by the current vehicle 10. Similarly, the top-view image 72A displays the vehicle image 74 and feature points 75a to 75j.

[0108] Feature points 75a to 75j represent the positions of the ends of the white lines that delineate the parking positions of the parking facilities, and are indicated, for example, by a mark (+). Feature points 75a to 75j are feature points from the parking information pre-stored in the storage unit 54 that can be retrieved under the current condition of the vehicle 10. Feature point retrieval rate: 83% is a value representing the proportion of feature points 75a to 75j relative to the number of feature points in the stored parking information.

[0109] Figure 7 This is a second example of a graph showing location estimation information based on feature point acquisition rate. For example... Figure 7 As shown, the location estimation information in the second example is the location estimation information when the "feature point acquisition rate" representing the reliability of the location estimation is 0%.

[0110] The location estimation information in the second example includes a 3D image 71B, a top-down image 72B, a reliability display 73, and a guidance notification image 76A that instructs the user on how to operate. The 3D image 71B displays an image 74 of the vehicle itself and prominent display images 77a to 77j showing a local area of ​​the surrounding image captured by the current vehicle 10. Similarly, the top-down image 72B displays the image 74 of the vehicle itself and prominent display images 77a to 77l.

[0111] The prominent display images 77a to 77l are images of areas where feature points should be able to be extracted if the current estimated position of vehicle 10 is correct, for example, displayed as "boxes". The display positions of the prominent display images 77a to 77l are determined to correspond to the positions of the feature points represented by the parking information stored in the storage unit 54. The positions of the feature points represented by the parking information stored in the storage unit 54 are the positions of the ends of the white lines dividing the parking position. Feature point acquisition rate: 0% is a value representing the ratio of the number of detectable feature points to the number of feature points represented by the stored parking information. That is, a feature point acquisition rate of 0% means that no feature points can be detected under the current condition of vehicle 10.

[0112] The guidance notification image 76A is an image used to guide user actions to improve the reliability of location estimation (feature point acquisition rate). In this example, the guidance notification image 76A displays "Please turn on the headlights" to brighten the surroundings of vehicle 10. However, the content of the guidance notification image 76A is not limited to this; for example, it could also display "Unable to determine the vehicle's position / Unable to perform memory parking. Please turn on the headlights." Furthermore, this vehicle image 74 is a fixed image, so even if the surrounding image darkens, its displayed brightness does not change (it will not darken).

[0113] Figure 8 This is the third example of a graph showing location estimation information based on feature point acquisition rate. For example... Figure 8 As shown, the location estimation information in the third example is the location estimation information when the "feature point acquisition rate" representing the reliability of the location estimation is 17%.

[0114] The location estimation information in the third example includes a three-dimensional image 71C, an overhead view 72C, a reliability display 73, and a guidance notification image 76B. The three-dimensional image 71C displays the vehicle image 74, feature points 75a and 75b, and prominent display images 77a to 77j. The overhead view 72C displays the vehicle image 74, feature points 75a and 75b, and prominent display images 77a to 77l.

[0115] Feature point acquisition rate: 17% is a value that represents the ratio of the number of detectable feature points to the number of feature points represented by the stored parking information, indicating that 17% of the feature points can be detected under the current condition of vehicle 10.

[0116] The guidance notification image 76B is an image that guides user actions to improve the reliability of position estimation (feature point acquisition rate). For example, it may guide switching to high beam mode when the headlights are on but the feature point acquisition rate is low. In this example, the guidance notification image 76B displays "Please switch the headlights to high beam mode" to further brighten the area around vehicle 10. However, the content of the guidance notification image 76B is not limited to this; for example, it could also display "The reliability of this vehicle's position has decreased. Please switch the headlights to high beam mode."

[0117] Figure 9 This is the fourth example of a graph showing location estimation information based on feature point acquisition rate. (See figure below.) Figure 9 As shown, the location estimation information in the fourth example is the location estimation information when the "feature point acquisition rate" representing the reliability of the location estimation is 83%.

[0118] The location estimation information in the fourth example includes a three-dimensional image 71D, a top-view image 72D, and a reliability display 73. The vehicle image 74 and feature points 75a to 75m are displayed in the three-dimensional image 71D and the top-view image 72D.

[0119] Feature points 75a to 75h indicate the positions of the ends of the white lines of the pedestrian crossing in the parking facility, for example, indicated by a mark (+). Feature points 75i and 75j indicate the positions of the ends of the stop lines, similarly indicated by a mark (+). Feature points 75k to 75m indicate the positions of the stop signs, similarly indicated by a mark (+).

[0120] Figure 10 This is the fifth example of a graph showing location estimation information based on feature point acquisition rate. (See figure below.) Figure 10 As shown, the location estimation information in the fifth example is the location estimation information when the "feature point acquisition rate" representing the reliability of the location estimation is 0%.

[0121] The location estimation information in the fifth example includes a three-dimensional image 71E, an overhead view 72E, a reliability display 73, and a guidance notification image 76C. The three-dimensional image 71E and the overhead view 72E display an image 74 of the vehicle and prominent display images 77a and 77b.

[0122] The prominent display images 77a and 77b are images representing areas where feature points should be extractable if the current estimated position is correct, for example, displayed as "boxes". The display positions of the prominent display images 77a and 77b are determined to correspond to the positions of the feature points represented by the parking information stored in the storage unit 54. The positions of the feature points represented by the parking information stored in the storage unit 54 are the positions of the ends of the white lines of the pedestrian crossing, the ends of the stop lines, and the positions of the stop signs. Feature point acquisition rate: 0% is a value representing the ratio of the number of detectable feature points to the number of feature points represented by the stored parking information, indicating that no feature points can be detected under the current condition of vehicle 10.

[0123] The guidance notification image 76C is an image that guides user actions to improve the reliability of location estimation (feature point acquisition rate). In this example, the guidance notification image 76C displays "Please switch the headlights to high beam mode" to further brighten the area around vehicle 10. However, the content of the guidance notification image 76C is not limited to this; for example, it could also display "Unable to determine the vehicle's location / Unable to remember parking. Please switch the headlights to high beam mode." Furthermore, in this example, since vehicle 10 is in a state where the headlights are on, the guidance is for the purpose of switching to high beam mode. However, for example, if vehicle 10 is in a state where the headlights are off, the guidance could also be for the purpose of turning on the headlights, or it could be for turning on the headlights and setting them to high beam mode.

[0124] <Location estimation processing>

[0125] Figure 11 This is a flowchart illustrating the first example of the position estimation process. If the memory parking button, which activates the memory parking function, is pressed, this position estimation process begins.

[0126] First, vehicle 10 derives feature points based on its current estimated position (step S11). Regarding the "current estimated position of vehicle 10," if the position estimation process has been performed a second time and the position of vehicle 10 has been estimated, then the estimated position is used. If the position of vehicle 10 has not been estimated, then the current estimated position of vehicle 10 is obtained through other means (e.g., GPS). Based on map information containing feature points recorded in past parking memories, vehicle 10 calculates the area within the image (captured image) of the surroundings of vehicle 10 captured by a camera or similar device if the current position of vehicle 10 is that location. Figure 7 The prominent display images 77a to 77l shown should contain prominent display areas such as feature points.

[0127] Based on the region of feature points derived in step S11, vehicle 10 extracts feature points from the current captured image taken by a camera or the like (step S12). Vehicle 10 calculates the feature point acquisition rate based on the feature points successfully extracted in step S13 and the feature points of parking information stored in storage unit 54 (step S13).

[0128] Next, vehicle 10 determines whether the feature point acquisition rate calculated in step S13 is TH2 (e.g., 70%) or higher (step S14).

[0129] If it is determined in step S14 that the feature point acquisition rate is TH2 or higher (step S14: Yes), vehicle 10 estimates its own position based on the feature points and map information extracted in step S12 (step S15). Then, vehicle 10 sets the memory parking flag, which indicates that the current situation is a state where memory parking can be performed, to "on" (step S16), and then returns to step S11.

[0130] On the other hand, if it is determined in step S14 that the feature point acquisition rate is less than TH2 (step S14: no), vehicle 10 determines whether the feature point acquisition rate calculated in step S13 is greater than or equal to TH1 (e.g., 30%) (step S17).

[0131] If it is determined in step S17 that the feature point acquisition rate is TH1 or higher (step S17: Yes), vehicle 10 estimates its own position based on the feature points and map information extracted in step S12 (step S18). Then, vehicle 10 sets the memorable parking flag, which indicates that the current situation is a condition where memorized parking can be performed, to "on" (step S19).

[0132] Next, vehicle 10 provides a first-mode guidance notification (step S20) to the user, instructing them to perform operations to improve the reliability of the estimated position, and then returns to step S11. The first-mode guidance notification may be, for example, a notification such as, "The reliability of this vehicle's position is low. Please..."

[0133] On the other hand, if it is determined in step S17 that the feature point acquisition rate is less than TH1 (step S17: No), the vehicle 10 sets the memory parking flag, which indicates that the current situation is that memory parking cannot be performed, to "off" (step S21).

[0134] Next, vehicle 10 provides a second-mode guidance notification (step S22) to the user, guiding them to perform operations to improve the reliability of the estimated position, and then returns to step S11. The second-mode guidance notification may be, for example, a notification such as "Unable to determine vehicle position / Unable to auto-park. Please…."

[0135] Furthermore, in this process, even if the parking assist indicator is "on", vehicle 10 can still determine whether to perform parking assist. On the other hand, if the parking assist indicator is "off", vehicle 10 will not perform parking assist (or it will be interrupted if it is in progress).

[0136] As described above, the control device of this embodiment performs a position estimation based on feature points and map information extracted from external information to determine the position of the vehicle 10. Based on the reliability of this position estimation, it provides guidance notifications to the user to improve the reliability of the operation. According to this structure, guidance notifications suitable for the reliability of the position estimation can be provided, guiding the user to perform the prescribed operation corresponding to the guidance notification. Therefore, the reliability of the position estimation can be improved, enabling the vehicle 10 to smoothly perform memory parking. This improves the usability of the vehicle 10's memory parking function.

[0137] Furthermore, the control device performs vehicle 10 memory parking when the estimated reliability of the position is above a first predetermined value, and provides guidance notification when the reliability is below a second predetermined value higher than the first predetermined value. With this configuration, guidance notification is provided not only when the estimated reliability of the position is below the first predetermined value and vehicle 10 cannot perform memory parking, but also when the reliability is above the first predetermined value and below the second predetermined value and vehicle 10 performs memory parking, thus providing guidance notification suitable for each reliability level. Therefore, the usability of the vehicle 10 memory parking function can be improved.

[0138] Furthermore, based on the reliability of the position estimation, the control device prominently displays local areas in the surrounding image of the vehicle 10 displayed on the touch panel 42 where feature points can be extracted. According to this structure, by using a prominent display shown along with guidance notifications, the user's operation rate when operating according to the guidance notifications can be improved. This, in turn, improves the usability of the vehicle 10's memory parking function.

[0139] Figure 12 This is a flowchart illustrating the second example of the location estimation process. For example... Figure 12 As shown, the processing of steps S11 to S16A is as follows: Figure 11 The steps S11 to S16 in the location estimation process of the first example described are the same.

[0140] In step S16A, after setting the "Memory Parking" flag, which indicates that the current state allows for memory parking, to "On", vehicle 10 determines whether the previous feature point acquisition rate is less than TH1 (e.g., less than 30%) (step S16B). The previous feature point acquisition rate is... Figure 12 The feature point acquisition rate is calculated in step S13 of the previous round of processing in the loop. In addition, in the first round of processing, since there is no previous feature point acquisition rate, it is determined that the previous feature point acquisition rate is not less than TH1.

[0141] If, in step S16B, it is determined that the feature point acquisition rate of the previous step is less than TH1 (step S16B: Yes), vehicle 10 establishes a correspondence with the location saved as the lost location in the previous process and saves the operation performed immediately before to improve reliability as a recovery operation in storage unit 54 (step S16C), and then returns to step S11. If, in step S16B, it is determined that the feature point acquisition rate of the previous step is not less than TH1 (step S16B: No), vehicle 10 directly returns to step S11.

[0142] In addition, the processing of steps S17 to S20 is... Figure 11The steps S17 to S20 in the location estimation process described in the first example are the same.

[0143] After the first type of guidance notification is given in step S20, vehicle 10 determines whether the previous feature point acquisition rate is less than TH1 (step S16B). Furthermore, the processing after the determination in step S16B is the same as described above.

[0144] In addition, the processing in step S21 and Figure 11 The process of step S21 in the location estimation process described in the first example is the same.

[0145] After setting the parking sign to "off" in step S21, vehicle 10 performs location loss processing (step S23). For details on location loss processing, please refer to... Figure 13 To be discussed later.

[0146] <Loss Location Handling>

[0147] Figure 13 This is a flowchart illustrating the first example of lost location processing. This lost location processing is... Figure 12 The lost location processing in step S23 is performed. Lost location processing is a process performed when vehicle 10 is at a location where the current location of the vehicle cannot be estimated.

[0148] First, the vehicle 10 determines whether a lost location near the current estimated location is stored in the storage unit 54 and a corresponding relationship is established with the lost location, and a recovery operation to improve the reliability of the estimated location is stored (step S31).

[0149] In step S31, if the corresponding recovery operation is not saved (step S31: No), the vehicle 10 provides guidance notification in a second manner to guide the user to perform the prescribed operation to improve the reliability of the estimated position (step S32).

[0150] Next, vehicle 10 determines whether the vicinity of the current estimated location has been saved as a lost location (step S33). If it is determined in step S33 that it has not been saved as a lost location (step S33: No), vehicle 10 saves the current location as a lost location in storage unit 54 (step S34) and ends the process. If it is determined in step S33 that it has been saved as a lost location (step S33: Yes), vehicle 10 directly ends the process.

[0151] On the other hand, if the corresponding recovery operation is saved in step S31 (step S31: Yes), the vehicle 10 sends a third-party guidance notification to the user to guide the recovery operation (step S35) and ends the process.

[0152] In addition, recovery operations are saved for each lost location. Furthermore, recovery operations can also be saved along with information related to the surrounding environment of the lost location. This information includes, for example, the brightness and weather conditions at the lost location.

[0153] In this way, the control device establishes a correspondence between the location where the reliability of the estimated position is less than a first predetermined value and the location where the vehicle 10 no longer performs memory parking, and the user operation that successfully raises the reliability to above the first predetermined value at that location, and saves this correspondence in the storage unit 54. According to this structure, even when the reliability decreases and the vehicle is no longer in a memory parking state, it is possible to provide guidance and notification to the user operation that effectively raises the reliability and enables memory parking. Therefore, the usability of the vehicle 10's memory parking function can be improved.

[0154] Figure 14 This is a flowchart illustrating the second example of handling lost locations. For example... Figure 14 As shown, the processing of steps S31 to S34 is similar to... Figure 13 The steps S31 to S34 in the lost location processing described in the first example are the same.

[0155] In this second example, if a recovery operation corresponding to the lost location is stored in step S31 (step S31: Yes), the vehicle 10 suggests to the user the execution of the recovery control corresponding to the recovery operation (step S36). The execution of the recovery control refers to the execution by the movement control unit 57 of the vehicle 10.

[0156] Based on the suggestion in step S36, vehicle 10 determines whether it has received an execution instruction from the user (step S37). If an execution instruction has been received in step S37 (step S37: Yes), vehicle 10 executes the recovery control corresponding to the recovery operation (step S38) and terminates the process. If no execution instruction has been received in step S37 (step S37: No), vehicle 10 terminates the process directly.

[0157] In this way, when the vehicle 10 reaches a location where the estimated reliability is less than a first predetermined value and the memory parking function is no longer activated, the control device performs control on the device side corresponding to the user operation that successfully raises the reliability above the first predetermined value and establishes a correspondence with that location. According to this structure, even when the reliability decreases and memory parking cannot be performed, memory parking can be restarted by raising the reliability through device-side control without waiting for user operation. This improves the availability of the memory parking function of the vehicle 10.

[0158] 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.

[0159] 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.

[0160] In the above embodiment, the example described is the case where the vehicle 10 is remembered to be parked in the parking facility 60, but the present invention is not limited thereto. For example, the present invention can also be applied to the case where the vehicle 10 is remembered to be parked in a private parking lot, a coin-operated parking lot, etc. In addition, the present invention can be applied not only to the case where the vehicle 10 is remembered to be parked, but also to the case where the vehicle is remembered to be parked out of the parking space, or when the user is manually driving the vehicle in the parking facility 60, or when the vehicle 10 is automatically driven on a normal road.

[0161] 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.

[0162] 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.

[0163] (1) A control device (control ECU 20), which is a control device for a moving body (vehicle 10), wherein,

[0164] The control device includes:

[0165] An external identification unit (external identification unit 55) acquires external information about the moving body;

[0166] 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 space of the mobile body (parking space 62), and the movement path (movement path 63) of the mobile body from the starting point of movement to the parking space.

[0167] The position estimation unit (position estimation unit 56) performs position estimation of the moving body based on feature points and map information extracted from the external information;

[0168] The movement control unit (movement control unit 57) performs movement control to move the moving body from the starting point of movement to the parking space based on the position estimation result and the parking information; and

[0169] The notification control unit (notification control unit 58) provides guidance notifications to the user to perform operations to improve the reliability based on the reliability estimated by the location.

[0170] According to (1), based on the reliability of the position estimation of the estimated position of the moving body, a guidance notification is given to the user to guide the operation to improve the reliability of the position estimation, thereby improving the reliability of the position estimation and improving the availability of the movement control function of the moving body.

[0171] (2) The control device according to (1), wherein,

[0172] The movement control unit performs the movement control when the reliability is above a first predetermined value.

[0173] The notification control unit sends the guidance notification when the reliability is less than a second predetermined value that is higher than the first predetermined value.

[0174] According to (2), by issuing a guidance notification when the reliability is less than a second specified value higher than the first specified value, it is possible to issue a guidance notification when the mobile body is being controlled for movement.

[0175] (3) The control device according to (2), wherein,

[0176] The notification control unit provides different guidance notifications when the reliability is less than the first specified value and when the reliability is greater than the first specified value but less than the second specified value.

[0177] According to (3), the guidance notification is different when the reliability is less than the first specified value and the movement control of the mobile body is not performed, and when the reliability is above the first specified value and less than the second specified value and the movement control of the mobile body is performed. Therefore, appropriate guidance notification corresponding to the reliability can be performed.

[0178] (4) The control device according to any one of (1) to (3), wherein,

[0179] The notification control unit displays a surrounding image of the moving object based on the external information.

[0180] The notification control unit displays a prominent local area of ​​the surrounding image based on the reliability.

[0181] According to (4), by making the local area of ​​the surrounding image prominent based on reliability, the user's operation rate in response to guidance notifications can be improved, and the usability of the mobile control function of the mobile body can be further improved.

[0182] (5) The control device according to (4), wherein,

[0183] The notification control unit adjusts the way the prominent display is displayed based on the reliability.

[0184] As in (5), by varying the way the information is displayed based on reliability, it is possible to further improve the user engagement rate in response to the guidance notification.

[0185] (6) The control device according to any one of (1) to (5), wherein,

[0186] The movement control unit performs the movement control when the reliability is above a first predetermined value.

[0187] If the reliability is less than the first predetermined value, the motion control unit establishes and saves a correspondence between the location of the mobile body when the reliability is less than the first predetermined value and the user operation when the reliability at the location changes from less than the first predetermined value to greater than the first predetermined value.

[0188] According to (6), by establishing and saving a correspondence between the location where the reliability is less than the first specified value and the user operation that successfully raises the reliability to above the first specified value at that location, effective guidance and notification can be provided, and the availability of the mobile body's mobile control function can be further improved.

[0189] (7) The control device according to (6), wherein,

[0190] When the mobile body arrives at the saved location again, the notification control unit sends a guidance notification to the user, directing the user to perform the operation corresponding to the location.

[0191] As in (7), when the mobile body reaches a location where the reliability is less than the first specified value and the movement control is no longer performed, the user operation corresponding to that location will be guided and notified, thereby improving the availability of the mobile body's movement control function.

[0192] (8) The control device according to (6), wherein,

[0193] When the mobile body arrives at the saved location again, the mobile control unit controls the mobile body corresponding to the user operation corresponding to the location.

[0194] As in (8), when the mobile body reaches a location where the reliability is less than the first specified value and the movement control is no longer performed, the device performs the control corresponding to the user operation corresponding to that location, thereby improving the availability of the mobile body's movement control function.

[0195] (9) The control device according to any one of (1) to (8), wherein,

[0196] Operations for improving reliability include at least one of the following: changing the moving speed of the moving body, changing the moving trajectory of the moving body, and controlling the lighting device of the moving body.

[0197] As in (9), as an operation to improve reliability, the preferred features include the movement speed of the moving body, the change of the movement trajectory, and the control of the lighting device.

[0198] (10) A control method, which is a control method using a control device for a moving body, wherein,

[0199] The control method causes the control device to perform the following processing:

[0200] Obtain external information about the moving body;

[0201] The vehicle stores parking information, which indicates the starting point of the movement of the mobile body, the parking space of the mobile body, and the movement path of the mobile body from the starting point of the movement to the parking space.

[0202] The position estimation of the moving body is performed based on feature points and map information extracted from the external information;

[0203] Based on the estimated location and the parking information, movement control is performed to move the mobile body from the starting point of movement to the parking space; and

[0204] Based on the estimated reliability of the location, a guidance notification is sent to the user to guide them to take actions to improve the reliability.

[0205] According to (10), based on the reliability of the position estimation of the estimated position of the mobile body, a guidance notification is given to the user to guide the operation to improve the reliability of the position estimation, thereby improving the reliability of the position estimation and improving the availability of the mobile body's movement control function.

[0206] (11) A control program product comprising a control program for a control device of a moving body, wherein,

[0207] The control program causes the processor of the control device to perform the following processing:

[0208] Obtain external information about the moving body;

[0209] The vehicle stores parking information, which indicates the starting point of the movement of the mobile body, the parking space of the mobile body, and the movement path of the mobile body from the starting point of the movement to the parking space.

[0210] The position estimation of the moving body is performed based on feature points and map information extracted from the external information;

[0211] Based on the estimated location and the parking information, movement control is performed to move the mobile body from the starting point of movement to the parking space; and

[0212] Based on the estimated reliability of the location, a guidance notification is sent to the user to guide them to take actions to improve the reliability.

[0213] According to (11), based on the reliability of the position estimation of the estimated position of the mobile body, a guidance notification is given to the user to guide the operation to improve the reliability of the position estimation, thereby improving the reliability of the position estimation and improving the availability of the mobile body's movement control function.

Claims

1. A control device for a moving body, wherein, The control device includes: An external identification unit acquires external information about the moving body; The storage unit stores parking information, which indicates the starting point of the movement of the mobile body, the parking space of the mobile body, and the movement path of the mobile body from the starting point to the parking space. The position estimation unit performs position estimation of the moving body based on feature points extracted from the external information and map information; The movement control unit performs movement control to move the moving body from the starting point of movement to the parking space based on the position estimation result and the parking information. as well as The control unit is notified that, based on the estimated reliability of the location, it provides guidance to the user on actions to improve the reliability.

2. The control device according to claim 1, wherein, The movement control unit performs the movement control when the reliability is above a first predetermined value. The notification control unit sends the guidance notification when the reliability is less than a second predetermined value that is higher than the first predetermined value.

3. The control device according to claim 2, wherein, The notification control unit provides different guidance notifications when the reliability is less than the first specified value and when the reliability is greater than the first specified value but less than the second specified value.

4. The control device according to claim 1, wherein, The notification control unit displays a surrounding image of the moving object based on the external information. The notification control unit displays a prominent local area of ​​the surrounding image based on the reliability.

5. The control device according to claim 4, wherein, The notification control unit adjusts the way the prominent display is displayed based on the reliability.

6. The control device according to claim 1, wherein, The movement control unit performs the movement control when the reliability is above a first predetermined value. If the reliability is less than the first predetermined value, the motion control unit establishes and saves a correspondence between the location of the mobile body when the reliability is less than the first predetermined value and the user operation when the reliability at the location changes from less than the first predetermined value to greater than the first predetermined value.

7. The control device according to claim 6, wherein, When the mobile body arrives at the saved location again, the notification control unit sends a guidance notification to the user, directing the user to perform the operation corresponding to the location.

8. The control device according to claim 6, wherein, When the mobile body arrives at the saved location again, the mobile control unit controls the mobile body corresponding to the user operation corresponding to the location.

9. The control device according to any one of claims 1 to 8, wherein, Operations for improving reliability include at least one of the following: changing the moving speed of the moving body, changing the moving trajectory of the moving body, and controlling the lighting device of the moving body.

10. A control method, which is a control method using a control device for a moving body, wherein, The control method causes the control device to perform the following processing: Obtain external information about the moving body; The vehicle stores parking information, which indicates the starting point of the movement of the mobile body, the parking space of the mobile body, and the movement path of the mobile body from the starting point of the movement to the parking space. The position estimation of the moving body is performed based on feature points and map information extracted from the external information; Based on the location estimation result and the parking information, movement control is performed to move the moving body from the starting point of movement to the parking space; as well as Based on the estimated reliability of the location, a guidance notification is sent to the user to guide them to take actions to improve the reliability.

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: Obtain external information about the moving body; The vehicle stores parking information, which indicates the starting point of the movement of the mobile body, the parking space of the mobile body, and the movement path of the mobile body from the starting point of the movement to the parking space. The position estimation of the moving body is performed based on feature points and map information extracted from the external information; Based on the location estimation result and the parking information, movement control is performed to move the moving body from the starting point of movement to the parking space; as well as Based on the estimated reliability of the location, a guidance notification is sent to the user to guide them to take actions to improve the reliability.

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