Mobile device, control method, and computer program product

Abstract

This invention provides a mobile device capable of communicating with a remote control terminal, comprising: a control device for controlling the movement of the mobile device according to instructions sent by the control terminal; an external information acquisition unit for acquiring external information surrounding the mobile device; and a notification unit for notifying the surrounding area of ​​the mobile device. When the control device moves the mobile device based on the instructions: it detects objects existing around the mobile device based on the external information acquired by the external information acquisition unit; identifies whether the detected objects are dynamic or static; and when a dynamic object is detected within a first range around the mobile device, it drives the notification unit to issue a first notification. When the mobile device of this invention performs an automatic outbound function, if a dynamic object enters the first range around the mobile device, the notification unit issues a first notification, effectively alerting surrounding personnel or objects to the movement of the mobile device, thereby reducing the risk of collisions or misoperation and significantly improving the safety of autonomous driving.

Description

Technical Field

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

[0002] In recent years, with increasing societal attention to vulnerable road users, providing them with accessibility to sustainable transportation systems has become a key focus of research and development. Particularly in improving traffic safety and convenience, research and development of driver assistance technologies has made rapid progress.

[0003] Traditionally, a technology for remotely operating vehicles via smartphones is known, enabling the vehicle to be parked in or driven out of a designated parking space. Such systems are often referred to as remote parking systems. For example, the "summon" function allows users to operate the vehicle via smartphones or other devices, causing it to drive out of a parking space. The aim is to achieve seamless, automated driving within parking lots by integrating with general road driving assistance features. Summary of the Invention

[0004] When users control their vehicles using the Summon feature, they typically need to perform specific actions on their smartphones, such as swiping or swiping and holding. Because this feature falls under Level 2 autonomous driving, it requires users to directly observe the vehicle's movement and perform evasive maneuvers (such as releasing their finger) in emergencies. However, when using the Summon feature, the distance to the vehicle can reach up to 100 meters, and the user's line of sight cannot cover blind spots. This can lead to delayed evasive control responses, potentially creating safety hazards.

[0005] The technical problem this invention aims to solve is that when a user remotely operates a vehicle via a smartphone and uses the summoning function to control the vehicle to drive out of a parking space, the blind spot of the vehicle cannot be covered, potentially causing safety hazards. Therefore, this invention provides a mobile device, control method, and computer program product that can reduce the collision risk to road users caused by vehicle blind spots, thereby reducing safety risks and contributing to the development of sustainable transportation systems.

[0006] The present invention provides a mobile device capable of communicating with a remote control terminal, comprising: a control device for controlling the movement of the mobile device according to instructions sent by the control terminal; an external information acquisition unit for acquiring external information surrounding the mobile device; and a notification unit for notifying the area surrounding the mobile device; wherein, when the control device moves the mobile device according to the instructions: it detects objects existing around the mobile device based on the external information acquired by the external information acquisition unit; identifies whether the detected objects are dynamic or static; and when a dynamic object is detected within a first range around the mobile device, it drives the notification unit to perform a first notification.

[0007] The present invention also provides a control method for a mobile device that moves based on instructions received from a remote control terminal, comprising the following steps executed by a computer installed on the mobile device: detecting objects present around the mobile device based on external information around the mobile device acquired by an external information acquisition unit of the mobile device; identifying whether the detected objects are dynamic or static objects; and driving a notification unit of the mobile device when a dynamic object is detected within a first range around the mobile device.

[0008] The present invention also provides a computer program product comprising a computer program that causes a computer to perform the above-described control method.

[0009] Invention Effects

[0010] According to the mobile device, control method, and computer program product of the present invention, when performing the automatic outbound function, a first notification is issued when a dynamic object enters a first range around the mobile device, which can effectively remind surrounding personnel or objects to pay attention to the movement of the mobile device, thereby reducing the risk of collision or misoperation and significantly improving the safety of autonomous driving. Attached Figure Description

[0011] Figure 1 A side view showing an example of a vehicle equipped with a control device according to an embodiment of the present invention.

[0012] Figure 2 for Figure 1 A top view of the vehicle shown.

[0013] Figure 3 To show Figure 1 The diagram shows a block diagram of the vehicle's internal structure.

[0014] Figure 4 This is a schematic diagram illustrating a scenario where a vehicle is remotely controlled to leave a warehouse via a smartphone.

[0015] Figure 5 This is a schematic diagram illustrating one of the first and second ranges when a vehicle automatically exits the parking space.

[0016] Figure 6 is a schematic diagram showing another example of the first and second ranges when a vehicle automatically exits the parking space.

[0017] Figure 7 This is a flowchart illustrating the automatic vehicle exit process.

[0018] Explanation of reference numerals in the attached figures

[0019] 10 vehicles

[0020] 11L left side mirror

[0021] 11R right-side rearview mirror

[0022] 30 Notification Department

[0023] 13 vehicle lighting devices

[0024] 13Fr headlights

[0025] 13Rr taillights

[0026] 15 loudspeakers

[0027] 14 Operation Input Section

[0028] 16 sensor groups

[0029] 12 cameras

[0030] 12Fr front-side camera

[0031] 12Rr rear camera

[0032] 12L left-side camera

[0033] 12R right-side camera

[0034] 32 sonar groups

[0035] 32a forward sonar group

[0036] 32b rear sonar group

[0037] 32c left sonar group

[0038] 32d right sonar group

[0039] 34a, 34b wheel sensors

[0040] 36 vehicle speed sensors

[0041] 38 Operation and Inspection Department

[0042] 18 navigation devices

[0043] 42 touchscreens

[0044] 44 speakers

[0045] 20 Control ECU

[0046] 50 Input / Output Section

[0047] 52 Computing Unit

[0048] 55 Automated Driving Control Department

[0049] 56 Automatic Parking Control Unit

[0050] 57 Object Recognition Department

[0051] 54 Storage Unit

[0052] 22EPS System

[0053] 100 rudder angle sensor

[0054] 102 Torque Sensor

[0055] 104EPS motor

[0056] 106 Rotary Encoder

[0057] 108 EPS ECU

[0058] 24 Ministry of Communications

[0059] 26 Drive Force Control System

[0060] 130 drive ECU

[0061] 28 Braking Force Control System

[0062] 132 Braking ECU

[0063] 120 communication equipment

[0064] M user

[0065] 60 smartphones

[0066] W1 First Range

[0067] W2 Second Range

[0068] 70 Dynamic Objects Detailed Implementation

[0069] Hereinafter, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings. Identical structures are labeled with the same symbols in all the drawings. In the following description, front, back, left, right, up, and down are defined from the driver's perspective. In the drawings, the front of the vehicle is labeled Fr, the rear is labeled Rr, the left side is labeled L, the right side is labeled R, the top is labeled U, and the bottom is labeled D.

[0070] Figure 1A side view of the vehicle 10 of the present invention is shown. Figure 2 for Figure 1 The vehicle 10 shown is a top view. Vehicle 10 is an example of the mobile device of the present invention.

[0071] Vehicle 10 is an automobile, having a drive source (not shown) and drive wheels and steerable steering wheels driven by the power of the drive source. In this embodiment, vehicle 10 is a four-wheeled automobile with a pair of front wheels and a pair of rear wheels. The drive source of vehicle 10 can be 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. The drive source of vehicle 10 can drive the pair of front wheels, the pair of rear wheels, or all four wheels simultaneously. The front and rear wheels can be steerable steering wheels that can be steered simultaneously, or only one of them can be steered.

[0072] The vehicle 10 is also equipped with a left-side rearview mirror 11L and a right-side rearview mirror 11R. The left-side rearview mirror 11L and the right-side rearview mirror 11R are rearview mirrors mounted on the outer sides of the front doors of the vehicle 10, for the driver to check the situation behind and to the sides. The left-side rearview mirror 11L and the right-side rearview mirror 11R are fixed to the body of the vehicle 10 by a vertical rotation axis, and can be rotated around the rotation axis to open and close.

[0073] Vehicle 10 is equipped with a lighting system 13. The lighting system 13 includes a pair of headlights 13Fr and a pair of taillights 13Rr. The headlights 13Fr are mounted at the front of vehicle 10 to illuminate the road ahead, providing sufficient visibility to ensure safe driving at night. The taillights 13Rr are mounted at the rear of vehicle 10 to provide backlighting, increasing the visibility of the vehicle to following vehicles. The lighting system 13 may also include other lighting devices (not shown), such as turn signals, side marker lights, and fog lights.

[0074] Vehicle 10 is also equipped with a horn 15 for emitting audible signals to alert other road users or pedestrians. The horn 15 is typically mounted at the front of the vehicle, particularly in the engine compartment, usually near the frame structure under the front bumper or hood. The horn 15 can also use dual or more horn units, mounted in different locations to improve sound coverage and loudness. The control switch for the horn 15 is usually located in a position accessible to the driver. The use of the horn 15 plays a crucial role in traffic safety, especially in situations requiring the alerting of other vehicles or pedestrians. In autonomous driving mode, the horn 15 of vehicle 10 can also be intelligently controlled via the automatic system to issue warning sounds in emergency situations.

[0075] Vehicle 10 is also equipped with a front-side camera 12Fr, a rear-side camera 12Rr, a left-side camera 12L, and a right-side camera 12R (hereinafter sometimes collectively referred to as "cameras 12"). The front-side camera 12Fr is mounted in front of vehicle 10, for example, at the top of the windshield or behind the rearview mirror, to capture images of the front of vehicle 10. The rear-side camera 12Rr is mounted behind vehicle 10, for example, at the top of the rear windshield or on the rear door, to capture images of the rear of vehicle 10. The left-side camera 12L is mounted on the left-side rearview mirror 11L of vehicle 10 to capture images of the left side of vehicle 10. The right-side camera 12R is mounted on the right-side rearview mirror 11R of vehicle 10 to capture images of the right side of vehicle 10. These cameras 12 are used to capture images of the surrounding environment of vehicle 10 in the corresponding directions and generate images, for example, digital cameras using solid-state image sensors such as CCD (charge-coupled device) or CMOS (complementary metal-oxide-semiconductor). The camera 12 can periodically and repeatedly capture images of the surrounding environment of the vehicle 10, or it can be a stereo camera.

[0076] Figure 3 yes Figure 1 A block diagram illustrating an example of the internal structure of the vehicle 10. (As shown) Figure 3 As shown, vehicle 10 includes a sensor array 16, a navigation device 18, a control ECU (electronic control unit) 20, an electric power steering (EPS) system 22, and a communication unit 24. Vehicle 10 also includes a drive force control system 26 and a braking force control system 28. The control ECU 20 is an example of the control device of the present invention.

[0077] Sensor group 16 is used to acquire various detection values ​​required for control by control ECU 20. Sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left camera 12L, and a right camera 12R. In addition, sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left sonar group 32c, and a right sonar group 32d. Sensor group 16 also includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0078] The front side camera 12Fr, rear side camera 12Rr, left side camera 12L, and right side camera 12R acquire identification data (e.g., surrounding images) for recognizing the external environment of the vehicle 10 by capturing images of the environment around the vehicle 10. The surrounding images captured by the front side camera 12Fr, rear side camera 12Rr, left side camera 12L, and right side camera 12R are respectively referred to as the front image, rear image, left side image, and right side image. The image composed of the left side image and the right side image can also be called a side image.

[0079] The front sonar group 32a, rear sonar group 32b, left sonar group 32c, and right sonar group 32d (hereinafter collectively referred to as "sonic group 32") emit sound waves around the vehicle 10 and receive echoes reflected from other objects. The front sonar group 32a, for example, includes four sonars, with components respectively positioned on the left front, front left, front right, and right front sides of the vehicle 10. The rear sonar group 32b, for example, includes four sonars, with components respectively positioned on the left rear, rear left, rear right, and right rear sides of the vehicle 10. The left sonar group 32c, for example, includes two sonars, with components respectively positioned on the left front and left rear sides of the vehicle 10. The right sonar group 32d, for example, includes two sonars, with components respectively positioned on the right front and right rear sides of the vehicle 10.

[0080] Wheel sensors 34a and 34b are used to 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 when the wheels rotate a certain angle. These detection pulses are used to calculate the rotation angle and rotation speed of the wheels. The travel distance of vehicle 10 can be calculated based on the rotation angle of the wheels. For example, wheel sensor 34a detects the rotation angle θa of the left rear wheel, while wheel sensor 34b detects the rotation angle θb of the right rear wheel.

[0081] Vehicle speed sensor 36 is used to detect 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 reverse shaft.

[0082] The operation detection unit 38 detects the operation performed by the user through 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 rearview mirror switch for switching the opening and closing states of the left rearview mirror 11L and the right rearview mirror 11R, a gear shift lever (selector lever or selector), etc.

[0083] The navigation device 18 detects the current location of the vehicle 10, for example, using GPS (Global Positioning System), and generates a route to guide the user to their destination. The navigation device 18 has a storage device (not shown) for storing a database of map information.

[0084] The navigation device 18 is equipped with a touchscreen 42 and a speaker 44. The touchscreen 42 functions as both an input device and a display device for controlling the ECU 20. The speaker 44 outputs various guidance information to the user of the vehicle 10 in voice form.

[0085] The touchscreen 42 is configured to input various commands to the control ECU 20. For example, a user can input commands related to the mobility support of the vehicle 10 via the touchscreen 42. Mobility support includes parking support and exit support for the vehicle 10. Furthermore, the touchscreen 42 can also display various interfaces related to the control content of the control ECU 20. For example, the touchscreen 42 displays interfaces related to the mobility support of the vehicle 10, specifically including a parking support button for requesting automatic parking of the vehicle 10 and an exit support button for requesting exit from the parking space. The parking support button can be used to request the control ECU 20 to perform automatic parking, while the assisted parking button can be used to request assistance when the driver operates the parking maneuver. The exit support buttons include an automatic exit button for requesting the control ECU 20 to perform automatic exit from the parking space, and an exit assistance button for requesting assistance when the driver operates the exit from the parking space. Alternatively, devices other than the touchscreen, such as smartphones or tablets, can also be used as input or display devices.

[0086] The control ECU 20 includes an input / output unit 50, an arithmetic unit 52, and a storage unit 54. The arithmetic unit 52 is composed of a CPU (Central Processing Unit). The arithmetic unit 52 controls each component to perform various control operations according to the program stored in the storage unit 54. In addition, the arithmetic unit 52 performs signal input and output with each component connected to the control ECU 20 through the input / output unit 50.

[0087] The computing unit 52 includes an automatic driving control unit 55 responsible for controlling the movement of the vehicle 10. The automatic driving control unit 55 is an example of the control unit of the present invention. The automatic driving control unit 55 performs automatic driving and automatic driving support of the vehicle 10 by controlling the operation of the steering device 110 and utilizing automatic steering. During automatic driving, the operation of the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 is performed automatically. Furthermore, the automatic driving control unit 55 also assists the driver in manually operating the accelerator pedal, brake pedal, and operation input unit 14 to achieve automatic driving support.

[0088] The autonomous driving control unit 55 includes an automatic parking control unit 56 and an object recognition unit 57. The automatic parking control unit 56 controls the operation of the steering device 110 to perform automatic parking support and automatic exit support for the vehicle 10 using automatic steering. The object recognition unit 57 performs sensor fusion processing on some or all of the detection results received by the input / output unit 50 from the self-camera 12 and the sonar group 32 to identify information such as the position, type, and speed of the object, and outputs the recognition results to the automatic parking control unit 56.

[0089] For example, the automatic parking control unit 56 performs automatic parking control (parking the vehicle 10 in the designated parking space) and automatic exit control (moving the vehicle 10 out of the designated parking space) on the vehicle 10 based on the external identification data of the vehicle 10 obtained by the object recognition unit 57 and the predetermined parking space specified by the user.

[0090] The EPS system 22 includes a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a rotary encoder 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.

[0091] The EPS motor 104 applies driving or reaction force to the steering device 110 connected to the steering column 112, thereby providing steering operation support for occupants and automatic steering during parking. A rotary encoder 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 is equipped with an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0092] The communication unit 24 is capable of wireless communication with other communication devices 120. Other communication devices 120 include base stations, communication devices in other vehicles, and smartphones or tablets carried by the user of vehicle 10. The communication unit 24 is one example of the communication unit of this invention. Smartphones and tablets are examples of the information terminals of this invention.

[0093] The drive force control system 26 is equipped with a drive ECU 130. The drive force control system 26 performs drive force control of the vehicle 10. The drive ECU 130 controls the drive force of the vehicle 10 by controlling the engine (not shown) and other components based on the user's operation of the accelerator pedal (not shown).

[0094] The braking force control system 28 is equipped with a braking ECU 132. The braking force control system 28 performs braking force control of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling the braking mechanism (not shown) based on the user's operation of the brake pedal.

[0095] Figure 4 This diagram illustrates a scenario where a user M of vehicle 10 remotely moves vehicle 10 using a smartphone 60 from outside vehicle 10. Remote vehicle movement includes, for example, remote automatic parking control to park vehicle 10 in a parking space and automatic exit control to move vehicle 10 out of the parking space. Figure 4 The image shows the user executing the outbound command for vehicle 10.

[0096] The smartphone 60 is pre-installed with an application for executing movement commands of the vehicle 10. When the user M operates the screen 61 of the smartphone 60 by touching it, the smartphone 60 sends a command signal to the vehicle 10 via wireless communication, instructing the vehicle 10 to remotely and automatically leave the parking space. The wireless communication can employ, for example, BLE (Bluetooth Low Energy: registered trademark). The vehicle 10 receives the command signal from the smartphone 60 via the communication unit 24. The automatic driving control unit 55 of the vehicle 10 controls the automatic departure of the vehicle 10 based on the command signal received via the communication unit 24.

[0097] Automatic Outbound Control

[0098] If a remote automatic exit instruction is received, the automatic driving control unit 55 calls the automatic parking control unit 56 to start the vehicle 10 to perform automatic exit. The engine or power system of the vehicle 10 will be activated. The automatic parking control unit 55 controls the vehicle to start and ensures that all modules of the system (such as steering, acceleration, braking, etc.) are in working condition. Based on factors such as the direction of vehicle exit, surrounding obstacles and turning radius, the exit path is planned, an appropriate driving speed is set, and the steering angle is automatically adjusted through control commands to ensure that the vehicle drives out of the parking space smoothly.

[0099] While performing automatic vehicle exit, the object recognition unit 57 acquires external information. Specifically, it receives image data from each camera 12 through the input / output unit 50, processes the image data acquired by each camera, merges the surrounding images of the vehicle 10, and performs object recognition to detect whether there are moving objects around the vehicle 10. Moving objects may be people, animals, or other vehicles.

[0100] During the automatic exit process, if the object recognition unit 57 detects a moving object within the first range W1 (warning zone) around the vehicle 10, the automatic parking control unit 56 controls the notification unit 30 to issue a first notification. For example, the headlight device 13 enters a flashing mode, the headlights 13Fr and taillights 13Rr emit flashing signals, and the horn 15 plays a warning "beep beep" sound to alert attention. In this way, when a moving object is detected within the first range W1 close to the vehicle 10, the notification unit 30 provides both light and sound notifications to alert surrounding road users, ensuring they are aware that the vehicle is automatically exiting the parking space and avoiding potential dangers.

[0101] Furthermore, if the object recognition unit 57 determines that the dynamic object within the first range W1 is moving towards the vehicle 10, the automatic parking control unit 56 will implement deceleration control to reduce the vehicle's speed to avoid danger, and simultaneously issue a second notification to the notification unit 30. The second notification may include, for example, the headlight device 13 switching to a fast-flashing mode, with the headlights or taillights flashing rapidly to increase visual warning, and the horn 15 playing shorter intervals of "beep! beep!" In special circumstances (e.g., when the dynamic object is moving very fast towards the vehicle 10), a voice prompt such as "Vehicle exiting the parking space, please be aware!" may be played. Simultaneously, the automatic parking control unit 56 will send an automatic exit warning message to the smartphone 60 via the communication unit 24. The user M will receive a real-time notification to understand the vehicle's current exit status. The user M can choose to obtain further details or stop the vehicle exit operation via the application to ensure safety.

[0102] Furthermore, if the object recognition unit 57 detects a moving object within the second range W2 (emergency braking zone) around the vehicle 10, the automatic parking control unit 56 initiates emergency braking to stop the vehicle's movement, suspends the automatic exit operation, and reports the emergency to the smartphone 60 via the communication unit 24. Simultaneously, the notification unit 30 triggers a third notification. Upon triggering the third notification, for example, the headlight device 13 switches to a dual-color flashing mode, with the headlights or taillights flashing rapidly in both colors, accompanied by synchronized flashing of the turn signals, increasing the visual warning effect. Simultaneously, the horn 15 plays a sharp, continuous warning sound, "Beep~~~~~," alerting surrounding road users to an emergency. In special circumstances (e.g., a moving object moving rapidly towards the vehicle 10), the horn 15 will also play a clearer voice prompt: "Danger, please be careful!" to inform surrounding road users of the reason for the emergency braking. The automatic parking control unit 56 reports detailed information about the emergency braking and suspension of automatic exit to the smartphone 60, and the user M will receive a detailed report including vehicle status and changes in the surrounding environment.

[0103] After user M receives a detailed report of the vehicle's emergency braking via smartphone 60, the system will prompt the user to confirm. If user M chooses to continue exiting the parking space, or if no further instructions are received from user M within a preset waiting time, the automatic parking control unit 56 will restart the automatic exiting process if it determines there is no danger. At this time, the warning effect returns to the vehicle moving state, the headlight device 13 switches to the normal flashing mode, and the horn 15 plays a normal frequency "beep" warning sound to remind surrounding road users that the vehicle will continue exiting the parking space. The automatic parking control unit 56 reports the status of continuing exiting the parking space to smartphone 60 via communication unit 24. User M will receive a "Vehicle exiting the parking space continues" notification and can continue to monitor the progress of the vehicle exiting the parking space in real time. User M can still choose to stop or interrupt the operation at any time via the mobile application.

[0104] <The first range and the second range>

[0105] The first range W1 (warning area) is a larger monitoring area, which generally refers to the extensive area that needs to be ensured safe during the process of the vehicle 10 exiting the garage. It is mainly used to detect dynamic objects that may enter the path of the vehicle exiting the garage. The dynamic objects within this range are considered to have a greater impact on the safety of the vehicle exiting the garage and need to warn the surrounding traffic participants. When a dynamic object enters the first range W1, the automatic parking control unit 57 will issue a warning notice, reminding that the vehicle is exiting the garage and warning the surrounding traffic participants to pay attention and avoid.

[0106] The second range W2 (emergency braking area) is a smaller and more sensitive area, mainly used to judge the emergency risks during the process of exiting the garage. If a dynamic object enters this area, the vehicle will immediately take emergency braking measures to avoid collisions or dangers. When a dynamic object enters the second range W2, the system will immediately trigger emergency braking and suspend the operation of the vehicle exiting the garage. In addition, the system will remind the surrounding traffic participants of the emergency situation through strong visual and auditory warnings (such as a two-color fast flash mode, a continuous warning sound "beep~~~~~~~~").

[0107] Figure 5 A schematic diagram showing an example of the first range W1 and the second range W2 is as Figure 5 shown. The first range W1 is a roughly circular range with a radius L1 centered on the vehicle 10, and the second range W2 is a roughly circular range with a radius L2 (L2 < L1) centered on the vehicle 10.

[0108] The radius L1 of the first range W1 can be, for example, 8 to 12 meters and is applicable to environments such as open parking lots. Open parking lots usually have a larger open space, and the probability of the appearance of dynamic objects (such as pedestrians, other vehicles, pets, etc.) is relatively high. Therefore, the first range W1 needs to be set larger, usually 8 to 12 meters. This setting can identify potential risks earlier under a broad field of vision and take appropriate warning measures. If the parking environment is relatively narrow (such as a closed garage), this range can be appropriately reduced to 6 to 8 meters or smaller because the space in a closed parking lot is relatively small and the possibility of the appearance of dynamic objects is relatively small. Therefore, the first range W1 can be set to a smaller range, which can ensure that objects that may affect the vehicle exiting the garage can be detected in a relatively limited field of vision.

[0109] The radius L2 of the second range W2 is smaller than that of the first range W1. In open parking lots, where dynamic objects appear more frequently, the second range W2 can be appropriately set, for example, to 4 to 6 meters. This ensures that the system can detect objects at a greater distance and react promptly to potential high-speed objects. For confined environments, such as enclosed parking lots or narrow exit spaces, considering the limited space and lower speed of dynamic objects in enclosed parking lots, the second range W2 can be set to a smaller range, for example, 2 to 4 meters, to ensure that the vehicle 10 can react quickly and avoid collisions.

[0110] Figure 6 is a schematic diagram illustrating an example of a first range W1 and a second range W2. Figure 5 Unlike the previous example, the first range W1 and the second range W2 shown in Figure 6 are not centered on vehicle 10, but are offset by a distance along the vehicle's direction of travel. The arrows in Figure 6 indicate the direction of travel. Figure 6A This is a schematic diagram of forward and outward movement from the warehouse. The centers of the first area W1 and the second area W2 are located in front of the vehicle. Figure 6B This is a diagram illustrating reversing out of a parking space. The centers of the first area W1 and the second area W2 are located in front of the rear of the vehicle.

[0111] When a vehicle exits a parking space, the area in front of it in the direction of travel is usually the area that requires the most attention, especially when the vehicle is exiting. If an object enters this area, the system will issue a warning. Therefore, the radius of the first range W1 in front of the vehicle in the direction of travel should be relatively large to ensure that moving objects can be detected in advance and warnings issued. The center of the first range W1 is set in front of the vehicle in the direction of travel, and the radius L1 is, for example, 8 to 12 meters, which will be dynamically adjusted according to the type and openness of the parking lot. In closed parking lots, due to limited visibility, the warning area in front can be set smaller (e.g., 6 to 8 meters).

[0112] Similarly, the radius of the second range W2 in front of the vehicle in the direction of travel should be relatively large to ensure that moving objects can be detected in advance and emergency braking can be initiated. The center of the first range W2 is set at the front of the vehicle in the direction of travel, with a radius L2 of, for example, 4 to 6 meters. This will be dynamically adjusted according to the type and openness of the parking lot. In closed parking lots, due to space constraints and low-speed driving, the second range W2 can be set smaller (e.g., 2 to 4 meters).

[0113] In addition to using a circular area, we can also consider other geometric shapes to set the first range W1 and the second range W2 based on the vehicle's driving direction, the surrounding environment, and the movement of dynamic objects, in order to improve the detection effect and response efficiency.

[0114] For example, the first range W1 and the second range W2 can be set as a fan-shaped area, with the vehicle 10 at the center. The angle of the fan is set according to the driving direction, generally ±45° to ±90° of the driving direction. The radius of the fan can be set with reference to the circular first range W1 and second range W2 mentioned above. In this way, the two boundary lines of the fan-shaped area extend from the vehicle 10 along the above angle and rotate with the driving direction to ensure a sufficiently large field of view to identify potential moving objects. The fan-shaped area is suitable for use when a vehicle is leaving the parking space, especially when the vehicle starts to leave the parking space and moves in one direction. It can also fully take into account the dynamic changes of the vehicle when leaving the parking space. Using the fan-shaped range allows for more precise and focused monitoring of dynamic objects that may enter the vehicle's exit path.

[0115] Furthermore, the first range W1 and the second range W2 can be configured as elliptical areas. For example, the first range W1 can be an elliptical area with its major axis aligned with the vehicle's direction of travel. The length of the major axis is typically 8 to 12 meters (in open parking lots) or 6 to 8 meters (in enclosed parking lots), and the minor axis can be set to 6 to 8 meters (to accommodate vehicle width). The second range W2 can also be an elliptical area with its major axis aligned with the direction of travel. The length of the major axis is typically 4 to 6 meters (in open parking lots) or 2 to 4 meters (in enclosed parking lots), and the minor axis can be set to 3 to 5 meters for emergency braking. The elliptical area can create a longer monitoring zone in the direction of vehicle travel, covering the front or sides, suitable for complex driving paths, especially when turning or exiting complex parking spaces. It allows for more precise monitoring of the front and sides of the vehicle, making it suitable for narrow or complex parking environments.

[0116] Furthermore, in some complex parking environments, it may be necessary to combine regions of different shapes to optimize the settings of the first range W1 and the second range W2. For example, in a more complex parking environment, using circular areas, fan-shaped areas, and elliptical areas to set different first ranges W1 and second ranges W2 can more flexibly handle different driving paths and dynamic objects.

[0117] In this way, by reasonably selecting and setting different shapes for the first range W1 and the second range W2, the safety and response accuracy of the automatic outbound process can be greatly improved.

[0118] <Object Recognition>

[0119] The object recognition unit 57 receives image data from each camera 12 via the input / output unit 50, processes the image data acquired by each camera, fuses the surrounding images of the vehicle 10, and performs object recognition to detect whether there are moving objects around the vehicle 10. The moving objects may be people, animals, or other vehicles.

[0120] Regarding object recognition methods, the object recognition unit 57 can combine various technical means for efficient recognition and classification, including but not limited to the following methods:

[0121] Image recognition based on machine learning

[0122] A pre-trained deep learning model (such as a convolutional neural network, CNN) is used to process the image data acquired by camera 12. The model identifies features such as the shape, outline, and color of objects to classify them into specific categories, such as humans, animals, vehicles, or other objects. If an object is identified as a human or animal, it is classified as a dynamic object because such targets have the potential for movement.

[0123] Motion detection based on frame difference

[0124] The continuous video frames captured by camera 12 are compared, and the inter-frame difference is calculated to detect whether the object is moving.

[0125] If motion is detected in an object (e.g., a change in position or shape), the object is classified as a dynamic object.

[0126] This method is particularly suitable for identifying objects that are not easily distinguishable by static features.

[0127] Image recognition and motion detection combined

[0128] First, the image data acquired by camera 12 is processed. The model identifies objects into specific categories, such as humans, animals, vehicles, or other objects. Then, motion detection based on inter-frame difference is used to determine whether the object is moving. If an object is identified as a human, animal, or other vehicle, and motion is detected, it is classified as a moving object. This further improves the accuracy of moving object recognition. For example, leaves blowing in the wind may be excluded, while moving pedestrians or vehicles can be accurately identified.

[0129] Furthermore, adaptive recognition can be added based on environmental conditions. For example, infrared cameras or thermal imaging sensors can be introduced to assist in recognition at night or in low-light conditions. In complex environments such as rain and snow, the ability to recognize dynamic objects can be improved by optimizing algorithms or increasing the dimensions of feature extraction.

[0130] By combining these methods, the object recognition unit 57 can accurately classify objects in different environments, ensuring the accuracy of dynamic object recognition while reducing the false recognition rate of static objects. This not only improves the safety of automatic parking and automatic exit, but also enhances the system's adaptability to complex traffic scenarios.

[0131] Distance Detection and Motion Trend Judgment

[0132] After a moving object is detected, the object recognition unit 57 detects the distance between the moving object and the vehicle 10. The distance between the moving object and the vehicle 10 can be determined based on sonar spatial positioning. For example, using the ultrasonic signals emitted and received by the sonar array 32, the distance and position of the moving object are calculated through echo data to determine whether it is within the first and second ranges W1 and W2.

[0133] The direction of movement of dynamic objects can be determined based on sonar spatial positioning and movement trends. For example, using ultrasonic signals emitted and received by sonar array 32, the distance and position of the object can be calculated through echo data. Combined with sonar detection results over a continuous time period, the object's trajectory and speed can be determined. Furthermore, visual information from camera 12 and distance and orientation information provided by sonar can be combined through weighted algorithms or deep learning models to improve recognition accuracy. Alternatively, a combination of target tracking and historical data can be used. Target tracking algorithms (such as optical flow or Kalman filters) can be employed to track the object's movement trend over a period of time. By comparing the current recognition result with historical data, it can be analyzed whether the object possesses continuous mobility and its direction of movement, thereby reducing false recognition.

[0134] <Automated Outbound Process>

[0135] Figure 7 This is a flowchart illustrating the automatic parking control process of vehicle 10 executed by the automatic driving control unit 55, which controls ECU 20. This automatic parking control, for example, involves user M attempting to automatically park vehicle 10 from a parking space using smartphone 60. Figure 4 The operation is performed in the scenario shown. When vehicle 10 is parked in a parking space, vehicle communication unit 24 is in standby mode, capable of receiving signals from external smartphone 60. Therefore, autonomous driving control unit 55 can receive signals from smartphone 60 used by user M outside vehicle 10 via communication unit 24. When communication unit 24 receives an external signal, it wakes up control ECU 20, which processes the received signal. Thus, user M can use smartphone 60 to operate vehicle 10 to automatically exit the parking space.

[0136] First, the autonomous driving control unit 55 determines whether a remote exit instruction has been received (step S10). This instruction is sent by user M using smartphone 60, and is received and forwarded to the control ECU 20 by the communication unit 24 of vehicle 10. In step S10, if no remote exit instruction is received (step S10: No), the autonomous driving control unit 55 will wait until a remote exit instruction is received.

[0137] In step S10, if a remote exit instruction is received (step S10: Yes), the automatic driving control unit 55 calls the automatic parking control unit 56 to start the vehicle 10 to perform automatic exit, and at the same time activates the object recognition unit 57 to obtain external information (step S11).

[0138] The object recognition unit 57 acquires external information. Specifically, it receives image data from each camera 12 through the input / output unit 50, processes the image data acquired by each camera, fuses the surrounding images of the vehicle 10, and performs object recognition to detect whether there are dynamic objects around the vehicle 10 (step S12). The dynamic objects may be people, animals, or other vehicles.

[0139] In step S12, if the object recognition unit 57 detects a moving object around the vehicle 10 (step S12: Yes), the automatic parking control unit 56 determines whether the moving object is located within the first range W1 (step S13). If a moving object appears within the first range W1 (step S13: Yes), the automatic parking control unit 56 determines whether the moving object is located within the second range W2 (step S14). If step S14 determines that the moving object is not within the second range W2 (step S14: No), that is, the moving object is located within, for example... Figure 5 Within the annular area with an outer diameter of L1 and an inner diameter of L2, the automatic parking control unit 56 further determines whether the dynamic object is moving in the direction of approaching the vehicle 10 (step S15).

[0140] In step S15, if the automatic parking control unit 56 determines that the moving object is not moving in the direction of approaching the vehicle 10 (step S15: No), the notification unit 30 issues a first notification (step S16). For example, the headlight device 13 enters a flashing mode, the headlights and taillights emit flashing signals, and the horn 15 plays a warning "beep" sound to alert attention. In this way, when a moving object is detected within a first range W1 relatively close to the vehicle 10, the notification unit 30 issues both light and sound notifications to alert surrounding road users, ensuring they are aware that the vehicle is automatically exiting the parking space and avoiding potential dangers.

[0141] In step S15, if it is determined that the moving object is moving towards the vehicle 10 (Step S15: Yes), the automatic parking control unit 56 controls the vehicle to reduce its speed to avoid danger. The notification unit 30 issues a second notification, and the communication unit 24 reports the situation to the smartphone 60 (Step S17). The second notification may include, for example, the headlight device 13 switching to a fast-flash mode, with the headlights or taillights flashing rapidly to increase visual warning, while the horn 15 plays shorter intervals of "beep! beep!". Simultaneously, in step S17, the automatic parking control unit 57 sends an automatic exit warning message to the smartphone 60 via the communication unit 24. The user M will receive a real-time notification to understand the vehicle's current exit status. The user can choose to learn more details or stop the vehicle exit operation via the application to ensure safety.

[0142] In step S14, if the automatic parking control unit 56 determines that the moving object is within the second range W2 (step S14: Yes), the automatic parking control unit 56 initiates emergency braking to stop the vehicle's movement and suspends the automatic exit operation. At this time, a third notification is triggered, and the emergency situation is reported to the smartphone 60 via the communication unit 24 (step S18). After the third notification is triggered, for example, the headlight device 13 switches to a dual-color flashing mode, with the headlights or taillights flashing rapidly in dual colors, accompanied by synchronized flashing of the turn signals, increasing the visual warning effect. At the same time, the horn 15 plays a sharp, continuous warning sound "beep~~~~~" to remind surrounding road users of the emergency situation. In step S18, the vehicle reports the details of the emergency braking and suspension of automatic exit to the smartphone 60 via the communication unit 24. The user will receive a detailed report including the vehicle status and changes in the surrounding environment. The mobile application will provide operation options, allowing the user to decide whether to manually intervene, confirm safety, or activate other safety measures.

[0143] In step S18, after the automatic parking control unit 56 reports the emergency to the smartphone 60, it determines whether it has received a continued exit instruction from user M (step S19). If it has not received a continued exit instruction from user M (step S19: no), the automatic parking control unit 56 will wait for a predetermined time (step S20).

[0144] If a continued exit instruction from user M is received in step S19 (Step S19: Yes), or if no continued exit instruction is received within the time specified in step S20 (Step S20: Yes), the automatic parking control unit 56 will further determine whether the "automatic exit" task has been completed (Step S21). If the task has been completed (Step S21: Yes), the vehicle 10 will stop the automatic exit operation and notify the user via smartphone 60; if the task has not been completed (Step S21: No), the automatic parking control unit 56 will return to step S11 and continue executing the automatic exit process.

[0145] In the above embodiments, an example of using a vehicle (four-wheeled car) as the mobile device has been described, but it is not limited to this. For example, it could also be a two-wheeled vehicle, a Segway, or other vehicles. Furthermore, the concept of the present invention is not limited to vehicles, but can also be applied to robots, ships, aircraft, etc., that are equipped with a drive source and can move by the power of the drive source.

[0146] This invention is not limited to the aforementioned embodiments and can be appropriately modified and improved. For example, in the above embodiments, a case where a notification is triggered when a moving object is detected in the first and second ranges is illustrated, but it is not limited to this. Considering that the second range is a relatively small area around the vehicle, a notification, vehicle speed reduction, or user notification can also be triggered when a static object is detected in the second range, in order to further reduce the risk of collision and improve the safety of autonomous driving.

[0147] Furthermore, in the aforementioned embodiments, if an emergency stop occurs during automatic parking, and the user chooses to continue exiting the parking space, or if no operation command is received from the user within a preset waiting time, the automatic parking control unit restarts the automatic exiting process. However, this is not a limitation; the mobile application can also provide more operation options, allowing the user to decide whether to manually intervene, confirm safety, or activate other safety measures. For example, the mobile application provides "Continue Exiting," "Manual Intervention," and "Emergency Stop" buttons, which the user can click to perform the following subsequent operations as needed.

[0148] 1. Confirm safety and continue automatic exit: If the user determines that the surrounding environment is safe and confirms that there are no other obstacles, the user can click the "Continue Exit" button, and the automatic exit process of the vehicle will continue.

[0149] 2. Manual intervention to stop vehicle departure: If the user believes there is a potential safety risk, the user can click the "Manual Intervention" button to immediately stop the vehicle from leaving the warehouse and lock the current vehicle status.

[0150] 3. Activate other safety measures: If the user is temporarily unable to determine the surrounding environment, they can press the "Emergency Stop" button. The vehicle system will automatically activate the "Emergency Stop" function, move the vehicle to a safe area, and suspend all outbound operations.

[0151] Furthermore, the control method described in the foregoing embodiments can be implemented by executing a pre-prepared control program. This control program is recorded in a computer-readable storage medium and is 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 it can be provided 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 terminal, 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.

[0152] In addition, the present invention includes at least the following items, wherein the items in parentheses represent the corresponding components or likes in the above embodiments, but are not limited thereto.

[0153] <Option 1>

[0154] A mobile device (vehicle 10) capable of communicating with a remote control terminal includes:

[0155] A control device (control ECU 20) that controls the movement of the mobile device according to instructions sent by the control terminal (smartphone 60);

[0156] An external information acquisition unit (sensor group 16) that acquires information about the surrounding environment of the mobile device; and

[0157] A notification unit (notification unit 30) that notifies the area around the mobile device;

[0158] When the control device moves the mobile device based on the command:

[0159] Objects existing around the mobile device are detected based on external information acquired by the external information acquisition unit;

[0160] Identify whether the detected object is a dynamic object or a static object;

[0161] When a dynamic object is detected within a first range around the mobile device, the notification unit is driven to issue a first notification.

[0162] The mobile device in Scheme 1, controlled via a remote control terminal, incorporates an external information acquisition unit to monitor the surrounding environment. This unit detects objects in the vicinity, particularly moving objects, in real time, enhancing environmental awareness. When a moving object enters the first range, a notification unit issues a warning, alerting nearby personnel or road users and improving both the device's safety and the visibility of its surroundings.

[0163] <Option 2>

[0164] In the mobile device described in Scheme 1, the control device:

[0165] Based on the external information, determine whether the dynamic object is moving in a direction closer to the mobile device;

[0166] When it is determined that the dynamic object is moving toward the moving device, the moving speed of the moving device is limited to below a specified speed.

[0167] Solution 2 further optimizes the handling of dynamic objects. By determining whether a dynamic object is moving toward the mobile device, the moving speed of the mobile device can be intelligently limited, reducing the risk of collision with the dynamic object and effectively preventing potential dangers caused by high-speed moving objects approaching the mobile device. This helps to ensure the safety of the mobile device and its surrounding environment, especially in complex or crowded environments.

[0168] <Option 3>

[0169] In the mobile device described in Scheme 2, when the control device determines that the dynamic object is moving in a direction approaching the mobile device, it drives the notification unit to issue a second notification that is different from the first notification.

[0170] Option 3 enhances the system's warning capabilities by issuing a second warning, distinct from the first, when a moving object is detected approaching the mobile device. This provides a more precise and urgent warning mechanism, helping those in the vicinity to avoid potential dangers in a timely manner.

[0171] <Option 4>

[0172] In the mobile device described in Scheme 3, the first notification is made using at least sound; the second notification is made using at least sound and light.

[0173] Option 4 increases the diversity of notification methods, requiring the first notification to use at least sound, while the second notification requires at least both sound and light to be used simultaneously. This improves the effectiveness of warnings, especially in noisy or low-light environments, ensuring that information is delivered to all relevant personnel and further enhancing the safety performance of mobile devices.

[0174] <Option 5>

[0175] In any one of Schemes 2 to 4, when the control device determines that the dynamic object is moving toward the mobile device, it sends a notification to the control terminal.

[0176] Option 5 enhances remote control and monitoring capabilities by sending a notification to the control terminal when a moving object approaches the mobile device. This technology facilitates real-time acquisition and control of the mobile device's status, ensuring that managers or operators are promptly informed of the dynamic situation surrounding the device. Remote monitoring further improves security and enables rapid response.

[0177] <Option 6>

[0178] In any one of Schemes 1 to 5, when the control device detects the object within a second range around the mobile device, the mobile device is stopped, the second range being smaller than the first range.

[0179] Option 6 automatically stops the mobile device when a moving object is detected within a second range around the mobile device, which can effectively avoid collisions with moving objects. Especially in emergency situations, automatic stopping reduces the probability of danger.

[0180] <Option 7>

[0181] In the mobile device described in Scheme 6, when the control device detects the dynamic object within the second range, it drives the notification unit to issue a third notification that is different from the first notification.

[0182] The mobile device in Scheme 7 issues a third notification, different from the first notification, when it detects a moving object within the second range. This further improves the system's ability to respond to emergencies and enhances the warning effect through different notification methods (such as sound and light), ensuring that all personnel can take timely evasive action.

[0183] <Option 8>

[0184] In the mobile device described in Scheme 7, the first notification is made using at least sound; the third notification is made using at least sound and light.

[0185] Option 8 specifies the content of the third notification in detail, requiring the use of at least both sound and light for notification. This dual alert of sound and light ensures effective communication of emergency information in complex environments, especially in noisy conditions or low-light conditions at night, maximizing the effectiveness of the alert and further protecting the safety of the area surrounding the mobile device.

[0186] <Option 9>

[0187] In any one of Schemes 6 to 8, when the control device detects the dynamic object within the second range, it sends a notification to the control terminal.

[0188] The mobile device in Scheme 9 sends a notification to the control terminal when it detects a moving object within the second range, further enhancing remote monitoring and security management capabilities. It can provide real-time feedback on the mobile device's status and changes in the surrounding environment, ensuring that operators or managers can respond quickly and take appropriate measures. Through linkage with the remote terminal, the system's intelligent management level is improved.

[0189] <Option 10>

[0190] A control method for a mobile device that moves based on instructions received from a remote control terminal includes the following steps performed by a computer installed on the mobile device:

[0191] Based on the external information about the mobile device obtained by the external information acquisition unit of the mobile device, objects existing around the mobile device are detected;

[0192] Identify whether the detected object is a dynamic object or a static object; and

[0193] When a dynamic object is detected within a first range around the mobile device, the notification unit of the mobile device is activated.

[0194] <Option 11>

[0195] The control method described in Scheme 10 further includes the following steps performed by the computer:

[0196] Based on the external information, determine whether the dynamic object is moving in a direction closer to the mobile device;

[0197] When it is determined that the dynamic object is moving toward the moving device, the moving speed of the moving device is limited to below a specified speed.

[0198] <Option 12>

[0199] The control method described in Scheme 11 further includes the following steps performed by the computer:

[0200] When the object is detected within a second range around the mobile device, the mobile device is stopped, the second range being smaller than the first range.

[0201] <Option 13>

[0202] A computer program product comprising a computer program that causes a computer to execute any one of schemes 10 to 12.

[0203] Schemes 10 to 13 further provide control methods and computer program products, which realize the monitoring of the surrounding environment of the mobile device by an external information acquisition unit when the mobile device is controlled by instructions from a remote control terminal. The real-time detection of objects around the mobile device, especially dynamic objects, can effectively remind people or objects around the mobile device to pay attention to the movement of the mobile device, thereby reducing the risk of collision or misoperation and significantly improving the safety of autonomous driving.

Claims

1. A mobile device capable of communicating with a remote control terminal, comprising: A control device that controls the movement of the mobile device according to instructions sent by the control terminal; An external information acquisition unit that acquires information about the surrounding environment of the mobile device; as well as A notification unit that sends notifications to the area surrounding the mobile device; When the control device moves the mobile device based on the command: Objects existing around the mobile device are detected based on external information acquired by the external information acquisition unit; Identify whether the detected object is a dynamic object or a static object; When a dynamic object is detected within a first range around the mobile device, the notification unit is driven to issue a first notification.

2. The mobile device according to claim 1, characterized in that, The control device: Based on the external information, determine whether the dynamic object is moving in a direction closer to the mobile device; When it is determined that the dynamic object is moving toward the moving device, the moving speed of the moving device is limited to below a specified speed.

3. The mobile device according to claim 2, characterized in that, When the control device determines that the dynamic object is moving toward the moving device, it drives the notification unit to issue a second notification that is different from the first notification.

4. The mobile device according to claim 3, characterized in that, The first notification uses at least sound to deliver the notification; The second notification shall be delivered using at least sound and light.

5. The mobile device according to any one of claims 2 to 4, characterized in that, When the control device determines that the dynamic object is moving toward the moving device, it sends a notification to the control terminal.

6. The mobile device according to any one of claims 1 to 5, characterized in that, When the control device detects the object within a second range around the mobile device, the mobile device stops the mobile device, the second range being smaller than the first range.

7. The mobile device according to claim 6, characterized in that, When the control device detects the dynamic object within the second range, it drives the notification unit to issue a third notification that is different from the first notification.

8. The mobile device according to claim 7, characterized in that, The first notification uses at least sound to deliver the notification; The third notification uses at least sound and light to deliver the notification.

9. The mobile device according to any one of claims 6 to 8, characterized in that, When the control device detects the dynamic object within the second range, it sends a notification to the control terminal.

10. A control method for a mobile device that moves based on instructions received from a remote control terminal, comprising the following steps performed by a computer installed on the mobile device: Based on the external information about the mobile device obtained by the external information acquisition unit of the mobile device, objects existing around the mobile device are detected; Identify whether the detected object is a dynamic object or a static object; as well as When a dynamic object is detected within a first range around the mobile device, the notification unit of the mobile device is activated.

11. The control method according to claim 10, characterized in that... It also includes the following steps performed by the computer: Based on the external information, determine whether the dynamic object is moving in a direction closer to the mobile device; When it is determined that the dynamic object is moving toward the moving device, the moving speed of the moving device is limited to below a specified speed.

12. The control method according to claim 11, characterized in that, It also includes the following steps performed by the computer: When the object is detected within a second range around the mobile device, the mobile device is stopped, the second range being smaller than the first range.

13. A computer program product comprising a computer program that causes a computer to perform the control method according to any one of claims 10 to 12.

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