Control device for moving vehicle, control method for moving vehicle, and storage medium

Abstract

To provide appropriate control both on a roadway and in predetermined areas that differ from the roadway.SOLUTION: A control device for a moving vehicle capable of moving both on a roadway and in a predetermined area different from the roadway includes: a road type recognition unit that recognizes whether the moving vehicle is moving on the roadway or in the predetermined area; and a control unit that at least partially controls the speed of the moving vehicle, wherein the control unit limits the speed of the moving vehicle to a first speed or lower when the moving vehicle is moving on the roadway and limits the speed of the moving vehicle to a second speed, which is lower than the first speed, or lower when the moving vehicle is moving in the predetermined area. The control unit determines a first target speed, which is lower than the second speed, based on the relationship with objects in the vicinity of the moving vehicle when the moving vehicle is recognized as moving in the predetermined area, and determines a second target speed by making a correction based on a user speed indication to the determined first target speed.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a control device for a moving object, a control method for a moving object, and a storage medium. [Background technology]

[0002] 2. Description of the Related Art Conventionally, an invention for a single-seater electric vehicle capable of traveling on sidewalks has been disclosed (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-189536 A Summary of the Invention [Problem to be solved by the invention]

[0004] The conventional technology does not assume a mobile object that can move on both the roadway and a predetermined area different from the roadway, and therefore there are cases where appropriate control cannot be performed on both the roadway and the predetermined area different from the roadway.

[0005] The present invention has been made in consideration of these circumstances, and one of its objectives is to provide a control device for a mobile body, a control method for a mobile body, and a storage medium that are capable of performing appropriate control both on the roadway and in a specified area different from the roadway. [Means for solving the problem]

[0006] The control device for a moving object, the control method for a moving object, and the storage medium according to the present invention employ the following configuration. (1): A control device for a moving body according to one embodiment of the present invention is a control device for a moving body capable of moving both on a roadway and a specified area different from the roadway, and includes a road type recognition unit that recognizes whether the moving body is moving on the roadway or in the specified area, and a control unit that at least partially controls the speed of the moving body, limiting the speed of the moving body when moving on the roadway to a first speed or less, and limiting the speed of the moving body when moving in the specified area to a second speed or less lower than the first speed, and when it is recognized that the moving body is moving in the specified area, the control unit determines a first target speed lower than the second speed based on a relationship with objects around the moving body, and determines the second target speed by making a correction to the determined first target speed based on a user's speed instruction.

[0007] (2): In the above aspect (1), when the road type recognition unit recognizes that the moving body is moving in the specified area, it causes an external notification device to notify outside the moving body that it is moving in the specified area.

[0008] (3): In the above aspect (1) or (2), the road type recognition unit recognizes whether the moving body is moving in the specified area based on the output of an external environment detection device that detects the external situation of the moving body.

[0009] (4): In any of the above aspects (1) to (3), the road type recognition unit recognizes, based on a user's operation of a switch, whether the moving body is moving on a roadway or in the specified area.

[0010] (5): In any of the above aspects (1) to (4), the control unit automatically controls at least the speed at which the moving body moves within the specified area by referring to the speed instruction, and limits the speed at which the moving body moves within the specified area to less than or equal to the second speed, regardless of the speed instruction.

[0011] (6) In any one of the above aspects (1) to (5), the speed instruction is received via a dial switch that instructs the speed to be increased or decreased according to a rotation angle.

[0012] (7): In any of the above aspects (1) to (6), the moving body is provided with a first operator for receiving acceleration / deceleration instructions and a second operator for receiving steering instructions, and the control unit switches between mode A in which the acceleration / deceleration and steering of the moving body are controlled based on operation of either the first operator or the second operator, mode B in which the acceleration / deceleration and steering of the moving body are controlled based on operation of both the first operator and the second operator, and mode C in which the acceleration / deceleration and steering of the moving body are controlled without being based on operation of either the first operator or the second operator.

[0013] (8): In any of the above aspects (1) to (7), when the second target speed exceeds the second speed, the control unit limits the second target speed to the second speed and moves the moving body at the second target speed.

[0014] (9): In any of the above aspects (1) to (8), the control unit determines the first target speed by making a correction to a preset default target speed according to the scene in which the moving body moves.

[0015] (10): Another aspect of the present invention relates to a method for controlling a moving body, in which a computer controlling a moving body capable of moving both on a roadway and a specified area different from the roadway recognizes whether the moving body is moving on the roadway or in the specified area, at least partially controls the speed of the moving body, and limits the speed of the moving body when moving on the roadway to a first speed or less, and limits the speed of the moving body when moving in the specified area to a second speed or less that is lower than the first speed. When it is recognized that the moving body is moving in the specified area, the computer determines a first target speed that is lower than the second speed based on a relationship with objects around the moving body, and determines the second target speed by making a correction to the determined first target speed based on a user's speed instruction. (11): A storage medium according to another aspect of the present invention is a storage medium having stored therein a program that causes a computer controlling a moving body capable of moving both on a roadway and in a specified area different from the roadway to recognize whether the moving body is moving on the roadway or in the specified area, to at least partially control the speed of the moving body, to limit the speed of the moving body when moving on the roadway to a first speed or less, and to limit the speed of the moving body when moving in the specified area to a second speed or less that is lower than the first speed. When it is recognized that the moving body is moving in the specified area, the program causes the computer to determine a first target speed lower than the second speed based on a relationship with objects in the vicinity of the moving body, and to determine the second target speed by making a correction to the determined first target speed based on a user's speed instruction. Effect of the Invention

[0016] According to aspects (1) to (11), appropriate control can be performed both on the roadway and in a predetermined area different from the roadway. [Brief description of the drawings]

[0017] [Figure 1] FIG. 2 is a diagram illustrating an example of the configuration of a moving object and a control device according to the embodiment. [Diagram 2]FIG. 2 is a diagram showing an example of the external configuration of a dial switch. [Diagram 3] FIG. [Figure 4] FIG. 13 is a diagram showing an example of a situation in which specific speed control is performed. [Diagram 5] 4 is a flowchart illustrating an example of a flow of a process executed by the control device of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, with reference to the drawings, an embodiment of a control device for a moving body, a control method for a moving body, and a program of the present invention will be described. A moving body moves on both a roadway and a predetermined area different from the roadway. A moving body may be a vehicle on which a passenger can ride, or may be an autonomous moving body capable of autonomous running without a driver. The latter autonomous moving body is used, for example, for transporting luggage, etc. In the following description, it is assumed that one or more passengers ride on the moving body. The predetermined area is, for example, a sidewalk. In addition, the predetermined area may be a part or all of a sidewalk, a bicycle lane, a public open space, etc., or may include all of a sidewalk, a sidewalk, a bicycle lane, a public open space, etc. In the following description, it is assumed that the predetermined area is a sidewalk. In the following description, the part described as "sidewalk" can be appropriately read as "predetermined area".

[0019] First Embodiment 1 is a diagram showing an example of the configuration of a moving object 1 and a control device 100 according to an embodiment. The moving object 1 is equipped with, for example, an external environment detection device 10, a moving object sensor 12, an operator 14, an internal camera 16, a positioning device 18, an interaction device 20, a mode changeover switch 22, a dial switch 24, a moving mechanism 30, a driving device 40, an external notification device 50, a storage device 70, and a control device 100. Note that some of these configurations that are not essential for realizing the functions of the present invention may be omitted.

[0020] The external environment detection device 10 is a device having a detection range in the traveling direction of the moving object 1. The external environment detection device 10 includes an external camera, a radar device, a LIDAR (Light Detection and Ranging), a sensor fusion device, etc. The external environment detection device 10 outputs information indicating the detection result (image, object position, etc.) to the control device 100.

[0021] The mobile body sensor 12 includes, for example, a speed sensor, an acceleration sensor, a yaw rate (angular velocity) sensor, a direction sensor, and an operation amount detection sensor attached to the operator 14. The operator 14 includes, for example, an operator for instructing acceleration / deceleration (for example, an accelerator pedal or a brake pedal) and an operator for instructing steering (for example, a steering wheel). In this case, the mobile body sensor 12 may include an accelerator opening sensor, a brake depression amount sensor, a steering torque sensor, etc. The mobile body 1 may be provided with an operator of a type other than those described above (for example, a non-annular rotary operator, a joystick, a button, etc.) as the operator 14.

[0022] Internal camera 16 captures an image of at least the head of an occupant of moving body 1 from the front. Internal camera 16 is a digital camera that uses an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). Internal camera 16 outputs the captured image to control device 100.

[0023] The positioning device 18 is a device that measures the position of the mobile object 1. The positioning device 18 is, for example, a Global Navigation Satellite System (GNSS) receiver, and identifies the position of the mobile object 1 based on a signal received from a GNSS satellite, and outputs the position information. Note that the position information of the mobile object 1 may be estimated from the position of a Wi-Fi base station to which a communication device described later is connected.

[0024] The dialogue device 20 includes, for example, a speaker, a microphone, a touch panel, a communication device, and the like. The dialogue device 20 appropriately processes the voice of the occupant picked up by the microphone, transmits the voice to the server device via the network by the communication device, and provides information by voice from the speaker based on the information returned from the server device. The dialogue device 20 may also be called an agent device, a concierge device, an assistance device, and the like. The server device has a voice recognition function, a natural language processing function, a semantic interpretation function, a reply content determination function, and the like. The dialogue device 20 may also transmit position information to the server device, and the server device may return information on a facility corresponding to the position information and a guidance request issued by the occupant (for example, "Is there a good ramen shop around here?"). In this case, the dialogue device 20 provides voice guidance such as "It's just up ahead, turn left." In addition, the dialogue device 20 has a function of receiving natural speech by the occupant and returning an appropriate reply. The dialogue device 20 also has a function of carrying out simple dialogue without going through a server device, such as asking a question from the device side and receiving a reply, and may ask a question to the occupant in response to a request from the control device 100. The dialogue device 20 is an example of an interface device.

[0025] The mode changeover switch 22 is a switch operated by the occupant. The mode changeover switch 22 may be a mechanical switch or a GUI (Graphical User Interface) switch set on a touch panel. The mode changeover switch 22 accepts an operation to change the driving mode to one of, for example, mode A: an assist mode in which one of the steering operation and the acceleration / deceleration control is performed by the occupant and the other is performed automatically, and there may be mode A-1 in which the steering operation is performed by the occupant and the acceleration / deceleration control is performed automatically, and mode A-2 in which the acceleration / deceleration operation is performed by the occupant and the steering control is performed automatically, mode B: a manual driving mode in which the steering operation and the acceleration / deceleration operation are performed by the occupant, and mode C: an automatic driving mode in which the operation control and the acceleration / deceleration control are performed automatically.

[0026] 2 is a diagram showing an example of the external configuration of the dial switch 24. The dial switch 24 is installed at an arbitrary position on the moving body 1 where the occupant P can operate it, and is rotatable clockwise and counterclockwise. For example, it is set so that a clockwise rotation indicates acceleration, and a counterclockwise rotation indicates deceleration. The dial switch 24 can change the speed by, for example, 5 [km / h] for each scale turn. Details of speed control using the dial switch 24 will be described later.

[0027] The moving mechanism 30 is a mechanism for moving the moving body 1 on a road. The moving mechanism 30 is, for example, a group of wheels including steering wheels and drive wheels. The moving mechanism 30 may also be legs for multi-legged walking.

[0028] The driving device 40 outputs a force to the moving mechanism 30 to move the moving body 1. For example, the driving device 40 includes a motor that drives the driving wheels, a battery that stores the power to be supplied to the motor, a steering device that adjusts the steering angle of the steering wheels, and the like. The driving device 40 may include an internal combustion engine, a fuel cell, or the like as a driving force output means or a power generation means. The driving device 40 may further include a brake device that utilizes frictional force or air resistance.

[0029] The external notification device 50 is, for example, a lamp, a display device, a speaker, or the like provided on an outer panel of the moving body 1 for notifying the outside of the moving body 1 of information. The external notification device 50 operates differently depending on whether the moving body 1 is moving on a sidewalk or a roadway. For example, the external notification device 50 is controlled to emit a lamp when the moving body 1 is moving on a sidewalk and not emit a lamp when the moving body 1 is moving on a roadway. The light emission color of this lamp is preferably a color specified by law. The external notification device 50 may be controlled to emit a lamp in green when the moving body 1 is moving on a sidewalk and emit a lamp in blue when the moving body 1 is moving on a roadway. When the external notification device 50 is a display device, the external notification device 50 displays a message "traveling on a sidewalk" in text or graphics when the moving body 1 is traveling on a sidewalk.

[0030] FIG. 3 is a perspective view of the moving body 1 seen from above. In the figure, FW is a steering wheel, RW is a driving wheel, SD is a steering device, MT is a motor, and BT is a battery. The steering device SD, the motor MT, and the battery BT are included in the driving device 40. AP is an accelerator pedal, BP is a brake pedal, WH is a steering wheel, SP is a speaker, and MC is a microphone. The moving body 1 shown in the figure is a one-seater moving body, and an occupant P is seated in the driver's seat DS and fastened with a seat belt SB. An arrow D1 indicates the traveling direction (velocity vector) of the moving body 1. The external environment detection device 10 is provided near the front end of the moving body 1, the internal camera 16 is provided at a position where the head of the occupant P can be imaged from in front of the occupant P, and the mode changeover switch 22 is provided at the boss part of the steering wheel WH. In addition, an external notification device 50 as a display device is provided near the front end of the moving body 1.

[0031] Returning to Fig. 1, the storage device 70 is a non-transient storage device such as a hard disk drive (HDD), a flash memory, or a random access memory (RAM). The storage device 70 stores map information 72, a program 74 executed by the control device 100, and the like. In the figure, the storage device 70 is illustrated outside the frame of the control device 100, but the storage device 70 may be included in the control device 100.

[0032] [Control device] The control device 100 includes, for example, a road type recognition unit 120, an object recognition unit 130, and a control unit 140. For example, the control device 100 is realized by a hardware processor such as a CPU (Central Processing Unit) executing a program (software) 74. Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in the storage device 70 in advance, or may be stored in a removable storage medium (non-transient storage medium) such as a DVD or CD-ROM, and may be installed in the storage device 70 by mounting the storage medium in a drive device.

[0033] The road type recognition unit 120 recognizes whether the moving object 1 is moving on a roadway or a sidewalk. For example, the road type recognition unit 120 recognizes whether the moving object 1 is moving on a roadway or a sidewalk by analyzing an image captured by an external camera of the external environment detection device 10. An example of image analysis is semantic segmentation. The road type recognition unit 120 classifies each pixel in an image frame into a class (roadway, sidewalk, boundary, object, etc.) and assigns a label, and recognizes that the moving object 1 is moving on a roadway when there are many pixels with a roadway label in an area corresponding to the front of the moving object 1 in the image, and recognizes that the moving object 1 is moving on a sidewalk when there are many pixels with a sidewalk label in an area corresponding to the front of the moving object 1 in the image. Not limited to this, the road type recognition unit 120 may recognize that the moving object 1 is moving on a roadway when a vehicle is recognized in an area corresponding to the front of the moving object 1 in the image, and recognize that the moving object 1 is moving on a sidewalk when a pedestrian is recognized in an area corresponding to the front of the moving object 1 in the image. The road type recognition unit 120 may recognize that the moving object 1 is moving on a roadway when the width of the road surface area in the area corresponding to the front of the moving object 1 in the image is large, and may recognize that the moving object 1 is moving on a sidewalk when the width of the road surface area in the area corresponding to the front of the moving object 1 in the image is small. The road type recognition unit 120 may also compare the position information of the moving object 1 with the map information 72 to recognize whether the moving object 1 is moving on a roadway or a sidewalk. In this case, the map information must have a high enough accuracy to distinguish between a sidewalk and a roadway from the position coordinates. If the "predetermined area" is not only a sidewalk, the road type recognition unit 120 performs similar processing on shoulders, bicycle lanes, public open spaces, etc.

[0034] The object recognition unit 130 recognizes objects present around the moving object 1 based on the output of the external environment detection device 10. The objects include some or all of the following obstacles: moving objects such as vehicles, bicycles, and pedestrians; road boundaries such as road division lines, steps, guardrails, road shoulders, and median strips; structures installed on the road such as road signs and billboards; and objects that have fallen on the road. The acquisition unit 110 acquires information such as the presence, position, and type of other moving objects by inputting an image captured by an external camera to a trained model that has been trained to output information such as the presence, position, and type of an object when an image captured by the external camera of the external environment detection device 10 is input. The type of other moving objects can also be estimated based on the size in the image or the intensity of the reflected wave received by the radar device of the external environment detection device 10. The acquisition unit 110 also acquires the speed of other moving objects detected by the radar device using, for example, Doppler shift.

[0035] The control unit 140 controls the drive device 40 according to, for example, the set operation mode.

[0036] In mode A-1, the control unit 140 refers to information on the running path and the object based on the output of the object recognition unit 130, and controls the motor MT of the drive unit 40 so that when the moving body 1 moves on a roadway, the distance to the object in front of the moving body 1 is maintained at a certain level or more, and when the distance to the object in front of the moving body 1 is sufficiently long, the moving body 1 moves at a first speed V1 (for example, a speed of 10 km / h or more and less than several tens of km / h). When the moving body 1 moves on a sidewalk, the control unit 140 controls the motor MT of the drive unit 40 so that the distance to the object in front of the moving body 1 is maintained at a certain level or more, and when the distance to the object in front of the moving body 1 is sufficiently long, the moving body 1 moves at a second speed V2 (for example, a speed of less than 10 km / h). This function is similar to the ACC (Adaptive Cruise Control) function of a vehicle with the first speed V1 or the second speed V2 set as the set speed, and the technology used in ACC can be used. In mode A-1, the control unit 140 controls the steering device SD to change the steering angle of the steering wheels based on the amount of operation of the operator 14 such as a steering wheel. This function is similar to that of a power steering device, and the technology used in the power steering device can be used. Note that, instead of electronically controlling steering, the moving body 1 may have a steering device in which the operator 14 and a steering mechanism are mechanically connected.

[0037] In mode A-2, the control unit 140 refers to the information on the path and the object based on the output of the object recognition unit 130, generates a target trajectory that can be moved while avoiding the object on the path, and controls the steering device SD of the drive device 40 so that the moving body 1 moves along the target trajectory. Regarding acceleration and deceleration, the control unit 140 controls the motor MT of the drive device 40 based on the speed of the moving body 1 and the operation amount of the accelerator pedal or the brake pedal. When the moving body 1 is moving on a roadway, the control unit 140 controls the motor MT of the drive device 40 with the first speed V1 as the upper limit speed (in mode A-2, when the upper limit speed is reached, this means that the moving body 1 will not accelerate even if there is a further acceleration command), and controls the drive device 40 with the second speed V2 as the upper limit speed when the moving body 1 is moving on a sidewalk.

[0038] In mode B, the control unit 140 controls the motor MT of the drive device 40 based on the speed of the moving object 1 and the operation amount of the accelerator pedal or the brake pedal. When the moving object 1 is moving on a roadway, the control unit 140 controls the motor MT of the drive device 40 with the first speed V1 as the upper limit speed (in mode B, this means that the moving object 1 will not accelerate even if there is a further acceleration command when the upper limit speed is reached), and when the moving object 1 is moving on a sidewalk, the control unit 140 controls the motor MT of the drive device 40 with the second speed V2 as the upper limit speed. Steering is the same as in mode A-1.

[0039] In mode C, the control unit 140 refers to information on the path and objects based on the output of the object recognition unit 130, generates a target trajectory along which the moving body 1 can move while avoiding objects on the path, and controls the driving device 40 so that the moving body 1 moves along the target trajectory. Even in mode C, the control unit 140 controls the driving device 40 with the first speed V1 as the upper limit speed when the moving body 1 is moving on a roadway, and controls the driving device 40 with the second speed V2 as the upper limit speed when the moving body 1 is moving on a sidewalk.

[0040] [Control according to dial switch operation] In modes (modes A-1 and C) in which the speed is controlled independently of the amount of operation of the accelerator pedal or the brake pedal, the control unit 140 controls the speed of the moving body 1 based on the amount of operation of the dial switch 24. When the moving body 1 moves on a roadway in modes A-1 and C, the control unit 140 sets a target speed according to the scene. For example, the control device 140 corrects the default target speed Vdef based on the average speed of the road, the number of traffic participants, the distance to objects around the moving body 1, and the like, to determine the target speed Vref according to the scene. The default target speed Vdef is set in advance to a speed lower than the first speed V1, for example. Furthermore, the control device 140 corrects the target speed Vref according to the scene based on the operation position of the dial switch 24 to determine the final target speed V#. Here, when the value obtained by correcting the target speed Vref according to the scene based on the operation position of the dial switch 24 exceeds the first speed V1, the control unit 140 sets the final target speed V# to the first speed V1. In this way, the control unit 140 receives a speed instruction from the occupant via an instruction receiving unit such as the dial switch 24 provided on the moving body 1 (which does not receive an instruction directly linked to the output torque such as an accelerator pedal, but receives an additional instruction to the current speed). The control unit 140 then automatically controls at least the speed at which the moving body 1 moves on the roadway by referring to the additional instruction. However, regardless of the specified speed instruction, the control unit 140 limits the speed at which the moving body 1 moves on the roadway to the first speed V1. This makes it possible to comply with the laws and regulations of the country in which the moving body 1 moves, for example.

[0041] 4 is a diagram illustrating an example of changes in the control content based on the operation amount of the dial switch 24. In this diagram, it is assumed that the default target speed Vdef=20 [km / h] and the first speed V1=30 [km / h]. In the scene shown in (1) in the diagram, a vehicle exists in the traveling direction of the moving body 1, and the control unit 140 judges to suppress acceleration due to the existence of the vehicle, so the target speed Vref according to the scene is determined to be the same as the default target speed Vdef. Since the operation position of the dial switch 24 is set to zero, the final target speed V# is also the same as the default target speed Vdef.

[0042] In the next scene shown in (2), the road conditions do not change from those shown in (1), so the target speed Vref for the scene is determined to be the same as the default target speed Vdef. However, since the operation position of the dial switch 24 has been changed to +5, the final target speed V# becomes 5 km / h higher than the default target speed Vdef.

[0043] In the next scene shown in (3), the vehicle ahead of the moving body 1 is no longer recognized by the moving body 1 due to a lane change or the like, so the control unit 140 increases the target speed Vref according to the scene to the first speed V1. Although the operation position of the dial switch 24 remains at +5, correcting the target speed Vref according to the scene by +5 exceeds the first speed V1, so the final target speed V# is limited to the first speed V1.

[0044] In the next scene shown in (4), the road ahead of the moving body 1 is congested, and the control unit 140 sets the target speed Vref according to the scene to a value lower than the default target speed Vdef. In response to this, the dial switch 24 is operated to a position of +5, and the value obtained by correcting the target speed Vref according to the scene by +5 is set as the final target speed V#.

[0045] 5 is a flowchart showing an example of the flow of processing executed by the control device 100 of the embodiment. The processing of this flowchart is premised on mode A. The processing of this flowchart is executed repeatedly at a predetermined cycle, for example.

[0046] First, the road type recognition unit 120 judges whether the moving object 1 is moving on a roadway (whether the moving object 1 is moving on a sidewalk) (step S200). When it is judged that the moving object 1 is moving on a roadway, the control unit 140, as described above, corrects the default target speed Vdef based on the average speed of the road, the amount of traffic participants, the distance to objects around the moving object 1, and the like to determine a target speed Vref according to the scene (step S202), and corrects the target speed Vref according to the scene based on the operation position of the dial switch 24 to determine a final target speed V# (step S204). Next, the control unit 140 judges whether the final target speed V# exceeds the first speed V1 (step S206). When the final target speed V# exceeds the first speed V1, the control unit 140 limits the final target speed V# to the first speed V1 (step S208). Then, the control unit 140 moves the moving object 1 at the final target speed V# (step S210).

[0047] Moreover, when it is determined in step S200 that the moving object 1 is moving on a sidewalk, the control unit 140 performs control for the case where the moving object 1 is moving on a sidewalk (step S212).

[0048] The above-mentioned "control according to the operation of the dial switch" may be performed not only when the moving object 1 is moving on a roadway, but also when the moving object 1 is moving on a sidewalk. In this case, when the moving object 1 is moving on a sidewalk, the control unit 140 determines a target speed Vref according to the scene, corrects the target speed Vref according to the scene based on the operation position of the dial switch 24, and determines a final target speed V#. If the value obtained by correcting the target speed Vref according to the scene based on the operation position of the dial switch 24 exceeds the second speed V2, the final target speed V# is set to the first speed V2. The flowchart in FIG. 5 is based on the premise that the control according to the operation of the dial switch is performed only on the roadway, but if the control according to the operation of the dial switch is performed when the moving object 1 is moving on a sidewalk, the same processing as steps S202 to S210 (however, V1 is replaced with V2) is performed when the moving object 1 is moving on a sidewalk.

[0049] According to the first embodiment described above, by providing a road type recognition unit 120 that recognizes whether the moving body 1 is moving on a road or a sidewalk, and a control unit 140 that at least partially controls the speed of the moving body 1, the control unit 140 limiting the speed of the moving body 1 when moving on a road to a first speed V1 and limiting the speed of the moving body 1 when moving on a sidewalk to a second speed V2 lower than the first speed V1, appropriate control can be performed on both the road and the sidewalk.

[0050] <Second embodiment> The second embodiment will be described below. The control device 100 of the second embodiment differs from the first embodiment in the function of the road type recognition unit 120. The road type recognition unit 120 of the second embodiment recognizes whether the moving body 1 is traveling on a roadway or a sidewalk, for example, in response to an operation by the occupant of a road type input switch (not shown) provided on the moving body. The road type input switch is provided, for example, on a boss part of a steering wheel WH. The road type input switch has a mechanism that can be operated up and down and holds the operated position, and indicates a roadway when operated to the up position and a sidewalk when operated to the down position. The road type input switch may be in the form of a button or a GUI switch, and may switch to recognition of sidewalk traveling when operated in a state where the control device 100 recognizes that the moving body 1 is traveling on a roadway, and may switch to recognition of sidewalk traveling when operated in a state where the control device 100 recognizes that the moving body 1 is traveling on a sidewalk. With this configuration, it is possible to omit the function of automatically recognizing whether the moving body 1 is traveling on a roadway or a sidewalk, thereby reducing the processing load and cost. However, since there is a possibility of an erroneous operation by the occupant, it is desirable that the external notification device 50 notify information to the outside in the second embodiment.

[0051] <Other> In each of the above embodiments, the control unit 140 may execute only one of the controls of mode A and mode B. That is, the moving body 1 may execute the assist mode but not the manual mode, or may execute the manual mode but not the assist mode. The control unit 140 may execute both the controls of mode A and mode B, but may perform the specific speed control only when either mode A or mode B is being executed. In any case, it may be determined arbitrarily whether to execute the control of mode C.

[0052] Furthermore, the moving object 1 may not have an accelerator pedal, and speed instructions may be received solely via the dial switch 24. In that case, mode A-2 and mode B are not executed, and substantially only mode A-1 and mode C are executed.

[0053] The above-described embodiment can be expressed as follows. A storage device storing a program; a hardware processor; The hardware processor executes the program stored in the storage device, Recognizing whether the moving object is moving on a roadway or in a specified area different from the roadway; at least partially controlling the speed of the moving object; limiting a speed of the moving body when it moves on a roadway to a first speed, and limiting a speed of the moving body when it moves in the predetermined area to a second speed lower than the first speed; The control device for a moving object is configured as follows.

[0054] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0055] 10. External sensing devices 12 Mobile Sensor 14 Controls 16 Internal Camera 18 Positioning Device 20 Interactive Device 22 Mode switch 24 Dial switch 30 Moving mechanism 40 Drive unit 50 External alarm device 70 Storage device 100 Control device 120 Road type recognition unit 130 Object recognition section 140 Control section

Claims

1. A control device for a moving body that can move on both a roadway and a predetermined area different from the roadway, a road type recognition unit that recognizes whether the moving object is moving on a roadway or in the predetermined area; a control unit that at least partially controls the speed of the moving body, the control unit limiting the speed of the moving body when moving on a roadway to a first speed or less, and limiting the speed of the moving body when moving in the specified area to a second speed or less that is lower than the first speed; Equipped with When the control unit recognizes that the moving object is moving in the predetermined area, determining a first target speed that is lower than the second speed based on a relationship with an object in the vicinity of the moving body; determining a second target speed by correcting the determined first target speed based on a speed instruction from a user; A control device for a moving object.

2. When the road type recognition unit recognizes that the moving object is moving in the predetermined area, the road type recognition unit causes an external notification device to notify outside the moving object that the moving object is moving in the predetermined area. The control device according to claim 1.

3. The road type recognition unit recognizes whether the moving object is moving in the predetermined area based on an output of an external environment detection device that detects an external situation of the moving object.

3. The control device according to claim 1 or 2.

4. the road type recognition unit recognizes whether the moving object is moving on a roadway or in the predetermined area based on a user's operation on a switch. A control device according to any one of claims 1 to 3.

5. the control unit automatically controls at least a speed of the moving object when the moving object moves in the predetermined area by referring to the speed instruction, and limits the speed of the moving object when the moving object moves in the predetermined area to equal to or less than the second speed, regardless of the speed instruction. A control device according to any one of claims 1 to 4.

6. The speed instruction is received via a dial switch that instructs an increase or decrease in speed depending on a rotation angle. A control device according to any one of claims 1 to 5.

7. the moving body is provided with a first operator for receiving an acceleration / deceleration instruction and a second operator for receiving a steering instruction, the control unit switches between and executes a mode A in which acceleration / deceleration and steering of the moving body are controlled based on an operation of either the first operator or the second operator, a mode B in which acceleration / deceleration and steering of the moving body are controlled based on an operation of both the first operator and the second operator, and a mode C in which acceleration / deceleration and steering of the moving body are controlled without being based on an operation of either the first operator or the second operator. A control device according to any one of claims 1 to 6.

8. The control unit is If the second target speed exceeds the second speed, the second target speed is limited to the second speed; moving the moving object at the second target speed; A control device according to any one of claims 1 to 7.

9. The control unit determines the first target speed by correcting a preset default target speed according to a scene in which the moving body moves. A control device according to any one of claims 1 to 8.

10. A computer controls a mobile object that can move on both a roadway and a predetermined area different from the roadway, Recognizing whether the moving object is moving on a roadway or in the predetermined area; at least partially controlling the speed of the moving object; limiting the speed of the moving body when it moves on a roadway to equal to or less than a first speed, and limiting the speed of the moving body when it moves in the predetermined area to equal to or less than a second speed lower than the first speed; A method for controlling a moving object, comprising: When it is recognized that the moving object is moving in the predetermined area, the computer determining a first target speed that is lower than the second speed based on a relationship with an object in the vicinity of the moving body; determining a second target speed by correcting the determined first target speed based on a speed instruction from a user; A method for controlling a moving object.

11. A computer that controls a mobile object that can move on both a roadway and a predetermined area different from the roadway, Recognizing whether the moving object is moving on a roadway or in the predetermined area; at least partially controlling the speed of the moving object; limiting the speed of the moving body when it moves on a roadway to a first speed or less, and limiting the speed of the moving body when it moves in the predetermined area to a second speed or less that is lower than the first speed; A storage medium storing a program, When it is recognized that the moving object is moving in the predetermined area, the program causes the computer to determining a first target speed that is lower than the second speed based on a relationship with an object in the periphery of the moving body; determining a second target speed by correcting the determined first target speed based on a speed instruction from a user; storage medium.

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