Control system, vehicle with autonomous travel feature, and control method

Abstract

To prompt surrounding people or vehicles to readily pay attention to a vehicle with an autonomous travel feature.SOLUTION: A control system 30 is installed in a vehicle 1 with an autonomous travel feature capable of traveling with autonomous travel power generated by an electric motor 27. The control system 30 includes a determination unit 32 and notification unit 33. The determination unit 32 determines whether a state in which the vehicle 1 with an autonomous travel feature is placed satisfies a predetermined condition. When the determination unit 32 determines that the predetermined condition is satisfied, the notification unit 33 performs notification of notifying the outside of the existence of the vehicle 1 with an autonomous travel feature.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a control system, a vehicle with self-propelled function, and a control method. [Background technology]

[0002] In recent years, it has become possible for specific small motorized bicycles (hereinafter referred to as "specific small mopeds") to be driven on public roads, and specific small mopeds have appeared. Specific small mopeds have two modes: a roadway driving mode that allows them to drive on the road at a maximum speed of 20 km or less, and a sidewalk driving mode that allows them to drive on the sidewalk at a maximum speed of 6 km or less. For this reason, specific small mopeds are required to be equipped with an identification light, which is a maximum speed indicator light that informs people around the vehicle in which driving mode the specific small moped is currently driving, as a safety component.

[0003] Patent Document 1 discloses a self-propelled vehicle that has a self-propelled function using an electric motor, and is capable of switching between at least one of the following vehicle states: maximum speed when self-propelled, maximum output of the electric motor, and size of the self-propelled vehicle, and includes an alarm unit that issues an alarm indicating the current vehicle state. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2022-178117 A Summary of the Invention [Problem to be solved by the invention]

[0005] The present disclosure aims to provide a control system, a self-propelled vehicle, and a control method that make it easier for people or vehicles in the vicinity to pay attention to the self-propelled vehicle. [Means for solving the problem]

[0006] A control system according to one aspect of the present disclosure is a control system mounted on a self-propelled vehicle capable of running on self-propelled power from an electric motor, and includes a determination unit and a notification unit. The determination unit determines whether or not a state in which the self-propelled vehicle is placed satisfies a predetermined condition. When the determination unit determines that the predetermined condition is satisfied, the notification unit executes a notification to notify an outside party of the presence of the self-propelled vehicle.

[0007] A self-propelled vehicle according to one aspect of the present disclosure includes the control system, a vehicle body mounting the control system, and the electric motor that outputs power for self-propelling.

[0008] In addition, a control method according to one aspect of the present disclosure includes determining whether a state of a self-propelled vehicle capable of running on self-propelled power from an electric motor satisfies a predetermined condition, and if it is determined that the predetermined condition is satisfied, executing a notification to notify the outside of the presence of the self-propelled vehicle. Effect of the Invention

[0009] The control system etc. according to the present disclosure has the advantage that it becomes easier for people or vehicles in the vicinity to pay attention to the self-propelled vehicle. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view showing a self-propelled vehicle according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing a control system according to the embodiment. [Diagram 3] FIG. 3 is a flowchart showing an example of a basic operation of the control system according to the embodiment. [Figure 4] FIG. 4 is a schematic diagram illustrating a first notification example of the control system according to the embodiment. [Diagram 5] FIG. 5 is a schematic diagram illustrating a second notification example of the control system according to the embodiment. [Figure 6]FIG. 6 is a schematic diagram illustrating a third notification example of the control system according to the embodiment. [Figure 7] FIG. 7 is a schematic diagram illustrating a fourth notification example of the control system according to the embodiment. [Figure 8] FIG. 8 is a schematic diagram illustrating a fifth notification example of the control system according to the embodiment. [Figure 9] FIG. 9 is a flowchart showing an example of a basic operation of the control system according to the reference embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the drawings. Note that each of the embodiments described below shows a specific example of the present disclosure. Therefore, the numerical values, shapes, materials, components, arrangement and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Therefore, among the components in the following embodiments, components that are not described in the independent claims will be described as optional components.

[0012] In the following embodiments, expressions such as circumferential direction are used. For example, the vertical direction does not only mean a completely vertical direction, but also means a substantially vertical direction, that is, including an error of about a few percent. Furthermore, the vertical direction means a vertical direction within a range in which the effects of the present disclosure can be achieved. The same applies to cases where other expressions using "directions" are used.

[0013] In addition, each figure is a schematic diagram and is not necessarily illustrated precisely. Therefore, for example, the scales in each figure do not necessarily match. In addition, in each figure, substantially the same configurations are given the same reference numerals, and duplicated explanations are omitted or simplified.

[0014] (Embodiment) Hereinafter, a control system according to an embodiment and a self-propelled vehicle including the control system will be specifically described with reference to the drawings.

[0015] [composition] <Self-propelled vehicles> First, a self-propelled vehicle 1 according to an embodiment will be described with reference to FIG. 1. FIG. 1 is a perspective view showing a self-propelled vehicle 1 according to an embodiment. The self-propelled vehicle 1 is a vehicle that can run by outputting power for the self-propelled vehicle 1 to propel itself (hereinafter referred to as "self-propelled power"). In FIG. 1, an electric kickboard (also referred to as a specific small moped) is illustrated as an example of the self-propelled vehicle 1. Note that the self-propelled vehicle 1 may be a bicycle-type vehicle having a self-propelling function or a moped. The number of wheels in the self-propelled vehicle 1 is not limited to two. The number of wheels in the self-propelled vehicle 1 may be three or more.

[0016] The self-propelled vehicle 1 has a plurality of driving modes and can be driven in the plurality of driving modes. The plurality of driving modes include a sidewalk driving mode in which the self-propelled vehicle 1 drives on a sidewalk at a first speed, and a roadway driving mode in which the self-propelled vehicle 1 drives on a roadway at a second speed that is faster than the first speed. In the sidewalk driving mode and the roadway driving mode, with a user aboard the self-propelled vehicle 1, the electric motor 27 outputs self-propelling power to enable the self-propelled vehicle 1 to be self-propelled.

[0017] For example, in the sidewalk driving mode, the vehicle is set to travel on the sidewalk at a maximum speed of 6 km or less, and in the roadway driving mode, the vehicle is set to travel on the road at a maximum speed of 20 km or less. In the embodiment, the maximum speed in the sidewalk driving mode and the maximum speed in the roadway driving mode are not limited to the above maximum speeds. For example, if "Article 299-2 of the Notification on the Details of the Safety Standards for Road Transport Vehicles [2022.12.23] "Maximum Speed ​​Indicator Light"" is revised, the maximum speed in the sidewalk driving mode and the roadway driving mode may be appropriately changed. In addition, the maximum speed in each of the sidewalk driving mode and the roadway driving mode may be appropriately changed in accordance with the laws, etc. established in the country in which the self-propelled vehicle 1 is used.

[0018] The self-propelled vehicle 1 includes a control system 30, a vehicle body 10 on which the control system 30 is mounted, and an electric motor 27 that outputs power for self-propelling.

[0019] The vehicle body 10 can travel by self-propelled power provided by an electric motor 27. Specifically, the vehicle body 10 has a front wheel 11a, a rear wheel 11b, a main body 12, a footboard section 13, a head tube section 14, a handle shaft 15, a front fork 16, a headlight 21, an identification light 22, a brake light 23, a handle 17, a direction indicator 24, a power switch 25, a mode setting section 26, an accelerator handle 18, a brake lever 19, and the electric motor 27.

[0020] The front wheel 11a is disposed in front of the main body 12, and the rear wheel 11b is disposed at the rear of the main body 12. The front wheel 11a and the rear wheel 11b are rotatably supported by the main body 12. An electric motor 27 is provided inside the hub of the rear wheel 11b. That is, in this embodiment, the electric motor 27 is an in-line wheel motor (hub motor).

[0021] The main body 12 is a housing that is long in the front-rear direction, and houses a battery, a control system 30, and the like.

[0022] A step board portion 13 is formed on the upper surface of the main body 12. The step board portion 13 is where the feet of a user riding on the self-propelled vehicle 1 are placed.

[0023] Brake lights 23 are provided at the rear end portion of the main body 12. The brake lights 23 are turned on when the brakes are applied in order to inform following vehicles that the self-propelled vehicle 1 is decelerating.

[0024] An identification lamp 22 that emits light of a color different from the headlights 21 and the brake lamps 23 is attached to each of the rear end portion of the main body 12 and the head tube portion 14. The identification lamp 22 is a maximum speed indicator lamp that lights up in a predetermined lighting manner according to each of a plurality of driving modes, thereby enabling the surroundings to identify that the self-propelled vehicle 1 is driving in a specific driving mode. These two identification lamps 22 are arranged on the self-propelled vehicle 1 so as to be visible from the front and rear of the self-propelled vehicle 1. One of the two identification lamps 22 is arranged on the front side of the vehicle body 10, and the other is arranged on the rear side of the vehicle body 10. In the embodiment, one of the two identification lamps 22 is arranged on the rear end portion of the main body 12, and the other is arranged on the head tube portion 14, but the arrangement positions are not limited thereto. The identification lamp 22 on the front side of the vehicle body 10 is visible from the front of the vehicle body 10, and the identification lamp 22 on the rear side of the vehicle body 10 is visible from the rear of the vehicle body 10. Therefore, even when each of the two identification lamps 22 is lit and flashes, the light can be seen from the front and rear of the vehicle body 10.

[0025] A head tube portion 14 extending in the vertical direction is fixed to the front of the main body 12. The head tube portion 14 is open at its upper and lower ends. The lower end portion of a handle shaft 15 is inserted into the head tube portion 14.

[0026] The handle shaft 15 is supported by the head tube portion 14 so as to be rotatable relative to the head tube portion 14. Like the head tube portion 14, the handle shaft 15 also extends in the vertical direction.

[0027] A front fork 16 is fixed to the lower end of the handle shaft 15, and rotatably supports the front wheel 11a.

[0028] A headlamp 21 capable of illuminating the front is attached to the upper end portion of the handle shaft 15. A handle 17 is fixed to the upper end of the handle shaft 15. By steering and rotating the handle 17 in the circumferential direction of the central axis of the head tube portion 14, the front fork 16 and the front wheel 11a rotate in response to the rotation of the handle 17. As a result, by steering the handle 17, the front wheel 11a can be steered.

[0029] The handlebars 17 are provided with turn indicators 24 arranged at both ends of the handlebars 17 and capable of indicating right or left turns of the vehicle body 10, a power switch 25 for driving the electric motor 27, a mode setting unit 26 for switching the driving mode of the self-propelled vehicle 1, an accelerator handle 18 for accelerating and driving the self-propelled vehicle 1, and a brake lever 19 for slowing down or stopping the self-propelled vehicle 1 while it is moving.

[0030] In such a self-propelled vehicle 1, when the power switch 25 is turned on, power is supplied from the battery to the electric motor 27. Then, the user operates the mode setting unit 26 to set the travel mode of the self-propelled vehicle 1. Also, when the user operates the accelerator handle 18, the electric motor 27 is driven, and the power is transmitted to the rear wheels 11b, causing the self-propelled vehicle 1 to self-propel.

[0031] <Control system> Next, a control system 30 according to an embodiment will be described with reference to Fig. 2. Fig. 2 is a block diagram showing the control system 30 according to the embodiment. The control system 30 is realized, for example, by a microcomputer (microcontroller) or the like, and is composed of a non-volatile memory in which a program is stored, a volatile memory (storage unit) which is a temporary storage area for executing the program, an input / output port, a processor for executing the program, and the like. Note that the control system 30 may be realized by a dedicated electronic circuit.

[0032] The headlights 21, the identification lights 22, the brake lights 23, the direction indicators 24, the power switch 25, the mode setting unit 26, the electric motor 27, the gyro sensor 41, the battery sensor 42, and the image sensor 43 are electrically connected to the control system 30. Operation signals from the power switch 25 and the mode setting unit 26, and information indicating the detection results from each sensor are input to the control system 30.

[0033] The gyro sensor 41 is a six-axis sensor that detects the tilt speed (angular velocity) of the body 10 of the self-propelled vehicle 1. The gyro sensor 41 detects the acceleration in each of three axes perpendicular to the center of the self-propelled vehicle 1 and the angular velocity around the three axes. The gyro sensor 41 detects the acceleration in each of the three axes and the angular velocity (roll, yaw, and pitch) around the three axes. The gyro sensor 41 outputs information indicating the detected angular velocity and information indicating the acceleration to the control system 30.

[0034] The battery sensor 42 is a sensor that detects the state of the battery, such as the charging rate, discharge performance, or remaining capacity of the battery. The battery sensor 42 detects the state of the battery, for example, by detecting at least one of the voltage applied to the battery and the current flowing through the battery. As an example, the battery sensor 42 detects that there is an abnormality in the battery when there is a voltage difference between the voltage of one of the multiple battery cells in the battery and the voltage of the other battery cells. As another example, the battery sensor 42 also detects that there is an abnormality in the battery when the voltage of one or more of the multiple battery cells suddenly rises to a specified voltage or higher. The battery sensor 42 outputs information indicating the detected state of the battery to the control system 30.

[0035] The image sensor 43 is a sensor that detects the situation around the self-propelled vehicle 1 by image recognition. For example, the image sensor 43 detects people, vehicles, objects, etc. that are present around the self-propelled vehicle 1. For example, the image sensor 43 distinguishes and detects roads (for example, sidewalks and roadways) that are present around the self-propelled vehicle 1. Note that roadways also include crosswalks. The image sensor 43 is realized by, for example, a camera sensor or a LiDAR (Light Detection And Ranging) sensor. The image sensor 43 outputs information indicating the detected situation around the self-propelled vehicle 1 to the control system 30.

[0036] The control system 30 includes a control unit 31, a determination unit 32, and a notification unit 33. The control system 30 does not necessarily have to include the control unit 31. In other words, the control unit 31 may be realized by a system (apparatus) separate from the control system 30.

[0037] The control unit 31 executes control for realizing various functions of the self-propelled vehicle 1. For example, the control unit 31 executes control for switching the driving mode. Specifically, the control unit 31 can switch from the currently set driving mode to a driving mode set by the user operating the mode setting unit 26. For example, the control unit 31 can switch the driving mode to either the sidewalk driving mode or the roadway driving mode. Also, for example, the control unit 31 can switch the driving mode to either the sidewalk driving mode or the roadway driving mode.

[0038] Also, for example, the control unit 31 executes control to light each identification light 22 in a predetermined lighting mode according to the currently set driving mode. For example, when the driving mode is the sidewalk driving mode, the control unit 31 controls each identification light 22 to blink. The blinking frequency is, for example, 1 Hz to 2 Hz so that people around the self-propelled vehicle 1 can recognize the blinking. Also, when the driving mode is the roadway driving mode, the control unit 31 controls each identification light 22 to be constantly lit.

[0039] The determination unit 32 determines whether the state in which the self-propelled vehicle 1 is placed satisfies a predetermined condition. In the following description, this predetermined condition is also referred to as a "first condition." Here, the state in which the self-propelled vehicle 1 is placed may include, for example, a state in which the self-propelled vehicle 1 is present on a sidewalk or a roadway, or a state in which the self-propelled vehicle 1 is entering the roadway from the sidewalk, or from the roadway to the sidewalk, etc. Furthermore, the state in which the self-propelled vehicle 1 is placed may include, for example, a state in which a person or a vehicle is present around the self-propelled vehicle 1, etc. Furthermore, the state in which the self-propelled vehicle 1 is placed may include, for example, a state in which the self-propelled vehicle 1 is traveling, a state in which the self-propelled vehicle 1 is stopped, or a state in which the self-propelled vehicle 1 has fallen over, etc. Furthermore, the state in which the self-propelled vehicle 1 is placed may include, for example, a state in which the power switch 25 of the self-propelled vehicle 1 is turned on or off, etc.

[0040] The determination unit 32 determines whether or not the state in which the self-propelled vehicle 1 is placed satisfies a predetermined condition based on, for example, the detection results of the gyro sensor 41, the battery sensor 42, and the image sensor 43. The determination by the determination unit 32 will be described in detail in the section "Operation" below.

[0041] When the determination unit 32 determines that a predetermined condition is satisfied, the notification unit 33 executes a notification to notify the outside of the presence of the self-propelled vehicle 1. The "outside" here refers to an object for which attention should be paid to the presence of the self-propelled vehicle 1, such as a person or a vehicle present around the self-propelled vehicle 1.

[0042] The notification unit 33 executes notification by outputting a notification sound from, for example, a speaker. The notification sound may be, for example, a warning sound for people or vehicles in the vicinity, or a sound simulating the running sound of a moving object such as an automobile. The notification sound may also be, for example, a recorded voice of a warning message for people or vehicles in the vicinity, or a mechanical voice of the warning message.

[0043] Furthermore, the notification unit 33 executes notification via the information processing terminal 7 (see FIG. 6), for example, by communicating with the information processing terminal 7. The information processing terminal 7 may be, for example, a portable terminal such as a smartphone or a tablet terminal, or may be a terminal dedicated to notification. In this case, the notification unit 33 may execute notification by displaying a warning message or image on the display 71 (see FIG. 6) of the information processing terminal 7, in addition to executing notification by outputting a notification sound from a speaker. The notification unit 33 may execute notification by outputting a notification sound from the speaker of the information processing terminal 7, or may execute notification by vibrating the information processing terminal 7 using a vibration function of the information processing terminal 7.

[0044] The communication between the notification unit 33 and the information processing terminal 7 may be wireless communication according to a short-range wireless communication standard such as Bluetooth (registered trademark), or ITS (Intelligent Transport Systems) communication. In the latter case, the information processing terminal 7 may be a terminal mounted on a moving object such as an automobile 6 (see FIG. 4), a terminal carried by a person such as a pedestrian 5 (see FIG. 4) or a bicycle rider, or a terminal mounted on an object such as a utility pole installed around a road.

[0045] The notification sound may be one type or multiple types. For example, the notification sound may be different for each of the multiple driving modes. Specifically, the notification sound may be different for the sidewalk driving mode and the roadway driving mode. As an example, the notification sound in the roadway driving mode may be higher in pitch than the notification sound in the sidewalk driving mode. As another example, the notification sound in the sidewalk driving mode may be a warning sound, and the notification sound in the roadway driving mode may be a sound that simulates the driving sound of a moving object such as a car.

[0046] [Operation] An example of the operation (that is, the control method) of the control system 30 according to the embodiment will be described below. Fig. 3 is a flowchart showing an example of the basic operation of the control system 30 according to the embodiment.

[0047] First, the determination unit 32 of the control system 30 determines whether or not the state in which the self-propelled vehicle 1 is placed satisfies a predetermined condition (first condition) based on, for example, the detection results of the gyro sensor 41, the battery sensor 42, and the image sensor 43 (S11). Step S11 is executed, for example, periodically.

[0048] If the predetermined condition is met (S12: Yes), the notification unit 33 of the control system 30 executes a notification to notify the outside of the presence of the self-propelled vehicle 1 (S13). On the other hand, if the predetermined condition is not met (S12: No), the notification unit 33 of the control system 30 does not execute the above notification. Steps S11 to S13 are repeated while the power switch 25 of the self-propelled vehicle 1 is turned on.

[0049] Next, examples of notifications by the control system 30 according to the embodiment will be listed. The notifications by the control system 30 are not limited to the following first to fifth notification examples, and may be sent in a manner different from the first to fifth notification examples.

[0050] <First notification example> Fig. 4 is a schematic diagram showing a first notification example of the control system 30 according to the embodiment. Fig. 4(a) shows a situation in which the self-propelled vehicle 1 is approaching a pedestrian 5 walking on a sidewalk, and Fig. 4(b) shows a situation in which the self-propelled vehicle 1 is approaching an automobile 6 traveling on a roadway.

[0051] In the first notification example, as shown in Fig. 4, when the self-propelled vehicle 1 approaches a pedestrian or an automobile 6, the control system 30 executes a notification to notify the outside (here, the pedestrian 5 or the automobile 6) of the presence of the self-propelled vehicle 1. That is, in the first notification example, the predetermined condition includes the presence of a person (here, the pedestrian 5) or a vehicle (here, the automobile 6) around the self-propelled vehicle 1. In the first notification example, the determination unit 32 determines that the predetermined condition is satisfied when the distance between the self-propelled vehicle 1 and the pedestrian 5 or the automobile 6 becomes equal to or less than a predetermined distance (for example, several meters) based on, for example, the detection result of the image sensor 43.

[0052] The determination unit 32 may change the determination manner depending on the driving mode. For example, when the self-propelled vehicle 1 is in the sidewalk driving mode, the determination unit 32 may determine that the predetermined condition is satisfied if the distance between the self-propelled vehicle 1 and the pedestrian 5 is equal to or less than a predetermined distance. In this case, the determination unit 32 may not determine that the predetermined condition is satisfied even if the distance between the self-propelled vehicle 1 and the automobile 6 is equal to or less than the predetermined distance. Also, for example, when the self-propelled vehicle 1 is in the roadway driving mode, the determination unit 32 may determine that the predetermined condition is satisfied if the distance between the self-propelled vehicle 1 and the automobile 6 is equal to or less than a predetermined distance. In this case, the determination unit 32 may not determine that the predetermined condition is satisfied even if the distance between the self-propelled vehicle 1 and the pedestrian 5 is equal to or less than the predetermined distance.

[0053] <Second notification example> Fig. 5 is a schematic diagram showing a second notification example of the control system 30 according to the embodiment. In the second notification example, as shown in Fig. 5, when the self-propelled vehicle 1 traveling on the roadway enters the sidewalk, the control system 30 executes a notification to notify the outside of the presence of the self-propelled vehicle 1. That is, in the second notification example, the predetermined condition includes the self-propelled vehicle 1 entering the sidewalk. In the second notification example, the determination unit 32 determines that the predetermined condition is satisfied when the self-propelled vehicle 1 switches from a state traveling on the roadway to a state traveling on the sidewalk, for example, based on the detection result of the image sensor 43.

[0054] <Third notification example> Fig. 6 is a schematic diagram showing a third notification example of the control system 30 according to the embodiment. In the third notification example, as shown in Fig. 6, the control system 30 displays a message 72 notifying an approach of a self-propelled vehicle 1 (here, an electric kickboard) on a display 71 of an information processing terminal 7 carried by a person such as a pedestrian 5. That is, in the third notification example, the notification unit 33 executes notification via the information processing terminal 7 by communicating with the information processing terminal 7. In the third notification example, an application that enables the information processing terminal 7 to receive notifications from the control system 30 is pre-installed in the information processing terminal 7.

[0055] In the third notification example, when the determination unit 32 determines that, for example, a predetermined condition in the above-mentioned first notification example or a predetermined condition in the second notification example is satisfied, the notification unit 33 executes notification via the information processing terminal 7 by performing communication with the information processing terminal 7 in accordance with a short-range wireless communication standard or ITS communication. Note that the notification unit 33 may also execute notification in the same manner when the determination unit 32 determines that, for example, a predetermined condition in a fourth notification example or a predetermined condition in a fifth notification example described below is satisfied.

[0056] <Example of the 4th notification> Fig. 7 is a schematic diagram showing a fourth notification example of the control system 30 according to the embodiment. In the fourth notification example, as shown in Fig. 7, when the driving mode of the self-propelled vehicle 1 is switched from the sidewalk driving mode to the roadway driving mode, the control system 30 executes a notification to notify the outside of the presence of the self-propelled vehicle 1. That is, in the fourth notification example, the predetermined condition includes that the current driving mode (here, the sidewalk driving mode) among the multiple driving modes is switched to another driving mode (here, the roadway driving mode). In the fourth notification example, the determination unit 32 determines that the predetermined condition is satisfied when, for example, there is a change in the driving mode set by the mode setting unit 26.

[0057] In the fourth notification example, the notification unit 33 may execute the notification by outputting a notification sound indicating that the driving mode has been switched. In this case, the notification sound not only has a function of notifying the outside world that the driving mode has been switched, but also has a function of notifying the user of the self-propelled vehicle 1.

[0058] <Example of the 5th notification> Fig. 8 is a schematic diagram showing a fifth notification example of the control system 30 according to the embodiment. In the fifth notification example, as shown in Fig. 8, when the self-propelled vehicle 1 rolls over or stops suddenly (rolls over in the example shown in Fig. 8), the control system 30 executes a notification to notify the outside of the presence of the self-propelled vehicle 1. That is, in the fifth notification example, the predetermined condition includes the self-propelled vehicle 1 rolling over or stopping suddenly.

[0059] In the fifth notification example, the determination unit 32 determines that a predetermined condition is met (here, the self-propelled vehicle 1 has rolled over) when the inclination of the vehicle body 10 of the self-propelled vehicle 1 becomes equal to or greater than a predetermined inclination, for example, based on the detection result of the gyro sensor 41. Furthermore, if the self-propelled vehicle 1 includes an acceleration sensor, the determination unit 32 may determine that a predetermined condition is met (here, the self-propelled vehicle 1 has suddenly stopped) when the negative acceleration of the self-propelled vehicle 1 becomes equal to or greater than a predetermined value, based on the detection result of the acceleration sensor. Furthermore, if the self-propelled vehicle 1 includes a vibration sensor, the determination unit 32 may determine that a predetermined condition is met (here, the self-propelled vehicle 1 has rolled over) when the amount of change in vibration per unit time becomes equal to or greater than a predetermined value, based on the detection result of the vibration sensor.

[0060] [Effects] The following describes the effects of the control system 30, the self-propelled vehicle 1, and the control method according to the embodiment.

[0061] As described above, the control system 30 according to the first aspect of the present disclosure is mounted on the self-propelled vehicle 1 capable of running on self-propelled power provided by the electric motor 27, and includes a determination unit 32 and a notification unit 33. The determination unit 32 determines whether or not the state in which the self-propelled vehicle 1 is placed satisfies a predetermined condition. When the determination unit 32 determines that the predetermined condition is satisfied, the notification unit 33 executes a notification to notify the outside of the presence of the self-propelled vehicle 1.

[0062] This has the advantage that the presence of the self-propelled vehicle 1 can be made known to the outside depending on the situation in which the self-propelled vehicle 1 is placed, making it easier for people or vehicles in the vicinity to pay attention to the self-propelled vehicle 1.

[0063] In the control system 30 according to the second aspect of the present disclosure, in the first aspect, the notification unit 33 performs notification by outputting a notification sound.

[0064] This has the advantage that people or vehicles around the self-propelled vehicle 1 can hear the notification sound and become aware that the self-propelled vehicle 1 is approaching, making it easier for the people or vehicles in the vicinity to pay attention to the self-propelled vehicle 1.

[0065] In the control system 30 according to the third aspect of the present disclosure, the self-propelled vehicle 1 can run in a plurality of running modes in the second aspect. The notification sound is different for each of the plurality of running modes.

[0066] This has the advantage that people or vehicles around the self-propelled vehicle 1 can hear the notification sound and understand in what driving mode the self-propelled vehicle 1 is traveling, making it easier for the people or vehicles in the vicinity to pay more attention to the self-propelled vehicle 1.

[0067] In the control system 30 according to the fourth aspect of the present disclosure, in the third aspect, the multiple driving modes include a sidewalk driving mode in which the self-propelled vehicle 1 drives on a sidewalk at a first speed, and a roadway driving mode in which the self-propelled vehicle 1 drives on a roadway at a second speed faster than the first speed. The notification sound in the roadway driving mode is higher in pitch than the notification sound in the sidewalk driving mode.

[0068] This has the advantage that people or vehicles around the self-propelled vehicle 1 will hear the relatively high-pitched notification sound and will be more likely to pay attention to the self-propelled vehicle 1 than if the driving mode of the self-propelled vehicle 1 was the sidewalk driving mode.

[0069] In the control system 30 according to the fifth aspect of the present disclosure, in any one of the first to fourth aspects, the notification unit 33 executes notification via the information processing terminal 7 by communicating with the information processing terminal 7.

[0070] This has the advantage that even if the notification sound from the self-propelled vehicle 1 cannot be heard, people or vehicles around the self-propelled vehicle 1 can be aware of the presence of the self-propelled vehicle 1 via the information processing terminal 7.

[0071] In the control system 30 according to a sixth aspect of the present disclosure, in any one of the first to fifth aspects, the predetermined condition includes the presence of a person or a vehicle around the self-propelled vehicle 1.

[0072] This has the advantage that a notification is issued when there is a person or vehicle around the self-propelled vehicle 1, making it easier for people or vehicles in the vicinity to pay attention to the self-propelled vehicle 1.

[0073] In the control system 30 according to a seventh aspect of the present disclosure, in any one of the first to sixth aspects, the predetermined condition includes the self-propelled vehicle 1 entering a sidewalk.

[0074] According to this, a notification is executed when the self-propelled vehicle 1 enters the sidewalk, which has the advantage that pedestrians 5 walking on the sidewalk are more likely to pay attention to the self-propelled vehicle 1.

[0075] In the control system 30 according to an eighth aspect of the present disclosure, in any one of the first to seventh aspects, the predetermined condition includes the self-propelled vehicle 1 tipping over or stopping suddenly.

[0076] This has the advantage that a notification is issued when the self-propelled vehicle 1 rolls over or suddenly stops, making it easier for people or vehicles in the vicinity to avoid the self-propelled vehicle 1 or rescue the user of the self-propelled vehicle 1.

[0077] In the control system 30 according to a ninth aspect of the present disclosure, in any one of the first to eighth aspects, the self-propelled vehicle 1 can run in a plurality of running modes. The predetermined condition includes switching a current running mode among the plurality of running modes to another running mode.

[0078] According to this, a notification is executed when the driving mode of the self-propelled vehicle 1 is switched, which has the advantage that people or vehicles in the vicinity are more likely to pay attention to the self-propelled vehicle 1.

[0079] Furthermore, a self-propelled vehicle 1 according to a tenth aspect of the present disclosure includes a control system 30 according to any one of the first to ninth aspects, a vehicle body 10 equipped with the control system 30, and an electric motor 27 that outputs self-propelling power.

[0080] This provides similar advantages to the control system 30 described above.

[0081] In addition, the control method according to the eleventh aspect of the present disclosure includes determining whether or not the state of the self-propelled vehicle 1, which is capable of running on self-propelled power from the electric motor 27, satisfies a predetermined condition (S11), and if it is determined that the predetermined condition is satisfied (S12: Yes), executing a notification to notify the outside of the presence of the self-propelled vehicle 1 (S13).

[0082] This provides similar advantages to the control system 30 described above.

[0083] (Reference form) The control system 30, the self-propelled vehicle 1, and the control method according to the reference embodiment will be described below. In the following, explanations of points common to the embodiment will be omitted as appropriate. The control system 30 according to the reference embodiment executes control related to the driving mode when the state in which the self-propelled vehicle 1 is placed satisfies a predetermined condition. Here, the "predetermined condition" in the reference embodiment is different from the "predetermined condition" in the embodiment. In the following explanation, the predetermined condition in the reference embodiment will also be referred to as the "second condition."

[0084] The control system 30 according to the reference embodiment may have the same functions as the control system 30 according to the embodiment, or may not have the functions of the control system 30 according to the embodiment. In the latter case, the control system 30 according to the reference embodiment may include the control unit 31 and the determination unit 32, and may not include the notification unit 33. In other words, the notification unit 33 may be realized by a system (device) separate from the control system 30.

[0085] In the reference embodiment, the determination unit 32 determines whether or not the state in which the self-propelled vehicle 1 is placed satisfies a predetermined condition (second condition). Here, the state in which the self-propelled vehicle 1 is placed may include, in addition to the states given in the embodiment, for example, the state of the user who drives the self-propelled vehicle 1. The state of the user may include, for example, the age of the user.

[0086] In the reference embodiment, when the determination unit 32 determines that a predetermined condition (second condition) is satisfied, the control unit 31 executes control related to the driving mode (hereinafter also referred to as "mode-related control"). Here, the mode-related control may include, for example, control to switch the current driving mode to another driving mode, control to prohibit switching from the current driving mode to another driving mode, etc. Also, the mode-related control may include control to permit switching from the current driving mode to another driving mode, etc. While the control unit 31 is executing control to prohibit switching from the current driving mode to another driving mode, the user cannot switch the driving mode even by operating the mode setting unit 26.

[0087] In the reference embodiment, when the control unit 31 executes control to switch the current driving mode to another driving mode, the control unit 31 executes the control only while the self-propelled vehicle 1 is stopped. Note that when the control unit 31 executes control to switch the current driving mode to another driving mode, the control unit 31 may execute the control even while the self-propelled vehicle 1 is traveling at a speed equal to or lower than a predetermined speed (e.g., several km / h).

[0088] [Operation] The operation of the control system 30 according to the reference embodiment will be described below. Fig. 9 is a flowchart showing an example of the basic operation of the control system 30 according to the reference embodiment.

[0089] First, the determination unit 32 of the control system 30 determines whether or not the state in which the self-propelled vehicle 1 is placed satisfies a predetermined condition (second condition) based on, for example, the detection results of the gyro sensor 41, the battery sensor 42, and the image sensor 43 (S21). Step S21 is executed, for example, periodically.

[0090] If the predetermined condition is met (S22: Yes), the control unit 31 of the control system 30 executes control related to the driving mode (mode-related control) (S23). On the other hand, if the predetermined condition is not met (S22: No), the control unit 31 of the control system 30 does not execute mode-related control. Steps S21 to S23 are basically repeated while the power switch 25 of the self-propelled vehicle 1 is turned on.

[0091] Next, examples of control performed by the control system 30 according to the reference embodiment will be listed. Note that the control performed by the control system 30 is not limited to the following first to eleventh control examples, and mode-related control may be performed in a manner different from the first to eleventh control examples.

[0092] <First control example> In the first control example, the control system 30 executes control to switch the driving mode to the sidewalk driving mode when the driving of the self-propelled vehicle 1 ends. That is, in the first control example, the predetermined condition is that the driving of the self-propelled vehicle 1 ends, and the control unit 31 executes control to switch from the roadway driving mode to the sidewalk driving mode as mode-related control. In the first control example, the determination unit 32 determines that the predetermined condition is satisfied when, for example, the power switch 25 is turned off.

[0093] <Second control example> In the second control example, when the self-propelled vehicle 1 traveling on the sidewalk enters a roadway, the control system 30 executes control to switch the driving mode to a roadway driving mode. That is, in the second control example, the predetermined condition is that the self-propelled vehicle 1 enters a roadway, and the control unit 31 executes control to switch from the sidewalk driving mode to the roadway driving mode as mode-related control. In the second control example, the determination unit 32 determines that the predetermined condition is satisfied when the self-propelled vehicle 1 switches from a state traveling on the sidewalk to a state traveling on the roadway, for example, based on the detection result of the image sensor 43.

[0094] When the driving mode is the sidewalk driving mode, the control unit 31 may maintain the sidewalk driving mode without switching to the roadway driving mode even if the determination unit 32 determines that the self-propelled vehicle 1 has entered a pedestrian crossing. Also, when the driving mode is the roadway driving mode, the control unit 31 may maintain the roadway driving mode without switching to the sidewalk driving mode even if the determination unit 32 determines that the self-propelled vehicle 1 has entered by crossing a pedestrian crossing.

[0095] <Third control example> In the third control example, the control system 30 executes control to prohibit switching of the driving mode from the roadway driving mode to the sidewalk driving mode while the self-propelled vehicle 1 is traveling on the roadway. That is, in the third control example, the predetermined condition is that the self-propelled vehicle 1 is traveling on the roadway, and the control unit 31 executes control to prohibit switching of the driving mode as mode-related control. In the third control example, the determination unit 32 determines that the predetermined condition is satisfied when the self-propelled vehicle 1 is traveling on the roadway, for example, based on the detection result of the image sensor 43.

[0096] <Fourth control example> In the fourth control example, the control system 30 executes control to prohibit switching of the driving mode from the sidewalk driving mode to the roadway driving mode when the remaining capacity of the battery is insufficient. That is, in the fourth control example, the predetermined condition is that the remaining capacity of the battery provided in the self-propelled vehicle 1 is equal to or less than a threshold, and the control unit 31 executes control to prohibit switching from the sidewalk driving mode to the roadway driving mode as mode-related control. In the fourth control example, the determination unit 32 determines that the predetermined condition is satisfied when the remaining capacity of the battery is equal to or less than a threshold, for example, based on the detection result of the battery sensor 42.

[0097] <Fifth control example> In the fifth control example, the control system 30 executes control to permit switching of the traveling mode when power is not being supplied from the battery to the electric motor 27, that is, when the self-propelled vehicle 1 is stopped. That is, in the fifth control example, the predetermined condition is that power is not being supplied from the battery included in the self-propelled vehicle 1 to the electric motor 27, and the control unit 31 executes control to permit switching of the traveling mode as mode-related control. In the fifth control example, the determination unit 32 determines that the predetermined condition is satisfied when power is being supplied from the battery to the electric motor 27, for example, based on the detection result of the battery sensor 42.

[0098] <Sixth control example> In the sixth control example, when the remaining capacity of the battery is lower than a predetermined threshold, the control system 30 executes control to reduce the output compared to when the remaining capacity is higher than the threshold. That is, in the sixth control example, the controller 31 executes control to reduce the output of the self-propelled vehicle 1 as the remaining capacity of the battery included in the self-propelled vehicle 1 drops to the threshold. In the sixth control example, the controller 31 executes control to reduce the output of the self-propelled vehicle 1 as the remaining capacity of the battery drops to the threshold based on, for example, the detection result of the battery sensor 42, compared to when the remaining capacity is higher than the threshold.

[0099] <Seventh control example> In the seventh control example, the control system 30 executes control to prohibit switching of the driving mode from the sidewalk driving mode to the roadway driving mode when an abnormality occurs in the self-propelled vehicle 1. Also, in the seventh control example, the control system 30 executes control to forcibly switch the driving mode from the roadway driving mode to the sidewalk driving mode when an abnormality occurs in the self-propelled vehicle 1. That is, in the seventh control example, the predetermined condition is that an abnormality in the self-propelled vehicle 1 is detected, and the control unit 31 executes, as mode-related control, control to prohibit switching of the driving mode or control to switch from the roadway driving mode to the sidewalk driving mode.

[0100] In the seventh control example, the determination unit 32 determines that a predetermined condition is satisfied when an abnormality occurs in the battery, for example, based on the detection result of the battery sensor 42. The determination unit 32 also determines that a predetermined condition is satisfied when a tire has a puncture or a slow puncture, for example, based on the detection result of a sensor capable of detecting tire air pressure. The sensor may be any sensor capable of detecting a physical quantity correlated with tire air pressure, and may be, for example, an air pressure sensor, a speed sensor, a vibration sensor that detects vertical vibration of the wheels (front wheels 11a or rear wheels 11b) of the self-propelled vehicle 1, the battery sensor 42, or the like.

[0101] <8th control example> In the eighth control example, in a sharing service in which a self-propelled vehicle 1 is rented to a user who desires it, the control system 30 executes control to switch the driving mode from the roadway driving mode to the sidewalk driving mode when the self-propelled vehicle 1 rented to the user is returned. That is, in the eighth control example, the predetermined condition is that the self-propelled vehicle 1 rented to the user has been returned, and the control unit 31 executes control to switch from the roadway driving mode to the sidewalk driving mode as mode-related control.

[0102] In the eighth control example, the determination unit 32 determines that the predetermined condition is satisfied when, for example, a locking device installed in the self-propelled vehicle 1 is locked. The locking device is a device installed in the self-propelled vehicle 1 by a business operator providing a sharing service. When the self-propelled vehicle 1 is rented to a user, that is, when the user is permitted to use the self-propelled vehicle 1, the user can lock and unlock the locking device by executing an appropriate authentication method. The authentication method may be, for example, a specific operation on an input device installed in the locking device, or a specific communication via a dedicated application between a mobile terminal owned by the user and the locking device.

[0103] <9th control example> In the ninth control example, the control system 30 executes control to switch the driving mode from the roadway driving mode to the sidewalk driving mode when a user using the sharing service starts driving the self-propelled vehicle 1, that is, when the power switch 25 of the self-propelled vehicle 1 is turned on. That is, in the ninth control example, the predetermined condition is that the self-propelled vehicle 1 lent to the user starts driving, and the control unit 31 executes control to switch from the roadway driving mode to the sidewalk driving mode as mode-related control. In the ninth control example, the determination unit 32 determines that the predetermined condition is satisfied when, for example, the power switch 25 is turned on in a state where the lock device is unlocked.

[0104] <10th control example> In the tenth control example, the control system 30 executes control to limit the driving mode to only the sidewalk driving mode when the age of the user of the self-propelled vehicle 1 is equal to or less than a threshold (e.g., 16 years old). That is, in the tenth control example, the predetermined condition is that the user's age is equal to or less than a threshold, and the control unit 31 executes control to limit the usable driving modes as mode-related control. In the tenth control example, the determination unit 32 determines that the predetermined condition is satisfied when the user's age is equal to or less than a threshold, for example, based on the result of reading a card (e.g., a My Number card or a driver's license) on which personal information held by the user is recorded, using a reader installed in the self-propelled vehicle 1.

[0105] <11th control example> In the eleventh control example, the control system 30 executes control to record the driving record for each driving mode while the self-propelled vehicle 1 is traveling, and transmit the recorded driving record for each driving mode to a server operated by a business operator that provides a sharing service. That is, in the eleventh control example, the control unit 31 outputs the driving record in the sidewalk driving mode and the driving record in the roadway driving mode to the outside. Here, the driving record includes at least one of the total distance traveled by the self-propelled vehicle 1 and the total time traveled by the self-propelled vehicle 1.

[0106] [Effects] The following describes the effects of the control system 30, the self-propelled vehicle 1, and the control method according to the reference embodiment.

[0107] As described above, the control system 30 according to the first aspect of the reference embodiment is a control system 30 mounted on the self-propelled vehicle 1 capable of running with self-propelling power from the electric motor 27. The self-propelled vehicle 1 can run in either of the following running modes: a sidewalk running mode in which the self-propelled vehicle 1 runs on a sidewalk at a first speed, and a roadway running mode in which the self-propelled vehicle 1 runs on a roadway at a second speed faster than the first speed. The control system 30 includes a determination unit 32 and a control unit 31. The determination unit 32 determines whether or not the state in which the self-propelled vehicle 1 is placed satisfies a predetermined condition (second condition). When the determination unit 32 determines that the predetermined condition is satisfied, the control unit 31 executes control related to the running mode (mode-related control).

[0108] This has the advantage that control related to the driving mode can be executed according to the state in which the self-propelled vehicle 1 is placed, making it easier for the user driving the self-propelled vehicle 1 to drive the self-propelled vehicle 1 in an appropriate driving mode.

[0109] In addition, in the control system 30 according to the second aspect of the reference embodiment, in the first aspect, the specified condition is that the self-propelled vehicle 1 has stopped traveling, and the control unit 31 executes control to switch from the roadway traveling mode to the sidewalk traveling mode.

[0110] This has the advantage that the next time self-propelled vehicle 1 is used, it will be set to the sidewalk driving mode, making it possible to avoid a situation in which the self-propelled vehicle 1 suddenly starts moving in the roadway driving mode.

[0111] In addition, in the control system 30 according to the third aspect of the reference embodiment, in the first or second aspect, the specified condition is that the self-propelled vehicle 1 enters a roadway, and the control unit 31 executes control to switch from the sidewalk driving mode to the roadway driving mode.

[0112] This has the advantage that when the self-propelled vehicle 1 enters a roadway, the driving mode is automatically switched to roadway driving mode, thereby making it possible to avoid a situation in which the vehicle 1 drives on the roadway while remaining in sidewalk driving mode.

[0113] In addition, in a control system 30 according to a fourth aspect of the reference embodiment, in any one of the first to third aspects, the specified condition is that the self-propelled vehicle 1 is traveling on a roadway, and the control unit 31 executes control to prohibit switching of the driving mode.

[0114] This has the advantage that it is possible to avoid a situation in which the speed of the self-propelled vehicle 1 suddenly slows down due to switching to the sidewalk driving mode while the self-propelled vehicle 1 is traveling on the roadway, causing inconvenience to those around it.

[0115] In addition, in a control system 30 according to a fifth aspect of the reference embodiment, in any one of the first to fourth aspects, the specified condition is that the remaining capacity of the battery provided in the self-propelled vehicle 1 is equal to or less than a threshold value, and the control unit 31 executes control to prohibit switching from the sidewalk driving mode to the roadway driving mode.

[0116] This has the advantage of making it possible to avoid a situation in which the self-propelled vehicle 1 suddenly stops due to the battery running out of power while the self-propelled vehicle 1 is traveling in roadway traveling mode.

[0117] In addition, in a control system 30 according to a sixth aspect of the reference embodiment, in any one of the first to fifth aspects, the specified condition is that power is not being supplied to the electric motor 27 from a battery provided in the self-propelled vehicle 1, and the control unit 31 executes control to permit switching of the driving mode.

[0118] This has the advantage that the driving mode can be switched only when the self-propelled vehicle 1 is stopped, thereby avoiding a situation in which switching the driving mode while the self-propelled vehicle 1 is moving causes inconvenience to those around.

[0119] In addition, in a control system 30 according to a seventh aspect of the reference embodiment, in any one of the first to sixth aspects, the control unit 31 executes control to reduce the output of the self-propelled vehicle 1 as the remaining capacity of the battery provided in the self-propelled vehicle 1 decreases to a threshold value, compared to when the remaining capacity is higher than the threshold value.

[0120] This has the advantage that the decrease in the remaining battery capacity can be suppressed, so that the self-propelled vehicle 1 is less likely to suddenly stop due to the remaining battery capacity being exhausted. Furthermore, the output of the self-propelled vehicle 1 becomes slower than normal, so that the user can be notified of the decrease in the remaining battery capacity of the self-propelled vehicle 1.

[0121] In addition, in a control system 30 according to an eighth aspect of the reference embodiment, in any one of the first to seventh aspects, the specified condition is that an abnormality in the self-propelled vehicle 1 has been detected, and the control unit 31 executes control to prohibit switching of the driving mode or control to switch from the roadway driving mode to the sidewalk driving mode.

[0122] This has the advantage that it becomes easier to avoid a situation in which an abnormality in the self-propelled vehicle 1 interferes with the driving of the self-propelled vehicle 1.

[0123] In addition, in the control system 30 according to a ninth aspect of the reference form, in any one of the first to eighth aspects, the specified condition is that the self-propelled vehicle 1 that has been rented to a user has been returned, and the control unit 31 executes control to switch from the roadway driving mode to the sidewalk driving mode.

[0124] This has the advantage that the next time self-propelled vehicle 1 is used, it will be set to the sidewalk driving mode, making it possible to avoid a situation in which the vehicle suddenly starts moving in the roadway driving mode.

[0125] In addition, in the control system 30 according to the tenth aspect of the reference embodiment, in any one of the first to ninth aspects, the specified condition is that the self-propelled vehicle 1 rented to the user starts moving, and the control unit 31 executes control to switch from the roadway driving mode to the sidewalk driving mode.

[0126] According to this, since the sidewalk driving mode is set when the self-propelled vehicle 1 starts to travel, there is an advantage that a situation in which the vehicle suddenly starts to travel in the roadway driving mode can be avoided.

[0127] In addition, in a control system 30 according to an eleventh aspect of the reference form, in any one of the first to tenth aspects, the specified condition is that the user's age is equal to or less than a threshold value, and the control unit 31 executes control to limit the driving modes that can be used.

[0128] This has the advantage that by restricting the driving modes that can be used based on the user's age, it is possible to avoid a situation in which the user mistakenly uses the self-propelled vehicle 1 in a driving mode that is prohibited.

[0129] In addition, in the control system 30 according to the twelfth aspect of the reference embodiment, in any one of the first to eleventh aspects, the control unit 31 outputs to the outside the driving history in the sidewalk driving mode and the driving history in the roadway driving mode.

[0130] This has the advantage that, for example, in a sharing service in which a self-propelled vehicle 1 is rented out to users who wish to use it, the user can be charged different fees based on the driving history in sidewalk driving mode and the driving history in road driving mode.

[0131] Furthermore, a self-propelled vehicle 1 according to a thirteenth aspect of the reference embodiment includes a control system 30 according to any one of the first to twelfth aspects, a vehicle body 10 on which the control system 30 is mounted, and an electric motor 27 that outputs self-propelling power.

[0132] This provides similar advantages to the control system 30 described above.

[0133] In addition, in a control method according to a fourteenth aspect of the reference embodiment, the self-propelled vehicle 1 capable of running with self-propelled power from the electric motor 27 can run in either of a sidewalk running mode in which the self-propelled vehicle 1 runs on a sidewalk at a first speed, and a roadway running mode in which the self-propelled vehicle 1 runs on a roadway at a second speed faster than the first speed. The control method includes determining whether or not the state in which the self-propelled vehicle 1 is placed satisfies a predetermined condition (second condition), and, when it is determined that the predetermined condition is satisfied, executing control related to the running mode (mode-related control).

[0134] This provides similar advantages to the control system 30 described above.

[0135] (Other variations, etc.) Although the present disclosure has been described above based on the embodiment and the reference form, the present disclosure is not limited to these embodiment and the reference form.

[0136] For example, each processing unit such as the control unit 31 used in the control system 30 according to each of the above-mentioned embodiments and reference modes is realized as an LSI, which is typically an integrated circuit. These may be individually implemented as single chips, or may be integrated into a single chip so as to include some or all of them.

[0137] The integrated circuit is not limited to an LSI, but may be realized by a dedicated circuit or a general-purpose processor. A field programmable gate array (FPGA) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connections and settings of the circuit cells inside the LSI may also be used.

[0138] In each of the above-mentioned embodiments and reference modes, each component may be configured with dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

[0139] Furthermore, all the numbers used above are merely examples for the purpose of specifically explaining the present disclosure, and each of the embodiments and reference modes of the present disclosure is not limited to the exemplified numbers.

[0140] In addition, the division of functional blocks in the block diagram is an example, and multiple functional blocks may be realized as one functional block, one functional block may be divided into multiple blocks, or some functions may be transferred to another functional block. Furthermore, the functions of multiple functional blocks having similar functions may be processed in parallel or in a time-sharing manner by a single piece of hardware or software.

[0141] In addition, the order in which each step is performed in the flowchart is merely for illustrative purposes and may be other than the above. In addition, some of the steps may be performed simultaneously (in parallel) with other steps.

[0142] In addition, this disclosure also includes forms obtained by applying various modifications that would come to mind to each of the embodiments and reference forms by a person skilled in the art, and forms realized by arbitrarily combining the components and functions of each of the embodiments and reference forms within the scope that does not deviate from the spirit of this disclosure. [Explanation of symbols]

[0143] 1. Self-propelled vehicles 7. Information processing terminal 10. Body 27 Electric Motor 30 Control System 32 Judgment section 33 Notification Department

Claims

1. A control system to be mounted on a vehicle having a self-propelled function capable of running on self-propelled power provided by an electric motor, a determination unit that determines whether a state of the self-propelled vehicle satisfies a predetermined condition; a notification unit that, when the determination unit determines that the predetermined condition is satisfied, executes a notification to notify an outside party of the presence of the self-propelled vehicle. Control system.

2. The notification unit executes the notification by outputting a notification sound. The control system of claim 1 .

3. The self-propelled vehicle is capable of traveling in a plurality of traveling modes, The notification sound is different for each of the plurality of driving modes. The control system of claim 2.

4. the plurality of driving modes include a sidewalk driving mode in which the self-propelled vehicle drives on a sidewalk at a first speed, and a roadway driving mode in which the self-propelled vehicle drives on a roadway at a second speed that is faster than the first speed, The notification sound in the roadway driving mode is higher than the notification sound in the sidewalk driving mode. The control system of claim 3.

5. the notification unit executes the notification via an information processing terminal by communicating with the information processing terminal; The control system of claim 1 .

6. The predetermined condition includes the presence of a person or a vehicle around the self-propelled vehicle. A control system according to any one of claims 1 to 5.

7. the predetermined condition includes the self-propelled vehicle entering a sidewalk, A control system according to any one of claims 1 to 5.

8. The predetermined condition includes the self-propelled vehicle tipping over or stopping suddenly. A control system according to any one of claims 1 to 5.

9. The self-propelled vehicle is capable of traveling in a plurality of traveling modes, The predetermined condition includes that a current driving mode among the plurality of driving modes is switched to another driving mode. A control system according to any one of claims 1 to 5.

10. The control system according to any one of claims 1 to 5; A vehicle body having the control system mounted thereon; The electric motor outputs a self-propelling power. Self-propelled vehicle.

11. Determining whether a state of a self-propelled vehicle that can be driven by self-propelling power using an electric motor satisfies a predetermined condition; and when it is determined that the predetermined condition is satisfied, executing a notification to notify an outside party of the presence of the self-propelled vehicle. Control methods.

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