Control device, vehicle with self-propelling function, and control method

Abstract

To provide a control device and the like capable of achieving both of informing the surroundings of a travelling mode and suppressing glare sensed by a person.SOLUTION: A control device 30 is such one as to be installed on a vehicle body 10 capable of travelling in a plurality of travel modes, and includes an acquisition part 33 acquiring a surrounding situation in the vehicle body 10, and a control part 31. The control part 31 can control one or more identification lights 22 installed on the vehicle body 10 and enabling the surroundings to identify that the vehicle body 10 travels in a specific travel mode by lighting in a prescribed lighting mode according to each of the plurality of travel modes, and can adjust the illuminance of light illuminated by the one or more identification lights 22 by controlling the one or more identification lights 22 according to the surrounding situation in the vehicle body 10.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] In recent years, it has become possible for specific small motorized bicycles (hereinafter sometimes 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 a maximum speed indicator light (hereinafter sometimes referred to as an identification light) as a safety device that informs people around them in which driving mode the specific small moped is currently driving.

[0003] Patent Document 1 discloses a vehicle with a self-propelled function that has a self-propelled function using an electric motor, and that can switch between at least one of the following vehicle states: maximum speed when self-propelled, maximum output of the electric motor, etc., and that 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] In Japan, in order to inform the surroundings of the driving mode, the illuminance of the identification light must be set so that the human eye can see the light or flashing of the identification light from a distance of 25 m in front of the identification light and 25 m behind the identification light during the daytime. However, the vehicle with self-propelled function described in Patent Document 1 above has the problem that some people may feel dazzled.

[0006] Therefore, an object of the present disclosure is to provide a control device, a vehicle with self-propelled function, and a control method that can simultaneously inform those around of the driving mode and reduce the glare felt by people. [Means for solving the problem]

[0007] A control device according to one embodiment of the present disclosure is a control device mounted on a vehicle body capable of running in multiple driving modes, and includes an acquisition unit that acquires the surrounding conditions of the vehicle body, and a control unit, wherein the control unit is capable of controlling one or more identification lights mounted on the vehicle body, which lights up in a predetermined lighting pattern according to each of the multiple driving modes, thereby allowing those around to identify that the vehicle body is running in a specific driving mode, and is capable of adjusting the illuminance of light emitted by the one or more identification lights by controlling the one or more identification lights according to the surrounding conditions of the vehicle body.

[0008] A self-propelled vehicle according to one aspect of the present disclosure includes a control device and a vehicle body on which the control device is mounted, and the vehicle body is capable of independent travel using self-propelled power provided by an electric motor.

[0009] In addition, a control method according to one embodiment of the present disclosure includes acquiring the surrounding conditions of a vehicle body capable of running in a plurality of driving modes, controlling one or more identification lights mounted on the vehicle body, the one or more identification lights being lit in a predetermined lighting manner according to each of the plurality of driving modes, thereby enabling those in the vicinity to identify that the vehicle body is running in a specific driving mode, and controlling the one or more identification lights according to the surrounding conditions of the vehicle body, thereby being able to adjust the illuminance of light emitted by the one or more identification lights. Effect of the Invention

[0010] According to the control device and the like of the present disclosure, it is possible to simultaneously inform those around of the driving mode and reduce the glare felt by people. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a perspective view showing a control device and a self-propelled vehicle according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing a control device according to the embodiment. [Diagram 3] FIG. 3 is a flowchart illustrating a processing operation of the control device according to the embodiment. [Figure 4] FIG. 4 is a perspective view showing a control device and a self-propelled vehicle according to a modified example of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components that are not described in the independent claims are described as optional components.

[0013] 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.

[0014] In addition, each drawing is a schematic diagram and is not necessarily a precise illustration. In addition, in each drawing, the same components are denoted by the same reference numerals.

[0015] Hereinafter, the embodiment will be specifically described with reference to the drawings.

[0016] (Embodiment) <Configuration and Function> First, the control device 30, the self-propelled vehicle 1, and the control method will be described with reference to FIGS.

[0017] Fig. 1 is a perspective view showing a control device 30 and a self-propelled vehicle 1 according to an embodiment. Fig. 2 is a block diagram showing the control device 30 according to an embodiment.

[0018] As shown in FIG. 1, the self-propelled vehicle 1 is capable of traveling by outputting self-propelling power, which is the power for the self-propelled vehicle 1 to travel on its own. In FIG. 1, an electric kickboard (also called a specific small motorized bicycle) is illustrated as an example of the self-propelled vehicle 1. The self-propelled vehicle 1 may be a bicycle-type vehicle with a self-propelling function or a motorized bicycle. 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.

[0019] The self-propelled vehicle 1 has a plurality of driving modes and can run in the plurality of driving modes. The plurality of driving modes include a sidewalk driving mode in which the vehicle body 10 runs autonomously on the sidewalk at a first speed suitable for the sidewalk, and a roadway driving mode in which the vehicle body 10 runs autonomously on the roadway at a second speed suitable for the roadway and faster than the first speed. In the sidewalk driving mode and roadway driving mode, the self-propelled vehicle 1 can run autonomously by outputting self-propelled power from the electric motor 27 with a person aboard the self-propelled vehicle 1. For example, in the sidewalk driving mode, the vehicle is set to run on the sidewalk at a maximum speed of 6 km or less, and in the roadway driving mode, the vehicle is set to run on the roadway at a maximum speed of 20 km or less. Note that in this embodiment, the speed is not limited to this. If the above-mentioned "Notice [2022.12.23] Specifying the Details of the Safety Standards for Road Transport Vehicles Article 299-2 "Maximum Speed ​​Indicator"" is revised, the maximum speed in the sidewalk driving mode and roadway driving mode may be appropriately changed. Furthermore, the maximum speed in the sidewalk driving mode and the roadway driving mode may be set and changed as appropriate in accordance with the laws and regulations of the country in which the self-propelled vehicle 1 is used.

[0020] The configurations of the control device 30 and the self-propelled vehicle 1 will be described below.

[0021] As shown in FIGS. 1 and 2, the self-propelled vehicle 1 includes a vehicle body 10 and a control device 30. The vehicle body 10 includes a vehicle body 10 and a control device 30. The control device 30 is a control device for controlling a vehicle.

[0022] The vehicle body 10 can run independently using self-propelled power from 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.

[0023] The front wheels 11a are disposed in front of the body 12, and the rear wheels 11b and the electric motor 27 are disposed at the rear of the body 12. The front wheels 11a are rotatably supported by the body 12. The rear wheels 11b are disposed at the rear end of the body 12, and are rotatably supported by the body 12 by self-propelled power from the electric motor 27.

[0024] The main body 12 is a housing that is long in the front-rear direction, and houses a battery, a control device 30, etc. The control device 30 is mounted on a vehicle body 10 that is capable of traveling in a plurality of traveling modes.

[0025] A step board portion 13 is formed on the upper surface of the main body 12. A person riding on the self-propelled vehicle 1 places his / her feet on the step board portion 13.

[0026] 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.

[0027] An identification lamp 22 that emits light of a color different from the headlights 21 and the brake lights 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 can be identified by the surroundings that the vehicle body 10 is traveling in a specific traveling mode by lighting in a predetermined lighting manner according to each of a plurality of traveling modes. The one or more identification lamps 22 are arranged on the self-propelled vehicle 1 so that they can be seen from the front and rear of the self-propelled vehicle 1. In this embodiment, a case where two identification lamps 22 are arranged on the self-propelled vehicle 1 is illustrated. 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 this 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.

[0028] The front identification lamp 22 on the vehicle body 10 is visible from the front of the vehicle body 10, and the rear identification lamp 22 on 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 flashing, the light can be seen from the front and rear of the vehicle body 10.

[0029] 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.

[0030] 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.

[0031] A front fork 16 is fixed to the lower end of the handle shaft 15, and rotatably supports the front wheel 11a.

[0032] 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.

[0033] 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.

[0034] In such a self-propelled vehicle 1, when the power switch 25 is turned on, power is supplied to the electric motor 27. A person operates the mode setting unit 26 to set a driving mode in the self-propelled vehicle 1. A person operates the accelerator handle 18 to drive the electric motor 27, and the power is transmitted to the rear wheels 11b, causing the self-propelled vehicle 1 to propel itself.

[0035] Next, functions of the control device 30 and the self-propelled vehicle 1 according to this embodiment will be described.

[0036] The control device 30 has a mode switching unit 32 that switches the driving mode according to the mode input by operating the mode setting unit 26, an acquisition unit 33, and a control unit 31. Note that although the control device 30 of the present embodiment has the mode switching unit 32, it is not necessary to have the mode switching unit 32. Also, the mode switching unit 32 may be a device separate from the control device 30.

[0037] The mode switching unit 32 can switch the driving mode. That is, the mode switching unit 32 can switch from the currently set driving mode to a driving mode input by a person operating the mode setting unit 26. For example, the mode switching unit 32 can switch between a sidewalk driving mode and a roadway driving mode. The mode switching unit 32 can also switch between the sidewalk driving mode and the roadway driving mode.

[0038] The acquisition unit 33 acquires the surrounding conditions of the vehicle body 10. The acquisition unit 33 outputs the acquired surrounding conditions of the vehicle body 10 to the control unit 31. The acquisition unit 33 may be an interface that acquires the surrounding conditions of the vehicle body 10 from at least one of an illuminance sensor 41, a proximity sensor 42, an image sensor 43, and a human detection sensor 44, which will be described later. The acquisition unit 33 may also be at least one of the illuminance sensor 41, the proximity sensor 42, the image sensor 43, and the human detection sensor 44.

[0039] The control unit 31 lights up the two identification lights 22 mounted on the vehicle body 10 in a predetermined lighting mode according to each of a plurality of driving modes. For example, in the sidewalk driving mode, the control unit 31 controls the two identification lights 22 so that the light emitted by the two identification lights 22 blinks. The blinking frequency is 1 Hz to 2 Hz so that people around the vehicle body 10 can recognize the blinking. Also, in the roadway driving mode, the control unit 31 controls the two identification lights 22 so that the light emitted by the two identification lights 22 is always on.

[0040] In addition, the control unit 31 can control two identification lights 22 that light up in a predetermined manner according to each of a plurality of driving modes, thereby enabling those in the vicinity to identify that the vehicle body 10 is driving in a specific driving mode.

[0041] Specifically, the control unit 31 can adjust the illuminance of the light emitted by the two identification lights 22 by controlling the two identification lights 22 in accordance with the surrounding conditions of the vehicle body 10 in each of a plurality of driving modes. More specifically, the control unit 31 can adjust the illuminance of the light emitted by the two identification lights 22 by controlling the output of the two identification lights 22 in accordance with the surrounding conditions of the vehicle body 10 in each of a plurality of driving modes, or controls the direction of the light emitted by the two identification lights 22 in accordance with the surrounding conditions of the vehicle body 10. In other words, "controlling the two identification lights 22" includes controlling the output of the light emitted by the two identification lights 22 and controlling the direction of the light emitted by the two identification lights 22. The direction of the light emitted by the two identification lights 22 can be controlled by the control device 30 controlling an actuator that changes the posture of the two identification lights 22, or by the control device 30 controlling an actuator that changes the posture of the reflector and / or light source provided on each of the two identification lights 22, thereby adjusting the illuminance of the light emitted by the two identification lights 22.

[0042] First, the surrounding conditions of the vehicle body 10 may include the illuminance of the surroundings of the vehicle body 10.

[0043] For example, the higher the illuminance of the surroundings of the vehicle body 10, the less noticeable the light emitted by the two identification lights 22 becomes, so by increasing the illuminance of the light emitted by the two identification lights 22, the light can be easily recognized by people in the vicinity. On the other hand, the lower the illuminance of the surroundings of the vehicle body 10, the more noticeable the light emitted by the two identification lights 22 becomes, so the light can be easily recognized by people in the vicinity by simply increasing the illuminance of the light emitted by the two identification lights 22 to be greater than the illuminance of the surroundings. For this reason, the control unit 31 may control the two identification lights 22 in each of the multiple driving modes so that the higher the illuminance of the surroundings of the vehicle body 10, the closer to the maximum illuminance from the reference illuminance at which the lighting and blinking of the two identification lights 22 can be confirmed, and may control the two identification lights 22 so that the lower the illuminance of the surroundings of the vehicle body 10, the closer to the reference illuminance from the maximum illuminance. This may allow people in the vicinity to see the light emitted by the two identification lights 22. For example, in each of a plurality of driving modes, when the illuminance of the surroundings of the vehicle body 10 is equal to or higher than a reference value, the control unit 31 can control the two identification lights 22 so that the illuminance approaches the maximum illuminance from the reference illuminance as the illuminance of the surroundings of the vehicle body 10 becomes higher. Also, in each of a plurality of driving modes, when the illuminance of the surroundings of the vehicle body 10 is lower than a reference value, the control unit 31 can control the two identification lights 22 so that the illuminance approaches the reference illuminance from the maximum illuminance as the illuminance of the surroundings of the vehicle body 10 becomes lower. The reference illuminance is an illuminance at which the lighting and blinking of the two identification lights 22 can be confirmed, and specifically, an illuminance at which the lighting and blinking of the identification light 22 can be confirmed by the human eye from a distance of 25 m in front of the identification light 22 and behind the identification light 22 in the daytime. In addition, if the above-mentioned "Article 299-2 "Maximum Speed ​​Indicator Light" of the Notification [2022.12.23] Prescribing Details of Safety Standards for Road Transport Vehicles" is revised, the standard illuminance may be able to be appropriately changed in the distance in front of the identification light 22 and the distance behind the identification light 22. In addition, the standard illuminance may be appropriately changed in accordance with the laws and regulations established in the country in which the self-propelled vehicle 1 is used.

[0044] The illuminance of the surroundings of the vehicle body 10 may be detected by an illuminance sensor 41 capable of detecting the illuminance of the surroundings of the vehicle body 10. For this reason, the illuminance sensor 41 may be mounted on the vehicle body 10.

[0045] The surrounding situation of the vehicle body 10 may also include a situation in which another vehicle approaches the vehicle body 10.

[0046] For example, when another vehicle approaches the vehicle body 10, the person riding in the other vehicle may feel dazzled. For this reason, the control unit 31 may control the two identification lights 22 so that the illuminance approaches the reference illuminance from the maximum illuminance in each of a plurality of driving modes. The other vehicle approaching the vehicle body 10 may be detected by a proximity sensor 42 such as a camera sensor or LiDAR (Light Detection And Ranging). For this reason, the proximity sensor 42 may be mounted on the vehicle body 10.

[0047] The surrounding conditions of the vehicle body 10 may also include a condition in which fog is occurring around the vehicle body 10.

[0048] For example, when the vehicle body 10 is covered in fog, visibility is poorer than when there is no fog, so it is necessary to make the light emitted by the two identification lights 22 of the vehicle body 10 more noticeable. For this reason, the control unit 31 controls the two identification lights 22 in each of a plurality of driving modes so as to increase the illuminance of the light to be emitted compared to when there is no fog around the vehicle body 10. The presence or absence of fog around the vehicle body 10 may be detected by an image sensor 43 such as a camera sensor. For this reason, the image sensor 43 may be mounted on the vehicle body 10. In addition, the control unit 31 may determine the presence or absence of fog around the vehicle body 10 by acquiring weather information, etc.

[0049] The surrounding conditions of the vehicle body 10 may include conditions related to the current time in the vehicle body 10. The current time in the vehicle body 10 may be measured by a clock unit. For this reason, the clock unit may be mounted on the vehicle body 10.

[0050] For example, since the illuminance of the surroundings of the vehicle body 10 changes depending on the time of day, it is necessary to make the light emitted by the two identification lights 22 of the vehicle body 10 stand out with an illuminance according to the time of day.

[0051] For this reason, since it is considered that the illuminance of the surroundings of the vehicle body 10 is higher as the time approaches daytime (e.g., noon), the control unit 31 may control the two identification lights 22 so that the illuminance of the light emitted becomes higher as the current time approaches daytime. In other words, the control unit 31 may increase the illuminance of the light emitted by the two identification lights 22 by controlling the two identification lights 22 so that the light emitted by the two identification lights 22 can be seen by people in the vicinity. For example, the control unit 31 may control the output of the two identification lights 22 to maximize the illuminance of the light emitted by the two identification lights 22 during daytime. Note that daytime in this embodiment may include the period from before noon to after noon (e.g., from 9:00 to 15:00).

[0052] At night, the control unit 31 may control the two identification lights 22 to set the illuminance of the light emitted by the two identification lights 22 to a reference illuminance so that people in the vicinity can see the light emitted by the two identification lights 22. For example, the control unit 31 may control the output of the two identification lights 22 to set the illuminance of the light emitted by the two identification lights 22 to a reference illuminance so that people can see the light.

[0053] Since the illuminance of the surroundings of the vehicle body 10 is considered to be low at times close to night, such as in the morning and evening, the control unit 31 may control the two identification lights 22 so that the illuminance of the emitted light approaches the reference illuminance from the maximum illuminance as the current time approaches night from daytime. In other words, the control unit 31 may control the two identification lights 22 to lower the illuminance of the light emitted by the two identification lights 22 so that it approaches the reference illuminance, so that people in the vicinity can see the light emitted by the two identification lights 22.

[0054] The surrounding situation of the vehicle body 10 may also include a situation in which a person approaches the vehicle body 10.

[0055] For example, when a person approaches the vehicle body 10, the person may feel dazzled. For this reason, the control unit 31 may control the two identification lights 22 in each of the multiple driving modes so that the illuminance approaches from the maximum illuminance to the reference illuminance as the person approaches the vehicle body 10. The control unit 31 may also control the two identification lights 22 so that the illuminance approaches from the reference illuminance to the maximum illuminance as the person moves away from the vehicle body 10. A person approaching the vehicle body 10 may be detected by a human detection sensor 44 such as a camera sensor. For this reason, the human detection sensor 44 may be mounted on the vehicle body 10.

[0056] As described above, the identification lamps 22 are disposed on both the front and rear sides of the vehicle body 10. In this case, the control unit 31 may control the two identification lamps 22 so that the illuminance of the identification lamp 22 disposed on the rear side of the vehicle body 10 is higher than that of the identification lamp 22 disposed on the front side of the vehicle body 10 in each of a plurality of driving modes.

[0057] The control unit 31 may also control the two identification lights 22 so that the illuminance of the light emitted differs between the sidewalk driving mode and the roadway driving mode. Specifically, the control unit 31 may control the two identification lights 22 so that the illuminance of the light emitted in the sidewalk driving mode is lower than that in the roadway driving mode.

[0058] <Processing Operation> Next, with reference to FIG. 3, the processing operations of the control device 30, the self-propelled vehicle 1, and the control method according to this embodiment will be described.

[0059] Fig. 3 is a flowchart showing the processing operation of the control device 30 according to the embodiment. In Fig. 3, it is assumed that a person is in the self-propelled vehicle 1, and the control unit 31 is driving the vehicle in a predetermined driving mode while turning on the two identification lamps 22.

[0060] First, the control unit 31 acquires the set driving mode (S11).

[0061] Next, the control unit 31 lights and blinks the two identification lights 22 in a predetermined lighting manner according to the set driving mode (S12). Specifically, the control unit 31 controls the two identification lights 22 so that the light emitted by the two identification lights 22 blinks in the sidewalk driving mode. As a result, the two identification lights 22 blink in the sidewalk driving mode. Also, the control unit 31 controls the two identification lights 22 so that the light emitted by the two identification lights 22 is constantly lit in the roadway driving mode. As a result, the two identification lights 22 are constantly lit in the roadway driving mode.

[0062] Next, the acquisition unit 33 acquires the surrounding situation of the vehicle body 10 (S13). For example, the acquisition unit 33 may acquire the illuminance of the surroundings of the vehicle body 10 from the illuminance sensor 41. The acquisition unit 33 may also acquire the situation of another vehicle approaching the vehicle body 10 from the approach sensor 42. The acquisition unit 33 may also acquire the situation of fog occurring around the vehicle body 10 from a camera sensor or the like. The acquisition unit 33 may also acquire the situation related to the current time in the vehicle body 10 from the clock unit. The acquisition unit 33 may also acquire the situation of a person approaching the vehicle body 10 from the human detection sensor 44. The acquisition unit 33 outputs the acquired surrounding situation of the vehicle body 10 to the control unit 31.

[0063] Next, the control unit 31 controls the two identification lights 22 in accordance with the surrounding conditions of the vehicle body 10 (S14). As a result, the two identification lights 22 can emit light by being controlled by the control unit 31. Then, the processing operation of the flowchart in FIG. 3 is completed.

[0064] <Action and effect> Next, the effects of the control device 30, the self-propelled vehicle 1, and the control method according to the present embodiment will be described.

[0065] As described above, the control device 30 according to this embodiment is mounted on the vehicle body 10 capable of traveling in a plurality of traveling modes, and includes an acquisition unit 33 that acquires the surrounding conditions of the vehicle body 10, and a control unit 31. The control unit 31 is capable of controlling one or more identification lights 22 mounted on the vehicle body 10, which light up in a predetermined lighting state according to each of the plurality of traveling modes, thereby enabling the surroundings to identify that the vehicle body 10 is traveling in a specific traveling mode, and is capable of adjusting the illuminance of light emitted by the one or more identification lights 22 by controlling the one or more identification lights 22 according to the surrounding conditions of the vehicle body 10.

[0066] According to this, since one or more identification lamps 22 are lit in a predetermined lighting manner according to each of the plurality of driving modes, the current driving mode of the vehicle body 10 can be notified to those around.

[0067] In addition, since the illuminance of the light emitted by one or more identification lights 22 is adjusted according to the surrounding conditions of the vehicle body 10, the glare felt by people around the vehicle body 10 can be reduced.

[0068] Therefore, according to this embodiment, it is possible to simultaneously inform the surroundings of the driving mode and reduce the glare felt by people.

[0069] Moreover, the self-propelled vehicle 1 according to this embodiment includes the control device 30 and the vehicle body 10 that mounts the control device 30. The vehicle body 10 is capable of running independently using the self-propelling power of the electric motor 27.

[0070] This self-propelled vehicle 1 also provides the same operational effects as those described above.

[0071] In addition, the control method of this embodiment includes acquiring the surrounding conditions of the vehicle body 10 capable of running in a plurality of running modes, being able to control one or more identification lights 22 mounted on the vehicle body 10, which light up in a predetermined lighting manner according to each of the plurality of running modes, thereby enabling those around to identify that the vehicle body 10 is running in a specific running mode, and being able to adjust the illuminance of light emitted by the one or more identification lights 22 by controlling the one or more identification lights 22 according to the surrounding conditions of the vehicle body 10.

[0072] This control method also provides the same effects as those described above.

[0073] In the control device 30 according to the present embodiment, the vehicle body 10 is equipped with an illuminance sensor 41 capable of detecting the illuminance of the surroundings of the vehicle body 10. The surrounding conditions of the vehicle body 10 include the illuminance of the surroundings of the vehicle body 10.

[0074] This allows for accurate detection of the illuminance of the surroundings of the vehicle body 10. This allows the control unit 31 to more accurately adjust the illuminance of the light emitted by one or more identification lamps 22. This allows for more appropriate balancing between informing the surroundings of the driving mode and reducing the glare felt by people.

[0075] Furthermore, in the control device 30 according to this embodiment, the control unit 31 controls the one or more identification lights 22 so that the higher the ambient illuminance in the vehicle body 10, the closer to maximum illuminance the one or more identification lights 22 are to the reference illuminance at which the lighting and blinking of the one or more identification lights 22 can be confirmed, and the lower the ambient illuminance in the vehicle body 10, the closer to the reference illuminance the one or more identification lights 22 are to the reference illuminance.

[0076] This allows people around the vehicle body 10 to see the light emitted by one or more identification lights 22. In addition, when the illuminance is brought closer to the reference illuminance from the maximum illuminance, an increase in power consumption in the self-propelled vehicle 1 can be suppressed.

[0077] In addition, in the control device 30 of this embodiment, the control unit 31 is capable of adjusting the illuminance of light emitted by the one or more identification lights 22 by controlling the output of the one or more identification lights 22 in accordance with the surrounding conditions in the vehicle body 10, or controls the direction of light emitted by the one or more identification lights 22 in accordance with the surrounding conditions in the vehicle body 10.

[0078] According to this, by controlling the output of one or more identification lights 22 or by controlling the direction of the light emitted by one or more identification lights 22, the glare felt by people around the vehicle body 10 can be reduced.

[0079] In the control device 30 according to this embodiment, the surrounding situation of the vehicle body 10 includes a situation in which another vehicle approaches the vehicle body 10.

[0080] According to this, when another vehicle approaches the vehicle body 10, the illuminance of the light emitted by one or more identification lamps 22 can be adjusted.

[0081] In addition, in the control device 30 of this embodiment, when another vehicle approaches the vehicle body 10, the control unit 31 controls one or more identification lights 22 so that the illuminance approaches a standard illuminance at which the lighting and flashing of one or more identification lights 22 can be confirmed from the maximum illuminance.

[0082] According to this, when another vehicle approaches the vehicle body 10, the glare felt by passengers in the other vehicle due to the light emitted by the identification lamp 22 can be reduced.

[0083] In the control device 30 according to this embodiment, the vehicle body 10 is equipped with two identification lights 22. One of the two identification lights 22 is disposed on the front side of the vehicle body 10, and the other is disposed on the rear side of the vehicle body 10. The control unit 31 controls the two identification lights 22 so that the illuminance of the light from the identification light 22 disposed on the rear side of the vehicle body 10 is higher than that of the identification light 22 disposed on the front side of the vehicle body 10.

[0084] This makes it possible to reduce the glare felt by passengers in oncoming vehicles approaching from the front of the vehicle body 10 due to the light emitted by the identification lamp 22.

[0085] In the control device 30 according to this embodiment, the surrounding conditions of the vehicle body 10 include a condition in which fog is occurring around the vehicle body 10.

[0086] According to this, when fog occurs around the vehicle body 10, the illuminance of the light emitted by one or more identification lamps 22 can be adjusted.

[0087] In addition, in the control device 30 according to this embodiment, the control unit 31 controls one or more identification lights 22 so as to increase the illuminance of the light emitted compared to when there is no fog around the vehicle body 10.

[0088] According to this, even if fog occurs around the vehicle body 10, the illuminance of the light emitted by one or more identification lamps 22 can be increased compared to when there is no fog around the vehicle body 10, so that the light can be seen by people around the vehicle body 10.

[0089] In the control device 30 according to this embodiment, the multiple driving modes include a sidewalk driving mode in which the vehicle body 10 autonomously drives on a sidewalk at a first speed, and a roadway driving mode in which the vehicle body 10 autonomously drives on a roadway at a second speed that is faster than the first speed. The control unit 31 controls the one or more identification lights 22 so that the illuminance of the light emitted is different between the roadway driving mode and the sidewalk driving mode.

[0090] According to this, the illuminance of the light emitted by the one or more identification lights 22 can be made different depending on the driving mode. Therefore, people in the vicinity can recognize in which driving mode the vehicle body 10 is traveling just by the light emitted by the one or more identification lights 22.

[0091] In the control device 30 according to this embodiment, the multiple driving modes include a sidewalk driving mode in which the vehicle body 10 autonomously drives on a sidewalk at a first speed, and a roadway driving mode in which the vehicle body 10 autonomously drives on a roadway at a second speed that is faster than the first speed. The control unit 31 controls the one or more identification lights 22 so that the illuminance of the light emitted in the sidewalk driving mode is lower than that in the roadway driving mode.

[0092] According to this, when the vehicle body 10 is in the roadway driving mode, which has a higher maximum speed than in the sidewalk driving mode, the illuminance of the light emitted by one or more identification lights 22 can be increased, making the light more easily visible to passengers in other vehicles traveling on the roadway.

[0093] In the control device 30 according to this embodiment, the surrounding conditions of the vehicle body 10 include conditions relating to the current time in the vehicle body 10.

[0094] This allows the illuminance of the light emitted by one or more identification lamps 22 to be adjusted according to the current time. This eliminates the need to use a sensor to detect the brightness of the surroundings of the vehicle body 10. As a result, it is possible to suppress the rise in manufacturing costs of the self-propelled vehicle 1.

[0095] Furthermore, in the control device 30 according to this embodiment, the control unit 31 controls the one or more identification lights 22 so that the illuminance of the light emitted becomes higher as the current time approaches daytime, and controls the one or more identification lights 22 so that the illuminance of the light emitted approaches a reference illuminance at which the lighting and blinking of the one or more identification lights 22 can be confirmed as the current time approaches daytime and approaches nighttime.

[0096] According to this, the illuminance of the surroundings of the vehicle body 10 can be estimated according to the time, so that the illuminance of the light emitted by one or more identification lamps 22 can be adjusted according to the current time.

[0097] Furthermore, if the current time is daytime, particularly at noon, the illuminance of the surroundings of the vehicle body 10 is considered to be the highest, so by making the illuminance of the light emitted by the one or more identification lights 22 higher than the reference illuminance, the light can be made visible to people around the vehicle body 10. Furthermore, since the illuminance of the surroundings of the vehicle body 10 is considered to be lower as the sun sets, the illuminance of the light emitted by the one or more identification lights 22 can be made closer to the reference illuminance, so the light can be made visible to people around the vehicle body 10. Furthermore, by making the illuminance of the light emitted by the one or more identification lights 22 closer to the reference illuminance as the sun sets, an increase in power consumption in the self-propelled vehicle 1 can be suppressed.

[0098] In the control device 30 according to the present embodiment, the vehicle body 10 is equipped with a human detection sensor 44 capable of detecting a person present around the vehicle body 10. The surrounding situation around the vehicle body 10 includes a situation in which a person approaches the vehicle body 10.

[0099] This makes it possible to reduce the glare felt by a person due to the light emitted by one or more identification lamps 22 when the person approaches the vehicle body 10.

[0100] Furthermore, in the control device 30 according to this embodiment, the control unit 31 controls the illuminance of light emitted by the one or more identification lights 22 so that the closer the person gets to the vehicle body 10, the closer the illuminance of light emitted by the one or more identification lights 22 gets to the standard illuminance at which the lighting and flashing of the one or more identification lights 22 can be confirmed, from the maximum illuminance, and controls the farther the person gets from the vehicle body 10, the closer the illuminance of light emitted by the one or more identification lights 22 gets to the maximum illuminance, from the standard illuminance at which the lighting and flashing of the one or more identification lights 22 can be confirmed, from the maximum illuminance.

[0101] This makes it possible to reduce the glare felt by people due to the light emitted by one or more identification lamps 22.

[0102] (Modification of the embodiment) First, with reference to FIG. 4, a control device 30, a self-propelled vehicle 1a, and a control method according to this modified example will be described.

[0103] FIG. 4 is a perspective view showing a control device 30 and a self-propelled vehicle 1a according to a modification of the embodiment.

[0104] This modified example differs from the control device, self-propelled vehicle, and control method of the embodiment in that two identification lights 22 are provided on both ends of the handle 17. Unless otherwise specified, other configurations in this modified example are similar to the control device, self-propelled vehicle, and control method of the embodiment, and the same configurations are given the same reference numerals and detailed description of the configurations is omitted.

[0105] In this modified example, as shown in Fig. 4, one of the two identification lights 22 is disposed on the right side of the handlebar 17 of the vehicle body 10, and the other of the two identification lights 22 is disposed on the left side of the handlebar 17. In this modified example, one of the two identification lights 22 is disposed on the right end of the handlebar 17, and the other of the two identification lights 22 is disposed on the left end of the handlebar 17. Each of the two identification lights 22 is visible from the front and rear of the vehicle body 10. Therefore, even when each of the two identification lights 22 is lit and flashing, the light can be seen from the front and rear of the vehicle body 10.

[0106] When the turn indicator 24 indicates that the vehicle body 10 is turning right or left, the control unit 31 controls the identification light 22 on the side indicating that the vehicle body 10 is turning right or left so as to approach the reference illuminance from the maximum illuminance. For example, when the vehicle body 10 is turning left, the control unit 31 causes the left turn indicator 24 to flash and reduces the illuminance of the light emitted by the left identification light 22 to approach the reference illuminance. Also, when the vehicle body 10 is turning right, the control unit 31 causes the right turn indicator 24 to flash and reduces the illuminance of the light emitted by the right identification light 22 to approach the reference illuminance.

[0107] The direction indicator 24 and the identification lamp 22 are housed in separate housings, and the direction indicator 24 and the identification lamp 22 can be connected or separated.

[0108] Furthermore, when the turn indicator 24 indicates that the vehicle body 10 is turning right or left, the control unit 31 may control the identification light 22 on the side opposite to the side indicating that the vehicle body 10 is turning right or left so as to approach maximum illuminance from the reference illuminance. For example, when the vehicle body 10 is turning left, the control unit 31 causes the left turn indicator 24 to flash and increases the illuminance of the light emitted by the right identification light 22 to approach maximum illuminance. When the vehicle body 10 is turning right, the control unit 31 causes the right turn indicator 24 to flash and increases the illuminance of the light emitted by the left identification light 22 to approach maximum illuminance.

[0109] Next, the effects of the control device 30, the self-propelled vehicle 1a, and the control method according to this modification will be described.

[0110] As described above, in the control device 30 according to this modified example, the vehicle body 10 is equipped with two identification lights 22 and a turn indicator 24 capable of indicating right or left turns of the vehicle body 10. One of the two identification lights 22 is disposed on the right side of the vehicle body 10, and the other of the two identification lights 22 is disposed on the left side of the vehicle body 10. When the turn indicator 24 indicates a right or left turn of the vehicle body 10, the control unit 31 controls the illuminance of the identification light 22 on the side indicating a right or left turn of the vehicle body 10 from the maximum illuminance to approach a reference illuminance at which lighting and blinking can be confirmed.

[0111] According to this, when the vehicle body 10 turns left, the illuminance of the light emitted by the left identification light 22 can be reduced to approach the reference illuminance, and when the vehicle body 10 turns right, the illuminance of the light emitted by the right identification light 22 can be reduced to approach the reference illuminance. Therefore, people around the vehicle body 10 can recognize the light of the turn signal 24 on the side where the vehicle body 10 is turning.

[0112] In addition, in the control device 30 of this modified example, when the turn indicator 24 indicates that the vehicle body 10 is to turn right or left, the control unit 31 controls the illuminance of the identification light 22 on the opposite side to the side indicating the right or left turn of the vehicle body 10 so that it approaches the maximum illuminance from the reference illuminance.

[0113] According to this, when the vehicle body 10 turns left, the illuminance of the light emitted by the right identification lamp 22 can be increased to approach the maximum illuminance, and when the vehicle body 10 turns right, the illuminance of the light emitted by the right identification lamp 22 can be increased to approach the maximum illuminance. Therefore, people around the vehicle body 10 can recognize the light of the turn signal 24 on the side where the vehicle body 10 is turning.

[0114] (Other variations, etc.) Although the present disclosure has been described above based on the embodiment and the modified examples of the embodiment, the present disclosure is not limited to the above-described embodiment and the modified examples of the embodiment.

[0115] For example, in the above embodiment and the modified example of the embodiment, the surrounding situation of the vehicle body includes at least one of the following: the illuminance of the surroundings of the vehicle body, a situation in which another vehicle approaches the vehicle body, a situation in which fog is occurring around the vehicle body, a situation related to the current time of the vehicle body, and a situation in which a person approaches the vehicle body. By combining these, the control unit may be able to adjust the illuminance of the light emitted by the two identification lights by controlling the two identification lights according to the multiple combined situations.

[0116] In the above embodiment and the modified example of the embodiment, the control unit may be capable of adjusting the illuminance of the light emitted by the two identification lights by controlling the two identification lights according to the remaining charge of the battery mounted on the vehicle body. For example, the control unit may gradually reduce the illuminance of the light emitted by the two identification lights from the maximum illuminance to the reference illuminance as the remaining charge of the battery mounted on the vehicle body approaches empty from a fully charged state.

[0117] In the above embodiment and the modified example of the embodiment, the currently set driving mode is not limited to being switched by a person operating the mode setting unit. For example, the control unit may determine whether the self-propelled vehicle is traveling on a sidewalk or a roadway based on information detected by a camera sensor or a GPS (Global Positioning System) sensor mounted on the vehicle body.

[0118] In the above-described embodiment and modified examples of the embodiment, the vehicle body may be equipped with at least one of an illuminance sensor, a proximity sensor, an image sensor, and a human detection sensor.

[0119] In addition, the present disclosure also includes forms obtained by applying various modifications to the embodiments and modified examples of the embodiments that would come to mind by a person skilled in the art, and forms realized by arbitrarily combining the components and functions of the embodiments and modified examples of the embodiments within the scope that does not deviate from the spirit of the present disclosure.

[0120] (Additional Note) The following describes the features of the control device, the self-propelled vehicle, and the control method described based on the above embodiment and the modified example of the embodiment. <Technology 1> A control device mounted on a vehicle body capable of traveling in a plurality of traveling modes, An acquisition unit that acquires a surrounding situation of the vehicle body; A control unit. The control unit is one or more identification lamps mounted on the vehicle body, the one or more identification lamps being capable of being controlled to light up in a predetermined lighting manner in accordance with each of the plurality of driving modes, thereby enabling a surrounding person to identify that the vehicle body is driving in a particular driving mode; By controlling one or more of the identification lights according to the surrounding conditions of the vehicle body, the illuminance of the light emitted by the one or more identification lights can be adjusted. Control device. <Technology 2> The vehicle body is equipped with an illuminance sensor capable of detecting the illuminance of the surroundings of the vehicle body, The surrounding conditions of the vehicle body include the surrounding illuminance of the vehicle body. The control device according to technique 1. <Technology 3> The control unit is controlling the one or more identification lamps so that the illumination level approaches a maximum illumination level from a reference illumination level at which the illumination level and blinking of the one or more identification lamps can be confirmed as the illumination level of the surroundings of the vehicle body increases; The one or more identification lights are controlled so that the illumination intensity approaches the reference illumination intensity from the maximum illumination intensity as the illumination intensity around the vehicle body decreases. The control device according to technique 2. <Technology 4> The control unit is The illuminance of the light emitted by the one or more identification lamps can be adjusted by controlling the output of the one or more identification lamps according to the surrounding conditions of the vehicle body, or The direction of light emitted by one or more of the identification lamps is controlled according to the surrounding conditions of the vehicle body. The control device according to technique 1. <Technology 5> The vehicle body includes: The vehicle is equipped with two of the identification lights and a turn indicator capable of indicating right and left turns of the vehicle body, One of the two identification lights is disposed on the right side of the vehicle body, and the other of the two identification lights is disposed on the left side of the vehicle body; When the turn signal indicates a right or left turn of the vehicle body, the control unit controls the illuminance of the identification lamp on the side indicating the right or left turn of the vehicle body so that the illuminance approaches a reference illuminance at which lighting and blinking can be confirmed from a maximum illuminance. The control device according to any one of the first to fourth aspects. <Technology 6> When the direction indicator indicates a right or left turn of the vehicle body, the control unit controls the illuminance of the identification lamp on the side opposite to the side indicating the right or left turn of the vehicle body so as to approach the maximum illuminance from the reference illuminance. The control device according to technique 5. <Technology 87> The surrounding situation of the vehicle body includes a situation in which another vehicle approaches the vehicle body. The control device according to any one of the first to sixth aspects. <Technology 8> When another vehicle approaches the vehicle body, the control unit controls one or more of the identification lights so that the illumination intensity approaches a reference illumination intensity at which the illumination and blinking of the one or more identification lights can be confirmed from a maximum illumination intensity. The control device according to technique 7. <Technology 9> The vehicle body is equipped with two of the identification lamps, One of the two identification lamps is disposed on the front side of the vehicle body, and the other is disposed on the rear side of the vehicle body; The control unit controls the two identification lamps so that the identification lamp arranged on the rear side of the vehicle body has a higher illuminance than the identification lamp arranged on the front side of the vehicle body. The control device according to any one of the first to eighth aspects. <Technology 10> The surrounding conditions of the vehicle body include a condition in which fog is occurring around the vehicle body. The control device according to any one of the first to ninth aspects. <Technology 11> The control unit controls the one or more identification lamps so as to increase the illuminance of the light emitted compared to when there is no fog around the vehicle body. The control device according to technology 10. <Technology 12> The plurality of driving modes include a sidewalk driving mode in which the vehicle body autonomously drives on a sidewalk at a first speed, and a roadway driving mode in which the vehicle body autonomously drives on a roadway at a second speed that is faster than the first speed, The control unit controls one or more of the identification lights so as to make the illuminance of the light emitted different between the roadway driving mode and the sidewalk driving mode. The control device according to any one of the first to eleventh aspects. <Technology 13> The plurality of driving modes include a sidewalk driving mode in which the vehicle body autonomously drives on a sidewalk at a first speed, and a roadway driving mode in which the vehicle body autonomously drives on a roadway at a second speed that is faster than the first speed, The control unit controls one or more of the identification lamps so that the illuminance of the light emitted in the sidewalk driving mode is lower than that in the roadway driving mode. The control device according to any one of the first to twelfth aspects. <Technology 14> The surrounding situation of the vehicle body includes a situation related to the current time of the vehicle body. The control device according to any one of the first to thirteenth aspects. <Technology 15> The control unit is controlling one or more of the identification lights so that the illuminance of the light emitted increases as the current time approaches daytime; The one or more identification lights are controlled so that the illuminance of the light emitted approaches a reference illuminance at which the lighting and blinking of the one or more identification lights can be confirmed as the current time approaches night from daytime. The control device according to technology 14. <Technology 16> The vehicle body is equipped with a human detection sensor capable of detecting a person present around the vehicle body, The surrounding situation of the vehicle body includes a situation in which a person approaches the vehicle body. The control device according to any one of the first to fifth aspects. <Technology 17> The control unit is controlling the illuminance of light emitted by one or more of the identification lamps so that the illuminance approaches a reference illuminance at which the lighting and blinking of the one or more identification lamps can be confirmed from a maximum illuminance as a person approaches the vehicle body; The illuminance of the light emitted by one or more of the identification lamps is controlled so that the illuminance approaches the maximum illuminance from the reference illuminance as the person moves away from the vehicle body. The control device according to any one of the first to sixteenth aspects. <Technology 18> A control device according to any one of technical features 1 to 17; a vehicle body on which the control device is mounted, The vehicle body is capable of running independently using self-propelled power from an electric motor. Self-propelled vehicle. <Technology 19> Acquiring surrounding conditions of a vehicle body capable of traveling in a plurality of traveling modes; One or more identification lights mounted on the vehicle body are controllable to light in a predetermined lighting manner according to each of the plurality of driving modes, thereby allowing a surrounding person to identify that the vehicle body is driving in a particular driving mode; and and controlling one or more of the identification lights in accordance with a surrounding situation of the vehicle body, thereby adjusting the illuminance of the light emitted by the one or more identification lights. Control methods. [Explanation of symbols]

[0121] 1, 1a Self-propelled vehicles 30 Control device 31 Control Unit 33 Acquisition Department 41 Illuminance sensor 44 Human detection sensor

Claims

1. A control device mounted on a vehicle body capable of traveling in a plurality of traveling modes, An acquisition unit that acquires a surrounding situation of the vehicle body; A control unit. The control unit is one or more identification lamps mounted on the vehicle body, the one or more identification lamps being capable of being controlled to light up in a predetermined lighting manner in accordance with each of the plurality of driving modes, thereby enabling a surrounding person to identify that the vehicle body is driving in a particular driving mode; By controlling one or more of the identification lights in accordance with the surrounding conditions of the vehicle body, the illuminance of the light emitted by the one or more identification lights can be adjusted. Control device.

2. The vehicle body is equipped with an illuminance sensor capable of detecting the illuminance of the surroundings of the vehicle body, The surrounding conditions of the vehicle body include the surrounding illuminance of the vehicle body. The control device according to claim 1 .

3. The control unit is controlling the one or more identification lamps so that the illumination level approaches a maximum illumination level from a reference illumination level at which the illumination level and blinking of the one or more identification lamps can be confirmed as the illumination level of the one or more identification lamps increases; The one or more identification lights are controlled so that the illumination intensity approaches the reference illumination intensity from the maximum illumination intensity as the illumination intensity around the vehicle body decreases. The control device according to claim 2.

4. The control unit is The illuminance of the light emitted by the one or more identification lamps can be adjusted by controlling the output of the one or more identification lamps according to the surrounding conditions of the vehicle body, or The direction of light emitted by one or more of the identification lamps is controlled according to the surrounding conditions of the vehicle body. The control device according to claim 1 .

5. The vehicle body includes: The vehicle is equipped with two of the identification lights and a turn indicator capable of indicating right and left turns of the vehicle body, One of the two identification lights is disposed on the right side of the vehicle body, and the other of the two identification lights is disposed on the left side of the vehicle body, When the turn signal indicates a right or left turn of the vehicle body, the control unit controls the illuminance of the identification lamp on the side indicating the right or left turn of the vehicle body so that the illuminance approaches a reference illuminance at which lighting and blinking can be confirmed from a maximum illuminance. The control device according to any one of claims 1 to 4.

6. When the direction indicator indicates a right or left turn of the vehicle body, the control unit controls the illuminance of the identification lamp on the side opposite to the side indicating the right or left turn of the vehicle body so as to approach the maximum illuminance from the reference illuminance. The control device according to claim 5.

7. The surrounding situation of the vehicle body includes a situation in which another vehicle approaches the vehicle body. The control device according to any one of claims 1 to 4.

8. When another vehicle approaches the vehicle body, the control unit controls one or more of the identification lights so that the illuminance approaches a reference illuminance at which the lighting and blinking of the one or more identification lights can be confirmed from a maximum illuminance. The control device according to claim 7.

9. The vehicle body is equipped with two of the identification lamps, One of the two identification lamps is disposed on a front side of the vehicle body, and the other is disposed on a rear side of the vehicle body, The control unit controls the two identification lights so that the illuminance of the identification light arranged on the rear side of the vehicle body is higher than that of the identification light arranged on the front side of the vehicle body. The control device according to any one of claims 1 to 4.

10. The surrounding conditions of the vehicle body include a condition in which fog is occurring around the vehicle body. The control device according to any one of claims 1 to 4.

11. The control unit controls the one or more identification lamps so as to increase the illuminance of the light emitted compared to when there is no fog around the vehicle body. The control device according to claim 10.

12. The plurality of driving modes include a sidewalk driving mode in which the vehicle body autonomously drives on a sidewalk at a first speed, and a roadway driving mode in which the vehicle body autonomously drives on a roadway at a second speed that is faster than the first speed, The control unit controls the one or more identification lights so that the illuminance of the light emitted is different between the roadway driving mode and the sidewalk driving mode. The control device according to any one of claims 1 to 4.

13. The plurality of driving modes include a sidewalk driving mode in which the vehicle body autonomously drives on a sidewalk at a first speed, and a roadway driving mode in which the vehicle body autonomously drives on a roadway at a second speed that is faster than the first speed, The control unit controls the one or more identification lights so that the illuminance of the light emitted in the sidewalk driving mode is lower than that in the roadway driving mode. The control device according to any one of claims 1 to 4.

14. The surrounding situation of the vehicle body includes a situation related to the current time of the vehicle body. The control device according to any one of claims 1 to 4.

15. The control unit is controlling one or more of the identification lights so that the illuminance of the light emitted increases as the current time approaches daytime; The one or more identification lights are controlled so that the illuminance of the light emitted approaches a reference illuminance at which the lighting and blinking of the one or more identification lights can be confirmed as the current time approaches night from daytime. The control device according to claim 14.

16. The vehicle body is equipped with a human detection sensor capable of detecting a person present around the vehicle body, The surrounding situation of the vehicle body includes a situation in which a person approaches the vehicle body. The control device according to any one of claims 1 to 4.

17. The control unit is controlling the illuminance of light emitted by one or more of the identification lamps so that the illuminance approaches a reference illuminance at which the lighting and blinking of the one or more identification lamps can be confirmed from a maximum illuminance as a person approaches the vehicle body; The illuminance of the light emitted by one or more of the identification lamps is controlled so that the illuminance approaches the maximum illuminance from the reference illuminance as the person moves away from the vehicle body. The control device according to any one of claims 1 to 4.

18. A control device according to any one of claims 1 to 4, a vehicle body on which the control device is mounted, The vehicle body is capable of running independently using self-propelled power from an electric motor. Self-propelled vehicle.

19. Acquiring surrounding conditions of a vehicle body capable of traveling in a plurality of traveling modes; One or more identification lamps mounted on the vehicle body are controllable to light up in a predetermined lighting manner in accordance with each of the plurality of driving modes, thereby allowing a surrounding person to identify that the vehicle body is driving in a particular driving mode; and and controlling one or more of the identification lights in accordance with a surrounding situation of the vehicle body, thereby adjusting the illuminance of the light emitted by the one or more identification lights. Control methods.

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