Control device for moving body, control method for moving body, and program

Abstract

To curb the generation of inefficient routes in terms of the orientation of a robot when a route to a destination is generated.SOLUTION: A control device for a moving body includes: a recognition section that recognizes a surrounding situation of a moving body on the basis of at least an image obtained by imaging the surrounding situation of the moving body; a generation section that generates a route from the moving body to a destination on the basis of the recognized surrounding situation and the set destination; a determination section that determines whether an angle formed by a travelling direction of the moving body along the generated route and a straight line from the moving body to the destination satisfies a predetermined condition; and a control section that controls the moving body such that the moving body moves to the destination along the generated route. When the determination section determines that the angle satisfies the predetermined condition, the control section turns the moving body on the spot, and the generation section regenerates the route from the moving body, which has turned on the spot, to the destination.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Conventionally, robots that guide users to desired locations or transport luggage are known (see, for example, Patent Document 1). The robots move at a speed that is up to the set maximum speed by referring to a movement speed database that associates maximum movement speeds with each area in an environment. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-111011 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, when generating a path to a destination, prior art robots sometimes generate inefficient paths without changing the orientation of the robot.

[0005] The present invention has been made taking these circumstances into consideration, and one of its objectives is to provide a moving body control device, a moving body control method, and a program that can prevent the generation of inefficient paths in terms of robot orientation when generating a path to a destination. [Means for solving the problem]

[0006] The control device for a moving object, the control method for a moving object, and the program according to the present invention employ the following configuration. (1): A control device for a moving body according to one embodiment of the present invention includes a recognition unit that recognizes the surrounding conditions of the moving body based at least on an image of the surrounding conditions of the moving body; a generation unit that generates a route from the moving body to the destination based on the recognized surrounding conditions and a set destination; a determination unit that determines whether an angle between a traveling direction of the moving body along the generated route and a straight line from the moving body to the destination satisfies a predetermined condition; and a control unit that controls the moving body so that the moving body moves to the destination along the generated route. When the determination unit determines that the angle satisfies the predetermined condition, the control unit rotates the moving body on the spot, and the generation unit regenerates the route from the moving body that has rotated on the spot to the destination.

[0007] (2) In the above aspect (1), the predetermined condition is that the angle is equal to or greater than a first threshold value.

[0008] (3): In the above aspect (2), the determination unit determines whether an angle between a direction of travel of the moving body along the regenerated route and a straight line from the moving body to the destination is less than a second threshold value, and if it is determined that the angle is less than the second threshold value, the control unit controls the moving body so that the moving body moves to the destination along the regenerated route, and the second threshold value is a value smaller than the first threshold value.

[0009] (4): In the above aspect (1), the moving object operates in either a following mode in which it moves to follow the user, or a guidance mode in which it moves in front of the user at a speed matching that of the user.

[0010] (5): In the above aspect (4), when the moving object operates in the following mode, the destination is the user or a point within a predetermined range from the user.

[0011] (6): In the above aspect (4), when the moving body operates in the guidance mode, the destination is a point set by the user or a point within a predetermined range in front of the user.

[0012] (7): In the above aspect (4), when the moving body operates in the guidance mode, the destination is an interim point temporarily set in order to reach a final point set by the user.

[0013] (8): A method for controlling a moving body according to another aspect of the present invention includes a computer recognizing a surrounding situation of the moving body based at least on an image capturing the surrounding situation of the moving body, generating a route from the moving body to the destination based on the recognized surrounding situation and a set destination, determining whether an angle between a traveling direction of the moving body along the generated route and a straight line from the moving body to the destination satisfies a predetermined condition, controlling the moving body so that the moving body moves to the destination along the generated route, and if it is determined that the angle satisfies the predetermined condition, rotating the moving body on the spot and regenerating a route from the moving body that has rotated on the spot to the destination.

[0014] (9): A program according to another aspect of the present invention causes a computer to recognize a surrounding situation of a moving body based at least on an image of the surrounding situation of the moving body, generate a route from the moving body to the destination based on the recognized surrounding situation and a set destination, determine whether an angle between a traveling direction of the moving body along the generated route and a straight line from the moving body to the destination satisfies a predetermined condition, control the moving body so that the moving body moves to the destination along the generated route, and, if it is determined that the angle satisfies the predetermined condition, rotate the moving body on the spot and regenerate a route from the moving body that has rotated on the spot to the destination. Effect of the Invention

[0015] According to aspects (1) to (9), when generating a route to a destination, it is possible to prevent the generation of an inefficient route in terms of the orientation of the robot. [Brief description of the drawings]

[0016] [Figure 1] 1 is a diagram showing an example of the configuration of a mobile object system 1 including a mobile object 100. FIG. [Diagram 2] FIG. 2 is a diagram for explaining an example of a usage mode of a moving object 100. [Diagram 3] FIG. 13 is a diagram for explaining a guidance mode. [Figure 4] FIG. 1 is a perspective view showing a moving body 100. [Diagram 5] 2 is a diagram illustrating an example of a functional configuration of a moving object 100. FIG. [Figure 6] FIG. 1 is a diagram showing an example of a scene in which a route is regenerated when a moving object 100 travels in a following mode. [Figure 7] FIG. 2 is a diagram showing an example of a route that is regenerated when the moving body 100 travels in a following mode. [Figure 8] FIG. 13 is a diagram showing an example of a scene in which a route is regenerated when the moving body 100 travels in a guidance mode. [Figure 9] FIG. 13 is a diagram showing an example of a route that is regenerated when the moving body 100 travels in a guidance mode. [Figure 10] 4 is a flowchart showing an example of the flow of processing executed by the control device 200. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, with reference to the drawings, embodiments of a control device for a moving object, a control method for a moving object, and a program according to the present invention will be described.

[0018] 1 is a diagram showing an example of the configuration of a mobile body system 1 including a mobile body 100. The mobile body system 1 includes, for example, one or more terminal devices 2, a management device 10, an information providing device 20, and one or more mobile bodies 100. These communicate with each other, for example, via a network NW. The network NW is any network, such as a LAN, a WAN, or an Internet line.

[0019] [Terminal Device] The terminal device 2 is, for example, a computer device such as a smartphone, a tablet terminal, etc. The terminal device 2 requests the provision of authority to use the mobile object 100 from the management device 10 based on, for example, an operation by a user, and obtains information indicating that the use has been permitted.

[0020] [Management device] In response to a request from the terminal device 2, the management device 10 grants the user of the terminal device 2 the authority to use the mobile object 100 and manages reservations for the use of the mobile object 100. The management device 10 generates and manages schedule information that associates, for example, preregistered user identification information with the date and time of reservations for the use of the mobile object 100.

[0021] [Information providing device] The information providing device 20 provides the mobile body 100 with the location of the mobile body 100, the area in which the mobile body 100 moves, and map information about the surrounding area. In response to a request from the mobile body 100, the information providing device 20 may generate a route to the destination of the mobile body 100 and provide the generated route to the mobile body 100.

[0022] [Mobile object] The mobile body 100 is used by a user in the following manner of use. FIG. 2 is a diagram for explaining an example of the manner of use of the mobile body 100. The mobile body 100 is placed, for example, at a predetermined position in a facility or a town. When a user wants to use the mobile body 100, the user can start using the mobile body 100 by operating an operation unit (not shown) of the mobile body 100, or can start using the mobile body 100 by operating the terminal device 2. For example, when a user goes shopping and has a lot of luggage, the user starts using the mobile body 100 and puts the luggage in a storage unit of the mobile body 100. Then, the mobile body 100 moves together with the user so as to autonomously follow the user. The user can continue shopping or move to the next destination with the luggage stored in the mobile body 100. For example, the mobile body 100 moves together with the user while moving on a sidewalk or a crosswalk on a roadway. The mobile body 100 can move in an area where pedestrians can pass, such as a roadway and a sidewalk. For example, the vehicle 100 may be used in indoor or outdoor facilities or private grounds, such as shopping centers, airports, parks, and theme parks, and is capable of moving through areas where pedestrians can pass through.

[0023] The moving body 100 may be capable of moving autonomously in a mode such as a guidance mode or an emergency mode in addition to (or instead of) the following mode in which the moving body 100 follows the user as described above.

[0024] FIG. 3 is a diagram for explaining the guidance mode. The guidance mode is a mode in which the user is guided to a destination specified by the user, and the mode autonomously moves in front of the user in accordance with the user's moving speed to guide the user. As shown in FIG. 3, when a user is looking for a specific product in a shopping center, if the user requests the mobile body 100 to guide the user to the location of the specific product, the mobile body 100 guides the user to the location of the product. This allows the user to easily find the specific product. When the mobile body 100 is used in a shopping center, the mobile body 100 or the information providing device 20 holds information in which the location of the product, the location of the store, the location of the facility in the shopping center, etc. are associated with map information, and map information of the shopping center. This map information includes detailed map information including the width of roads and passages.

[0025] The emergency mode is a mode in which the moving body 100 moves autonomously to request help from nearby people or facilities in order to help the user if something unusual happens to the user (e.g., the user falls) while moving with the user. In addition to (or instead of) following or guiding the user as described above, the moving body 100 may move while keeping a proper distance from the user.

[0026] 4 is a perspective view showing the moving body 100. In the following explanation, the forward direction of the moving body 100 is the plus x-direction, the rearward direction of the moving body 100 is the minus x-direction, the width direction of the moving body 100, which is the left direction based on the plus x-direction, the right direction is the minus y-direction, and the height direction of the moving body 100, which is a direction perpendicular to the x-direction and y-direction, is the plus z-direction.

[0027] The moving body 100 includes, for example, a base body 110, a door section 112 provided on the base body 110, and wheels (first wheel 120, second wheel 130, and third wheel 140) attached to the base body 110. For example, a user can open the door section 112 to put luggage into a storage section provided on the base body 110 or take luggage out of the storage section. The first wheel 120 and the second wheel 130 are driving wheels, and the third wheel 140 is an auxiliary wheel (driven wheel). The moving body 100 may be movable using a configuration other than wheels, such as caterpillars.

[0028] A cylindrical support 150 extending in the positive z direction is provided on the surface of the base 110 in the positive z direction. A camera 180 that captures an image of the surroundings of the moving body 100 is provided on the end of the support 150 in the positive z direction. The position at which the camera 180 is provided may be any position different from the above.

[0029] Camera 180 is, for example, a camera capable of capturing images of the periphery of moving body 100 at a wide angle (for example, 360 degrees). Camera 180 may include multiple cameras. Camera 180 may be realized by combining, for example, multiple 120-degree cameras or multiple 60-degree cameras.

[0030] 5 is a diagram showing an example of a functional configuration of the moving body 100. In addition to the functional configuration shown in FIG. 4, the moving body 100 further includes a first motor 122, a second motor 132, a battery 134, a brake device 136, a steering device 138, a communication unit 190, and a control device 200. The first motor 122 and the second motor 132 are operated by power supplied to the battery 134. The first motor 122 drives the first wheel 120, and the second motor 132 drives the second wheel 130. The first motor 122 may be an in-wheel motor provided in the wheel of the first wheel 120, and the second motor 132 may be an in-wheel motor provided in the wheel of the second wheel 130.

[0031] The brake device 136 outputs a brake torque to each wheel based on an instruction from the control device 200. The steering device 138 includes an electric motor. The electric motor applies a force to a rack-and-pinion mechanism based on an instruction from the control device 200 to change the direction of the first wheel 120 or the second wheel 130, thereby changing the course of the moving body 100.

[0032] The communication unit 190 is a communication interface for communicating with the terminal device 2 , the management device 10 , or the information providing device 20 .

[0033] [Control device] The control device 200 includes, for example, a recognition unit 202, a path generation unit 204, a path determination unit 206, a drive control unit 208, and a storage unit 220. The recognition unit 202, the path generation unit 204, the path determination unit 206, and the drive control unit 208 are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by cooperation between software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transient storage medium) such as an HDD (Hard Disk Drive) or a flash memory, or may be stored in a removable storage medium (non-transient storage medium) such as a DVD or a CD-ROM, and may be installed by mounting the storage medium in a drive device. The storage unit 220 is realized by a storage device such as a HDD, a flash memory, or a RAM (Random Access Memory). The storage unit 220 stores map information 222 referenced by the moving object 100. The map information 222 is, for example, map information on the location of the moving object 100 provided by the information providing device 20, the area in which the moving object 100 moves, and the surrounding area. A part or all of the functional configuration included in the control device 200 may be included in another device. For example, the moving object 100 and the other device may communicate with each other and cooperate to control the moving object 100.

[0034] The recognition unit 202 recognizes the position (distance from the moving body 100 and direction relative to the moving body 100) of an object in the vicinity of the moving body 100, and the state of the object such as speed and acceleration, based on, for example, an image captured by the camera 180. The object includes traffic participants and obstacles present in a facility or on a road. The recognition unit 202 recognizes and tracks the user of the moving body 100. For example, the recognition unit 202 tracks the user based on an image (e.g., a face image of the user) captured by the user who is registered when the user uses the moving body 100, or a face image of the user (or a feature amount obtained from the face image of the user) provided by the terminal device 2 or the management device 10. The recognition unit 202 recognizes a gesture made by the user. Note that the moving body 100 may be provided with a detection unit different from a camera, such as a radar device or LIDAR. In this case, the recognition unit 202 recognizes the situation around the moving body 100 using the detection result of the radar device or LIDAR instead of (or in addition to) the image.

[0035] The route generating unit 204 generates a route to the destination based on the surrounding situation of the mobile object 100 recognized by the recognition unit 202. Here, the destination represents the user itself to be followed or a point within a predetermined range from the user when the mobile object 100 is in the following mode. For example, the route generating unit 204 may set the destination to a predetermined point diagonally behind the user so that the mobile object 100 can follow the user and be visible to the user. Also, for example, the route generating unit 204 may determine the destination so as to keep it within a predetermined distance based on the walking speed of the user in order to prevent the mobile object 100 from getting too far away from the user. When the mobile object 100 is in the guidance mode, the destination represents, for example, the location of a product or facility set by the user. In this case, the user specifies the location of the product or facility, and the mobile object 100 compares the location of the specified product or facility with the map information 222, and sets the location of the product or facility identified as a result of the comparison as the destination. In addition, when in the guidance mode, if the point set by the user is far from the current location of the mobile body 100, the route generating unit 204 may set the point set by the user as the final destination and set a point within a predetermined range from the current location as a provisional destination. In addition, in the guidance mode, the user does not necessarily have to set the destination, and the mobile body 100 may predict the direction in which the user will move and autonomously move in front of the user at the user's moving speed. In this case, the route generating unit 204 may set the destination of the mobile body 100 as a point within a predetermined range ahead of the user. The route is a route that allows the moving body 100 to reach the destination reasonably, taking into consideration the forward direction of the moving body 100 (i.e., the x direction of the moving body 100). For example, the distance to the destination, the time required to reach the destination, the ease of travel of the route, etc. are scored, and a route is derived in which each score and the combined score of the scores are equal to or greater than a threshold. The route may be generated by any algorithm that takes into consideration at least the forward direction of the moving body 100. Details of the process executed by the route determination unit 206 will be described later.

[0036] The drive control unit 208 controls the motors (the first motor 122 and the second motor 132), the brake device 136, and the steering device 138 so that the moving body 100 travels along the path generated by the path generation unit 204.

[0037] [Regenerate route] When the route generating unit 204 generates a route, the route determining unit 206 determines whether or not the angle between the traveling direction of the moving body 100 along the generated route and a straight line from the moving body 100 to the destination is equal to or greater than a first threshold value Th1. When the route determining unit 206 determines that the angle is equal to or greater than the first threshold value Th1, the drive control unit 208 controls the motors (the first motor 122 and the second motor 132) and the steering device 138 so that the moving body 100 turns on the spot. Thereafter, the route generating unit 204 regenerates a route from the moving body 100 that has turned on the spot to the destination, and the route determining unit 206 determines whether or not the angle between the traveling direction of the moving body 100 along the regenerated route and a straight line from the moving body 100 to the destination is less than a second threshold value Th2. When the route determining unit 206 determines that the angle is less than the second threshold value Th2, the drive control unit 208 causes the moving body 100 to travel along the route regenerated by the route generating unit 204. Here, the second threshold Th2 is set in advance as a value smaller than the first threshold Th1. By setting the second threshold Th2 in advance as a value smaller than the first threshold Th1, it is assumed that the regenerated route is a route that is more efficient in the forward direction of the moving body 100. In other words, this makes it possible to prevent the generation of an inefficient route in terms of the orientation of the robot when generating a route toward a destination. A specific example of route regeneration according to the mode of the moving body 100 will be described below.

[0038] FIG. 6 is a diagram showing an example of a scene in which a route is regenerated when the moving body 100 runs in the following mode. In the scene shown in FIG. 6, since the moving body 100 runs in the following mode, the user U itself is set as the destination of the moving body 100. Furthermore, in FIG. 6, the symbol DL represents the traveling direction of the user U recognized by the recognition unit 202. When the moving body 100 runs in the following mode, the user U may suddenly change the traveling direction DL. In this case, the route generation unit 204 may generate an inefficient (circumventive) route for the moving body 100 in order to follow the user U who suddenly changes the traveling direction DL. When the route generation unit 204 generates a route TP1, the route determination unit 206 determines whether or not the angle α between the traveling direction of the moving body 100 along the generated route TP1 and a straight line RL from the moving body 100 to the user U is equal to or greater than a first threshold value Th1. In the case of Figure 6, the route determination unit 206 determines that the angle α is greater than or equal to the first threshold value Th1, so the drive control unit 208 turns the moving body 100 on the spot, and the route generation unit 204 regenerates a route from the moving body 100 that has turned on the spot to the user U.

[0039] FIG. 7 is a diagram showing an example of a route regenerated when the moving body 100 runs in the follow mode. The scene shown in FIG. 7 shows a situation in which the driving control unit 208 turns the moving body 100 on the spot in the scene shown in FIG. 6, and the route generating unit 204 regenerates a route from the moving body 100 that has turned on the spot to the user U. The route determining unit 206 determines whether or not the angle α between the traveling direction of the moving body 100 along the regenerated route TP2 and a straight line from the moving body 100 to the user U is less than the second threshold value Th2. In the case of FIG. 7, the route determining unit 206 determines that the angle α is less than the second threshold value Th2, so the driving control unit 208 causes the moving body 100 to run along the route regenerated by the route generating unit 204. 6 is an inefficient (circumventive) route for the moving body 100 due to the user U suddenly changing the traveling direction DL, whereas the route TP2 regenerated after the moving body 100 turns on the spot is expected to be a more efficient route for the moving body 100. This allows the moving body 100 to follow the user U more efficiently when the moving body 100 runs in the following mode.

[0040] FIG. 8 is a diagram showing an example of a scene in which a route is regenerated when the moving body 100 runs in the guidance mode. In the scene shown in FIG. 8, the moving body 100 runs in the guidance mode, and therefore a destination G is set in advance by the user. FIG. 8 shows, as an example, a case in which the destination G is a final destination set by the user, but as described above, the destination G may be a tentative destination within a predetermined range from the current location, which is set in order to reach the final destination set by the user. Furthermore, in FIG. 8, the symbol OB represents an obstacle recognized by the recognition unit 202. The recognition unit 202 may not be able to recognize the obstacle OB until the moving body 100 approaches the obstacle OB. In that case, the path generation unit 204 may generate an inefficient (circumventive) path for the moving body 100 in order to avoid the obstacle OB that is suddenly recognized. When the route TP1 is generated by the route generation unit 204, the route determination unit 206 determines whether or not the angle α between the traveling direction of the moving body 100 along the generated route TP1 and a straight line RL from the moving body 100 to the destination G is equal to or greater than a first threshold value Th1. In the case of FIG. 8, the route determination unit 206 determines that the angle α is equal to or greater than the first threshold value Th1, so the drive control unit 208 turns the moving body 100 on the spot, and the route generation unit 204 regenerates a route from the moving body 100 that has turned on the spot to the destination G.

[0041] FIG. 9 is a diagram showing an example of a route regenerated when the moving body 100 travels in the guidance mode. The scene shown in FIG. 9 shows a situation in which the driving control unit 208 turns the moving body 100 on the spot in the scene shown in FIG. 8, and the route generating unit 204 regenerates a route from the moving body 100 that has turned on the spot to the destination G. The route determining unit 206 determines whether or not the angle α between the traveling direction of the moving body 100 along the regenerated route TP2 and a straight line from the moving body 100 to the destination G is less than the second threshold value Th2. In the case of FIG. 8, the route determining unit 206 determines that the angle α is less than the second threshold value Th2, so the driving control unit 208 causes the moving body 100 to travel along the route regenerated by the route generating unit 204. 6 is an inefficient (circumventive) route for the moving body 100 due to the sudden recognition of the obstacle OB, whereas the route TP2 regenerated after the moving body 100 turns on the spot is expected to be a more efficient route for the moving body 100. This allows the moving body 100 to move more efficiently to the destination G when the moving body 100 travels in the guidance mode.

[0042] [Processing flow] Hereinafter, the flow of processing executed by the control device 200 will be described with reference to Fig. 10. Fig. 10 is a flowchart showing an example of the flow of processing executed by the control device 200. The processing shown in Fig. 10 is repeatedly executed while the moving body 100 is traveling in the following mode or the guidance mode.

[0043] First, the recognition unit 202 recognizes the surroundings of the moving object 100 based at least on an image of the surroundings of the moving object 100 (step S100). Next, the route generation unit 204 generates a route from the moving object 100 to the destination based on the recognized surroundings and the set destination (step S102).

[0044] Next, the route determination unit 206 determines whether the angle between the moving direction of the moving body 100 along the generated route and a straight line from the moving body 100 to the destination is equal to or greater than a first threshold value (step S104). If it is determined that the angle between the moving direction of the moving body 100 along the generated route and a straight line from the moving body 100 to the destination is less than the first threshold value, the drive control unit 208 causes the moving body 100 to travel along the route generated by the route generation unit 204 (step S110).

[0045] If it is determined that the angle between the moving direction of the moving body 100 along the generated route and the straight line from the moving body 100 to the destination is equal to or greater than the first threshold, the drive control unit 208 turns the moving body 100 on the spot by a predetermined angle, and the route generation unit 204 regenerates the route to the destination (step S106). Next, the route determination unit 206 determines whether the angle between the moving direction of the moving body 100 along the regenerated route and the straight line from the moving body 100 to the destination is less than a second threshold (step S108).

[0046] If it is determined that the angle between the moving direction of the moving body 100 along the regenerated route and the straight line from the moving body 100 to the destination is not less than the second threshold, the control device 200 executes the process of step 106 again. On the other hand, if it is determined that the angle between the moving direction of the moving body 100 along the regenerated route and the straight line from the moving body 100 to the destination is less than the second threshold, the drive control unit 208 causes the moving body 100 to travel along the route regenerated by the route generation unit 204 (step S110). This ends the process of this flowchart.

[0047] According to the present embodiment described above, when the angle between the moving direction of the moving body along the generated path and the straight line from the moving body to the destination is less than a first threshold, the moving body is made to travel along the generated path, whereas when the angle is equal to or greater than the first threshold, the path is regenerated until the angle between the moving direction of the moving body along the regenerated path and the straight line from the moving body to the destination is less than a second threshold. This makes it possible to prevent the generation of an inefficient path in terms of the orientation of the robot when generating a path to the destination.

[0048] The above-described embodiment can be expressed as follows. a storage medium for storing computer-readable instructions; a processor coupled to the storage medium; The processor executes the computer-readable instructions to: Recognizing a surrounding situation of the moving object based at least on an image obtained by capturing the surrounding situation of the moving object; generating a route from the moving body to the destination based on the recognized surrounding conditions and the set destination; determining whether an angle between a traveling direction of the moving object along the generated route and a straight line from the moving object to the destination satisfies a predetermined condition; Controlling the moving object so that the moving object moves to the destination along the generated route; when it is determined that the angle satisfies the predetermined condition, turning the moving body on the spot, and regenerating a route from the moving body that has turned on the spot to the destination; The control device for a moving object is configured as follows.

[0049] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0050] 100 Mobile 200 Control device 202 Recognition part 204 Route Generation Unit 206 Route Determination Unit 208 Drive control unit

Claims

1. A recognition unit that recognizes a surrounding situation of the moving object based at least on an image of the surrounding situation of the moving object; a generation unit that generates a route from the moving object to the destination based on the recognized surrounding conditions and a set destination; a determination unit that determines whether an angle between a traveling direction of the moving object along the generated route and a straight line from the moving object to the destination satisfies a predetermined condition; a control unit that controls the moving object so that the moving object moves to the destination along the generated route, When the determination unit determines that the angle satisfies the predetermined condition, the control unit turns the moving body on the spot, and the generation unit regenerates a route from the moving body that has turned on the spot to the destination. A control device for a moving object.

2. The predetermined condition is that the angle is equal to or greater than a first threshold value. The control device for a moving body according to claim 1 .

3. the determination unit determines whether or not an angle between a traveling direction of the moving object along the regenerated route and a straight line from the moving object to the destination is less than a second threshold value; When it is determined that the angle is less than the second threshold value, the control unit controls the moving object so that the moving object moves to the destination along the regenerated route; The second threshold value is smaller than the first threshold value. The control device for a moving body according to claim 2.

4. The moving object operates in either a following mode in which the moving object moves to follow the user, or a guide mode in which the moving object moves in front of the user at a moving speed matching that of the user. The control device for a moving body according to claim 1 .

5. When the moving object operates in the following mode, the destination is the user or a point within a predetermined range from the user. The control device for a moving body according to claim 4.

6. When the moving body operates in the guidance mode, the destination is a point set by the user or a point within a predetermined range in front of the user. The control device for a moving body according to claim 4.

7. When the moving object operates in the guidance mode, the destination is a temporary point that is temporarily set in order to reach a final point set by the user. The control device for a moving body according to claim 4.

8. The computer Recognizing a surrounding situation of the moving object based at least on an image obtained by capturing the surrounding situation of the moving object; generating a route from the moving body to the destination based on the recognized surrounding conditions and the set destination; determining whether an angle between a traveling direction of the moving object along the generated route and a straight line from the moving object to the destination satisfies a predetermined condition; Controlling the moving object so that the moving object moves to the destination along the generated route; when it is determined that the angle satisfies the predetermined condition, turning the moving body on the spot, and regenerating a route from the moving body that has turned on the spot to the destination; A method for controlling a moving object.

9. On the computer, Recognizing a surrounding situation of the moving object based at least on an image of the surrounding situation of the moving object; generating a route from the moving body to the destination based on the recognized surrounding conditions and the set destination; determining whether or not an angle between a traveling direction of the moving object along the generated route and a straight line from the moving object to the destination satisfies a predetermined condition; Controlling the moving object so that the moving object moves to the destination along the generated route; When it is determined that the angle satisfies the predetermined condition, the moving body is rotated on the spot, and a route from the moving body that has been rotated on the spot to the destination is regenerated. program.

Images