Control method, program, and control device

Abstract

To provide control technology that contributes to safe operation of moving vehicles.SOLUTION: A method for controlling moving vehicles includes: acquiring position information relating to a position of a moving vehicle; detecting, based on the position information, that the moving vehicle has entered a first region where the upper speed limit of the moving vehicle should be lower than a first speed; and executing a first control to set the upper speed limit of the moving vehicle when the moving vehicle enters the first region. The first control includes, in the first region, first setting for setting the upper speed limit of the moving vehicle to a second speed that is greater than the first speed, and then setting the upper speed limit of the moving vehicle to less than the first speed.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a control method and the like for controlling the speed of a moving body.

Background Art

[0002] As a control technology for the safe operation of a moving body, for example, Patent Document 1 discloses a speed warning device that gives an auditory or visual warning to the occupants of a host vehicle when the speed of the host vehicle is higher than the maximum speed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In recent years, micromobility such as electric kick scooters has become widespread and is being used in various places. Since micromobility is, for example, frequently used near pedestrians, it is desirable to apply a speed limit according to the location where it is used in consideration of safety.

[0005] The present invention has been made under such circumstances, and an object thereof is to provide a control technology that contributes to the safe operation of a moving body in consideration of the surrounding environment.

Means for Solving the Problems

[0006] According to one aspect of the present invention, a control method for a moving body includes acquiring position information regarding the position of the moving body, detecting that the moving body has entered a first region where the upper limit speed of the moving body should be set to a first speed or less based on the position information, and performing first control for setting the upper limit speed of the moving body when the moving body enters the first region.

Effects of the Invention

[0007] According to the present invention, by setting a maximum speed according to the location where the moving body is used, it is possible to provide a control technique that contributes to the safe operation of the moving body.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

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Figure 8

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Figure 10

Figure 11

Modes for Carrying Out the Invention

[0009] Hereinafter, an example of a mode for carrying out the present invention will be described with reference to the drawings. In the description of the drawings, the same elements may be denoted by the same reference numerals, and redundant descriptions may be omitted. In addition, the components described in these embodiments are merely examples, and are not intended to limit the scope of the present invention thereto.

[0010] [Embodiment] Hereinafter, embodiments for implementing the information processing technology of the present invention will be described. The content described in this embodiment is applicable to any of the other examples and variations.

[0011] Hereinafter, an example where the moving body is micromobility (which may be abbreviated as "MM") will be described. Note that the moving body in this embodiment may be any device that can move with a person on board, regardless of its type. For example, it may be a helicopter, a boat, an automobile, a motorcycle, a bicycle, or a kick scooter. Also, micromobility is a vehicle for one or two persons that is more compact and more maneuverable than an automobile and serves as a convenient means of transportation in the area. In micromobility, a battery may be used as a power source, which has advantages in terms of environmental performance. As micromobility, for example, it may be a vehicle for short-distance travel that is smaller than a passenger car and can accommodate a small number of people (for example, 1 to 2 persons), and may be, for example, an electric kick scooter, a microcar, an electric motorcycle, or an electric bicycle.

[0012] Note that in this embodiment, the case where the MM is an electric kick scooter is included. Since the electric kick scooter is small, it has the advantage of being able to be installed in a space-saving manner compared to a bicycle or the like. For example, when the electric kick scooter corresponds to a particular small motorized bicycle under the Road Traffic Law, a speed limit of 20 km / h may be imposed on the roadway, the exclusive motor vehicle lane, the bicycle lane, and the one-way road with a sign indicating that it is passable, and a speed limit of 6 km / h may be imposed on the roadside strip and the sidewalk when there is a sign indicating that it is passable.

[0013] FIG. 1 is a diagram showing an example of the configuration of a control system 1 for processing information related to an MM and controlling the MM. For example, in the control system 1, one or more micromobility devices 10 (MM10A, MM10B, MM10C, ···), one or more terminals 30 (terminal 30A, terminal 30B, terminal 30C, ···), and a server 20 are communicably connected via a network NW (e.g., the Internet).

[0014] The micromobility device 10 is an example of a control device installed in the MM and for controlling the MM. The terminal 30 is used to associate a user's account with the MM used by the user. For example, when a user of the terminal 30 uses the sharing service of the MM, the user can reserve the MM via their account in the sharing service, unlock the MM, and use it. Also, settlement of usage fees can be performed. Note that it is also possible for a user of the terminal 30 to drive an MM owned personally without using the sharing service. In this embodiment, regardless of whether the MM is lent by the sharing service, as will be described later, it is possible to control the speed of the MM based on information associated with the user's account of the terminal 30. The server 20 may be a server system composed of a plurality of servers. The network NW may be a communication network that connects the devices to each other by wired connection, wireless connection, or both.

[0015] The server 20 stores, for example, the range in which the MM can be used, in association with map information. Also, it stores the range (outline) of each area where an upper speed limit, which will be described later, is set, in association with the map information. Also, it manages the position and operating status of the MM. In the case of the sharing service, the server 20 has a function of managing the lending and returning of the MM in response to requests from the users of the terminal 30, etc. Also, the server 20 has a function of calculating, for example, usage fees corresponding to the lending of the MM.

[0016] FIG. 1 shows an example of the functional configuration of the server 20. Server 20 may be configured, for example, as a single server or as a distributed server composed of separate servers for each function. Server 20 may be configured as a distributed virtual server created in a cloud environment called a cloud server. Server 20 is configured to include, for example, a control unit 21, a storage unit 25, a communication unit 24, a clock unit 29, an input / output unit 22, and the like.

[0017] The control unit 21 is a processing device that comprehensively controls each part of the server 20 according to various programs such as system programs stored in the storage unit 25 and performs various processes related to information processing. It is configured to have a processor such as a CPU, GPU, DSP, or an integrated circuit such as an ASIC. The storage unit 25 is a storage device configured to include a volatile or non-volatile memory such as a ROM, EEPROM, flash memory, RAM, or a hard disk device. The storage unit 25 stores vector data for specifying the range (outline) of each area where the upper limit speed described later is set, in association with the map information.

[0018] The input / output unit 22 includes a device for inputting various operations to the server 20, a device for outputting the processing result processed by the server 20, and the like. The input / output unit 22 may have an integrated input unit and output unit or a separated one. The input unit is realized by, for example, a keyboard, a touch panel, or the like, and has a function of receiving an input from a user and transmitting information related to the input to the control unit 21. The output unit is realized by, for example, a display, a speaker, or the like, and has a function of outputting the processing result processed by the control unit 21. Here, the input / output unit 22 includes, for example, a display unit 23. The display unit 23 is a display device configured to include an LCD (Liquid Crystal Display), an OELD (Organic Electro-luminescence Display), or the like, and performs various displays based on the display signal output from the control unit 21.

[0019] The communication unit 24 is a communication device for transmitting and receiving information used inside the server 20 to and from external devices via a network. As the communication method of the communication unit 24, there are various applicable methods, such as a wired connection via a cable conforming to a predetermined communication standard such as Ethernet or USB (Universal Serial Bus), a wireless connection using a wireless communication technology conforming to a predetermined communication standard such as Wi-Fi (registered trademark) or 5G (fifth-generation mobile communication system), and a connection using short-range wireless communication such as Bluetooth (registered trademark).

[0020] The clock unit 29 is the built-in clock of the server 20, and outputs time information (timing information) acquired based on a clock using, for example, a crystal oscillator. Note that the clock unit 29 may acquire time information via the communication unit 24 and the network NW in accordance with the NITZ (Network Identity and Time Zone) standard or the like.

[0021] The micromobility device 10 is, for example, an in-vehicle device for vehicle management mounted on a shared electric kick scooter, as shown in FIG. 2 and the like. Note that the micromobility device 10 may be integrated with a vehicle mechanism and be the vehicle itself (MM). The micromobility device 10 may be referred to as the MM device 10 or simply MM.

[0022] FIG. 1 shows an example of the functional configuration of the micromobility device 10. The micromobility device 10 includes, for example, a control unit 11, a storage unit 15, an input / output unit 12, a communication unit 14, a clock unit 19A, a position calculation information detection unit 19B, and a motor 16. Although not shown in the figure, in addition to the above, the micromobility device 10 may be configured to include, for example, a lock device, a switch which is a type of input device used to set the operation mode of the micromobility device 10, a lamp, a notification device, and the like.

[0023] The control unit 11 is a processing device that comprehensively controls each part of the micromobility device 10 according to various programs such as the micromobility management program stored in the storage unit 15, and performs various processes related to information processing. It is configured to have a processor such as a CPU, GPU, DSP, or an integrated circuit such as an ASIC. The control unit 11 has, for example, a motor control unit 111 that controls the motor 16 according to the rotation angle of the throttle provided in the handle unit of the MM. For example, by controlling the transmission of the power from the motor 16 to the wheel drive mechanism, controlling the rotation speed of the motor 16, and controlling the gear ratio between the motor 16 and the wheels, the speed (travel speed) of the micromobility device 10 may be configured to be controllable. A brake lever is provided in the handle unit of the MM, and the driver can apply a brake to the wheels and decelerate by operating the brake lever. In the example described later, it is also possible to accelerate the MM by increasing the rotation speed of the motor 16 based on the control program regardless of the operation of the throttle, and it is also possible to decelerate the MM by decreasing the rotation speed of the motor 16 based on the control program regardless of the operation of the brake lever. Note that the method of decelerating the MM based on the control program is not limited to this and may be arbitrary. For example, there are methods such as natural deceleration to the upper limit speed newly set by the internal resistance of the motor, or applying an electronic brake to reduce the speed.

[0024] The storage unit 15 is a storage device configured to have a volatile or non-volatile memory such as a ROM, EEPROM, flash memory, RAM, or a hard disk device, similar to the storage unit 25. The storage unit 15 stores, for example, various programs such as control programs and system programs corresponding to each process performed in the present embodiment, information received from the server 20, etc., and processing results by various programs.

[0025] The input / output unit 12 includes devices for inputting various operations to the control unit 11, devices for outputting the processing results processed by the control unit 11, and the like. The input unit is configured to have an input device for a user to perform various operation inputs to the control unit 11 of the micromobility device 10, such as buttons. The output unit is realized by, for example, a display, a speaker, etc., and has a function of outputting the processing results processed by the control unit 11. Here, the input / output unit 12 includes, for example, a display unit 13. The display unit 13 may be, for example, an LED lamp or the like, or may be configured in the same manner as the display unit 23. Further, the output unit may output a control signal for various actuators (for example, a vehicle lock system) provided in the vehicle.

[0026] The communication unit 14 is a communication device for transmitting and receiving information used inside the micromobility device 10 to and from an external device via a network NW. The configuration of the communication unit 14 may be the same as that of the communication unit 24, for example.

[0027] The clock unit 19A may be configured in the same manner as the clock unit 29 of the server 20, for example. The position calculation information detection unit 19B may have, for example, a GNSS unit or the like that receives satellite signals transmitted from GNSS satellites (for example, GPS satellites) and detects various information for calculating the position information of the micromobility device 10 based on the received satellite signals. In this case, for example, the control unit 11 may perform a predetermined position calculation (positioning calculation) using the information detected by the position calculation information detection unit 19B to calculate the position information.

[0028] Note that the position calculation information detection unit 19B may have, for example, inertial sensors such as acceleration sensors and gyro sensors, or an IMU (Inertial Measurement Unit). Then, the control unit 11 may perform inertial navigation calculations using the detected acceleration information, angular velocity information, etc. to calculate the position information. Further, the position calculation information detection unit 19B may obtain position information that enables determination of which port the micromobility device 10 is parked (or wheel-parked) at by performing proximity communication with devices such as beacons and pseudo-satellites installed at each port.

[0029] Also, the control unit 11 may calculate and obtain speed information based on the information output from the position calculation information detection unit 19B, for example. For example, in addition to calculating the position information, Doppler positioning calculations based on satellite signals may be performed to calculate speed information. Also, inertial navigation calculations may be performed to calculate speed information. Further, in addition to the position information and speed information, information such as acceleration information, angular velocity information, and attitude information (direction information) may be directly obtained or calculated.

[0030] Also, instead of the control unit 11 calculating the above various types of information, an acquisition unit that calculates and outputs the above various types of information may be configured as a functional unit. For example, the processing unit of the baseband processing circuit unit of the GNSS unit may perform position calculation and speed calculation to calculate and output position information and speed information. Also, devices or systems such as an INS (Inertial Navigation System) that calculate and output these types of information may be configured.

[0031] Also, the position information of the micromobility device 10 may be calculated by averaging the position information obtained by the above various methods. The same may apply to other information such as speed information.

[0032] These various types of information may be stored in the storage unit 15, for example, as time-series information. Also, as a method for acquiring the above various types of information, any method other than the above may be applied.

[0033] Further, the micromobility device 10 may be configured with an environmental information acquisition unit that acquires environmental information in the present, past, or future in a region including the current position, for example. The environmental information acquisition unit may acquire environmental information from the server 20 or the like and store it in the storage unit 15.

[0034] The terminal 30 is a device used by a user who uses the MM, and in this embodiment, it is a mobile terminal. In the following, the terminal used by user X is expressed as terminal 30X. Also, information related to the user (for example, the user's age, weight, address, service usage history, etc.) associated with the user's account for using the MM is defined as user information.

[0035] FIG. 1 shows an example of the functional configuration of the terminal 30. The terminal 30 is configured to include, for example, a control unit 31, a storage unit 38, an input / output unit 33, a communication unit 32, a clock unit 39A, a position calculation information detection unit 39B, and the like.

[0036] The control unit 31 is a processing device that comprehensively controls each part of the terminal 30 according to various programs such as system programs stored in the storage unit 38 and performs various processes related to information processing. It is configured with a processor such as a CPU, GPU, DSP, or an integrated circuit such as an ASIC. The storage unit 38 is a storage device configured to include a volatile or non-volatile memory such as a ROM, EEPROM, flash memory, RAM, or a hard disk device, similar to the storage unit 25.

[0037] The input / output unit 33 includes devices for inputting various operations to the control unit 31 of the terminal 30, devices for outputting the processing results processed by the control unit 31 of the terminal 30, and the like. The input / output unit 33 may have the input unit and the output unit integrated or separated. The input unit is realized by, for example, a keyboard, a touch panel, or the like, and has a function of receiving an input from the user and transmitting information related to the input to the control unit 31. The output unit is realized by, for example, a display, a speaker, or the like, and has a function of outputting the processing results processed by the control unit 31. Here, the input / output unit 33 includes, for example, a display unit 34, a sound input unit 35, a sound output unit 36, and an imaging unit 37.

[0038] The display unit 34 is a display device configured to have an LCD (Liquid Crystal Display), an OELD (Organic Electro-luminescence Display), or the like, and performs various displays based on the display signal output from the control unit 31. Note that the input / output unit 33 may have a touch panel (not shown) configured integrally with the display unit 34, and this touch panel may function as an input interface between the user and the terminal 30.

[0039] The sound input unit 35 is a sound input device configured to have a microphone, an A / D converter, or the like, and performs various sound inputs based on the sound input signal input to the control unit 31. The sound output unit 36 is a sound output device configured to have a D / A converter, a speaker, or the like, and performs various sound outputs based on the sound output signal output from the control unit 31. The imaging unit 37 is an imaging device configured by a camera or the like, and acquires image data (still image / moving image) input to the control unit 31.

[0040] The communication unit 32 is a communication device for transmitting and receiving information used inside the terminal 30 to and from an external device via the network NW. Since the configuration of the communication unit 32 can be configured in the same manner as, for example, the communication unit 14, its detailed description is omitted.

[0041] The clock unit 39A can be configured in the same way as the clock unit 29 of the server 20, for example. The position calculation information detection unit 39B detects information for calculating the position information of the terminal 30. As this configuration, various configurations may be applied in the same way as the position calculation information detection unit 19B. Also, a position information calculation unit that directly calculates the position information may be configured. The same may apply to information such as speed information, acceleration information, angular velocity information, and attitude information (direction information). These various types of information may be stored in the storage unit 38 as time-series information, for example.

[0042] Note that, for example, an environmental information acquisition unit that acquires environmental information in the present, past, or future in a region including the current position, etc., may be configured in the terminal 30, and the environmental information acquisition unit may acquire environmental information from the server 20 or the like and store it in the storage unit 38.

[0043] [First Embodiment] The first embodiment is an embodiment related to controlling the speed of the MM step by step. In the server 20, a caution area (for example, near a childcare facility or near a primary school, which is referred to as area 1 in this embodiment) that requires particular attention during the operation of the MM is set in advance. When the MM enters the caution area, the upper limit speed is gradually decreased to safely decelerate the MM. For example, the caution area is stored in the storage unit 25 of the server 20 in association with the map information as a combination of the coordinates of the facility that requires particular attention in the vicinity and the vector data for specifying the area (boundary) associated with the coordinates.

[0044] For example, in the first embodiment, as shown in FIG. 2, when the MM enters area 1 with an upper limit speed of S (P1 > S) from an area with an upper limit speed of P1, once the upper limit speed is set to Q1 (P1 > Q1 > S), and then after a predetermined time has elapsed, the upper limit speed is set to S.

[0045] FIG. 3 is a flowchart showing an example of the processing executed by the control unit 11 of the MM device 10. Each process shown in FIG. 3, as well as FIGS. 4, 8, and 9 described later, is executed by the control program stored in the storage unit 15 of the MM device 10 being executed by the control unit 11. Note that some or all of the processes may be executed based on information provided from the server 20 or information provided from the terminal 30. Also, some or all of the processes may be executed by the control unit 31 of the terminal 30 connected to the communication unit 14 of the MM device 10. For example, each process may be executed by the terminal 30 executing a control program downloaded from the server 20.

[0046] The control unit 11 determines whether the MM has entered an area 1 where an upper limit speed S (for example, 5 km / h) smaller than the normal upper limit speed P1 (for example, 20 km / h) is set (S110: Y or N). If it is determined that the MM has entered (S110: Y), the upper limit speed of the MM is set to Q1 (for example, 15 km / h) which is smaller than P1 and larger than S (S120). If the MM enters the area 1 at a speed higher than Q1, it will decelerate to Q1. The setting of the upper limit speed is performed, for example, by the motor control unit 111 not supplying a control signal to the motor 16 such that the rotational speed of the motor 16 becomes larger than the rotational speed corresponding to the set upper limit speed.

[0047] The control unit 11 determines whether a first predetermined time (for example, 10 seconds) has elapsed since the upper limit speed of the MM was set to Q1 (S130: Y or N). If it is determined that the time has elapsed (S130: Y), the upper limit speed of the MM is set to R1 (for example, 10 km / h) which is smaller than Q1 and larger than S (S140). If the speed of the MM was higher than R1, it will decelerate to R1.

[0048] The control unit 11 determines whether or not a second predetermined time (for example, 10 seconds) has elapsed since the upper limit speed of MM was set to R1 (S150: Y or N). If it is determined that the time has elapsed (S150: Y), the upper limit speed of MM is set to S (S160). If the speed of MM is greater than S, it will decelerate to S.

[0049] The control unit 11 determines whether or not MM has left area 1 (S170: Y or N). If it is determined that MM has left (S170: Y), the process proceeds to the control at the time of departure (S200).

[0050] In this embodiment, when MM enters area 1, by setting S, which is ultimately the upper limit speed of area 1, as the upper limit speed, it is possible to appropriately decelerate MM to the upper limit speed S. Also, in this form, immediately after entering area 1, the upper limit speed is not immediately set to S. Instead, once, Q1 or R1, which is greater than S, is set as the upper limit speed during the deceleration process, increasing the deceleration stage to avoid sudden deceleration and assisting in operating MM more safely. Further, in this form, by setting two-stage upper limit speeds of Q1 and R1 (P1 > Q1 > R1 > S) before the upper limit speed is set to S, compared with the case of setting only one-stage upper limit speed, the deceleration rate can be made gentler and the safety can be enhanced.

[0051] Note that, as in this embodiment, instead of setting the upper limit speed in two stages of Q1 and R1, it may be set in only one stage. For example, after setting Q1 (S120 - S130) without performing the setting of R1 (S140 - S150), the setting of S (S160) may be performed.

[0052] Also, as will be described later, depending on the establishment of a predetermined condition, the setting of R1 (S140 - S150) may be additionally performed. Also, depending on the establishment of a predetermined condition, the deceleration period (first predetermined time) from the setting of Q1 to the setting of R1, or the deceleration period (second predetermined time) from the setting of R1 to the setting of S, may be made variable, or the magnitudes of Q1 or R1 may be made variable.

[0053] FIG. 4 is a flowchart showing an example of control at the time of departure. In this embodiment, it will be described assuming that region 2 exists adjacent to region 1 which is the attention area. However, region 2 may be all areas where an MM other than the attention area can travel, or may be an area provided adjacent to the attention area for gradually accelerating the MM. The control unit 11 sets the upper limit speed of the MM to R2 (for example, 10 km / h) which is greater than S (for example, 5 km / h) and less than P2 based on the fact that the MM has left region 1 with the upper limit speed S and entered region 2 with the upper limit speed P2 (S220). When the MM enters region 2 at a speed lower than R2, it will accelerate up to R2.

[0054] The control unit 11 determines whether or not a third predetermined time (for example, 10 seconds) has elapsed since the upper limit speed of the MM was set to R2 (S230: Y or N). If it is determined that the time has elapsed (S230: Y), the upper limit speed of the MM is set to Q2 (for example, 15 km / h) which is greater than R2 and less than P2 (S240). When the speed of the MM is lower than Q2, it will accelerate up to Q2.

[0055] The control unit 11 determines whether or not a fourth predetermined time (for example, 10 seconds) has elapsed since the upper limit speed of the MM was set to Q2 (S250: Y or N). If it is determined that the time has elapsed (S250: Y), the upper limit speed of the MM is set to P2 (for example, 20 km / h) (S260). When the speed of the MM is lower than P2, it will accelerate up to P2.

[0056] In this embodiment, when the MM leaves region 1 and enters region 2, as the upper limit speed, finally, P2 which is the upper limit speed of region 2 is set, so that the MM can be appropriately accelerated up to the upper limit speed P2. Also, in this form, immediately after entering region 2, the upper limit speed is not set to P2 immediately. Once, a smaller R2 or Q2 than P2 is set as the upper limit speed during the acceleration process, thereby increasing the acceleration stage to avoid sudden acceleration and assisting in operating the MM more safely. Also, in this form, before the upper limit speed is set to P2, by setting two-stage upper limit speeds of R2 and Q2 (S < R2 < Q2 < P2), compared with the case of setting only one-stage upper limit speed, the acceleration can be made gentler and the safety can be enhanced.

[0057] Note that, as in this embodiment, instead of setting the upper limit speed in two stages of R2 and Q2, it may be set in only one stage. For example, after setting R2 (S220 - S230) without setting Q2 (S240 - S250), the setting of P2 (S260) may be performed.

[0058] Also, as described later, depending on the establishment of a predetermined condition, the setting of Q2 (S240 - S250) may be additionally performed. Also, depending on the establishment of a predetermined condition, the acceleration period (the third predetermined time) from the setting of R2 to the setting of Q2, or the acceleration period (the fourth predetermined time) from the setting of Q2 to the setting of P2 may be variable, or the magnitude of R2 or Q2 may be variable.

[0059] (Predetermined condition) The predetermined condition is a condition provided to decelerate or accelerate the MM more safely. When the predetermined condition is satisfied, compared with the case where it is not satisfied, the number of times of setting the upper limit speed (deceleration stage, acceleration stage) is increased, the delay period (deceleration period, acceleration period) until the MM reaches the set upper limit speed is lengthened, the upper limit speed itself is changed (increased, decreased), etc. may be performed. As the predetermined condition, for example, conditions based on one or more of the following information (items) may be applied. Note that "above the threshold" may be regarded as "exceeding the threshold", and "less than the threshold" may be regarded as "below the threshold".

[0060] (1) Type of the moving body This condition is, for example, a condition regarding the type of the MM. For example, when the MM is a two-wheeled device, it may be assumed that a predetermined condition is satisfied. This is because a two-wheeled device has worse stability than a three-wheeled or four-wheeled device, and sudden deceleration may be dangerous. The control unit 11 may determine whether the condition is satisfied based on, for example, the information on the type of the MM stored in the storage unit 15 in advance. The information on the type of the MM may be transmitted from the server 20 to the MM. In addition, for example, the extended period may be set shorter for a three-wheeled vehicle than for a two-wheeled vehicle, and the extended period may be set shorter for a four-wheeled vehicle than for a three-wheeled vehicle. Also, for example, there may be an MM in a standing driving form and an MM in a sitting driving form. When the MM is in a standing driving form, it may be assumed that a predetermined condition is satisfied, and safer driving may be performed than for an MM in a sitting driving form. This is because, similar to the comparison between the above-mentioned two-wheeled vehicle and others, when the MM is in a standing driving form, it has worse stability than an MM in a sitting driving form.

[0061] (2) Weight of the moving body This condition is a condition regarding the weight of the moving body. For example, when the weight of the MM is equal to or greater than a predetermined threshold weight, it may be assumed that a predetermined condition is satisfied. This is because when the weight of the moving body is large, braking is less effective and danger may occur. The control unit 11 may determine whether the condition is satisfied based on, for example, the weight of the MM stored in the storage unit 15 in advance. The information on the weight of the MM may be transmitted from the server 20 to the MM. In addition, a stepped threshold for the weight of the MM may be set, and based on the set stepped threshold, the greater the weight of the moving body, the more times the upper limit speed is set, the longer the grace period (deceleration period, acceleration period), the smaller the change range of the upper limit speed, etc. may be done.

[0062] (3) Weight of the user of the moving body This condition is related to the weight of the user who uses the moving body. For example, when the weight of the user who uses the MM is equal to or greater than a predetermined threshold weight (e.g., 80 kg), it may be considered that the predetermined condition is satisfied. This is because when the weight of the user of the moving body is large, braking may be ineffective and dangerous. In this case, as one method, a weight sensor is provided in the MM. Then, the control unit 11 may determine whether the condition is satisfied based on the weight of the user measured by the weight sensor when the user is on the MM.

[0063] In addition to this, for example, when the user uses the MM, the user inputs information about his or her own weight (body weight) in the application executed on the terminal 30. The terminal 30 transmits the input weight information to the server 20. Then, the server 20 may transmit the received weight information to the MM. Note that the user may input information about his or her own weight in the application executed on the terminal 30 in advance, rather than at the time of use, and may update the information about his or her own weight at regular intervals. Alternatively, the information about the user's weight (body weight) may be obtained in conjunction with an external application related to health management or the like. Also, for example, the MM detects the acceleration during running by an acceleration sensor or the like, and estimates the sum of the weight of the MM and the weight of the user (hereinafter referred to as "total weight") based on the detected acceleration. Then, the weight of the user may be estimated by subtracting the weight of the MM from the estimated total weight. Also, the user may input information about his or her own weight to the MM using the input unit of the MM.

[0064] Note that the user may ride on the MM while holding separate luggage. In view of such a case, in light of the past usage history of the user with respect to the MM, the combination of the rotation speed of the motor 16 and the acceleration information may be compared between the past and that point in time to determine whether the condition is satisfied. For example, when the time taken to reach the default upper limit speed (e.g., 20 km / h) at the same rotation speed is longer than the threshold additional time compared to the past case, it may be determined that the predetermined condition is satisfied.

[0065] In addition, a stepwise threshold for the user's weight may be set, and based on the set stepwise threshold, the greater the user's weight, the more times the upper limit speed is set, the longer the grace period (deceleration period, acceleration period), the smaller the change range of the upper limit speed, and so on. In addition, by combining the conditions of (2) and (3), for example, it may be conditioned that the total weight is equal to or greater than a predetermined threshold weight, and a stepwise threshold may be set.

[0066] (4) Age of the user of the moving body This condition is a condition related to the age of the user who uses the moving body. For example, when the age of the user who uses the MM is equal to or greater than a predetermined threshold age (for example, 60 years old), it may be considered that the predetermined condition is satisfied. This is because, for example, when the user of the moving body is an elderly person, they may not be able to cope with sudden deceleration, which may be dangerous. The age information may be input by the user through the application on the terminal 30 and sent by the server 20 to the MM, for example. Also, the user may input their age information into the MM using the input section of the MM. In addition, a stepwise threshold for the user's age may be set, and based on the set stepwise threshold, the greater the user's age, the more times the upper limit speed is set, the longer the grace period (deceleration period, acceleration period), the smaller the change range of the upper limit speed, and so on.

[0067] (5) Usage history of the moving body by the user This condition is a condition related to the usage history of the moving body by the user who uses the moving body. For example, when the number of times the user uses the micromobility device 10 is less than a predetermined threshold number of times (for example, 5 times), it may be considered that the predetermined condition is satisfied. This is because when the user is not accustomed to the operation of the MM, they may not be able to cope with sudden deceleration, which may be dangerous. It may also be a condition for the usage frequency instead of the number of usage times. The usage history information may be stored and managed by the server 20 for each user and sent by the server 20 to the MM, for example. Also, the user may input information such as the number of usage times into the MM using the input section of the MM.

[0068] In addition, as the usage history of the moving body by the user, information on past riding history may be used. For example, information on the user's past accident history and violation history is obtained, and for users who have been in accidents or committed violations, the extended period may be made longer. Information such as the number of accidents and violations may also be used. In addition, set stepwise thresholds for the number of times the user uses the service and the usage frequency. Based on the set stepwise thresholds, the fewer the number of uses (the lower the usage frequency), the more times the upper speed limit can be set, the longer the grace period (deceleration period, acceleration period), the smaller the change range of the upper speed limit, etc.

[0069] (6) Road width of the road on which the moving body travels This condition is a condition related to the road width of the road on which the moving body travels. For example, when the road width is equal to or greater than a predetermined threshold width, it may be considered that the predetermined condition is satisfied. This is because on major roads (lanes), although there is a risk of collision, in some cases, it may be considered safer to decelerate slowly. In this case, as one method, the server 20 may acquire the position information of the MM and transmit the information on the road width of the road on which the MM is traveling to the MM based on the acquired position information and the map information. In addition, when applying the second embodiment described later, it may be possible to set a region according to the road width.

[0070] Note that since there is a risk of collision on narrow roads such as alleys, conversely, it may be considered desirable to reduce the traveling speed earlier. When adopting control that emphasizes this, for example, when the road width is less than a predetermined threshold width, it may be considered that the predetermined condition is satisfied.

[0071] (7) Gradient of the road on which the moving body travels This condition is a condition related to the slope of the road on which the moving body travels. For example, when the road is a downhill slope and the slope angle is equal to or greater than a predetermined threshold angle, it may be considered that the predetermined condition is satisfied. This is because in the case of a steep downhill slope, sudden deceleration may be dangerous. In this case, as one method, an inclination angle sensor may be provided in the MM. Then, the control unit 11 may determine whether the condition is satisfied based on the detection result of the MM. It may also be determined whether the condition is satisfied based on the acceleration information and angular velocity information detected by an IMU or the like.

[0072] Further, the server 20 may acquire the position information of the MM and transmit information on the slope angle of the road on which the MM is traveling to the MM based on the acquired position information and the map information. Note that a stepwise threshold for the slope angle may be set, and based on the set stepwise threshold, the greater the slope angle, the more times the upper limit speed is set, the longer the grace period (deceleration period, acceleration period), the smaller the change range of the upper limit speed, etc. Also, when applying the second embodiment described later, it may be possible to set a region according to the slope angle.

[0073] (8) Traffic congestion situation of the road on which the moving body travels This condition is a condition related to the traffic congestion situation of the road on which the MM travels. For example, when the road is congested due to traffic jams or the like, it may be considered that the predetermined condition is satisfied. This is because when the road is congested due to traffic jams or the like, if there is a vehicle behind, a sudden deceleration may cause the distance between the MM and the vehicle to suddenly narrow, which is considered dangerous. In this case, as one method, the server 20 may acquire the position information of the MM and transmit information on the traffic congestion situation of the road on which the MM is traveling to the MM based on the acquired position information and the road traffic information. Also, for example, the server 20 may acquire information on the operating status of the MM in that area at that time period, and based on the acquired operating status information, for example, it may be conditioned that the number of operating units is equal to or greater than a threshold number. This is because a large number of operating units means that the road in that area may be congested. Also, when applying the second embodiment described later, it may be possible to set a region according to the traffic jam situation.

[0074] Note that the above conditions may be reversed. That is, it may be set that the condition is satisfied when the road is not congested. When the road is not congested, since there are few pedestrians and vehicles, it can be considered that there is no problem even if the running speed is gradually reduced over time without disturbing pedestrians or other vehicles. This is because of this.

[0075] (9) Period during which the moving object is used This condition is a condition regarding the time period during which the MM is used. For example, when it is a time period in the morning (7:00 to 10:00) or in the evening (17:00 to 20:00), it may be considered that a predetermined condition is satisfied. This is because, for example, the time periods in the morning (7:00 to 10:00) and in the evening (17:00 to 20:00) are commuting time periods with a large number of pedestrians. If there are pedestrians or vehicles behind, the distance to the MM will suddenly narrow due to a sudden deceleration. As one method, a clock unit is provided in the MM. Then, the control unit 11 may determine the time period based on the timekeeping information of the clock unit and determine whether the condition is satisfied. Note that the time information may be transmitted to the MM via the server 20 based on the timekeeping information of the clock units provided in the server 20 and the terminal 30.

[0076] Note that the above conditions may be reversed. That is, it may be set that the condition is satisfied when it is a time period other than the morning or evening time periods. Time periods other than the morning and evening time periods have fewer pedestrians and vehicles compared to the morning and evening time periods. Therefore, it can be considered that there is no problem even if the running speed is gradually reduced over time without disturbing pedestrians or other vehicles. This is because of this.

[0077] (10) Weather when the moving object is used This condition is related to the weather when MM is used. For example, when the weather on that day or during that time period is rain or snow, it may be considered that a predetermined condition is satisfied. This is because the road surface is slippery during rain or snow, and sudden deceleration may be dangerous. In this case, as one method, an environmental information detection unit (for example, a weather information detection unit) may be provided in MM. Then, the control unit 11 may determine whether the condition is satisfied based on the environmental information detected by the environmental information detection unit. Note that the environmental information may be transmitted to MM via the server 20 based on the detection result of the environmental information detection unit provided in the server 20 or the terminal 30. Alternatively, the determination of whether the condition is satisfied may be made by acquiring information on the weather provided by an external service or the like for the area corresponding to the position information.

[0078] (Control when the predetermined condition is satisfied) Next, the control when the predetermined condition is satisfied according to the first embodiment will be described with reference to FIGS. 5 and 6. FIG. 5(A) shows a state when the predetermined condition is not satisfied. When MM enters area 1, the upper limit speed is changed from P1 (20 km / h) to Q1 (15 km / h) (first stage), and after T1 (10 seconds) has elapsed, it is changed to S (5 km / h), which is the upper limit speed of area 1. The setting of the upper limit speed in the deceleration process is only in one stage.

[0079] When the predetermined condition is satisfied, for example, as shown in (B1), R1 (10 km / h) is added as the upper limit speed. When MM enters area 1, the upper limit speed is changed from P1 (20 km / h) to Q1 (15 km / h) (first stage), and after T1 (10 seconds) has elapsed, it is changed from Q1 to R1 (10 km / h) (second stage), and after T2 (10 seconds) has elapsed, it is changed to S (5 km / h), which is the upper limit speed of area 1. The setting of the upper limit speed in the deceleration process is in two stages. Note that the control in (B1) may also be used when the predetermined condition is not satisfied.

[0080] When the control is (A) or (B1) when a predetermined condition is not satisfied, (B2) control may be performed when the predetermined condition is satisfied. For example, as shown in (B2), R1 (10 km / h) is added as the upper limit speed. When MM enters region 1, the upper limit speed is changed from P1 (20 km / h) to Q1 (15 km / h) (first stage). After T1’ (15 seconds) elapses, it is changed from Q1 to R1 (10 km / h) (second stage). After T2’ (15 seconds) elapses, it is changed to S (5 km / h), which is the upper limit speed of region 1. The setting of the upper limit speed in the deceleration process has two stages. By making the first predetermined period and the second predetermined period longer, the hesitation period for deceleration becomes longer.

[0081] When the control is (A) or (B1) when a predetermined condition is not satisfied, (B3) control may be performed when the predetermined condition is satisfied. For example, as shown in (B3), R1 (10 km / h) is added as the upper limit speed. When MM enters region 1, the upper limit speed is changed from P1 (20 km / h) to Q1’ (17 km / h) (first stage). After T1 (10 seconds) elapses, it is changed from Q1’ to R1’ (12 km / h) (second stage). After T2’ (15 seconds) elapses, it is changed to S (5 km / h), which is the upper limit speed of region 1. The setting of the upper limit speed in the deceleration process has two stages. Since the upper limit speed in the first stage is changed from 15 km / h to 17 km / h and increases, and the upper limit speed in the second stage is changed from 10 km / h to 12 km / h and increases, the deceleration rate is alleviated. Here, the deceleration range from R1’ (12 km / h) to S (5 km / h) becomes larger. Regarding this, by making the second predetermined period longer from 10 seconds to 15 seconds, the hesitation period for deceleration is lengthened to ensure safety.

[0082] Figure 6(A) shows the state when a predetermined condition is not satisfied. When MM enters region 2 from region 1, the upper limit speed is changed from S (5 km / h) to R2 (10 km / h) (first stage). After T1 (10 seconds) elapses, it is changed to P2 (20 km / h), which is the upper limit speed of region 2. The setting of the upper limit speed in the acceleration process has only one stage.

[0083] When the specified conditions are met, for example, as shown in (B1), Q2 (15 km / h) is added as the upper speed limit. When MM enters region 2, the upper speed limit is changed from S (5 km / h) to R2 (10 km / h) (first stage). After T1 (10 seconds) elapses, it is changed from R2 to Q2 (15 km / h) (second stage). After T2 (10 seconds) elapses, it is changed to P2 (20 km / h), which is the upper speed limit of region 2. The setting of the upper speed limit in the acceleration process has two stages. Note that even when the specified conditions are not met, the control of (B1) may be used.

[0084] When the control of (A) or (B1) is used when the specified conditions are not met, the control of (B2) may be performed when the specified conditions are met. For example, as shown in (B2), Q2 (15 km / h) is added as the upper speed limit. When MM enters region 2, the upper speed limit is changed from S (5 km / h) to R2 (10 km / h) (first stage). After T1' (15 seconds) elapses, it is changed from R2 to Q2 (15 km / h) (second stage). After T2' (15 seconds) elapses, it is changed to P2 (20 km / h), which is the upper speed limit of region 2. The setting of the upper speed limit in the acceleration process has two stages. By making the first specified period and the second specified period longer, the hesitation period for acceleration becomes longer.

[0085] When the control is (A) or (B1) when a predetermined condition is not satisfied, (B3) control may be performed when the predetermined condition is satisfied. For example, as shown in (B3), Q2 (15 km / h) is added as the upper limit speed. When MM enters region 2, the upper limit speed is changed from S (5 km / h) to R2' (8 km / h) (first stage). After T1 (10 seconds) has elapsed, it is changed from R2' to Q2' (12 km / h) (second stage). After T2' (15 seconds) has elapsed, it is changed to P2 (20 km / h), which is the upper limit speed of region 2. The setting of the upper limit speed in the acceleration process has two stages. The upper limit speed in the first stage is changed from 10 km / h to 8 km / h and becomes smaller, and the upper limit speed in the second stage is changed from 15 km / h to 12 km / h and becomes smaller, so that the acceleration combination is relaxed. Here, the acceleration width from Q2' (12 km / h) to P2 (20 km / h) becomes larger. Regarding this, by making the second predetermined period longer from 10 seconds to 15 seconds, the hesitation period for acceleration is lengthened to ensure safety.

[0086] [Second Embodiment] The second embodiment is an embodiment regarding stepwise control of the speed of MM. In the server 20, a caution area (for example, near a childcare facility or near a primary school, which is region 2 in this embodiment) that requires particular attention during the operation of MM is set in advance, and a deceleration area with an upper limit speed larger than that of the caution area is set around it. Thus, before MM enters the caution area, the upper limit speed of MM is reduced to safely decelerate MM.

[0087] For example, in the second embodiment, as shown in FIG. 7, region 1 with an upper limit speed Q1 (P1 > Q1 > S) is provided around region 2 with an upper limit speed S. When MM enters region 1 from the region with the upper limit speed P1, the upper limit speed is set to Q1. When MM enters region 2, the upper limit speed is set to S.

[0088] FIG. 8 is a flowchart showing an example of the processing executed by the control unit 11 of the MM device 10. In this example, adjacent to area 2 with the upper limit speed S (for example, 5 km / m) which is the area of concern, on its entry path, there is area 1a with an upper limit speed R1 (for example, 10 km / h) that is greater than the upper limit speed of area 2, and adjacent to area 1a, on its entry path, it is assumed that there is area 1 with an upper limit speed Q1 (for example, 15 km / h) that is greater than the upper limit speed of area 1a. The control unit 11 determines whether the MM has entered area 1 with an upper limit speed Q1 that is greater than the upper limit speed S of area 2 (S310: Y or N). If it is determined that the MM has entered (S310: Y), the upper limit speed of the MM is set to Q1 which is smaller than the normal upper limit speed P1 (for example, 20 km / h) (S320). If the MM enters area 1 at a speed greater than Q1, it will decelerate to Q1.

[0089] The control unit 11 determines whether the MM has entered area 1a with an upper limit speed R1 that is greater than S and smaller than Q1 and is set adjacent to area 2 (S330: Y or N). If it is determined that the MM has entered (S330: Y), the upper limit speed of the MM is set to R1 (S340). If the speed of the MM was greater than R1, it will decelerate to R1.

[0090] The control unit 11 determines whether the MM has entered area 2 with the upper limit speed S (S350: Y or N). If it is determined that the MM has entered (S350: Y), the upper limit speed of the MM is set to S (S360). If the speed of the MM was greater than S, it will decelerate to S.

[0091] The control unit 11 determines whether the MM has left area 2 (S370: Y or N). If it is determined that the MM has left (S370: Y), the process proceeds to the control at the time of departure (S400).

[0092] In this embodiment, when the MM enters Region 2, by setting the upper limit speed S, which is the upper limit speed of Region 2, as the upper limit speed, it is possible to appropriately decelerate the MM to the upper limit speed S. Further, in this form, by setting regions (1, 1a) with upper limit speeds (Q1, R1) greater than S around Region 2, the sudden deceleration from the upper limit speed P1 to S is avoided due to the intervention of the regions corresponding one-to-one with the upper limit speeds, assisting in operating the MM more safely. Further, in this form, before the MM reaches Region 2, by passing through a plurality of regions with different upper limit speeds, namely Regions 1 and 1a (P1 > Q1 > R1 > S), compared with the case of passing through only one region, the deceleration rate can be made gentler and the safety can be enhanced.

[0093] Note that, as in this embodiment, instead of intervening a plurality of regions such as Regions 1 and 1a, it may be the intervention of only one region. For example, after performing only the determination and upper limit speed setting (S310~S320) regarding Region 1 without performing the determination and upper limit speed setting (S330~S340) regarding Region 1a, the determination and upper limit speed setting (S360~S370) regarding Region 2 may be performed. In this case, since Region 1a is not provided, it is assumed that Region 1 is set adjacent to Region 2.

[0094] Further, as will be described later, the setting of Region 1a may be additionally performed in response to the establishment of a predetermined condition. That is, in response to the establishment of a predetermined condition, Region 1a may be added between Region 1 and Region 2, and by setting Region 1a (insertion between Region 1 and Region 2), Region 1 may be moved to a position farther from Region 2 than before the setting of Region 1a. That is, the entire deceleration region may be expanded and the number of regions may be increased. Further, by changing a part of Region 1 (the part adjacent to Region 2) and / or a part of Region 2 (the part adjacent to Region 1) into Region 1a, Region 1a may be set. That is, the entire deceleration region may not be expanded but the number of regions may be increased. Further, the size of Region 1 or the size of Region 1a may be variable, and the size of Q1 or R1 may be variable.

[0095] Note that the area 2 in this embodiment is not limited to the area set corresponding to only facilities, and may be a variable area set only, for example, during a period when traffic congestion on roads is assumed. For example, for the area around an event venue including the event venue, the area is not set as area 2 during the period when the event is not held, and may be set as area 2 only during the event period. Also, even in an area such as a riverbed that is not usually very congested and is not set as area 2, it may be set as area 2 only on the day when a fireworks display is held.

[0096] FIG. 9 is a flowchart showing an example of departure control. In this example, adjacent to area 2 with a speed limit S (for example, 5 km / m) which is the attention area, on the departure path therefrom, there is area 3 with a speed limit R2 (for example, 10 km / h) which is higher than the speed limit of area 2. Adjacent to area 3, on the departure path therefrom, there is area 3a with a speed limit Q2 (for example, 15 km / h) which is higher than the speed limit of area 3. Adjacent to area 3a, on the departure path therefrom, area 4 with a speed limit P2 (for example, 20 km / h) which is higher than the speed limit of area 3a is described as existing. Here, area 3 may be the same area as the aforementioned area 1a (an area not divided with the same speed limit), and area 3a may be the same area as the aforementioned area 1 (an area not divided with the same speed limit). Also, the speed limit of area 3 may be made different from the speed limit of area 1a, and the speed limit of area 3a may be made different from the speed limit of area 1.

[0097] Based on the fact that MM has left area 2 with a speed limit S and entered area 3 with a speed limit R2, the control unit 11 sets the speed limit of MM to R2 (S420). If MM enters area 3 at a speed lower than R1, it will accelerate to R2.

[0098] The control unit 11 determines whether MM has entered the area 3a with an upper limit speed Q2 that is smaller than P2 and larger than R2 and is set adjacent to the area 3 (S430: Y or N). If it is determined that MM has entered (S430: Y), the upper limit speed of MM is set to Q2 (S440). If the speed of MM is smaller than Q2, it will accelerate up to Q2.

[0099] The control unit 11 determines whether MM has entered the area 4 with the upper limit speed P2 (S450: Y or N). If it is determined that MM has entered (S450: Y), the upper limit speed of MM is set to P2 (S460). If the speed of MM is smaller than P2, it will accelerate up to P2.

[0100] In this embodiment, when MM enters the area 4, by setting P2, which is the upper limit speed of the area 4, as the upper limit speed, it is possible to appropriately accelerate MM up to the upper limit speed P2. Also, in this form, by setting areas (3, 3a) with upper limit speeds (R2, Q2) larger than S around the area 2, the sudden acceleration from the upper limit speed S to P2 is avoided due to the intervention of the areas corresponding one-to-one with the upper limit speeds, assisting in driving MM more safely. Further, in this form, before MM reaches the area 4, by passing through a plurality of areas 3 and 3a with different upper limit speeds (S < R2 < Q2 < P2), compared with the case of passing through only one area, the acceleration can be made gentler and the safety can be enhanced.

[0101] Note that, as in this embodiment, instead of intervening a plurality of areas such as areas 3 and 3a, it may be an intervention of only one area. For example, after only performing the upper limit speed setting (S420) for the area 3 without performing the determination and upper limit speed setting (S430~S440) for the area 3a, the determination and upper limit speed setting (S450~S460) for the area 4 may be performed. In this case, since the area 3a is not provided, it is assumed that the area 3 is set adjacent to the area 4.

[0102] Also, as described later, the setting of region 3a may be additionally performed in response to the establishment of a predetermined condition. That is, in response to the establishment of a predetermined condition, region 3a may be added between region 3 and region 4, and by setting region 3a (inserting it between region 3 and region 4), region 3 may be moved to a position farther from region 4 than before the setting of region 3a. That is, the number of regions may be increased after expanding the entire acceleration region. Also, a part of region 3 (the part adjacent to region 4) and / or a part of region 4 (the part adjacent to region 3) may be changed to region 3a so that region 3a is set. That is, the number of regions may be increased without expanding the entire acceleration region. Also, the size of region 3 or the size of region 3a may be variable, and the size of R2 or Q2 may be variable.

[0103] (Control when a predetermined condition is satisfied) Next, the control when a predetermined condition is satisfied according to the second embodiment will be described with reference to FIGS. 10 and 11. FIG. 10(A) shows a state when a predetermined condition is not satisfied. When MM enters region 1, the upper limit speed is changed from P1 (20 km / h) to Q1 (15 km / h) (first stage), and when MM enters region 2, it is changed to S (5 km / h), which is the upper limit speed of region 2. The setting of the upper limit speed in the deceleration process is only in one stage.

[0104] When a predetermined condition is satisfied, for example, as shown in (B1), a region 1a with an upper limit speed of R1 (10 km / h) is added. When MM enters region 1, the upper limit speed is changed from P1 (20 km / h) to Q1 (15 km / h) (first stage), and when MM enters region 1a, the upper limit speed is changed from Q1 to R1 (10 km / h) (second stage). When MM enters region 2, it is changed to S (5 km / h), which is the upper limit speed of region 1. The setting of the upper limit speed in the deceleration process is in two stages. Note that the control in (B1) may also be used when a predetermined condition is not satisfied.

[0105] When the control is (A) or (B1) when a predetermined condition is not satisfied, (B2) control may be performed when the predetermined condition is satisfied. For example, as shown in (B2), a region 1a' with an upper limit speed of R1 (10 km / h) is added. When MM enters the expanded region 1' from region 1, the upper limit speed is changed from P1 (20 km / h) to Q1 (15 km / h) (first stage). When MM enters the expanded region 1a' from region 1a, the upper limit speed is changed from Q1 to R1 (10 km / h) (second stage). When MM enters region 2, it is changed to S (5 km / h), which is the upper limit speed of region 2. The setting of the upper limit speed in the deceleration process has two stages. By expanding regions 1 and 1a, the buffer period for deceleration becomes longer.

[0106] When the control is (A) or (B1) when a predetermined condition is not satisfied, (B3) control may be performed when the predetermined condition is satisfied. For example, as shown in (B3), a region 1a' with an upper limit speed of R1 (10 km / h) is added. When MM enters region 1, the upper limit speed is changed from P1 (20 km / h) to Q1' (17 km / h) (first stage). When MM enters the expanded region 1a' from region 1a, the upper limit speed is changed from Q1' to R1 (10 km / h) (second stage). When MM enters region 2, it is changed to S (5 km / h), which is the upper limit speed of region 2. The setting of the upper limit speed in the deceleration process has two stages. By increasing the upper limit speed in the first stage from 15 km / h to 17 km / h, the deceleration rate is mitigated. Here, the deceleration range from Q1' (17 km / h) to R1 (10 km / h) becomes larger. Regarding this, by expanding region 1a, the buffer period (distance where deceleration is possible) for deceleration is lengthened to ensure safety.

[0107] FIG. 11(A) shows the state when a predetermined condition is not satisfied. When MM enters from region 2 to region 3, the upper limit speed is changed from S (5 km / h) to R2 (10 km / h) (first stage). When MM enters region 4, it is changed to P2 (20 km / h), which is the upper limit speed of region 4. The setting of the upper limit speed in the acceleration process is only in one stage.

[0108] When the predetermined condition is satisfied, for example, as shown in (B1), a region 3a with an upper limit speed of Q2 (15 km / h) is added. When MM enters region 3, the upper limit speed is changed from S (5 km / h) to R2 (10 km / h) (first stage). When MM enters region 3a, the upper limit speed is changed from R2 to Q2 (15 km / h) (second stage). When MM enters region 4, it is changed to P2 (20 km / h), which is the upper limit speed of region 4. The setting of the upper limit speed in the acceleration process is in two stages. Note that when the predetermined condition is not satisfied, the control of (B1) may also be used.

[0109] When the control of (A) or (B1) is used when the predetermined condition is not satisfied, the control of (B2) may be performed when the predetermined condition is satisfied. For example, as shown in (B2), a region 3a' with an upper limit speed of Q2 (15 km / h) is added. When MM enters the expanded region 3' from region 3, the upper limit speed is changed from S (5 km / h) to R2 (10 km / h) (first stage). When MM enters the expanded region 3a' from region 3a, the upper limit speed is changed from R2 to Q2 (15 km / h) (second stage). When MM enters region 4, it is changed to P2 (20 km / h), which is the upper limit speed of region 4. The setting of the upper limit speed in the acceleration process is in two stages. By expanding regions 3 and 3a, the hesitation period for acceleration becomes longer.

[0110] When the control is (A) or (B1) when a predetermined condition is not satisfied, (B3) control may be performed when the predetermined condition is satisfied. For example, as shown in (B3), an area 3a' where the upper limit speed is Q2 (15 km / h) is added. When MM enters area 3, the upper limit speed is changed from S (5 km / h) to R2' (8 km / h) (first stage). When MM enters the expanded area 3a' from area 3a, the upper limit speed is changed from R2' to Q2 (15 km / h) (second stage). When MM enters area 4, it is changed to P2 (20 km / h), which is the upper limit speed of area 4. The setting of the upper limit speed in the acceleration process has two stages. By reducing the upper limit speed in the first stage from 10 km / h to 8 km / h, the acceleration combination is relaxed. Here, although the acceleration width from R2' (8 km / h) to Q2 (15 km / h) becomes larger, regarding this, by expanding area 3a, the buffer period (distance where acceleration is possible) for acceleration is lengthened to ensure safety.

[0111] Regarding the second embodiment as well, each example (1) to (10) of the predetermined conditions cited for the first embodiment is applicable. In addition, for the first embodiment and the second embodiment, as an example, the following predetermined conditions can be applied.

[0112] (11) Near the entrance of a specific facility This condition is for the case where the position where MM travels is near the entrance of a specific facility that requires attention, such as a school. For example, for areas near the entrances of childcare facilities, elementary schools, parks, etc., it may be assumed that the predetermined condition is satisfied. On the contrary, for areas that are near these facilities but not near the entrance, it may be assumed that the predetermined condition is not satisfied. This is because considering the existence of people who only want to pass through the roads near these facilities but not in front of the entrances, applying a speed limit uniformly because it is near the facilities would impair convenience.

[0113] [Modification Example] A modification example of this embodiment will be described.

[0114] In the above-described embodiment, an example in which control by the motor control unit 111 is executed so as to be equal to or lower than the upper limit speed at which MM is set has been described. However, for example, as an input unit of MM, a button for avoiding automatic deceleration may be provided in the input / output unit 12 (for example, near the handle unit), and by operating the button, automatic deceleration may be avoided. For example, when the traffic volume is small and excessive deceleration is not required, or when it is determined that deceleration would be rather dangerous due to the surrounding situation or the like, by operating the button, the setting of the upper limit speed in the deceleration process or the acceleration process may be canceled, and automatic deceleration may be avoided. Alternatively, although the setting of the upper limit speed in the deceleration process or the acceleration process remains unchanged, the motor control unit 111 may be capable of outputting a control signal for rotating the motor 16 at a rotational speed higher than the rotational speed corresponding to the set upper limit speed, thereby avoiding automatic deceleration.

[0115] As shown in the above-described embodiment, MM may be a specific small engine-equipped bicycle, and in this case, it may be possible to travel in the reverse direction on a one-way road. In this case, the upper limit speed may be set such that the upper limit speed set for the reverse direction (for example, 10 km / h) is lower than the upper limit speed set for the forward direction of the one-way road (for example, 20 km / h). That is, when traveling in the forward direction on a one-way road, the above-described predetermined conditions do not hold, but when traveling in the reverse direction, it may be assumed that the above-described predetermined conditions hold. Thereby, it is possible to avoid the risk of the distance suddenly shrinking with respect to a vehicle approaching from the forward direction, and it is possible to ensure a time margin until passing with respect to a vehicle approaching from the reverse direction, so that safety on a one-way road can be ensured.

[0116] In the above-described embodiment, regarding the switching of the set upper limit speed, it is preferable to set each area so as not to perform it in an area where danger may occur due to a sudden change in speed, for example, at an intersection or a level crossing. That is, it is preferable to set each area so that the boundaries between the areas shown in the first embodiment and the second embodiment do not fall within the intersection area or the level crossing area.

[0117] In the above-described embodiment, when the position calculation information detection unit 19B fails to appropriately calculate the position of the MM due to, for example, a poor reception condition of satellite signals transmitted from GNSS satellites (e.g., GPS satellites), the setting of the upper limit speed in the deceleration process or the acceleration process may be canceled so that only the normal upper limit speed (e.g., 20 km / h) serves as the upper limit. Also, for the same background, when the reception condition of satellite signals is not good, even if it is determined based on the position information calculated by the position calculation information detection unit 19B that the vehicle is located within the region (the region where a predetermined upper limit speed is set) shown in the second embodiment, there may actually be a situation where the vehicle is not located within such a region. In view of such a situation, instead of abruptly changing the speed by applying the upper limit speed corresponding to such a region even though the vehicle is actually located outside the region, by temporarily applying an intermediate upper limit speed (e.g., 17 km / h), the safety of the moving body can be ensured.

[0118] In the above-described embodiment, for example, when a new lower upper limit speed is set (e.g., the upper limit speed is changed from 20 km / h to 15 km / h) due to some trigger (e.g., the entry of the MM into region 1 in the first embodiment or the second embodiment), when the MM is being driven at a speed closer to the final target upper limit speed (e.g., 5 km / h) than the set upper limit speed (e.g., when being driven at 12 km / h), instead of allowing the speed to increase up to the newly set upper limit speed, the motor 16 may be controlled to allow driving only at a speed equal to or lower than the speed at that time (e.g., allowing driving only at 12 km / h or lower). That is, when the speed of the MM at the time of trigger occurrence is lower than the upper limit speed to be set, the speed of the MM corresponding to the time of trigger occurrence (which may be the speed at the time of trigger occurrence or the speed at a point slightly shifted before and after the time of trigger occurrence) may be used as the new upper limit speed.

[0119] In this case, when the speed of the MM at the time of trigger generation is equal to or lower than the final target upper limit speed (for example, the final upper limit speed in the first region in the first embodiment, and the upper limit speed of the second region adjacent to the first region in the second embodiment), the final target upper limit speed may be set as the new upper limit speed. By doing so, the vehicle will operate at a speed close to the final target upper limit speed corresponding to the situation, enabling safer operation of the moving body.

[0120] In the above embodiment, regarding the switching of the set upper limit speed, an example of decelerating gradually closer to the target upper limit speed was shown, but it is not limited to this. For example, when the MM attempts to enter a park or the like where entry is possible, instead of gradually decelerating upon entry, it is preferable to set a region where the speed is reduced to 0 near the entrance (a region where the upper limit speed is 0), and once the speed is reduced to 0, then enter the park or the like. This is because it is dangerous to enter when the speed has not been decelerated to the target upper limit speed even at the entrance of a park or the like.

Description of Reference Numerals

[0121] 1 Control system 10 Micromobility 20 Server 30 Terminal NW Network

Claims

1. A method for controlling a moving body, comprising: acquiring position information regarding the position of the moving body; detecting, based on the position information, that the moving body has entered a first region where the upper limit speed of the moving body should be equal to or lower than a first speed; executing first control for setting the upper limit speed of the moving body when the moving body enters the first region. A control method comprising the above.

2. The control method according to Claim 1, wherein the first control includes: performing a first setting for setting the upper limit speed of the moving body to a second speed greater than the first speed in the first region, and then setting the upper limit speed of the moving body to be equal to or lower than the first speed.

3. The control method according to Claim 2, wherein the first control includes: after performing the first setting in the first region, further performing a second setting for setting the upper limit speed of the moving body to a third speed smaller than the second speed and greater than the first speed, and then setting the upper limit speed of the moving body to be equal to or lower than the first speed.

4. The control method according to Claim 3, wherein the first control includes performing the second setting based on the establishment of a predetermined condition.

5. The control method according to Claim 3, wherein, based on the establishment of a predetermined condition, one or more of the following settings are performed: setting to increase the second speed, setting to increase the third speed, setting to increase the period from performing the first setting to performing the second setting, and setting to increase the period from performing the second setting to setting the upper limit speed of the moving body to be equal to or lower than the first speed.

6. The control method according to Claim 2, wherein, based on the position information, detecting that the moving body has left the first region and entered a second region where the upper limit speed of the moving body should be equal to or lower than a fourth speed greater than the first speed; and executing second control for setting the upper limit speed of the moving body when the moving body enters the second region, wherein the second control includes: performing a third setting for setting the upper limit speed of the moving body to a fifth speed greater than the first speed and smaller than the fourth speed in the second region, and then setting the upper limit speed of the moving body to be equal to or lower than the fourth speed.

7. The control method according to Claim 6, The second control is a control method including, in the second region, after performing the third setting, further performing a fourth setting of setting the upper limit speed of the moving body to a sixth speed greater than the fifth speed and less than the fourth speed, and then setting the upper limit speed of the moving body to be equal to or less than the fourth speed.

8. The control method according to claim 1, wherein the first region is a region set adjacent to a second region in which the upper limit speed of the moving body should be equal to or less than a second speed that is less than the first speed, and the first control includes setting the upper limit speed of the moving body to be equal to or less than the first speed, and the control method includes, when the moving body enters the second region, executing a second control of setting the upper limit speed of the moving body to be equal to or less than the second speed.

9. The control method according to claim 8, wherein the second region is a region set adjacent to a third region in which the upper limit speed of the moving body should be equal to or less than a third speed that is less than the second speed, and the control method includes, when the moving body enters the third region, executing a third control of setting the upper limit speed of the moving body to be equal to or less than the third speed.

10. The control method according to claim 9, wherein the second region is set based on the fulfillment of a predetermined condition.

11. The control method according to claim 9, wherein, based on the fulfillment of a predetermined condition, one or more settings are performed, including setting to increase the first speed, setting to increase the second speed, setting to increase the first region, and setting to increase the second region.

12. The control method according to claim 8, detecting, based on the position information, that the moving body has entered a fourth region in which the upper limit speed of the moving body should be equal to or less than a fourth speed greater than the second speed, and when the moving body enters the fourth region, executing a fourth control of setting the upper limit speed of the moving body to be equal to or less than the fourth speed.

13. The control method according to any one of claims 4, 5, 10, and 11, The predetermined conditions are conditions related to one or more of (1) the type of the moving body, (2) the weight of the moving body, (3) the weight of the user of the moving body, (4) the age of the user, (5) the usage history of the moving body by the user, (6) the road width of the road on which the moving body travels, (7) the slope of the road, (8) the traffic congestion of the road, (9) the time zone when the moving body is used, (10) the weather when the moving body is used, and (11) the traveling direction of the moving body in the case where the road on which the moving body travels is a one-way road excluding bicycles. A control method.

14. The control method according to claim 8, wherein obtaining the position information is performed based on a satellite signal transmitted from a GNSS satellite. A control method.

15. The control method according to claim 2, including detecting the speed of the moving body, wherein when the speed of the moving body at the time of detecting that the moving body has entered the first region is less than the second speed and greater than the first speed in the first control, the upper limit speed of the moving body is set to the speed of the moving body corresponding to the time when it is detected that the moving body has entered the first region. A control method.

16. The control method according to claim 8, including detecting the speed of the moving body, wherein when the speed of the moving body at the time of detecting that the moving body has entered the first region is less than the first speed and greater than the second speed in the first control, the upper limit speed of the moving body is set to the speed of the moving body corresponding to the time when it is detected that the moving body has entered the first region. A control method.

17. A program executed by a control device of a moving body, obtaining position information regarding the position of the moving body, detecting, based on the position information, that the moving body has entered a first region where the upper limit speed of the moving body should be equal to or less than a first speed, executing a first control for setting the upper limit speed of the moving body when the moving body enters the first region. is a program executed by the control device.

18. A control device for controlling a moving body, comprising a control unit that obtains position information regarding the position of the moving body, the control unit, detects, based on the position information, that the moving body has entered a first region where the upper limit speed of the moving body should be equal to or less than a first speed. A control device that executes first control for setting an upper limit speed of the moving body when the moving body enters the first region.

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