Control device of movable body and control method

Abstract

To generate a path of a movable body properly.SOLUTION: A control device of a movable body is provided with a generating part which generates a path of the movable body so that the movable body avoids an actual obstacle and a virtual obstacle. The actual obstacle is an obstacle which is located in circumference of the movable body detected by using a detection unit of the movable body. The virtual obstacle is an obstacle which is virtually set in an approaching prohibition area where the movable body is prohibited from approaching.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] In recent years, there has been an increasing demand for ultra-small mobile vehicles (micromobility) to support people's movement within small areas. Micromobility vehicles include vehicles with a passenger capacity of around one person and vehicles that travel together with the person, carrying luggage instead of a passenger. Patent Document 1 describes a method for creating a route for a mobile vehicle so that the mobile vehicle avoids obstacles recognized based on the output of a detection unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2024-036933 Summary of the Invention [Problem to be solved by the invention]

[0004] However, simply avoiding obstacles recognized based on the output of the detection unit may result in a path being generated that passes through an area that the mobile body should not enter. An object of some aspects of the present invention is to provide a technique for appropriately generating a path for the mobile body. [Means for solving the problem]

[0005] According to some embodiments, there is provided a control device for a moving body, the control device comprising a generation means for generating a path for the moving body so that the moving body avoids each of real obstacles and virtual obstacles, the real obstacles being obstacles located around the moving body detected using a detection unit of the moving body, and the virtual obstacles being obstacles virtually set in a no-entry area where entry of the moving body is prohibited. [Effects of the Invention]

[0006] According to some embodiments, a route for a moving object can be generated appropriately. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic diagram illustrating an example configuration of a moving object according to some embodiments. [Figure 2] FIG. 2 is a block diagram illustrating an example of the configuration of a control system of a moving object according to some embodiments. [Figure 3] FIG. 2 is a block diagram illustrating an example of the functional configuration of a control unit of a moving object according to some embodiments. [Figure 4] 1A and 1B are schematic diagrams illustrating an example of a path generation method according to some embodiments. [Figure 5] 1A and 1B are schematic diagrams illustrating an example of a path generation method according to some embodiments. [Figure 6] FIG. 1 is a flow diagram illustrating an example of a method for controlling a moving object according to some embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the invention as claimed, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be combined in any desired manner. Furthermore, the same reference numerals are used to designate identical or similar components, and redundant descriptions will be omitted.

[0009] <Configuration of moving body> The configuration of the mobile body 100 will be described with reference to FIG. 1. In the following embodiment, an ultra-compact vehicle with a passenger capacity of approximately one person will be described as an example of the mobile body 100. Such a vehicle may be called micromobility. The vehicle may be an electric vehicle or a vehicle that runs on other power sources. The mobile body 100 recognizes a travel area and generates a route using images captured by the mobile body 100 itself, and travels autonomously according to the generated route. Furthermore, the mobile body 100 generates a route using a positioning result obtained by a positioning sensor and map information. The mobile body 100 may be capable of autonomous travel regardless of whether a person is on board the mobile body 100. The mobile body 100 may be capable of travelling according to the driving operation of a passenger.

[0010] Fig. 1(A) shows a side view of a moving body 100 according to this embodiment, and Fig. 1(B) shows the internal configuration of the moving body 100. In the figure, arrow X indicates the front-to-rear direction of the moving body 100, with F indicating the front and R indicating the rear. Arrows Y and Z indicate the width direction (left-to-right direction) and up-down direction of the moving body 100, respectively.

[0011] The mobile object 100 is an electric autonomous vehicle equipped with a propulsion unit 112 and using a battery 113 as its main power source. The battery 113 is, for example, a secondary battery such as a lithium-ion battery, and the mobile object 100 is self-propelled by the propulsion unit 112 using power supplied from the battery 113. The propulsion unit 112 is in the form of a tricycle equipped with a pair of left and right driving wheels 120 that are front wheels, and one driven wheel 121 that is a rear wheel. Note that the propulsion unit 112 may be in another form, such as a four-wheeled vehicle. The mobile object 100 is equipped with, for example, a seat 111 for one person.

[0012] The propulsion unit 112 includes a drive mechanism 122. The drive mechanism 122 is a mechanism that uses motors 122a and 122b as drive sources to rotate the corresponding drive wheels 120. The drive mechanism 122 can move the mobile body 100 forward or backward by rotating each of the drive wheels 120. The drive mechanism 122 can also change the direction of travel of the mobile body 100 by generating a rotation difference between the motors 122a and 122b. The propulsion unit 112 includes a driven wheel 121. The driven wheel can rotate around the Z direction as its rotation axis.

[0013] The moving body 100 is equipped with detection units 114 to 116 that detect targets around the moving body 100. The detection units 114 to 116 are a group of external sensors that monitor the periphery of the moving body 100. In this embodiment, the detection units 114 to 116 are all imaging devices (cameras) that capture images of the periphery of the moving body 100, and include, for example, an optical system such as a lens and an image sensor. However, instead of or in addition to the imaging devices, radar or lidar (Light Detection and Ranging) may be used.

[0014] The detection units 114 are arranged, for example, in pairs at the front of the moving body 100, spaced apart in the Y direction, and are mainly used to detect targets ahead of the moving body 100. The detection units 115 are arranged on the left and right sides of the moving body 100, respectively, and are mainly used to detect targets on the sides of the moving body 100. The detection unit 116 is arranged at the rear of the moving body 100, and is mainly used to detect targets behind the moving body 100.

[0015] 2 is a block diagram of a control system of the mobile object 100. The mobile object 100 includes a control unit (ECU) 130. The control unit 130 includes one or more processors such as a CPU, a memory device such as a semiconductor memory, an interface with an external device, and the like. Therefore, the control unit 130 is a type of computer. The memory device stores programs executed by the processor, data used for processing by the processor, and the like. Multiple sets of processors, memory devices, and interfaces may be provided for different functions of the mobile object 100 and configured to be able to communicate with each other.

[0016] The control unit 130 acquires the outputs (e.g., image information) of the detection units 114 to 116, input information from the operation unit 131, and audio information input from the audio input device 133, and executes corresponding processes. The control unit 130 controls the motors 122a and 122b (controls the driving of the driving unit 112), controls the display of the display panel included in the operation unit 131, and outputs audio alerts and information to the occupants of the moving object 100. The control unit 130 may execute processing using a machine learning model for image recognition (e.g., a deep neural network) on the outputs from the detection units 114 to 116. The control unit 130 may also execute processing using a machine learning model for voice recognition (e.g., a deep neural network) on the outputs from the audio input device 133. In this way, the control unit 130 controls the moving object 100. Therefore, the control unit 130 may be considered to be a control device for the moving object 100.

[0017] The voice input device 133 includes, for example, a microphone, and picks up the voice of the occupant of the mobile object 100. The control unit 130 is capable of recognizing the input voice and executing corresponding processing. The GNSS (Global Navigation Satellite system) sensor 134 is a positioning sensor that receives GNSS signals and detects the current position of the mobile object 100.

[0018] The storage device 135 includes a recording medium for storing various data. The storage device 135 may also store programs executed by the processor, data used by the processor for processing, and the like. The storage device 135 may store various parameters (e.g., trained parameters and hyperparameters of a deep neural network) of machine learning models for speech recognition and image recognition executed by the control unit 130. The storage device 135 may also store map information of the locations where the mobile object 100 travels. The communication device 136 is a communication device that can communicate with an external device (for example, a communication terminal 140 owned by a user) via wireless communication such as Wi-Fi (registered trademark) or fifth generation mobile communication.

[0019] Next, an example of the functional configuration of the control unit 130 will be described with reference to FIG. 3. The user instruction acquisition unit 301 acquires a user instruction input via the operation unit 131 or the voice input device 133. The user instruction may include a specification of a destination location where the mobile object 100 should arrive. The destination location may be the location of a target identified by a spoken voice among targets recognized in images output by the detection units 114 to 116. Furthermore, the destination location may be a geographical location specified by a user using the mobile object 100, or a geographical location that is set in advance by an administrator of the mobile object 100 and stored in the storage device 135. For example, the mobile object 100 may be set to autonomously return to a pre-set geographical location after use by the user.

[0020] The image information processing unit 302 recognizes the position, shape, etc. of an obstacle based on the output (e.g., image information) of the detection units 114 to 116. The position, shape, etc. of an obstacle ahead of the mobile object 100 is recognized by, for example, calculating the depth from the mobile object 100 using stereo images obtained from the two detection units 114. To recognize the obstacle, a machine learning model for image recognition (e.g., a deep neural network) that has been trained in advance may be used on monocular images or stereo images. The obstacle may be any object that obstructs the travel of the mobile object 100, and may be a stationary object or a moving object. For example, the obstacle may include a person, a pet, a tree, a wall, a step, a door, a vehicle, a shopping cart, an area marked with a no-entry sign, etc.

[0021] The map management unit 303 manages a map of the environment in which the mobile object 100 is used. No-entry areas may be set on this map. No-entry areas are geographical areas where the mobile object 100 is prohibited from entering. An administrator or user of the mobile object 100 may set the geographical location of the no-entry areas. The map may be stored in the storage device 135 of the mobile object 100. The map management unit 303 may receive the map from an external server and store it in the storage device 135.

[0022] The path generating unit 304 generates a path along which the mobile object 100 should travel. For example, if there is no obstacle in the straight direction from the current position to the destination position, the path generating unit 304 generates a path along the straight direction. If there is an obstacle in the straight direction from the current position to the destination position, the path generating unit 304 generates a path so that the mobile object approaches the destination position while avoiding the obstacle. The path generating unit 304 may generate a path so that the angular acceleration of the mobile object 100 is equal to or less than a threshold. Details of the path generation will be described later.

[0023] The travel control unit 305 controls the mobile object 100 to move autonomously along the path generated by the path generation unit 304. If the mobile object 100 is a vehicle, the movement of the mobile object 100 may be expressed as "traveling of the mobile object 100." If the mobile object 100 is a flying object, the movement of the mobile object 100 may be expressed as "flying of the mobile object 100." When the mobile object 100 receives an instruction from a user while traveling, such as to turn right, turn left, or stop, the travel control unit 305 may control the mobile object 100 to travel in accordance with the instruction.

[0024] A specific example of a path generation method by the path generation unit 304 will be described with reference to FIG. 4. FIG. 4(A) shows a plan view of an example of a real environment 400 in which the moving body 100 is located. In the real environment 400, obstacles 401 and 402 exist around the moving body 100. In FIG. 4(A) and subsequent drawings, the shapes of the obstacles are represented by circles for ease of explanation. Alternatively, the obstacles may have any shape. Also, in FIG. 4(A) and subsequent drawings, the upper side of the drawing is assumed to be the front of the vehicle. In the example of FIG. 4(A), a destination position is assumed to be at the top of the drawing, and the moving body 100 is autonomously traveling toward the destination position. At this time, a human may or may not be on board the moving body 100.

[0025] The path generation unit 304 generates a path 403 as a path along which the moving body 100 should travel, such that the moving body 100 avoids the obstacles 401 and 402 while approaching the destination position. The obstacle may be a human, and the human may feel uneasy if the moving body 100 travels too close to the obstacle. Furthermore, if a passenger is on board the moving body 100, the passenger may feel uneasy if the moving body 100 travels too close to the obstacle. Therefore, a margin M to be secured between the moving body 100 and the obstacle may be set in the moving body 100. In this case, the moving body 100 generates a path such that the distance between the obstacle and the moving body 100 is greater than the margin M. The value of the margin M may be determined in advance and stored in the control unit 130 or the storage device 135. The margin M is set to a value that makes a person feel safe traveling the moving body 100, for example, between 0.3 m and 1.0 m, specifically, 0.6 m. In the example of the real environment 400, even if the moving body 100 travels between the obstacles 401 and 402, the distance between the moving body 100 and each of the obstacles 401 and 402 becomes larger than the margin M, and therefore the path generating unit 304 generates a path 403 so that the moving body 100 travels between the obstacles 401 and 402. In some embodiments, the margin M may not be set, in which case the moving body 100 is allowed to travel very close to the obstacles.

[0026] FIG. 4(B) shows a plan view of another example of a real environment 410 in which the moving body 100 is located. In the real environment 410, obstacles 411 and 412 exist around the moving body 100. In the example of FIG. 4(B), the destination position is also at the top of the drawing. In this example, the distance 414 between the obstacles 411 and 412 is smaller than the sum of twice the margin M and the width W of the moving body 100. Therefore, the moving body 100 cannot travel between the obstacles 411 and 412 while ensuring the margin M. Therefore, the path generating unit 304 generates a path 413 such that the moving body 100 does not travel between the obstacles 401 and 402, but instead detours around the obstacle 411 from the left side.

[0027] Next, with reference to FIG. 5, a path generation method when a no-entry area is set will be described. FIG. 5(A) shows a plan view of an example of a real environment 500 in which a moving object 100 is located. The right side of the real environment 500 is a parking lot, and the left side of the real environment 500 is outside the parking lot. Currently, the moving object 100 is located inside the parking lot. In the real environment 500, obstacles 501 to 503 exist around the moving object 100. The obstacle 501 is, for example, a pedestrian or a vehicle. The obstacles 502 and 503 are structures that define the outer edges of the parking lot, such as walls, fences, steps, curb blocks, and dividing lines. An exit 504 of the parking lot is located between the obstacles 502 and 503. The exit 504 may also be used as an entrance to the parking lot. The destination position of the moving object 100 is assumed to be in the upper left direction of FIG. 5(A). In this case, the route generating unit 304 generates a route 505 so that the moving object 100 approaches the destination position while avoiding the obstacles 501 to 503. Since there are no obstacles at the exit 504 of the parking lot, the route 505 extends outside the parking lot.

[0028] When an administrator or user of the mobile object 100 wants to prohibit the mobile object 100 from leaving a parking lot, the administrator or user may set a no-entry area 511 on a map 510 used by the mobile object 100, as shown in FIG. 5(B). The no-entry area 511 is defined as a geographical location. The map 510 is managed by, for example, the map management unit 303.

[0029] Setting of the virtual obstacle 521 will be described with reference to FIG. 5(C). The path generation unit 304 sets the virtual obstacle 521 in the no-entry area 511 so as to prevent the mobile object 100 from generating a path that passes through the no-entry area 511. FIG. 5(C) shows a state in which the virtual obstacle 521 has been set in the real environment 500. Hereinafter, obstacles detected by the detection units 114 to 116 (e.g., obstacles 501 to 503) will be referred to as real obstacles. The path generation unit 304 generates a path 522 for the mobile object 100 so that the mobile object 100 avoids both the real obstacle and the virtual obstacle 521. This prevents the mobile object 100 from entering the no-entry area 511.

[0030] Setting the virtual obstacle 521 in the no-entry area 511 may include setting the virtual obstacle 521 so that the area in which the virtual obstacle 521 is set at least partially overlaps with the no-entry area 511. The path generating unit 304 may set the virtual obstacle 521 so that an outer edge 511e of the no-entry area 511 and an outer edge 521e of the virtual obstacle 521 coincide with each other. Alternatively, as shown in FIG. 5(C), the path generating unit 304 may set the virtual obstacle 521 so that the outer edge 521e of the virtual obstacle 521 is located inside the no-entry area 511. Even when the virtual obstacle 521 is set in this manner, the real obstacles (specifically, obstacles 502 and 503) and the virtual obstacle 521 work together to determine the path 522 so that the moving object 100 does not enter the no-entry area 511.

[0031] To simplify processing, the path generating unit 304 may generate a path by treating real obstacles and virtual obstacles 521 in the same way. For example, when a margin M to be secured between the moving body 100 and a real obstacle is set, the path generating unit 304 may also secure a margin M between the moving body 100 and the virtual obstacle 521. In this case, the path generating unit 304 generates a path 522 for the moving body 100 such that the distance between the moving body 100 and each of the real obstacle and the virtual obstacle 521 is greater than the margin M.

[0032] As shown in FIGS. 5(A) and 5(B), the no-entry area 511 is set to cover the exit 504 of the parking lot. When a virtual obstacle is placed so as to overlap the exit 504, the path generation unit 304 generates a path so that the moving body 100 does not approach within a margin M of the exit 504. However, because there is no real obstacle at the exit 504, even if the moving body 100 approaches the exit 504, it is unlikely that the occupants of the moving body 100 or people around it will feel uneasy. Therefore, as shown in FIG. 5(C), by setting the virtual obstacle 521 so that an outer edge 521e of the virtual obstacle 521 is located inside the no-entry area 511, excessive restriction on the range in which the moving body 100 can travel is suppressed.

[0033] The path generating unit 304 may set the virtual obstacle 521 so that the distance D between the outer edge 511e of the no-entry area 511 and the outer edge 521e of the virtual obstacle 521 is smaller than the sum of twice the margin M and the width W of the moving object 100. As a result, as in the description in FIG. 4(B), the path generating unit 304 will not generate a path that would cause the moving object 100 to pass between the virtual obstacle 521 and the obstacles 502 and 503, and the moving object 100 will be prevented from entering the no-entry area 511.

[0034] The path generation unit 304 determines the positional relationship between the moving object 100 and real obstacles based on the outputs of the detection units 114 to 116. Meanwhile, the path generation unit 304 identifies the position of the virtual obstacle 521 relative to the moving object 100 based on the relationship between the geographical position of the moving object 100 measured by a positioning sensor (e.g., the GNSS sensor 134) of the moving object 100 and the geographical position of the virtual obstacle 521 set in the no-entry area 511. The positioning sensor may have errors. Therefore, the virtual obstacle 521 may be identified with a deviation by up to the nominal error of the positioning sensor relative to the real obstacles (e.g., obstacles 501 to 503) located in the real environment 500 and the moving object 100.

[0035] If the distance D between the outer edge 511e of the no-entry area 511 and the outer edge 521e of the virtual obstacle 521 is too small, there is a risk that the virtual obstacle 521 will be set outside the no-entry area 511 as a result of an error in the positioning sensor. In this case, there is a risk that the range in which the moving object 100 can travel will be excessively limited. Therefore, the path generation unit 304 may set the virtual obstacle 521 so that the distance D between the outer edge 511e of the no-entry area 511 and the outer edge 521e of the virtual obstacle 521 is greater than the nominal error E of the GNSS sensor 134.

[0036] On the other hand, if the distance D between the outer edge 511e of the no-entry area 511 and the outer edge 521e of the virtual obstacle 521 is too large, the gap between the virtual obstacle 521 and the real obstacle (e.g., obstacles 502 and 503) will become wider as a result of errors in the positioning sensor. In this case, there is a risk that a path will be generated in which the moving object 100 passes between the virtual obstacle 521 and the real obstacle. Therefore, the path generator 304 may set the virtual obstacle 521 so that the distance D between the outer edge 511e of the no-entry area 511 and the outer edge 521e of the virtual obstacle 521 is smaller than the sum of twice the margin M and the width W of the moving object 100, minus the nominal error E of the GNSS sensor 134.

[0037] If the margin M is 0.6 m, the nominal error E of the GNSS sensor 134 is 0.6 m, and the width W of the moving object 100 is 1.3 m, the path generating unit 304 may set the virtual obstacle 521 so that the distance D between the outer edge 511 e of the no-entry area 511 and the outer edge 521 e of the virtual obstacle 521 is, for example, 1.0 m. In this setting example, the distance D (1.0 m) is greater than the nominal error E (0.6 m). Furthermore, the distance D (1.0 m) is less than the value (1.9 m) obtained by subtracting the nominal error E (0.6 m) of the GNSS sensor 134 from the sum of twice the margin M (0.6 m) and the width W (1.3 m) of the moving object 100.

[0038] By generating a route for the moving object 100 as described above, it is possible to generate an appropriate route that prevents the moving object 100 from entering the no-entry area 511 while utilizing conventional route generation processing for real obstacles.

[0039] Next, an example of a control method for the mobile object 100 will be described with reference to FIG. 6 . The method of FIG. 6 may be executed in response to an instruction to start autonomous traveling of the mobile object 100. The autonomous traveling of the mobile object 100 may be started, for example, in response to an instruction from an occupant of the mobile object 100, in response to the passage of a predetermined time after the user has stopped using the mobile object 100, in response to the mobile object 100 receiving an instruction from an external server, or when other conditions are satisfied. It is assumed that a destination location for the mobile object 100 is set at the start of the method of FIG. 6 . It is also assumed that the mobile object 100 stores a map in which a no-entry area 511 is set at the start of the method of FIG. 6 . Each step of the method of FIG. 6 may be executed by the CPU of the control unit 130 executing a program read into the memory of the control unit 130. Alternatively, some or all of the steps of the method of FIG. 6 may be executed by a dedicated circuit such as an application-specific integrated circuit (ASIC).

[0040] In S601, the control unit 130 (e.g., the path generation unit 304) sets the virtual obstacle 521 in the no-entry area 511 as described above. Alternatively, a device different from the moving object 100 may set the virtual obstacle 521 in the no-entry area 511, and the moving object 100 may acquire the setting (i.e., the geographical position) of the virtual obstacle 521 from this device.

[0041] In S602, the control unit 130 (e.g., the path generation unit 304) identifies the positions of real obstacles and virtual obstacles relative to the moving object 100. For example, the control unit 130 (e.g., the image information processing unit 302) uses the detection units 114 to 116 of the moving object 100 to detect real obstacles (e.g., obstacles 501 to 503) located around the moving object 100 as described above. The control unit 130 (e.g., the path generation unit 304) identifies the positions of the real obstacles relative to the moving object 100 based on the detection results. Furthermore, the control unit 130 (e.g., the path generation unit 304) identifies the positions of the real obstacles relative to the moving object 100 based on the detection results. The control unit 130 (e.g., the path generation unit 304) identifies the positions of the virtual obstacles relative to the moving object 100 based on the relationship between the measurement results of the GNSS sensor 134 (i.e., the geographical position of the moving object 100) and the geographical positions of the virtual obstacles set in S601.

[0042] In S603, the control unit 130 (e.g., the path generation unit 304) generates a path for the moving body 100 as described above so that the moving body 100 approaches the destination position and avoids both the real obstacle detected in S602 and the virtual obstacle set in S601. In S604, the control unit 130 (e.g., the traveling control unit 305) causes the moving body 100 to travel along the path generated in S604 as described above.

[0043] In S605, the control unit 130 (e.g., the traveling control unit 305) determines whether the moving object 100 has arrived at the destination position. If it is determined that the moving object 100 has arrived at the destination position ("YES" in S605), the control unit 130 ends the process, and otherwise ("NO" in S605), the process transitions to S602. Thereafter, the control unit 130 repeats S602 to S605. As the moving object 100 travels, the positions of real obstacles change, and new real obstacles can be detected by the detection units 114 to 116. In response to this, the control unit 130 generates a new route in S603 and causes the moving object 100 to travel along this new route.

[0044] 6 illustrates a method for autonomous driving of the moving body 100. Alternatively, instead of executing S604, the moving body 100 may present the route generated in S604 to the occupant of the moving body 100. The occupant of the moving body 100 may drive the moving body 100 by themselves, referring to the presented route.

[0045] <Summary of the embodiment> [Item 1] A control device (130) for a moving body (100), a generation means for generating a path (522) of the moving body so that the moving body avoids each of real obstacles (501 to 503) and a virtual obstacle (521); The real obstacles are obstacles located around the moving body detected using the detection units (114 to 116) of the moving body, and the virtual obstacles are obstacles virtually set in a no-entry area (511) where the moving body is prohibited from entering. According to this item, the path of the moving object can be appropriately generated so that the moving object does not enter the no-entry area. [Item 2] Item 1. The control device according to item 1, wherein the virtual obstacle is set so that an outer edge (521e) of the virtual obstacle is located inside the no-entry area. According to this item, the route of the moving body can be appropriately generated so that the range in which the moving body can move is not excessively restricted. [Item 3] Item 3. The control device according to item 2, wherein the generation means generates the path of the moving body so that the distance between the moving body and each of the real obstacle and the virtual obstacle is greater than a predetermined margin (M). According to this item, the route of the moving body can be appropriately generated so as not to cause anxiety to the occupants of the moving body or people around. [Item 4] The control device according to item 3, wherein the virtual obstacle is set so that the distance (D) between the outer edge (511e) of the no-entry area and the outer edge (521e) of the virtual obstacle is smaller than the sum of twice the predetermined margin and the width (W) of the moving body. According to this item, the real obstacles and the virtual obstacles work together to appropriately generate a path for the moving object so that the moving object does not enter a no-entry area. [Item 5] the no-entry area is defined by a geographic location; The generation means identifies the position of the virtual obstacle relative to the moving object based on a relationship between the geographical position of the moving object measured by a positioning sensor (134) of the moving object and the geographical position of the virtual obstacle; 5. The control device according to item 3 or 4, wherein the virtual obstacle is set so that the distance between the outer edge of the no-entry area and the outer edge of the virtual obstacle is greater than a nominal error of the positioning sensor. According to this item, even if the positioning result contains an error, the route of the mobile body can be appropriately generated so that the range in which the mobile body can move is not excessively restricted. [Item 6] Item 6. The control device according to item 5, wherein the virtual obstacle is set so that the distance between the outer edge of the no-entry area and the outer edge of the virtual obstacle is smaller than the sum of twice the predetermined margin and the width of the moving object minus the nominal error of the positioning sensor. According to this item, even if the positioning result contains an error, the real obstacles and the virtual obstacles work together to appropriately generate a path for the moving body so that the moving body does not enter a no-entry area. [Item 7] A mobile object equipped with the control device according to any one of items 1 to 6. According to this item, a mobile object equipped with the above-mentioned control device can be provided. [Item 8] A program for causing a computer to function as each of the means of the control device described in any one of items 1 to 6. According to this item, a program for realizing the above-mentioned control device can be provided. [Item 9] A method for controlling a moving body (100), comprising: a generation step (S603) of generating a path (522) of the moving body so that the moving body avoids each of real obstacles (501 to 503) and a virtual obstacle (521); The real obstacle is an obstacle located around the moving body detected by the detection units (114 to 116) of the moving body, The virtual obstacle is an obstacle virtually set in a no-entry area (511) into which the moving object is prohibited from entering. According to this item, the path of the moving object can be appropriately generated so that the moving object does not enter the no-entry area.

[0046] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention. [Explanation of symbols]

[0047] 100 mobile object, 130 control unit, 511 no-entry area, 520 obstacle map

Claims

1. A control device for a moving body, a generating means for generating a path for the moving object so that the moving object avoids each of real obstacles and virtual obstacles; the real obstacle is an obstacle located around the moving body and detected using a detection unit of the moving body; The virtual obstacle is an obstacle virtually set in a no-entry area where entry of the moving object is prohibited.

2. The control device according to claim 1 , wherein the virtual obstacle is set so that an outer edge of the virtual obstacle is located inside the no-entry area.

3. 3. The control device according to claim 2, wherein said generating means generates said path of said moving body so that a distance between said moving body and each of said real obstacles and said virtual obstacles is greater than a predetermined margin.

4. 4. The control device according to claim 3, wherein the virtual obstacle is set so that a distance between an outer edge of the no-entry area and an outer edge of the virtual obstacle is smaller than the sum of twice the predetermined margin and a width of the moving object.

5. the no-entry area is defined by a geographic location; the generation means specifies a position of the virtual obstacle relative to the moving object based on a relationship between a geographical position of the moving object measured by a positioning sensor of the moving object and a geographical position of the virtual obstacle; The control device according to claim 3 , wherein the virtual obstacle is set so that a distance between an outer edge of the no-entry area and an outer edge of the virtual obstacle is greater than a nominal error of the positioning sensor.

6. 6. The control device according to claim 5, wherein the virtual obstacle is set so that the distance between the outer edge of the no-entry area and the outer edge of the virtual obstacle is smaller than a value obtained by subtracting the nominal error of the positioning sensor from the sum of twice the predetermined margin and the width of the moving object.

7. A moving body comprising the control device according to any one of claims 1 to 6.

8. A program for causing a computer to function as each of the means of the control device according to any one of claims 1 to 6.

9. A method for controlling a moving object, comprising: a generating step of generating a path for the moving object so that the moving object avoids each of real obstacles and virtual obstacles; the real obstacle is an obstacle located around the moving body and detected using a detection unit of the moving body; A control method in which the virtual obstacle is an obstacle virtually set in a no-entry area where entry of the moving object is prohibited.

Images