Travel control system and travel control method for specific movable body

Abstract

To control traveling of a specific moving body while suppressing cost.SOLUTION: A travel control system 1 that controls travel of a specific moving body 300 that moves within a predetermined range with one or a small number of users on board includes a sensor terminal 100 that is detachably provided in the specific moving body and has a sensor that detects an object on a route on which the specific moving body travels, and a travel control device 200 that is communicably connected to the sensor terminal, generates a travel control instruction for the specific moving body to move to a predetermined place based on predetermined information including detection data of the sensor received from the sensor terminal, and inputs the generated travel control instruction to the specific moving body.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] In recent years, small, lightweight, and low-speed moving objects known as personal mobility have been proposed to improve the convenience of short-distance travel within facilities such as airports or in urban areas. Such moving objects used in specific environments often lack sensors and information processing devices for autonomous driving. Technologies that utilize data captured by cameras installed on moving objects are known (Patent Documents 1 to 4). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2020 / 0250441 [Patent Document 2] U.S. Patent Application Publication No. 2021 / 0287548 [Patent Document 3] U.S. Patent No. 1,137,8413 [Patent Document 4] Japanese Patent Publication No. 2022-185369 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology described in the prior art document, sensors with fixed technical specifications are fixed to the vehicle body in advance, and the vehicle's travel is controlled using these fixed sensors. Therefore, if the technology described in the prior art document is applied to the autonomous travel of a specific mobile object, the manufacturing cost of the specific mobile object will increase.

[0005] An object of the present invention is to provide a system and method for controlling the travel of a specific moving object, which controls the travel of the specific moving object while suppressing costs. [Means for solving the problem]

[0006] In order to solve the above problem, a driving control system for a specific moving body according to one aspect of the present invention is a driving control system that controls the driving of a specific moving body that carries one or a small number of users and moves within a specified range, and includes a sensor terminal that is detachably attached to the specific moving body and has a sensor that detects objects on the path along which the specific moving body is traveling, and a driving control device that is communicatively connected to the sensor terminal and generates driving control instructions for the specific moving body to move to a specified location based on specified information including sensor detection data received from the sensor terminal, and inputs the generated driving control instructions to the specific moving body. [Effects of the Invention]

[0007] According to the present invention, by utilizing a sensor of a sensor terminal that is detachably attached to a specific moving body, an object on the route along which the specific moving body is traveling can be detected, and the specific moving body can be moved to a predetermined location. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is an overall schematic diagram of a travel control system for a specific moving body; [Figure 2] FIG. 1 is an explanatory diagram showing a state in which a plurality of specific moving objects move among pedestrians within a predetermined range. [Figure 3] FIG. 1 is a configuration diagram of a driving control system. [Figure 4] FIG. 10 is an explanatory diagram showing an example of a comparative example in which the detection distance of the sensor is short. [Figure 5] FIG. 10 is an explanatory diagram showing an example in which the speed is reduced when the detection distance of the sensor is short. [Figure 6] FIG. 10 is an explanatory diagram showing an example of a comparative example in which the viewing angle of the sensor is narrow. [Figure 7] 10A and 10B are explanatory diagrams showing an example of adjusting a path depending on the width of the viewing angle of a sensor; [Figure 8]FIG. 10 is an explanatory diagram showing an example in which the detection range changes depending on the horizontal position of the sensor terminal. [Figure 9] FIG. 10 is an explanatory diagram showing an example in which the detection range changes depending on the vertical position of the sensor terminal. [Figure 10] FIG. 10 is an explanatory diagram showing an example of determining the positional relationship between a sensor terminal and a specific moving object. [Figure 11] FIG. 10 is an explanatory diagram showing another example of specifying the positional relationship between a sensor terminal and a specific moving object. [Figure 12] FIG. 10 is an explanatory diagram showing a method for dynamically managing a map of a predetermined range. [Figure 13] 4 shows examples of tables managed by a control profile management unit. [Figure 14] 10 is a flowchart of a terminal control process. [Figure 15] 10 is a flowchart of a calibration process. [Figure 16] 10 is a flowchart of a self-location transmission process. [Figure 17] 10 is a flowchart of an obstacle detection process. [Figure 18] 10 is a flowchart of a profile creation process. [Figure 19] 10 is a flowchart of a profile update process. [Figure 20] 10 is a flowchart of a route planning process. [Figure 21] 4 is a flowchart of a driving control process. [Figure 22] 10 is an example of a terminal profile according to the second embodiment. [Figure 23] 10 is another example of a terminal profile. [Figure 24] 10 is a flowchart of a terminal control process. [Figure 25] 4 is a flowchart of a driving control process. [Figure 26] FIG. 10 is an explanatory diagram showing how, when the viewing angle of the sensor is narrow, the route can be shortened by pointing the sensor in the direction in which the specific moving object is turning. [Figure 27] FIG. 10 is an explanatory diagram showing a state in which the direction in which the sensor should be pointed is instructed to the user. [Figure 28] FIG. 10 is a configuration diagram of a driving control system according to a third embodiment. [Figure 29] 1 is an example of a mobile profile. [Figure 30] 13 is a flowchart showing a communication process with a user according to the fourth embodiment. [Figure 31] FIG. 10 is a configuration diagram of a driving control system according to a fifth embodiment. [Figure 32] FIG. 13 is an overall schematic diagram illustrating an example in which AR / VR goggles are used as a sensor terminal according to a sixth embodiment. [Figure 33] FIG. 13 is an explanatory diagram illustrating how nearby specific moving bodies perform self-location estimation and the like while exchanging data detected by sensors according to a seventh embodiment. [Figure 34] FIG. 1 is a configuration diagram of a driving control system. [Figure 35] FIG. 10 is a sequence diagram showing a process of exchanging data detected by sensors between specific nearby mobile bodies and transmitting calculated information about their own positions and obstacles to a driving control device. [Figure 36] FIG. 13 is an explanatory diagram illustrating how the detection range is expanded by changing the orientation of the sensor terminals held by the front and rear users in a specific two-seater moving body according to the eighth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. A driving control system 1 of this embodiment shown in Fig. 1 controls the autonomous driving of a specific moving object 300 by utilizing the spatial recognition ability of a sensor terminal 100 carried by a user U riding the specific moving object 300. In other words, the specific moving object 300 does not need to be equipped with a sensor for autonomous driving itself.

[0010] The specific moving body 300 in this embodiment is used for traveling within a predetermined range, such as an airport, amusement park, hospital, factory, port, various facilities, residential area, office building district, or urban area, and is characterized by its small size, light weight, and low speed. The specific moving body 300 is typically a one-seater or two-seater. The specific moving body 300 may take the form of, for example, an electric chair, an electric cart, an electric assist bicycle, or an electric kick scooter. The specific moving body 300 in this embodiment may have any type, such as the number of wheels or the drive system. The specific moving bodies 300 traveling within a predetermined range may have different technical specifications. As long as the profile of the specific moving body 300 (the moving body control profile 214 described later in FIG. 13 ) is known, specific moving bodies 300 with different technical specifications may travel within the same predetermined range. For example, different specific moving bodies may be mixed, such as a one-seater specific moving body, a two-seater specific moving body, and a specific moving body for transporting a large cart.

[0011] The sensor terminal 100 in this embodiment is, for example, an information processing terminal held by a user U, and is equipped with a spatial recognition capability for detecting an object 400 on the route traveled by the specific moving body 300, an information processing capability for calculating information about the detected object and estimating its own position, and a communication capability for exchanging information with the travel control device 200. The sensor terminal 100 is, for example, a mobile information terminal held by the user U.

[0012] The mobile information terminal in this embodiment is, for example, a mobile phone (including so-called smartphones), a portable personal computer, etc. The mobile information terminal may be, for example, a tablet type, a pocketbook type, a notebook type, a wristwatch type, a glasses type, a goggle type, or the like. Since the mobile information terminal is a device carried by a user U who uses the specific moving body 300, its technical specifications are not uniform and often differ from one another. The technical specifications include information indicating the capabilities of the sensor mounted on the sensor terminal 100. The sensor capabilities include, for example, information on the field of view, which indicates the range within which detection is possible, and information on the detection distance, which indicates the distance within which detection is possible. The technical specifications may also include the information processing capabilities and / or communication capabilities of the sensor terminal 100.

[0013] The terminal 100 is not limited to a portable information terminal, but may be any information processing terminal that has the spatial recognition capability, information processing capability, and communication capability described above.

[0014] The driving control device 200 is a computer that is communicably connected to the sensor terminal 100, and includes hardware resources such as a processor 201, a memory 202, and an interface 203 (see FIG. 3).

[0015] The driving control device 200 generates driving control instructions for the specific moving body 300 to move to a predetermined location based on predetermined information including sensor detection data received from the sensor terminal 100, and inputs the generated driving control instructions to the specific moving body 300. The driving control instructions include, for example, a route 102 for the specific moving body 300 to move to the predetermined location and a speed 103 of the specific moving body 300. In addition to the route 102 and the speed 103, the driving control instructions may also include a turning radius of the specific moving body 300. This is because, as will be described later, adjusting the turning radius enables the specific moving body 300 to safely autonomously drive on a route with poor visibility.

[0016] The driving control device 200 can also notify the user U of predetermined feedback information related to the position and attitude of the sensor terminal 100 from the sensor terminal 100. Furthermore, the driving control device 200 can calculate the likelihood that the user U will follow the feedback information and modify the driving control instructions according to the calculation results. Furthermore, the driving control device 200 may include a dynamic map management unit that generates and updates a map within a predetermined range based on the predetermined information.

[0017] The travel control device 200 may be configured as a server separate from the sensor terminal 100 and the specific moving body 300. The travel control device 200 configured as an independent device communicates with each of the sensor terminal 100 and the specific moving body 300. However, this is not limiting, the travel control device 200 may be built into the sensor terminal 100. The travel control device 200 may also be provided in the specific moving body 300.

[0018] The cruise control device 200 configured as a server manages the movement of multiple specific moving bodies 300 within a predetermined area such as an airport or an office building district. The cruise control device 200 provided in the sensor terminal 100 is linked to the sensor terminal 100 and controls the autonomous driving of the specific moving body 300 ridden by a user U who owns the sensor terminal 100. The cruise control device 200 provided in the specific moving body 300 is linked to the specific moving body 300 and controls the autonomous driving of the specific moving body 300 by using data from the sensor terminal 100 owned by the user U riding the specific moving body 300. As will be described later, multiple sensor terminals 100 within a short-range communication range can share data detected by each other's sensors via short-range communication.

[0019] As described above, the driving control device 200 installed in a specific moving body 300 is basically responsible only for the autonomous driving of that specific moving body 300, but alternatively, the driving control device 200 installed in one of the specific moving bodies 300 may be designated as a master driving control device and be responsible for some or all of the autonomous driving of other specific moving bodies 300 within the communication range.

[0020] The object 400 is an object located on the route traveled by the specific moving body 300. The object 400 includes, for example, various structures such as building walls, entrances, utility poles, guardrails, handrails, stairs, escalators, elevators, trash cans, benches, ornaments, etc., as well as pedestrians W (see FIG. 2). The pedestrians W may be accompanied by carts or pets.

[0021] In this embodiment, which is configured in this manner, the sensor of the sensor terminal 100 carried by the user U can be used as a data detection sensor for the specific moving body 300 to move autonomously, and manufacturing and maintenance costs can be reduced compared to when a sensor is fixed to the specific moving body 300 in advance.

[0022] In the driving control system 1 of this embodiment, the sensor terminals 100 carried by the users U are used, and therefore the technical specifications of the sensor terminals 100 vary, but the autonomous driving of the specific moving body 300 can be controlled taking into consideration the differences in the sensor characteristics of the sensor terminals 100. Hereinafter, the specific moving body 300 may be abbreviated as moving body 300. [Example]

[0023] The first embodiment will be described with reference to Figures 1 to 21. Figure 1 is an overall schematic diagram of a driving control system 1 for a mobile object 300. As described above, the driving control system 1 utilizes a sensor terminal 100 carried by a user U who travels using the mobile object 300, and controls the autonomous driving of the mobile object 300 using information detected by a sensor of the sensor terminal 100.

[0024] The cruise control system 1 includes, for example, at least one sensor terminal 100, at least one cruise control device 200, and at least one mobile object 300. The cruise control device 200 may be built into the mobile object 300 or may be built into the sensor terminal 100. A predetermined range in which the mobile object 300 moves may be managed by one cruise control device 200. Alternatively, the predetermined range may be divided into multiple sections, and the mobile objects 300 traveling in each section may be controlled by a cruise control device 200 arranged for each section, with the cruise control devices 200 for each section cooperating with each other.

[0025] The moving body 300 includes, for example, a body 301, front wheels 302F provided on the lower front side of the body 301, rear wheels 302R provided on the lower rear side of the body 301, and a positioning marker 304. In addition, the moving body 300 may include, for example, a handlebar, an armrest, lighting devices for illuminating the front, etc. (none of which are shown). The number of front wheels 302F and rear wheels 302R does not matter. The moving body 300 may be a unicycle, a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle. The moving body 300 may move by driving rubber tracks or by moving multiple legs alternately. The moving method and type of drive source of the moving body 300 do not matter.

[0026] The moving body 300 is provided with a marker unit 304 for positioning. For example, a two-dimensional code is printed on the marker unit 304. The location of the marker unit 304 relative to the moving body 300 is known. Therefore, for example, the two-dimensional code on the marker unit 304 can be photographed by the internal camera of the sensor terminal 100, and the photographed result can be analyzed to identify the positional relationship (including the attitude) between the sensor terminal 100 and the moving body 300.

[0027] The location of the sensor terminal 100 within a predetermined area, such as a facility or an office building district, can be determined by a GPS (Global Positioning System) installed in the sensor terminal 100. Alternatively, the location of the sensor terminal 100 can be determined from the relationship between the surrounding scenery photographed by the external camera of the sensor terminal 100 and structures on a map. Furthermore, the location of the mobile object 300 can be estimated from a location information detection unit such as a GPS, the speed of the mobile object 300, the direction of movement of the mobile object 300, and the travel time of the mobile object 300. Either method may be adopted. When the mobile object 300 moves within a facility such as an airport, the location of the mobile object 300 can be calculated by detecting the position, direction, and distance of each structure within the facility (such as a signboard, pillar, advertisement, wall, entrance / exit, etc.). Furthermore, the location of the sensor terminal 100 may be calculated by installing short-range communication devices at predetermined locations within the facility and communicating with the sensor terminal 100 through multiple of these communication devices.

[0028] As described above, the sensor terminal 100 is a portable information terminal carried by a user U, such as a smartphone.

[0029] For example, the user U starts an application program installed on the sensor terminal 100, reserves the use of the moving object 300, and goes to the boarding location selected in the application program.

[0030] Although the details will be described later, the user U pairs the sensor terminal 100 with the moving object 300 waiting at the boarding location, unlocks the moving object 300, and boards the moving object 300. The user U photographs the marker unit 304 with the internal camera of the sensor terminal 100 and positions it.

[0031] When the user U specifies a destination from an application program on the sensor terminal 100, the moving object 300 automatically starts moving according to the route and speed (and turning radius) calculated by the cruise control device 200. While the moving object 300 is moving, the user U points the sensor terminal 100 in a predetermined direction according to feedback information from the cruise control device 200. The user U continues to point the sensor terminal 100 held in his / her hand in the direction instructed by the cruise control device 200. Alternatively, as will be described later, a robot arm that holds the sensor terminal 100 may be provided on the moving object 300, and the position and posture of the robot arm may be controlled by instructions from the cruise control device 200.

[0032] The sensor 120 (see FIG. 3) of the sensor terminal 100 captures an image in front of the sensor terminal 100 and detects an object 400 within the detection range 101. The object 400 is a structure such as a wall on the movement path 102 of the moving object 300, another moving object 300 on the floor surface 2, a bench, a utility pole, a trash can, etc. As mentioned above, the object 400 is not limited to inorganic objects, but also includes, for example, pedestrians, security guards, store clerks, pets, etc. The object 400 can also be defined as an obstacle that may impede the movement of the moving object 300.

[0033] 2 is an explanatory diagram showing a situation in which multiple moving bodies 300 move among pedestrians W within a predetermined area. Structures 400 such as walls are provided on a floor surface 2, and passages (or plazas) are formed between the structures 400. These passages are shared by multiple moving bodies 300(1) to 300(3) and multiple pedestrians W.

[0034] As shown in the moving body 300(1), the moving body 300(1) moves along a route 102 determined by the driving control device 200 at a speed 103 (see FIG. 1 ) determined by the driving control device 200 while detecting an object 400 within a detection range 101 ahead in the direction of travel. The driving control device 200 provides feedback information regarding the autonomous driving to the user U as appropriate, causing the user U to adjust the orientation of the sensor terminal 100. When entering a corner, the moving body 300 turns according to instructions from the driving control device 200.

[0035] In this way, the moving body 300 and other users (such as pedestrians W) move freely on the floor surface 2. The moving body 300 does not travel on clearly defined roadways or sidewalks, but is often used in an environment where it coexists with pedestrians W.

[0036] Fig. 3 is a configuration diagram of the cruise control system 1. Fig. 3 shows one sensor terminal 100, one cruise control device 200, and one mobile body 300. As described above, there may be a one-to-one correspondence between the sensor terminal 100 and the mobile body 300, and one cruise control device 200 may control the autonomous cruise of multiple mobile bodies 300. As will be described later, multiple sensor terminals 100 may be associated with one mobile body 300. Other combinations are also possible.

[0037] The sensor terminal 100 includes, for example, a user interface unit 110, a sensor 120, a terminal control unit 130, and an autonomous driving support unit 160.

[0038] The user interface unit 110 is equipped with, for example, a monitor display, a touch panel, a microphone, a speaker, etc., and is a device for exchanging information with the user U. In the drawing, the user interface is abbreviated as UI.

[0039] The sensor 120 is a group of sensors including, for example, a front camera, a rear camera, a 3D camera, a brightness sensor, an acceleration sensor, a gyro sensor, a magnetic sensor, a biometric authentication sensor, and a LiDAR (light detection and ranging) sensor.

[0040] The terminal control unit 130 controls the operation of the sensor terminal 100. The autonomous driving support unit 160 includes a self-position estimation unit 140 that estimates the self-position of the sensor terminal 100, and an obstacle detection unit 150 that detects obstacles. The autonomous driving support unit 160 is an application program installed in the sensor terminal 100 from an application distribution server (not shown). In FIG. 3, the terminal control unit 130 and the autonomous driving support unit 160 are shown separately, but in reality, the autonomous driving support unit 160 is realized by a processor in the terminal control unit 130 executing an application program installed in the memory in the terminal control unit 130.

[0041] The self-position estimation unit 140 estimates the position of the sensor terminal 100. The self-position estimation unit 140 estimates the current position of the sensor terminal 100 based on data from a camera or a GPS included in the sensor 120, and transmits the estimated position to the driving control device 200.

[0042] The obstacle detection unit 150 detects an obstacle (object) 400 ahead based on data detected by the sensor 120, and transmits the detection result to the cruise control device 200. The detection result includes the position, shape, and size of the obstacle. Hereinafter, the object 400 may be referred to as the obstacle 400.

[0043] The functional configuration of the driving control device 200 will be described. The driving control device 200 is formed using a computer having hardware resources such as a processor 201, a memory 202, and various interfaces 203. The memory 202 stores predetermined computer programs for realizing the functions 210, 220, 230, 240, and 250 of the driving control device 200. The functions of the driving control device 200 are realized by the processor 201 executing these predetermined computer programs.

[0044] The control profile management unit 210 acquires and manages the technical specifications of the sensor terminal 100 and the technical specifications of the mobile object 200. The information managed by the control profile management unit 210 will be described later with reference to FIG.

[0045] The dynamic map management unit 220 creates and updates map information 221 (see FIG. 12) of a predetermined range in which the mobile object 300 travels. The dynamic map management unit 220 uses, for example, a structural drawing of a facility or a map of an office district as basic map information. The dynamic map management unit 220 recognizes the presence of dynamic objects (e.g., pedestrians, furniture, etc.) whose position may change based on information (self-position information and obstacle detection information) from each sensor terminal 100 associated with each mobile object 300, and updates the map information 221. The more the mobile object 300 travels within the predetermined range, the more accurate the map information 221 of the predetermined range becomes. Hereinafter, map information may be abbreviated as map.

[0046] The traveling control unit 250 transmits a traveling control instruction to the moving body 300. The traveling control instruction is information for controlling the autonomous traveling of the moving body 300. The traveling control instruction includes, for example, a route 102 and a speed 103. The traveling control instruction may further include, for example, a turning radius.

[0047] The travel control unit 250 includes, for example, a route planning unit 230 and a speed control unit 240. The route planning unit 230 plans the route 102 along which the mobile object 300 will travel. The speed control unit 240 determines the speed at which the mobile object 300 will travel.

[0048] The route 102 includes an overall route from the departure point to the destination of the mobile object 300, and routes for each section included in the overall route. The route planning unit 230 appropriately updates the route 102 based on the position and speed of the mobile object 300, the position of an obstacle 400, the distance to the obstacle 400, the size of the detection range 101 of the sensor terminal 100, etc. Examples of methods for creating the route 102 will be described later with reference to FIGS. 4 to 7.

[0049] The mobile body 300 autonomously travels within a predetermined range with a user U aboard. The mobile body 300 includes, for example, a mobile body control unit 310, a motor 320, a steering wheel 330, and a brake 340. Although not shown, the mobile body 300 may also include a light, a battery, and the like. The mobile body control unit 310 receives a travel control instruction from the travel control device 200, and controls the drive mechanisms such as the motor 320, the steering wheel 320, and the brake 330 in accordance with the travel control instruction to travel.

[0050] 4 shows a comparative example in which the detection range 101 of the sensor mounted on the sensor terminal 100 is small (the detection distance is short). The moving object 300 shown on the left side of the figure travels straight, recognizes the presence of an obstacle 400 while traveling (center of the figure), and attempts to stop (right side of the figure). The detection distance and field of view of the sensor are included in the information that the travel control device 200 acquires in advance from the sensor terminal 100.

[0051] If the sensor's detection distance is less than the braking distance of the moving body 300 (detection distance≦braking distance), even if an obstacle 400 on the path of the moving body 300 is detected and the brake 340 is applied as shown in the center of Figure 4, the moving body 300 will not be able to stop in front of the obstacle 400, as shown on the right side of Figure 4, and there is a possibility that it will come into contact with the obstacle 400.

[0052] Fig. 5 shows an example of slowing down the speed when the sensor's detection distance is short. As in Fig. 4, the moving object 300 shown on the left side of the figure travels straight, recognizes the presence of an obstacle 400 while traveling (center of the figure), and attempts to stop (right side of the figure).

[0053] 5, the speed of the moving body 300 is reduced compared to the example of FIG. 4. This is because the detection distance of the sensor of the sensor terminal 100 cannot be increased. Therefore, the travel control device 200 reduces the speed of the moving body 300 according to the value of the detection distance of the sensor. This allows the moving body 300 to stop without coming into contact with the obstacle 400.

[0054] 6 shows a comparative example in which the field of view of the sensor is narrow. The left side of the figure shows an example in which the moving object 300 attempts to pass by a known object 401. The right side of the figure shows an example in which the moving object 300 attempts to go around to the back of the known object 401.

[0055] If the sensor's viewing angle is sufficiently wide, even if an unknown obstacle 402 (such as a left-behind baggage or a tool) is present behind a known object 401 (such as a structure such as a wall), the cruise control device 200 can stop the moving body 300 before it comes into contact with the obstacle 402. In contrast, if the sensor's viewing angle is narrow as shown in FIG. 6 , the moving body 300 that attempts to go around to the back side of the known object 401 will be late in detecting the obstacle 402 hidden behind the known object 401. As a result, the moving body 300 will not be able to stop, increasing the possibility that it will come into contact with the unknown obstacle 402.

[0056] The position of the unknown obstacle 402 is detected by the obstacle detection unit 150 of the sensor terminal 100 and transmitted to the driving control device 200. The dynamic map management unit 220 updates the map of a predetermined range in accordance with the notification from the sensor terminal 100. The updated map is shared with the sensor terminals 100 corresponding to the other mobile objects 300 traveling within the predetermined range.

[0057] FIG. 7 shows an example of adjusting the route depending on the width of the sensor's field of view. The left side of the figure shows a case where the sensor's field of view is wide. In this case, the cruise control device 200 can calculate the shortest route even around a sharp curve formed by a known structure 401. The right side of the figure shows a case where the sensor's field of view is narrow. In this case, the cruise control device 200 reduces the driving radius and calculates a route that takes a larger detour than the example on the left side of the figure. Note that the narrower the field of view, the shorter the length of each section of the route and the longer the time required to travel.

[0058] The relationship between the position of the sensor terminal 100 and the detection range, and the alignment of the sensor terminal 100 and the moving object 300 will be outlined below with reference to FIGS. 8 to 11. FIG.

[0059] 8 shows an example in which the detection range changes depending on the horizontal position of the sensor terminal 100. A detection range 101L when the user U holds the sensor terminal 100 in his left hand is different from a detection range 101R when the user U holds the sensor terminal 100 in his right hand.

[0060] 9 shows an example in which the detection range changes depending on the vertical position of the sensor terminal 100. When the user U holds the sensor terminal 100 up high, the detection range 101U extends far, but close objects cannot be detected. In contrast, when the user U holds the sensor terminal 100 low, the detection range D can detect close objects, but cannot detect distant objects.

[0061] 10 shows an example of determining the positional relationship between the sensor terminal 100 and the moving object 300. If the marker unit 304 is provided at a relatively high position behind the user U, the sensor terminal 100 can capture an image of the marker unit 304 with the rear camera of the sensor terminal 100, regardless of whether the sensor terminal 100 is held at a high position or a low position. By analyzing the two-dimensional code printed on the marker unit 304, the position (and posture) of the sensor terminal 100 and the positional relationship with the moving object 300 can be matched.

[0062] 11 shows another example of determining the positional relationship between the sensor terminal 100 and the mobile object 300. By providing marker units 304L, 304R on the rear of both the left and right sides of the mobile object 300, the positional relationship between the mobile object 300 and the sensor terminal 100 can be determined by capturing an image of the two-dimensional code on the marker unit 304, regardless of whether the user U holds the sensor terminal 100 on the left side or the right side.

[0063] In other words, by placing the marker units 304 at relatively high positions on both the left and right sides behind the user U, the positional relationship between the sensor terminal 100 and the moving body 300 can be identified whether the user U holds the sensor terminal 100 in his left hand, whether the user U holds the sensor terminal 100 in his right hand, whether the user U holds the sensor terminal 100 at a relatively high position, or whether the user U holds the sensor terminal 100 at a relatively low position. The method is not limited to the methods shown in Figs. 10 and 11 , and the marker units 304 may be placed in places where the positional relationship between the sensor terminal 100 and the moving body 300 can be identified.

[0064] 12 is an explanatory diagram showing a method for dynamically managing map information 221 of a predetermined range. The dynamic map information 221 is formed in a mesh shape and has a plurality of grids 222. The dynamic map management unit 220 assigns information to each grid 222 to represent an area in which the mobile object 300 can travel. Each grid 222 or objects on the grid 222 are managed by tables T1 to T5. The grid 222 may be represented in two dimensions or three dimensions.

[0065] The grid 222 may be set finely to accurately represent the shape of an obstacle, or coarsely to efficiently plan a route, and the granularity of division may be changed depending on the region.

[0066] Instead of dividing the map information 221 into a mesh, the distribution of obstacles may be expressed as a point cloud. The dynamic map management unit 220 may manage shape information and coordinate information of obstacles separately and dynamically update only the coordinate information. Furthermore, the map management unit 220 manages the positions, attitudes, speeds, etc. of the moving body 300 and the sensor terminal 100 on the map information 221, superimposed on the range 101 in which the sensor of the sensor terminal 100 can detect obstacles, etc.

[0067] The example of Figure 12 will be explained in detail. For example, a moving object management table T1 is associated with an object corresponding to the moving object 300 on the grid 222. The moving object management table T1 is a table that manages the position of the moving object 300 on the map 221, etc. The moving object management table T1 (which can also be called moving object management table T1) manages predetermined keys such as "moving object ID," "coordinates," "posture," and "speed." The "moving object ID" is information that identifies the moving object 300 within the cruise control system 1. The "coordinates" indicate the current position of the moving object 300. The "posture" indicates the orientation of the moving object 300. The "speed" is the moving speed of the moving object 300.

[0068] A grid management table T2 is associated with each grid 222. The grid management table T2 includes, for example, keys such as "point ID," "coordinates," "obstacle," "dynamic," "label," and "color," and their values.

[0069] "Point ID" is information that identifies the location to which the grid 222 corresponds. "Coordinates" are coordinates that indicate the range of the grid 222. "Obstacle" indicates whether an object 400 exists. "Dynamic" is information that indicates whether the object 400 that exists in the grid 222 is a dynamic entity. For example, pedestrians and furniture can move and are dynamic objects. Parts of buildings, such as walls and entrances, are usually immovable and are not dynamic objects.

[0070] The driving control system 1 of this embodiment can continuously update the map 221, which changes from moment to moment, using the sensor terminals 100 associated with multiple moving bodies 300 traveling within a specified range, and the latest map 221 can be shared among the sensor terminals 100.

[0071] The "label" indicates the type of object that represents the object 400 on the grid 222. The object types include, for example, a wall, furniture such as a figurine, and a human. The "color" indicates the color of the surface of the object 400 associated with the grid 222. By clearly identifying the object 400, such as a wall that is located and fixed within a predetermined range, based on its position, shape, size, and color, the self-position of the sensor terminal 100 can be accurately estimated.

[0072] Table T3 shown in the upper left of Fig. 12 manages grids 222 on which objects 400 such as walls are arranged. Table T4 shown in the upper right of Fig. 12 manages grids 222 on which dynamic objects 400 such as ornaments are arranged. Table T5 shown in the right center of Fig. 12 manages grids 222 on which dynamic objects 400 such as people are arranged.

[0073] The ease of movement of the object 400 may be managed in multiple stages. For example, since humans or animals change location relatively quickly, a high level of ease of movement is set. Although ornaments or furniture such as stepladders can be moved, they tend to stay in place longer than pedestrians, so a low level of ease of movement is set. Since the situation of a grid 222 on which an object with a high level of ease of movement is arranged is likely to change over time, the cruise control device 200 can take into account the presence of grids 222 on which objects with a high level of ease of movement are arranged when calculating a route.

[0074] 13 shows examples of tables managed by the control profile management unit 210. The control profile management unit 210 manages, for example, a mobile entity profile 211, a terminal profile 212, pairing information 213, and a mobile entity control profile 214.

[0075] The moving body profile 211 stores information specific to the moving body, such as an ID, size, shape, mass, maximum speed, and minimum turning radius, for each moving body 300. The moving body profile 211 may be in a format such as URDF (Unified Robotics Description Format).

[0076] The terminal profile 212 stores sensor-specific information such as a terminal ID, a sensor ID, a sensor type, a field of view, and a detectable distance for each sensor included in the sensor terminal 100. This information may use design values ​​acquired via the OS (Operating System) of the sensor terminal 100, or may store values ​​actually measured when the sensor terminal 100 and the driving control device 200 are paired.

[0077] The pairing information 213 manages information linking the moving object 300 and the sensor terminal 100 used to control the moving object 300 .

[0078] The mobile object control profile 214 stores the allowable speed, allowable turning radius, braking distance, etc. for each mobile object 300. This information is calculated based on the mobile object profile 211, the terminal profile 213, and the pairing information 213 that links them together. The contents of the mobile object control profile 214 change dynamically depending on the combination and positional relationship between the sensor terminal 100 and the mobile object 300.

[0079] 14 is a flowchart of the terminal control process executed by the terminal control unit 130. When the sensor terminal 100 starts up, the sensor terminal 100 performs pairing with the moving object 300 (S1301). If multiple moving objects 300 are prepared, the sensor terminal 100 performs pairing with any one moving object 300 selected from among them.

[0080] The moving body 300 to be paired is selected by the user via the user interface unit 110, or by having the sensor of the sensor terminal 100 read the marker unit 304 of the moving body 300, etc. The selection result of the moving body 300 is transmitted from the sensor terminal 100 to the control profile management unit 210 of the driving control device 200. The control profile management unit 210 creates pairing information 213 that associates the selected moving body 300 with the sensor of the sensor terminal 100.

[0081] The terminal control unit 130 acquires the terminal profile 212 and transmits it to the control profile management unit 210 (S1302). The terminal profile 212 may use design values ​​acquired via the OS of the sensor terminal 100. The terminal control unit 130 may actually measure the sensor capabilities by having the sensor of the sensor terminal 100 read a specific pattern, and transmit the actually measured values ​​to the control profile management unit 210 to store them in the terminal profile 212.

[0082] The terminal control unit 130 instructs the user interface unit 110 and the self-position estimation unit 140 to perform calibration (S1303). Calibration is a process of estimating the positions and orientations of the sensor terminal 100 and the moving body 300 in space.

[0083] After the calibration is completed, the terminal control unit 130 instructs the self-position estimation unit 140 to start transmitting the self-position (S1304), and instructs the obstacle detection unit 150 to start obstacle detection (S1305).

[0084] The terminal control unit 130 receives the destination specified by the user from the user interface unit 110, and notifies the route planning unit 230 of the driving control device 200 of the received destination (S1306).

[0085] When the terminal control unit 130 receives the information on the target route 102 created by the route planning unit 230, it transmits the information on the route 102 to the user interface unit 110 and presents the planned route 102 to the user U (S1307).

[0086] When the terminal control unit 130 receives the driving start instruction from the user interface unit 110, it transmits the instruction to the driving control unit 240, causing the moving object 300 to start autonomous driving (S1308).

[0087] The terminal control unit 130 enters a standby state in which it waits for input from the user interface unit 110 or the driving control unit 240, and issues instructions according to the input content (S1309).

[0088] If the input is a pause instruction or a driving start instruction, the terminal control unit 130 notifies the driving control unit 240 of the instruction and returns to the input standby state again.

[0089] When the user interface unit 110 or the driving control device 200 instructs the terminal control unit 130 to stop the autonomous driving (S1310: YES), the terminal control unit 130 stops the driving of the moving object 300 and ends the process.

[0090] When the terminal control unit 130 is notified by the driving control device 200 that the terminal has arrived at the destination (S1311: YES), the terminal control unit 130 passes the arrival notification to the user interface unit 110 to notify the user, and then ends the process.

[0091] FIG. 15 is a flowchart of the calibration process executed by the self-position estimation unit 140.

[0092] This process starts when a calibration instruction (S1303 in FIG. 14) is received from the terminal control unit 130 (S1401).

[0093] The self-location estimation unit 140 acquires map information for self-location estimation from the dynamic map management unit 220 (S1402). The information acquired at this time includes, for example, three-dimensional obstacle information (point cloud) for self-location estimation by LiDAR, color information for self-location estimation by a camera, and the like.

[0094] The self-position estimation unit 140 estimates the current position and orientation of the sensor terminal 100 in space based on map information and information measured by the sensor 120 (S1403). The self-position estimation unit 140 estimates the position and orientation of the moving body 300 in space based on the position and orientation of the sensor terminal 100 in space and information on the position and orientation of the marker unit 304 relative to the sensor terminal 100 acquired by an inner camera or the like (S1404).

[0095] The self-position estimation unit 140 determines whether the estimation of the positions and attitudes of the sensor terminal 100 and the moving object 300 has been successful (S1405).

[0096] If the self-position estimation unit 140 has successfully estimated the positions and attitudes of the sensor terminal 100 and the moving body 300 (S1406: YES), it notifies the user interface 110 that the calibration process has been completed (S1406) and ends this process.

[0097] If the self-position estimation unit 140 fails to estimate the positions and orientations of the sensor terminal 100 and the moving object 300 (S1406: NO), it notifies the user interface unit 110 of the failure of the calibration process (S1407).

[0098] The self-position estimation unit 140 can also execute recovery processing (S1406) if the calibration processing fails. In the recovery processing, for example, a message such as "Please set the camera in the specified position and point it in the specified direction" is output, or the position and orientation at which the camera should be held are displayed on the user interface unit 110. If the calibration processing fails while the mobile object 300 is traveling, the mobile object 300 is slowed down or stopped, and the user is notified by the user interface unit 110 that the calibration processing needs to be redone. Note that if the position and orientation of the sensor terminal 100 become temporarily unknown, the sensor terminal 100 may travel automatically based on the previous position, orientation, speed, etc.

[0099] 16, the self-location transmission process executed by the self-location estimation unit 140 will be described. The self-location estimation unit 140 starts this process (S1411) when it receives an instruction to start transmitting the self-location (S1304 in FIG. 14) from the terminal control unit 130.

[0100] The self-position estimation unit 140 estimates the self-position of the sensor terminal 100 in space using the measurement information of the sensor 120 (S1412), and further estimates the position of the moving body 300 (S1413).

[0101] The self-position estimation unit 140 determines whether the estimation of the self-position of the sensor terminal 100 and the estimation of the position of the moving body 300 have been successful (S1414). If the self-position estimation unit 140 determines that the estimations have been successful (S1414; YES), it transmits the estimated position and attitude of the sensor terminal 100 and the estimated position and attitude of the moving body 300 to the obstacle detection unit 150 and the dynamic map management unit 220.

[0102] The self-position estimation unit 140 updates the information on the area 101 detectable by the sensor on the dynamic map based on the updated position and attitude of the sensor terminal 100 , and transmits the updated information to the dynamic map management unit 220 .

[0103] The self-location estimation unit 140 checks whether an instruction from another function has been received (S1417), and if an end instruction has been received, ends the process (S1418: YES). If no instruction has been received, or if an instruction has been received but it is not an end instruction (S1418: NO), the process returns to step S1412 and repeats the estimation and transmission of the self-location. Note that if the estimation of the self-location fails in step S1414 (S1414: NO), the process also returns to step S1412 and estimates the self-location again.

[0104] The obstacle detection process executed by the obstacle detection unit 150 will be described with reference to Fig. 17. Upon receiving an instruction to start obstacle detection (S1305 in Fig. 14) from the terminal control unit 130, the obstacle detection unit 150 starts this process (S1501).

[0105] The obstacle detection unit 150 receives the latest position information and attitude information of the sensor terminal 100 from the self-position estimation unit 140, compares the received information with the measurement information of the sensor 120, and detects the presence or absence of an obstacle and its position and shape (S1503).

[0106] The obstacle detection unit 150 determines whether the obstacle information has been updated (S1504). The obstacle information is updated, for example, when a new obstacle is detected or when the position or shape of an existing obstacle has changed. If there is updated obstacle information (S1504: YES), the obstacle detection unit 150 transmits the latest obstacle information to the dynamic map management unit 220 (S1505). If there is no updated obstacle information (S1504: NO), the obstacle detection unit 150 skips step S1505 and proceeds to step S1506.

[0107] The obstacle detection unit 150 checks whether an instruction from another function has been received (S1506), and if an end instruction has been received (S1507: YES), the process ends. If an instruction has not been received, or if an instruction has been received but it is not an end instruction (S1507: NO), the obstacle detection unit 150 returns to step S1502 and repeats obstacle detection and transmission.

[0108] 18 is a flowchart of the profile creation process executed by the control profile management unit 210. The control profile management unit 210 starts this process when it receives a pairing instruction with the moving object 300 (S1301 in FIG. 14) from the terminal control unit 130. The control profile management unit 210 registers the association between the sensor terminal 100 and the moving object 300 in the pairing information 213 (S2101).

[0109] The control profile management unit 210 registers the sensor profile acquired from the sensor terminal 100 in the terminal profile 212 (S2102). Furthermore, the control profile management unit 210 calculates and registers the control profile 214 based on the mobile object profile 211 and the terminal profile 212 (S2103), and ends this process.

[0110] FIG. 19 is a flowchart of the profile update process executed by the control profile management unit 210.

[0111] The control profile management unit 210 starts this process when it receives an update notification of the map information 221 from the dynamic map management unit 220 (S2111). The control profile management unit 210 calculates and updates the control profile 214 based on the latest map information 221, the mobile object profile 211, the terminal profile 212, and the pairing information 213 (S2112).

[0112] 20 is a flowchart of the route planning process executed by the route planning unit 230. The route planning unit 230 starts this process when it receives a destination instruction (S1306 in FIG. 14) from the user interface unit 110 (S2301).

[0113] The route planning unit 230 acquires the latest map information 221 from the dynamic map management unit 220 (S2302), and calculates a target route from the current location of the moving object 300 to the specified destination (S2303). At this time, the route planning unit 230 plans a route within the constraints of the allowable curvature and allowable speed, based on the information of the control profile 214 acquired from the control profile management unit 210.

[0114] The route planning unit 230 determines whether or not a reachable route to the destination exists within the constraints (S2304). If the route planning unit 230 has calculated a reachable route (S2304: YES), it transmits the route information to the user interface unit 110 and the driving control unit 240 (S2305). On the other hand, if a reachable route does not exist (S2304: NO), the route planning unit 230 transmits a notification to the user interface unit 110 and the driving control unit 240 that the route planning has failed (S2308).

[0115] After step S2305, the route planning unit 230 checks whether an instruction has been received from another function (S2306), and if it is an end instruction (S2307: YES), ends this process. If it has not received an instruction, or if it has received an instruction but it is not an end instruction (S2307: NO), the process returns to step S2302 and route planning (or updating) and transmission are repeated.

[0116] 21 is a flowchart of the driving control process executed by the driving control unit 250. The driving control unit 250 starts this process (S2401) when it receives a driving start instruction (S1308 in FIG. 14) from the user interface unit 110.

[0117] The traveling control unit 250 acquires the control profile of the moving object 300 from the control profile management unit 210 (S2402). Furthermore, the traveling control unit 250 acquires the latest map information 221 of the surroundings of the moving object 300 from the dynamic map management unit 220, the moving object position 222, and the detection range 101 of the sensor of the sensor terminal 100 (S2403, S2404).

[0118] The traveling control unit 250 determines whether the mobile object 300 has arrived at the destination based on the dynamic map information 221 and the position 222 of the mobile object 300 (S2405). When the mobile object 300 arrives at the destination (S2405: YES), the traveling control unit 250 transmits a stop instruction to the mobile object control unit 310 (S2412), notifies the user interface unit 110 of the arrival (S2413), and ends this process.

[0119] When the traveling control unit 250 determines that the moving body 300 has not arrived at the destination (S2405: NO), it receives the latest target route information (S2305) from the route planning unit 230 and plans a feasible local route based on the surrounding map information 221 and the detection range 101 (S2406).

[0120] The driving control unit 250 plans a tracking control to make the moving body 300 follow the local target path so as to satisfy the speed constraints and turning radius constraints of the control profile (S2407), and transmits this as a driving control instruction to the moving body control unit 310 (S2408).

[0121] The traveling control unit 250 checks whether an instruction has been received from another function (S2409), and if a stop instruction or an end instruction is received (S2410: YES), it sends a stop instruction to the mobile object control unit S310 (S2411) and ends this process. If no instruction has been received, or if an instruction has been received but it is not a stop or end instruction (S2410: NO), the process returns to step S2403 and repeats the acquisition of the latest map information 221, the planning of local routes, and the sending of traveling instructions. As the mobile object 300 continues traveling for each local route, the mobile object 300 eventually arrives at the destination specified by the user U (S2405).

[0122] In this embodiment, which is configured in this manner, the sensor of the sensor terminal 100 carried by the user U can be used as a data detection sensor for the specific moving body 300 to move autonomously, and manufacturing and maintenance costs can be reduced compared to when a sensor is fixed to the specific moving body 300 in advance.

[0123] The driving control system 1 uses the sensor terminal 100 owned by the user U, and therefore the technical specifications of the sensor terminals 100 vary, but the autonomous driving of the specific moving body 300 can be controlled by taking into account the differences in the sensor characteristics of the sensor terminals 100.

[0124] 5 and 7, according to this embodiment, the speed and turning radius of the mobile object 300 are set according to the detection capability (detection range, detection distance) and position and attitude of the sensor terminal 100, and a local route 102 is generated based on data from the sensors of the sensor terminal 100. Therefore, it is possible to make the mobile object 300 travel safely and autonomously using sensor terminals 100 with different technical specifications. [Example]

[0125] Example 2 will be described using Figures 22 to 27. In the following examples including this example, the differences from Example 1 will be mainly described. In this example, a sensor with a narrow viewing angle is used as if it were a sensor with a wide viewing angle by changing the attitude of the sensor terminal 100 with the cooperation of the user.

[0126] Fig. 22 shows an example of a terminal profile 212A used in the driving control system 1A of this embodiment. Fig. 23 shows another example of a terminal profile 212B.

[0127] In this embodiment, the user U changes the position and attitude of the sensor terminal 100 while driving in accordance with predetermined instructions from the sensor terminal 100. As a result, even if the sensor has a narrow field of view, the sensor terminal 100 can be rotated to obtain the same control constraints as a sensor with a wide field of view.

[0128] For this purpose, the extent to which the user can change the position and attitude of the sensor terminal 100 in accordance with a predetermined instruction from the sensor terminal 100 is held as one of the items in the terminal profile 212A.

[0129] For example, as shown in Fig. 22, the terminal profile 212A includes a cooperation agreement flag indicating whether the user is willing to cooperate. Alternatively, as shown in Fig. 23, a numerical value indicating the degree of cooperation of the user is stored in the terminal profile 212B. As a result, in this embodiment, when updating the control profiles 212A and 212B, if there is agreement to cooperate or if the degree of cooperation is high, the constraints on the allowable curvature are relaxed. Since the user cooperates in changing the orientation of the sensor terminal 100, a sensor with a narrow field of view can be treated as a sensor with a wide field of view.

[0130] 24 is a flowchart of the terminal control process, which includes steps S1312 and S1313 added to the terminal control process described in the first embodiment (see FIG. 14).

[0131] After step S1307, new step S1312 is executed. Step S1312 is a process for acquiring the degree of cooperation of the user U in response to a predetermined instruction regarding a change in the posture of the sensor terminal 100. The terminal control unit 130 causes the user U to select whether or not to agree, or to select the degree of cooperation from multiple options, via the user interface unit 110. Then, the terminal control unit 130 stores the input regarding cooperation from the user in the terminal profile information 212A or 212B.

[0132] At this time, the user can be encouraged to cooperate by being shown how the planned route and arrival time will change depending on whether or not the user cooperates. The planned route and arrival time can be calculated by the driving control device 200 and transmitted to the sensor terminal 100. Alternatively, rather than having the user select the degree of cooperation in advance, the extent to which the user complies with instructions can be calculated based on sensor data and stored in the terminal profiles 212A and 212B.

[0133] Following step S1308, a new step S1313 is executed. In step S1313, instructions are given to the user U regarding the position and attitude of the sensor terminal 100 based on the attitude instruction received from the traveling control unit 250. At this time, the difference between the ideal terminal attitude (the position and attitude of the sensor terminal 100) and the current terminal attitude can also be displayed on the display of the sensor terminal 100.

[0134] 25 is a flowchart of the running performance control process. In this process, a new step S2412 is added after step S2402 to the process described in FIG.

[0135] In step S2412, the ideal attitude of the sensor terminal 100 for following the target route is calculated and displayed on the user interface unit 110. Here, the ideal attitude of the sensor terminal 100 for route following is, for example, an attitude in which the sensor terminal 100 faces a point a certain distance ahead on the target route.

[0136] FIG. 26 shows how, when the viewing angle of the sensor is narrow, the route can be shortened by pointing the sensor in the direction in which the specific moving object is turning.

[0137] As shown in Figure 26, even when using a sensor terminal 100 with a sensor having a narrow field of view, if users U cooperate to change the terminal posture, it is possible to travel along the same route and arrive at the same time as when using a sensor terminal 100 with a sensor having a wide field of view.

[0138] 26, for example, when turning right, the sensor terminal 100 is rotated to the right by an angle θ1 with the user's cooperation, and the detection range 101(2) is shifted to the right. This allows the sensor terminal 100 to quickly detect the situation on the other side of the wall when the moving object 300 turns right.

[0139] 26, for example, when turning left, the sensor terminal 100 is rotated to the left by an angle θ2 with the user's cooperation, and the detection range 101(3) is shifted to the left. This allows the sensor terminal 100 to quickly detect the situation on the other side of the wall when the moving object 300 turns left.

[0140] 27 shows how to instruct the user on the direction to point the sensor. For example, a message such as "Point the sensor forward to the left" and an arrow can be displayed on the screen of the sensor terminal 100 to guide the user's actions.

[0141] This embodiment configured as described above also achieves the same effects as those of Embodiment 1. Furthermore, in this embodiment, the user is instructed to change the attitude (which may include the position) of the sensor terminal 100 in accordance with the travel of the moving object 300, so that a sensor terminal 100 having a sensor with a narrow viewing angle can be used in the same way as a sensor terminal 100 having a sensor with a wide viewing angle. Therefore, even if the user owns a sensor terminal 100 with inferior technical specifications, the moving object 300 can be autonomously traveled safely to the destination over a short route, improving the usability of the travel control system 1A for the user. [Example]

[0142] Third Embodiment A third embodiment will be described with reference to Figures 28 and 29. In a travel control system 1B of this embodiment, an actuator unit 350 such as a robot arm is provided on a moving body 300B.

[0143] FIG. 28 shows the configuration of a driving control system 1B.

[0144] The moving body 300B is provided with an actuator unit 350 that can attach a sensor terminal 100 and automatically adjust the attitude (which may also include the position) of the attached sensor terminal 100. The actuator unit 350 may be configured like a robot arm, for example, or may be configured with an electric motor and a cylinder or solenoid.

[0145] When the user U gets on the moving body 300B, the user U attaches the sensor terminal 100 that he or she is carrying to the actuator unit 350. The actuator unit 350 changes the attitude of the sensor terminal 100 in accordance with an instruction from the driving control device 200.

[0146] 29 is an example of a moving body profile 211B. The moving body profile 211B of this embodiment stores the movable range of the actuator unit 350 attached to each moving body 300B. The cruise control device 200 relaxes the constraints on the turning radius when planning the route 102, based on the movable range of the actuator unit 350, the field of view of the sensor, etc.

[0147] The actuator unit 350 operates in accordance with instructions from the driving control device 200, and changes the attitude of the sensor terminal 100 in the instructed direction.

[0148] This embodiment configured as described above also achieves the same effects as those of Embodiments 1 and 2. Furthermore, in this embodiment, the actuator unit 350 provided in the moving body 300B adjusts the attitude of the sensor terminal 100, so that the moving body 300B can travel autonomously along a safe and short route, regardless of whether or not the user cooperates. Furthermore, the user does not need to keep holding the sensor terminal 100 in his or her hand, which improves user convenience.

[0149] Furthermore, since the attitude movable range of each actuator unit 350 is registered in advance in the mobile object profile 211B, the attitude of the sensor terminal 100 can be adjusted even if the technical specifications of the actuator units 350 vary. [Example]

[0150] A fourth embodiment will be described with reference to Fig. 30. Fig. 30 is a flowchart showing a process of communication with a user. A cruise control system 1C of this embodiment estimates the user's agreement to cooperate or the degree of cooperation through communication with the user.

[0151] The driving control device 200 of the driving control system 1C provides the user with information about the driving of the mobile object 300 (S2501). The information about the driving of the mobile object 300 is information about driving and driving, such as, for example, "Your destination is ____. It will take about 7 minutes to reach your destination," "Please point your sensor terminal in the direction of the arrow," "A closer route has been found. Would you like to change it?", or "The local specialty is ____. Would you like to stop by a souvenir shop?". It should be noted that so-called generation AI can be used to provide information to the user.

[0152] The driving control device 200 receives input from the user as needed (S2502) and responds to the user (S2503). The driving control device 200 inputs the information input by the user into a machine learning model that has been trained in advance to estimate the user's agreement to cooperate or degree of cooperation, and estimates the user's agreement to cooperate or degree of cooperation (S2504). The estimated agreement to cooperate or degree of cooperation is used to relax control constraints when planning a route, for example.

[0153] This embodiment configured in this manner also achieves the same effects as those of Embodiments 1 to 3. Furthermore, in this embodiment, the user's consent to cooperation or the degree of cooperation can be estimated through a dialogue with the user regarding the travel of the moving object 300, which improves user convenience compared to when the user inputs consent to cooperation or the like by himself. [Example]

[0154] The fifth embodiment will be described with reference to Fig. 31. Fig. 31 is a configuration diagram of a cruise control system 1D of this embodiment.

[0155] In this embodiment, in addition to the sensor terminal 100 carried by the user U, a drone 500 equipped with a sensor is used to detect an object 400 on the route. The drone 500 is parked, for example, at a dispatch station for the mobile object 300 and is selected by the user U. The selected drone 500 flies along the route ahead of the mobile object 300 and detects the object 400 using a sensor such as a camera mounted on the drone 500. Data on the detected object 400 is transmitted to the sensor terminal 100, for example, via short-range communication. The autonomous driving support unit 160 of the sensor terminal 100 estimates its own position and detects objects based on data from the sensor 120 mounted on the sensor terminal 100 and data from the sensor of the drone 500.

[0156] The drones 500 may correspond one-to-one or one-to-many to the moving bodies 300. One or more drones 500 may fly within a predetermined range, and information obtained by a sensor mounted on the drone may be transmitted to the cruise control device 200. Dynamic map information 221 updated by the cruise control device 200 may be shared with the sensor terminals 100 associated with each moving body 300.

[0157] This embodiment configured in this manner also achieves the same effects as those of Embodiment 1. Furthermore, in this embodiment, in addition to the sensor terminal 100 held by the user, the drone 500 prepared in advance is also used as sensing means, which can further improve detection capabilities. [Example]

[0158] Example 6 will be described with reference to Fig. 32. Fig. 32 shows an example in which AR / VR goggles 100E are used as a sensor terminal. The AR (Augmented Reality) / VR (Virtual Reality) goggles 100E are a goggle-type information processing terminal that can be used for both AR and VR.

[0159] In the driving control system 1E of this embodiment, the AR / VR goggles 100E carried by the user U are used as a sensor terminal. The AR / VR goggles 100E include, for example, a display, a speaker, a microphone, and various sensors. The various sensors include a camera and a gyro sensor. The marker unit 304E is installed in a position where it can be photographed by the camera of the AR / VR goggles 100E.

[0160] This embodiment configured in this manner also achieves the same effects as those of embodiment 1. The AR / VR goggles 100E may be provided at a dispatch station of the moving object 300 or at the reception desk of the facility. [Example]

[0161] The seventh embodiment will be described with reference to Figures 33 to 35. Figure 33 shows how specific nearby mobile units exchange data detected by sensors to estimate their own positions.

[0162] In the driving control system 1F of this embodiment, multiple (e.g., four) moving bodies 300 are traveling within a predetermined range. Among them, the sensor terminal 100F corresponding to moving body 300(1) and the sensor terminal 100F corresponding to moving body 300(4) exchange data detected by their respective sensors via short-range communication CN4. Similarly, the sensor terminal 100F corresponding to moving body 300(3) and the sensor terminal 100F corresponding to moving body 300(4) exchange data detected by their respective sensors via short-range communication CN4.

[0163] 34 is a configuration diagram of the driving control system 1F. The autonomous driving support unit 160F of the sensor terminal 100F further includes an information exchange unit 170 that exchanges information with nearby moving bodies. The information exchange unit 170 exchanges data detected by the sensors 120 with the information exchange units 170 of other sensor terminals 100F that can communicate via short-range communication CN4.

[0164] The autonomous driving support unit 160F uses not only data detected by its own sensor 120 but also data detected by the sensors 120 of other sensor terminals 160F to estimate its own position and detect the position, shape, and size of the object 400. The data exchanged with nearby sensor terminals 100F may be raw data, which is the sensor output as is, or may be data that has been subjected to statistical processing or the like.

[0165] Fig. 35 shows a process in which data detected by sensors is exchanged between nearby specific moving bodies 300, and the calculated self-position and obstacle information is transmitted to the cruise control device 200. Fig. 35 shows a simplified version of the entire process.

[0166] Each sensor terminal 100F executes a calibration process with the driving control device 200 (S1). Each sensor terminal 100F within a range where short-range communication CN4 is possible exchanges data detected by each other's sensors 120 using the short-range communication CN4 (S2).

[0167] Each sensor terminal 100F uses not only data detected by its own sensor 120 but also data detected by the sensors 120 of the other sensor terminals 100F to estimate its own position (S3) and detect obstacles (S4). The results of the self-position estimation and the object detection are sent to the driving control device 200 via the communication networks CN1 and CN2.

[0168] The driving control device 200 updates the dynamic map information 221 based on information from each sensor terminal 100F (S5). When a destination is specified in each sensor terminal 100F (S6), the driving control device 200 plans a route 102 (S7). When a user instructs each sensor terminal 100F to start driving (S8), the driving control device 200 transmits a driving control instruction to each moving body 300 (S9). For convenience, S3 to S9 show the processing in each sensor terminal 100F together. The processing after the driving control instruction is transmitted to the moving body 300 is not shown.

[0169] This embodiment configured as described above also achieves the same effects as those of embodiment 1. Furthermore, in this embodiment, raw sensor data is exchanged between the sensor terminals 100F via the short-range communication CN4, and secondary information (self-position estimation information, object detection information) estimated from the raw sensor data is sent to the driving control device 200 using the communication networks CN1 and CN2, which have a longer communication range than the short-range communication CN4. Therefore, more sensor data can be exchanged between the sensor terminals 100F without wasting the communication bandwidth of the communication networks CN1 and CN2. [Example]

[0170] An eighth embodiment will be described with reference to Fig. 36. This is an explanatory diagram showing how a travel control system 1G of this embodiment widens the detection range by changing the directions of the sensor terminals 100FL and 100RR held by the front and rear users U1 and U2 in a two-seater specific moving body 300G.

[0171] The moving body 300G is a two-seater moving body in which one user can ride in the front and one in the back. The sensor terminal 100-1 of user U1 riding in the front is facing left in the direction of travel of the moving body 300G. The sensor terminal 100-2 of user U2 riding in the rear is facing right in the direction of travel of the moving body 300G. The sensor terminal 100-1 of user U1 riding in the front may be facing right in the direction of travel of the moving body 300G. The sensor terminal 100-2 of user U2 riding in the rear may be facing left in the direction of travel of the moving body 300G.

[0172] Marker units 304FL and 304FR are provided on both the left and right sides of the center of the moving body 300G. Marker units 304RL and 304RR are provided on both the left and right sides of the rear of the moving body 300G.

[0173] The sensor terminal 100-1 on the front side uses either the marker unit 304FL or 304FR to align with the moving object 300G, and the sensor terminal 100-2 on the rear side uses either the marker unit 304RL or 304RR to align with the moving object 300G.

[0174] In the illustrated example, a detection range 101-1 of the sensor of the front sensor terminal 100-1 faces the front left side of the moving object 300G, and a detection range 101-2 of the sensor of the rear sensor terminal 100-2 faces the front right side of the moving object 300G.

[0175] Each of the sensor terminals 100-1 and 100-2 estimates its own position and detects an object from data detected by the sensor. The results of self-position estimation and object detection are transmitted to the driving control device 200 in the same manner as in the first embodiment.

[0176] This embodiment configured as described above also achieves the same effects as those of the first embodiment. Furthermore, in this embodiment, in the case of a two-seater vehicle 300G, the sensor terminals 100-1 and 100-2 carried by the users U1 and U2 are oriented in different directions, so that the range in which simultaneous detection is possible can be expanded compared to the first embodiment. Since the detection range can be expanded in this embodiment, autonomous travel of the vehicle 300G can be achieved more safely and over a shorter route. Note that the sensor terminals 100-1 and 100-2 may be held and controlled in position by actuator units provided at the front and rear of the vehicle 300G.

[0177] The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and are not necessarily limited to those including all of the described configurations. Furthermore, some or all of the above-described configurations, functions, processing units, processing means, etc. may be implemented in hardware, for example, by designing them as integrated circuits. Furthermore, the above-described configurations, functions, etc. may be implemented in software by a processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files that realize each function can be stored in a memory, a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

[0178] The present disclosure described above includes at least the following inventions.

[0179] (Appendix 1) A driving control system for controlling the driving of a specific moving body that carries one or a small number of users and moves within a specified range, comprising: a sensor terminal that is detachably attached to the specific moving body and has a sensor that detects objects on the path along which the specific moving body is traveling; and a driving control device that is communicatively connected to the sensor terminal and generates driving control instructions for the specific moving body to move to a specified location based on specified information including detection data of the sensor received from the sensor terminal, and inputs the generated driving control instructions to the specific moving body.

[0180] (Appendix 2) A driving control system for a specific moving body as described in Appendix 1, wherein the sensor terminal is selected from a group of sensor terminals having different technical specifications, and the specified information includes the technical specifications of the sensor terminal and detection data of the sensor.

[0181] (Appendix 3) A driving control system for a specific moving body according to appendix 1 or 2, wherein the technical specifications of the sensor terminal include information on the field of view angle and detection distance of the sensor.

[0182] (Appendix 4) A driving control system for a specific moving body described in any one of Appendices 1 to 3, wherein the driving control instructions include a route for the specific moving body to move to the predetermined location and a speed of the specific moving body.

[0183] (Supplementary Note 5) The traveling control system for a specific moving body according to any one of Supplementary Notes 1 to 4, wherein the traveling control instruction includes a turning radius of the specific moving body in addition to the route and the speed.

[0184] (Supplementary Note 6) The travel control system for a specific moving body according to any one of Supplementary Notes 1 to 5, wherein the sensor terminal is a portable information terminal carried by the user.

[0185] (Supplementary Note 7) The traveling control system for a specific moving body according to any one of Supplementary Notes 1 to 6, wherein the traveling control device notifies the user of a predetermined instruction relating to the position and attitude of the sensor terminal via the sensor terminal.

[0186] (Appendix 8) A driving control system for a specific moving body described in any one of Appendices 1 to 7, wherein the driving control device calculates the likelihood that the user will follow the specified instructions and modifies the driving control instructions according to the calculation results.

[0187] (Supplementary Note 9) The driving control system for a specific moving body described in any one of Supplementary Notes 1 to 8, wherein the driving control device further includes a dynamic map management unit that generates and updates a map within the specified range based on the specified information.

[0188] (Appendix 10) A driving control system for a specific moving body described in any one of Appendices 1 to 9, wherein the specified information includes technical specifications of the sensor terminal and data detected by the sensor, and the data detected by the sensor includes location information of the sensor terminal and information about an object detected by the sensor.

[0189] (Appendix 11) A driving control system for a specific moving body described in any one of Appendices 1 to 10, wherein the sensor terminal exchanges data detected by sensors with other sensor terminals, calculates position information of the sensor terminal and information about the object based on data detected by sensors possessed by the sensor terminal and data detected by other sensors possessed by the other sensor terminals, and transmits the calculated position information and information about the object to the driving control device as part of the specified information.

[0190] (Appendix 12) A driving control system for a specific moving body described in any one of Appendices 1 to 11, wherein when multiple users are riding on the moving body, the sensor terminals carried by the multiple users are each directed in a different direction based on the specified feedback information notified to the multiple users from the driving control device.

[0191] (Appendix 13) A driving control system for a specific moving body described in any one of Appendices 1 to 12, wherein the specified range is within a specified facility, and the specific moving body runs on a floor surface shared with pedestrians walking within the facility.

[0192] (Appendix 14) A driving control method for controlling the driving of a specific moving body that carries one or a small number of users and moves within a specified range using a driving control device, wherein the driving control device is communicatively connected to a sensor terminal that is detachably attached to the specific moving body, and the sensor terminal has a sensor that detects objects on a route along which the specific moving body is traveling, and the driving control device executes the steps of generating a driving control instruction for the specific moving body to move to a specified location based on specified information including detection data of the sensor received from the sensor terminal, and inputting the generated driving control instruction to the specific moving body.

[0193] (Appendix 15) A driving control system for a specific moving body as described in Appendix 14, further comprising, after the step of inputting the driving control instruction to the specific moving body, a step of notifying the user from the sensor terminal of a predetermined instruction regarding the position and attitude of the sensor terminal. [Explanation of symbols]

[0194] 1: Driving control system, 2: Floor surface, 100: Sensor terminal, 101: Detection range, 102: Route, 103: Speed, 110: User interface unit, 120: Sensor, 130: Terminal control unit, 140: Self-position estimation unit, 150: Obstacle detection unit, 160: Autonomous driving support unit, 200: Driving control device, 210: Control profile management unit, 220: Dynamic map management unit, 230: Route planning unit, 240: Speed ​​control unit, 250: Driving control unit, 300: Specific moving object, 304: Marker unit, 310: Moving object control unit, 400, 401: Object (obstacle)

Claims

1. A driving control system that controls the driving of a specific moving body that moves within a predetermined range with one or a small number of users on board, a sensor terminal detachably provided on the specific moving body, the sensor terminal having a sensor for detecting an object on a route along which the specific moving body travels; a travel control device that is communicatively connected to the sensor terminal, generates a travel control instruction for the specific moving body to move to a specific location based on predetermined information including detection data of the sensor received from the sensor terminal, and inputs the generated travel control instruction to the specific moving body; A driving control system for a specific moving body comprising:

2. the sensor terminal is selected from a group of sensor terminals having different technical specifications; The predetermined information includes technical specifications of the sensor terminal and detection data of the sensor. The travel control system for a specific moving body according to claim 1 .

3. The technical specifications of the sensor terminal include information on the field of view and detection distance of the sensor. The travel control system for a specific moving body according to claim 2.

4. The travel control instruction includes a route for the specific moving body to move to the predetermined location and a speed of the specific moving body. The travel control system for a specific moving body according to claim 3.

5. The travel control instruction includes the turning radius of the specific moving object in addition to the route and the speed. The travel control system for a specific moving body according to claim 4.

6. The sensor terminal is a portable information terminal held by the user. The travel control system for a specific moving body according to claim 5.

7. A predetermined instruction regarding the position and attitude of the sensor terminal is notified to the user from the driving control device via the sensor terminal. The travel control system for a specific moving body according to claim 6.

8. The driving control device calculates the likelihood that the user will follow the predetermined instruction, and modifies the driving control instruction in accordance with the calculation result. The travel control system for a specific moving body according to claim 7.

9. The driving control device further includes a dynamic map management unit that generates and updates a map within the predetermined range based on the predetermined information. The travel control system for a specific moving body according to claim 1 .

10. The predetermined information includes technical specifications of the sensor terminal and data detected by the sensor, and the data detected by the sensor includes location information of the sensor terminal and information about an object detected by the sensor. The travel control system for a specific moving body according to claim 2.

11. The sensor terminal exchanges data detected by the sensors with other sensor terminals, calculates position information of the sensor terminal and information about the object based on the data detected by the sensor possessed by the sensor terminal and the data detected by other sensors possessed by the other sensor terminals, and transmits the calculated position information and information about the object to the driving control device as part of the predetermined information. The travel control system for a specific moving body according to claim 2.

12. When a plurality of users ride on the moving body, the sensor terminals carried by the plurality of users are directed in different directions according to the predetermined feedback information notified to the plurality of users from the driving control device. The travel control system for a specific moving body according to claim 7.

13. The predetermined range is within a predetermined facility, The specific moving body travels on a floor surface shared with pedestrians walking within the facility. The travel control system for a specific moving body according to claim 1 .

14. A travel control method for controlling the travel of a specific moving body that carries one or a small number of users and moves within a predetermined range using a travel control device, comprising: the travel control device is communicably connected to a sensor terminal detachably provided on the specific moving body, and the sensor terminal has a sensor that detects an object on a route along which the specific moving body travels; The driving control device includes: generating a travel control instruction for the specific moving object to move to a predetermined location based on predetermined information including the detection data of the sensor received from the sensor terminal; inputting the generated driving control instruction to the specific moving object; Run A method for controlling the travel of a specific moving object.

15. Furthermore, after the step of inputting the travel control instruction to the specific moving body, a step of notifying the user of a predetermined instruction regarding the position and attitude of the sensor terminal from the sensor terminal is executed. The travel control system for a specific moving body according to claim 14.

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