MOBILE BODY, CONTROL METHOD, AND PROGRAM

Abstract

To suitably control the travel of a moving body when changing the direction of travel of the moving body. [Solution] A mobile body capable of carrying a passenger, comprising: a drive device for moving the mobile body; a control device for driving the mobile body in a mode in which the mobile body automatically accelerates, decelerates, and steers; a first operator provided on the armrest of the mobile body; and a direction indicator indicating whether the mobile body is turning right or left, wherein the control device controls the drive device to decelerate the mobile body in response to an operation performed on the first operator to indicate either left or right, and controls the direction indicator to flash to indicate the indicated direction.

Description

[Technical Field]

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

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable traffic participants have been gaining momentum. Toward this goal, efforts are being focused on research and development into autonomous driving technology to further improve traffic safety and convenience. For example, autonomous driving and advanced driving assistance based on sensing of the direction of travel of a moving vehicle are being put into practical use. These technologies can include a form in which the vehicle's control device controls the direction of travel of the moving vehicle, and a form in which at least a rough direction of travel is determined by receiving some kind of operation from the occupant. Furthermore, in recent years, the practical use of single-seater or two-seater vehicles known as micromobiles has also been promoted (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-197328 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, there are cases where the traveling direction of a moving object cannot be appropriately controlled when the traveling direction of the moving object is changed.

[0005] The present invention has been made in consideration of the above circumstances, and an object thereof is to provide a mobile object, a control method, and a program that can appropriately control the traveling of the mobile object when changing the traveling direction of the mobile object, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0006] The moving body according to the present invention employs the following configuration. (1): A mobile body according to one embodiment of the present invention is a mobile body capable of carrying a passenger, and includes a drive device for moving the mobile body, a control device for running the mobile body in a mode in which the mobile body automatically accelerates, decelerates, and steers, a first operator provided on the armrest of the mobile body, and a direction indicator indicating whether the mobile body is turning right or left, and the control device controls the drive device to decelerate the mobile body in response to an operation performed on the first operator to indicate either left or right, and controls the direction indicator to flash to indicate the indicated direction.

[0007] (2): In the above aspect (1), the moving body further includes a detection device for acquiring the situation at least in the direction of travel of the moving body, and when an operation is performed on the first operator to indicate either left or right, the control device generates a target trajectory for the moving body to move in the indicated direction of travel based on the acquired situation in the direction of travel, controls the drive device to decelerate the moving body, and controls the direction indicator to flash to indicate the indicated direction.

[0008] (3): In the above aspect (1) or (2), the moving body further includes a detection device for acquiring the situation at least in the direction of travel of the moving body, the detection device detects a candidate route along which the moving body will proceed in either the left or right direction as instructed, and the control device controls so as not to execute the deceleration and the flashing when the distance between the moving body and the candidate route in the longitudinal direction of the route on which the moving body is located is within a first threshold value.

[0009] (4): In the above aspect (2), the detection device detects the candidate route along which the moving body in the indicated left or right direction will proceed, and the control device refers to the speed of the moving body and the target speed calculated from the target trajectory, and when the deceleration required for the moving body to enter the candidate route on the target trajectory is equal to or greater than a second threshold, controls so as not to execute the deceleration and the flashing.

[0010] (5): In the above aspect (1) or (2), the moving body further includes a detection device for acquiring the situation at least in the direction of travel of the moving body, the detection device detects candidate routes along which the moving body will proceed in either the left or right direction as instructed, and the control device controls the turn signal to delay flashing when the distance between the moving body and the candidate route in the longitudinal direction of the route on which the moving body is located is equal to or greater than a third threshold value, or when another route exists between the moving body and the candidate route.

[0011] (6): In the above aspect (2), the moving body further includes a detection device for acquiring the situation at least in the direction of travel of the moving body, the detection device detects a candidate route along which the moving body will proceed in either the left or right direction as instructed, and the control device maintains the target trajectory even if the moving body is stopped by the intervention of the occupant before completing entry into the candidate route.

[0012] (7): In the above aspect (2), if the control device fails to identify the route corresponding to the target trajectory while the turn signal is flashing, the control device identifies the route based on past information of the route corresponding to the target trajectory.

[0013] (8): Another aspect of the present invention provides a control method for a vehicle on which a passenger can ride, the control method being executed by the control device of the vehicle, which includes a drive unit for moving the vehicle, a control unit for running the vehicle in a mode in which the vehicle automatically accelerates, decelerates, and steers, a first operator provided on the armrest of the vehicle, and a direction indicator indicating whether the vehicle is turning right or left, and the control method controls the drive unit to decelerate the vehicle in response to an operation performed on the first operator to indicate either left or right, and controls the direction indicator to flash to indicate the indicated direction.

[0014] (9): Another aspect of the present invention provides a program executed by a control device of a mobile body capable of carrying a passenger, the control device comprising: a drive unit for moving the mobile body; a control unit for running the mobile body in a mode in which the mobile body automatically accelerates, decelerates, and steers; a first operator provided on the armrest of the mobile body; and a direction indicator indicating whether the mobile body is turning right or left. The program controls the drive unit to decelerate the mobile body in response to an operation performed on the first operator to indicate either left or right, and controls the direction indicator to flash to indicate the indicated direction. [Effects of the Invention]

[0015] According to aspects (1) to (9), when the traveling direction of the moving body is changed, the traveling of the moving body can be suitably controlled. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a diagram illustrating an example of the configuration of a moving object 1. FIG. [Figure 2] 1 is a perspective view of a moving body 1 according to a first embodiment, viewed from above. [Figure 3] 1 is a view of the moving body 1 from inside, showing the state in which the right door D_r is open. [Figure 4]1 is a diagram showing an example of an image IM captured by an external camera of the external environment sensing device 10. FIG. [Figure 5] 10A and 10B are diagrams illustrating an example of a target trajectory K before and after a first operator OP1 is operated. [Figure 6] 10 is a diagram showing an example of an operation of a first operator OP1 executed to cancel a change in the traveling direction of a moving object 1. FIG. [Figure 7] FIG. 10 is a diagram showing an example of a notification screen displayed by the HMI 30. [Figure 8] FIG. 10 is a diagram showing another example of a notification screen displayed by the HMI 30. [Figure 9] 10 is a diagram showing an example of a method for specifying the traveling direction via the HMI 30 on a multi-branch road. FIG. [Figure 10] FIG. 10 is a perspective view of a moving body 1A of a second embodiment as viewed from above. DETAILED DESCRIPTION OF THE INVENTION

[0017] A mobile body, a control method, and a program according to the present invention will be described below with reference to the drawings. The mobile body is a vehicle that can accommodate a passenger, and is sometimes referred to as micromobility. The mobile body may be capable of traveling not only on roadways but also on sidewalks. In this case, different speed limit controls may be implemented for roadways and sidewalks, and when the mobile body is traveling on a sidewalk, this may be notified to the outside by some means. However, this specification will omit a description of this and will focus on the case where the mobile body travels on a roadway.

[0018] First Embodiment [composition] 1 is a diagram showing an example of the configuration of a mobile object 1. The mobile object 1 is equipped with, for example, an external environment detection device 10, a mobile object sensor 12, a group of controls 14, a positioning device 18, a mode selector switch 22, an HMI 30, a drive unit 40, a direction indicator 50, a storage device 70, and a control device 100. Note that some of these components that are not essential for realizing the functions of the present invention may be omitted.

[0019] The external environment sensing device 10 is a device for acquiring information on the situation at least in the traveling direction of the moving object 1. The external environment sensing device 10 is an example of a sensing device. The external environment sensing device 10 includes, for example, an external camera. The external environment sensing device 10 may include a radar device, a LIDAR (Light Detection and Ranging), a sensor fusion device, etc. The external environment sensing device 10 outputs information indicating the detection result (images, object positions, etc.) to the control device 100.

[0020] The mobile body sensor 12 includes, for example, a speed sensor, an acceleration sensor, a yaw rate (angular velocity) sensor, a direction sensor, and operation amount detection sensors attached to the various operators included in the operator group 14.

[0021] The positioning device 18 is a device that measures the position of the mobile object 1. The positioning device 18 is, for example, a Global Navigation Satellite System (GNSS) receiver, and identifies the position of the mobile object 1 based on signals received from GNSS satellites and outputs the position information. Note that the position information of the mobile object 1 may be estimated from the position of a Wi-Fi base station to which a communication device (described later) is connected.

[0022] The mode selector switch 22 is a switch operated by the occupant. The mode selector switch 22 may be a mechanical switch or a GUI (Graphical User Interface) switch set on a touch panel. The mode selector switch 22 is a switch for instructing switching of driving modes. Driving modes executable by the moving body 1 include at least mode A in which acceleration and deceleration are automatically controlled and steering is controlled based on a simple operation of a first operator OP1 described below. In addition, the driving modes may include mode B in which acceleration and deceleration are automatically controlled and steering is controlled based on an operation of a second operator OP2. Furthermore, the driving modes may include driving modes modified so that acceleration and deceleration in each of modes A and B are controlled based on a manual operation. The following description will focus mainly on modes A and B.

[0023] The HMI 30 is provided in the interior of the vehicle (typically a closed space for occupants, but if the vehicle 1 is an open-top car, this refers to the space surrounding the seats). The HMI 30 includes, for example, a display device, a speaker, a touch panel, etc.

[0024] The drive unit 40 is a device for moving the mobile object 1 on a road. The drive unit 40 includes, for example, a group of wheels including steering wheels and driving wheels, a motor for driving the driving wheels, a battery for storing power to be supplied to the motor, and a steering device for adjusting the steering angle of the steering wheels. The drive unit 40 may include an internal combustion engine or a fuel cell as a driving force output means or a power generation means. The drive unit 40 may also include a braking device that utilizes frictional force or air resistance.

[0025] The direction indicator 50 is provided on the outer panel of the moving body 1, and notifies the outside of the moving body 1 of a change in course of the moving body 1 by flashing a lamp.

[0026] FIG. 2 is a perspective view of the moving body 1 according to the first embodiment, viewed from above. In the figure, FW denotes steering wheels, RW denotes drive wheels, SD denotes a steering device, MT denotes a motor, and BT denotes a battery. The steering device SD, motor MT, and battery BT are included in a drive unit 40. AP denotes an accelerator pedal, and BP denotes a brake pedal, each of which is included in an operator group 14. If acceleration and deceleration are always automatically controlled, at least the accelerator pedal AP may be omitted. The moving body 1 shown in the figure is a single-seater moving body, and an occupant P is seated in the driver's seat DS and wearing a seat belt SB. Arrow D1 indicates the traveling direction (velocity vector) of the moving body 1. The external environment detection device 10 is provided near the front end of the moving body 1, and the mode selector switch 22 is provided in the boss portion of the steering wheel WH. Direction indicators 50 are provided at the four corners of the moving body 1.

[0027] [1st control] The moving body 1 is provided with, for example, a left door D_l and a right door D_r, allowing passengers to get in and out from either the left or right side. A left armrest Ar_l is provided on the inside of the left door D_l, and a right armrest Ar_r is provided on the inside of the right door D_r. Of these, a first operating element OP1 is provided on the right armrest Ar_r. This arrangement is for when the moving body 1 is destined for a country or region where people drive on the left side of the road. When the moving body 1 is destined for a country or region where people drive on the right side of the road, the first operating element OP1 is provided on the left armrest Ar_l. This arrangement is based on the assumption that when passengers get in and out of the moving body 1 in a country or region where people drive on the left side of the road, they will often get in and out from the sidewalk side, i.e., the left side, of the moving body 1 that is stopped at the left edge of the roadway. If the first operating element OP1 is provided on the door on the side where the occupant P gets in and out, there is a possibility that the first operating element OP1 may get caught on the body or clothing when getting in and out. Therefore, the first operating element OP1 is provided on the right armrest Ar_r provided on the right door D_r, which is less likely to be used for getting in and out. The opposite is true for right-hand traffic. In other words, of the two doors provided on the left and right sides of the vehicle 1, the armrest provided with the first operating element OP1 is provided on the inside of the door opposite the side that the vehicle 1 is legally required to pass through.

[0028] The first operator OP1, for example, accepts discrete operations (operations in which only two states exist for a certain instruction: an on operation or an off operation). The first operator OP1 has the form of a joystick, a cross key, or the like. In the present invention, the first operator OP1 only needs to be operable in at least the left and right directions. If the first operator OP1 is a joystick, when it is operated to either the left or right by more than a predetermined amount, an operation amount detection sensor attached to the first operator OP1 outputs a signal indicating that "it has been operated to either the left or right" to the control device 100.

[0029] A second operator OP2 may be provided in front of the occupant P on the moving body 1. The second operator OP2 has the form of a so-called steering wheel (not limited to a wheel-shaped one, but may also be a non-wheel-shaped steering wheel) and is used to manually operate the traveling direction (steering angle) of the moving body 1. The second operator OP2, for example, accepts continuous operations. A rotation angle sensor and / or a torque sensor is attached to the second operator OP2 as an operation amount detection sensor, and these sensors detect the amount of operation (or operation force) performed by the occupant P and output the detected amount to the control device 100.

[0030] The first operator OP1 is provided further rearward than the second operator OP2 in the traveling direction D1 of the moving object 1. This is because the driving control of the moving object 1 based on the operation of the first operator OP1 is performed in a state closer to automatic driving (with a high degree of driving assistance), and therefore it is expected that the occupant P will be in a relaxed position. On the other hand, when the second operator OP2 is operated, at least steering is performed manually, and therefore it is expected that the occupant P will be in a more forward-leaning position than described above. By adopting such an arrangement, it is possible to appropriately accept driving operations according to the state of the occupant P.

[0031] Furthermore, the left door D_l and the right door D_r are each provided with an opening / closing operator for opening and closing the door. FIG. 3 is a view from inside the vehicle 1 showing the right door D_r in an open state. In the figure, Lb_r is the right opening / closing operator. The first operator OP1 is provided in a position that does not overlap with the right opening / closing operator Lb_r in a side view. This makes it less likely that the occupant P will unintentionally operate the right opening / closing operator Lb_r by mistake. Furthermore, it makes it less likely that the occupant P will unintentionally operate the first operator OP1 by mistake when operating the right opening / closing operator Lb_r.

[0032] Returning to FIG. 1 , the storage device 70 is a non-transitory storage device such as a hard disk drive (HDD), flash memory, or random access memory (RAM). The storage device 70 stores map information 72, a program 74 executed by the control device 100, and the like. Although the storage device 70 is shown outside the frame of the control device 100 in the figure, the storage device 70 may be included in the control device 100. The storage device 70 may also be provided on a server (not shown). The map information 72 does not necessarily have to exist.

[0033] [Control device] The control device 100 includes, for example, a recognition unit 120, a target trajectory generation unit 130, a drive control unit 140, and an HMI control unit 150. These components are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software) 74. Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in the storage device 70 in advance, or may be stored in a removable storage medium (non-transitory storage medium) such as a DVD or CD-ROM, and installed in the storage device 70 by inserting the storage medium into a drive device.

[0034] The recognition unit 120 recognizes the type and position of objects at least in the traveling direction of the moving object 1 based on information input from the external environment detection device 10. FIG. 4 is a diagram showing an example of an image IM captured by an external camera of the external environment detection device 10. The recognition unit 120 recognizes lane boundaries 200, pedestrians 210, the state of traffic lights 220, other vehicles (not shown), and the like. The lane boundaries 200 include road dividing lines, road shoulders, steps, guardrails, and the like, and are the outer boundary lines of the area in which the moving object 1 can travel. The recognition unit 120 recognizes the position and type of these objects on the image IM by inputting the image IM into a trained model for recognizing the type of object.

[0035] The target trajectory generating unit 130, for example, projects an object recognized on the image IM onto a virtual plane viewed from above, and generates a target trajectory along which the moving body 1 should travel on the virtual plane. For example, the target trajectory generating unit 130 generates a target trajectory such that the moving body 1 generally travels along the center of the lane boundary in the width direction and avoids contact with pedestrians or other vehicles when they are present. In this case, the target trajectory generating unit 130 sets a distribution of risk values, which are index values ​​for avoiding contact, around lane boundaries and objects, and generates a target trajectory such that the moving body 1 passes through points with small risk values. The target trajectory may be generated so that a speed element is attached, or the target trajectory may be generated so that the moving body 1 automatically stops when a traffic light indicates that passage is prohibited. Note that such acceleration / deceleration control may be performed by the drive control unit 140.

[0036] The drive control unit 140 controls the drive device 40 so that the moving body 1 travels along the target trajectory. The control content of the drive control unit 140 is publicly known, so a detailed description thereof will be omitted.

[0037] The HMI control unit 150 controls the HMI 30 so as to notify the occupant P of the state of the moving body 1 and the like.

[0038] [Control based on operation of the first operator] When the first operator OP1 is not operated, the target trajectory generation unit 130 generates a target trajectory so that the moving object 1 moves to maintain the current route (so-called "follow the road") based on the above-mentioned guideline. When the first operator OP1 is operated to the left or right, the target trajectory generation unit 130 generates a target trajectory so that the moving object 1 automatically turns to the left or right (turns right or left). Hereinafter, it is assumed that the first operator OP1 is operated to the right. Based on the image IM captured by the external camera of the external environment detection device 10, when the first operator OP1 is operated to the right, the target trajectory generation unit 130 searches for a route that intersects with the route on which the moving object 1 is currently traveling and is closest to the moving object 1 among routes that allow a right turn. When the target trajectory generation unit 130 searches for a route that allows a right turn, it generates a target trajectory so that the moving object 1 turns right on that route. The searched route is an example of a "candidate route." In addition, instead of the target trajectory generation unit 130, the external world sensing device 10 itself may search for potential routes based on the image IM, and the target trajectory generation unit 130 may generate the target trajectory based on the potential routes received from the external world sensing device 10.

[0039] When the traveling direction of the moving body 1 is determined by operating the second operator OP2, so-called manual steering is performed, and the target trajectory generating unit 130 stops operating (acceleration / deceleration control may be performed automatically). If the second operator OP2 is operated while the above-mentioned mode A is being executed, the target trajectory generating unit 130 may stop operating and transition to mode B, in which manual steering operation is performed, assuming that the occupant P has indicated an intention to drive manually.

[0040] 5 is a diagram illustrating an example of the target trajectory K before and after the first operator OP1 is operated. As shown in the figure, the target trajectory generation unit 130 generates the target trajectory K for the moving object 1 to enter the path 230, which is the destination of the right turn, in response to the first operator OP1 being operated to the right. The drive control unit 140 controls the drive device 40 so that the moving object 1 travels along the generated target trajectory K, and more specifically, controls the drive device 40 to decelerate the moving object 1 so that it can enter the path 230, which is the destination of the right turn, and causes the right turn indicator 50 to flash.

[0041] [Control when turning right or left] Here, it may not be desirable for the occupants of the moving body 1 and surrounding vehicles to always decelerate the moving body 1 and flash the direction indicator 50 along the target trajectory K for turning right or left generated by the target trajectory generating unit 130. For this reason, the drive control unit 140 performs the processing described below on the generated target trajectory K for turning right or left. Note that the processing described below only needs to be executed after at least the first operator OP1 is operated in either the left or right direction, and is not limited to being executed at the timing when the target trajectory K is generated (for example, the processing described below may be executed after the first operator OP1 is operated in either the left or right direction and before the target trajectory K is generated).

[0042] First, the drive control unit 140 determines whether the distance X1 between the moving object 1 and the track 230 in the longitudinal direction of the track on which the moving object 1 is located is equal to or less than a first threshold value Th1. The first threshold value Th1 is set, for example, to the lower limit of the distance that allows the moving object 1 to turn right or left with ease. If the distance X1 is equal to or less than the first threshold value Th1, this means that the moving object 1 has little distance to turn right and enter the track 230. Therefore, the drive control unit 140 determines not to cause the moving object 1 to travel along the target trajectory K (i.e., to continue traveling straight), and does not execute either the deceleration control of the moving object 1 or the blinking control of the direction indicator 50.

[0043] Furthermore, the drive control unit 140 refers to the speed of the moving object 1 and the target speed obtained from the target trajectory K to calculate the deceleration required for traveling along the target trajectory K (i.e., the deceleration required for entering the path 230 after making a right turn), and determines whether the calculated required deceleration is equal to or greater than a second threshold value Th2. For example, the drive control unit 140 determines the target speed at a portion of the target trajectory K where the curvature is greatest, and calculates the required deceleration by dividing the difference between the speed of the moving object 1 and the target speed by the distance. The second threshold value Th2 is set, for example, to an upper limit value of the deceleration of the moving object 1 that does not cause discomfort to the occupant P. If the required deceleration is equal to or greater than the second threshold value Th2, this means that the moving object 1 has little margin for speed when turning right and entering the path 230. Therefore, the drive control unit 140 determines not to cause the moving object 1 to travel along the target trajectory K, and does not execute either the deceleration control of the moving object 1 or the blinking control of the direction indicator 50.

[0044] Furthermore, the drive control unit 140 determines whether the distance X1 is equal to or greater than a third threshold Th3. The third threshold Th3 is set, for example, to the upper limit of the distance at which it is considered natural to flash the turn indicator 50 based on common traffic sense. If the distance X1 is equal to or greater than the third threshold Th3, this means that it is too early for the moving object 1 to flash the turn indicator 50 in order to enter the lane 230. Therefore, the drive control unit 140 delays the flashing of the turn indicator 50 until the distance X1 becomes less than the third threshold Th3, and flashes the right turn indicator 50 at the timing when the distance X1 becomes less than the third threshold Th3. Note that at this time, the deceleration control of the moving object 1 may be executed simultaneously with the flashing control of the turn indicator 50, or may be executed earlier than the flashing control of the turn indicator 50 (i.e., at the timing when the distance X1 is equal to or greater than the third threshold Th3).

[0045] Furthermore, in addition to the third threshold value Th3, the drive control unit 140 also delays the blinking control of the direction indicator 50 when another lane exists between the lane that is the target of the right or left turn and the current position of the moving object 1. Fig. 6 is a diagram showing an example of a situation in which the blinking control of the direction indicator 50 is delayed. Fig. 6 shows a case in which, in addition to the lane shown in Fig. 5, another lane 231 exists between the moving object 1 and lane 230.

[0046] 6, when another path 231 exists between the path 230 to be turned right or left and the current position of the moving object 1, the drive control unit 140 delays the blinking of the direction indicator 50 until the moving object 1 passes through the other path 231 (in other words, in FIG. 6, the distance X1 between the moving object 1 and the path 230 becomes equal to or shorter than the distance X2). At this time, the deceleration control of the moving object 1 may be executed simultaneously with the blinking control of the direction indicator 50, or may be executed at an earlier timing than the blinking control of the direction indicator 50 (i.e., at a timing when the distance X1 is equal to or longer than the distance X2).

[0047] In the control of FIG. 6 , the path 230 is selected as the target for a right turn, rather than the path 231, which is closer to the moving object 1. For example, when the distance between the moving object 1 and the path 231 is equal to or less than the first threshold value Th1 described above, the path 230 is selected as the target for a right turn instead of the path 231. Furthermore, for example, the control device 100 may record the driving history of the moving object 1, and when the moving object 1 has made significantly more right turns on the path 230 than on the path 231, the path 230 may be selected as the target for a right or left turn instead of the path 231. Furthermore, for example, the moving object 1 may further be equipped with an on-board camera, and the path 230 may be selected as the target for a right turn instead of the path 231 based on the line of sight of the occupant P at the time the first operator OP1 is operated. Also, for example, if it is determined that the lane 231 is impassable (for example, a one-way street) based on an image IM captured by an external camera, the lane 230 may be selected as the target for a right turn instead of the lane 231.

[0048] [Responding to crew intervention] When the moving object 1 is traveling along the target trajectory K and changing its direction of travel, the occupant P may attempt to intervene in the traveling of the moving object 1 by, for example, depressing the brake pedal BP due to various circumstances (for example, when the occupant P feels that the traveling direction is different from the intended direction). Frequent changes to the target trajectory K of the moving object 1 in response to such intervention by the occupant P are undesirable, particularly when traveling on a roadway. Therefore, even if the moving object 1 stops due to the intervention of the occupant P, the target trajectory generation unit 130 operates to retain the received instruction to change the traveling direction and not change the target trajectory K. In this case, if the moving object 1 stops due to the intervention of the occupant P while changing its direction of travel, the control device 100 may cause the HMI 30 to notify the HMI 30 of an operation method for canceling the change in the traveling direction.

[0049] [Lane identification when turning right or left] When the moving body 1 is turning right or left along the target trajectory K while flashing the direction indicators 50, the control device 100 may fail to identify the path after the turn based on the image information. In this case, measures such as stopping the moving body 1 may be considered; however, particularly in a scene where the moving body 1 is turning right or left while flashing the direction indicators 50, it is likely that other vehicles are traveling assuming that the moving body 1 is going to turn right or left, so it is not desirable to stop the moving body 1 on the spot. Therefore, if the target trajectory generation unit 130 fails to identify the path after the turn based on the image information while the moving body 1 is turning right or left along the target trajectory K while flashing the direction indicators 50, the target trajectory generation unit 130 identifies the path after the turn using the method described below.

[0050] FIG. 7 is a diagram illustrating how the target trajectory generating unit 130 identifies a path after a right or left turn. FIG. 7 illustrates a situation in which the moving object 1 fails to identify the path after the right turn and loses the path SL while turning right onto the path 230 with the direction indicator 50 flashing. When the target trajectory generating unit 130 fails to identify the path after the right turn, it complements the path SL after the right turn based on past path information recorded by the control device 100. Here, the past path information may be, for example, an image IM captured by an external camera when the moving object 1 traveled the same path in the past (or road boundary information extracted from the image IM) and the corresponding GPS coordinates, which are linked and recorded. When the target trajectory generating unit 130 fails to identify the path after the right turn, it can acquire the path information linked to the GPS coordinates closest to the current position and complement the path SL after the right turn. If there is no past route information close to the current position of the moving body 1, the target trajectory generation unit 130 may refer to the map information carried by the moving body 1 and store the route SL using the route information corresponding to the current position.

[0051] Next, the flow of processing executed by the control device 100 will be described with reference to Fig. 8 and Fig. 9. Fig. 8 is a diagram showing an example of the flow of processing executed by the control device 100. The processing shown in Fig. 8 is repeatedly executed while the moving object 1 is traveling.

[0052] First, the control device 100 accepts an operation on the first operator OP1 (step S100). Next, the control device 100 determines whether the first operator OP1 has been operated in either the left or right direction (step S102). If it is determined that the first operator OP1 has not been operated in either the left or right direction, the control device 100 ends the processing of this flowchart.

[0053] On the other hand, if it is determined that the first operator OP1 has been operated in either the left or right direction, the control device 100 generates a target trajectory so as to turn in either the left or right direction that has been operated (step S104). Next, the control device 100 determines whether the distance between the moving object 1 and the path on the target trajectory that is the target for right or left turns is equal to or less than a first threshold value (step S106). If it is determined that the distance between the moving object 1 and the path on the target trajectory that is the target for right or left turns is equal to or less than the first threshold value, the control device 100 ends the processing of this flowchart.

[0054] On the other hand, if it is determined that the distance between the moving body 1 and the road on the target trajectory where the vehicle 1 is to turn right or left is greater than the first threshold, the control device 100 then determines whether the deceleration required to enter the road where the vehicle 1 is to turn right or left is greater than or equal to a second threshold (step S108).If it is determined that the deceleration required to enter the road where the vehicle 1 is to turn right or left is greater than or equal to the second threshold, the control device 100 ends the processing of this flowchart.

[0055] On the other hand, if it is determined that the deceleration required to enter the lane where the right or left turn is to be made is less than the second threshold, the control device 100 then determines whether the distance between the moving body 1 and the lane where the right or left turn is to be made on the target trajectory is equal to or greater than a third threshold, or whether another lane exists between the moving body 1 and the lane (step S110).If it is determined that the distance between the moving body 1 and the lane where the right or left turn is to be made on the target trajectory is equal to or greater than the third threshold, or whether another lane exists between the moving body 1 and the lane, the control device 100 waits for a certain period of time and then executes the process of S110 again.

[0056] On the other hand, if the distance between the moving body 1 and the road on the target trajectory that is the target of the right or left turn is equal to or greater than the third threshold value, or if it is not determined that there is another road between the moving body 1 and the road in question, the control device 100 controls the drive device 40 to decelerate the moving body 1 and blinks the direction indicator 50 (step S112). This ends the processing of this flowchart.

[0057] Fig. 9 is a diagram showing an example of the flow of processing executed by the control device 100. The processing shown in Fig. 9 is executed when the moving object 1 turns right or left along the target trajectory while blinking the direction indicator 50.

[0058] First, the control device 100 determines whether or not the path after the right or left turn has been identified based on the image information (step S200). If it is determined that the path after the right or left turn has been identified based on the image information, the control device 100 ends the processing of this flowchart.

[0059] On the other hand, if it is determined based on the image information that the lane after the right or left turn has not been identified, the control device 100 determines whether or not past lane information exists for the lane whose identification has failed (step S202). If it is determined that past lane information exists for the lane whose identification has failed, the control device 100 identifies the lane based on the past lane information and ends the processing of this flowchart (step S204). On the other hand, if it is determined that past lane information does not exist for the lane whose identification has failed, the control device 100 determines whether or not map information exists for the lane whose identification has failed (step S206).

[0060] If it is determined that map information relating to the route that has failed to be identified exists, the control device 100 identifies the route based on the map information (step S208). On the other hand, if it is determined that map information relating to the route that has failed to be identified does not exist, the control device 100 stops the moving object 1 (step S210). This ends the processing of this flowchart.

[0061] According to the first embodiment described above, in response to an operation performed on the first operating element OP to instruct either left or right, the moving object 1 is decelerated and the direction indicator is made to flash, taking into consideration the situation on the road along which the moving object 1 is traveling. This makes it possible to suitably control the traveling of the moving object when changing the traveling direction of the moving object.

[0062] Second Embodiment The second embodiment will be described below. In the first embodiment, a configuration with one seat has been described, but in the second embodiment, a moving body has two seats lined up in a direction intersecting the moving direction of the moving body, and an armrest with a first operating element OP1 provided thereon is provided between the two seats.

[0063] FIG. 10 is a perspective view of a vehicle 1A according to the second embodiment, as seen from above. In this drawing, some of the reference numerals shown in FIG. 2 that are not essential have been omitted. The vehicle 1A has two seats S1 and S2, with a central armrest Ar_c therebetween. A first operator OP1 is provided on the central armrest Ar_c. Note that in the drawing, the central armrest Ar_c is depicted as a single unit shared by occupants P1 and P2, but the central armrest Ar_c may be separated into a portion for occupant P1 and a portion for occupant P2, in which case the first operator OP1 is provided on the portion of the central armrest Ar_c for occupant P1.

[0064] The second embodiment described above can achieve the same effects as the first embodiment. Furthermore, the first operating element OP1 is provided at a position that does not interfere with the passenger getting in and out of the vehicle, so the second embodiment is also similar to the first embodiment in that it does not impede the passenger getting in and out of the vehicle.

[0065] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0066] 10. External sensing devices 40 Drive unit 100 control device 120 Recognition part 130 Target trajectory generation section 140 Drive control unit OP1 1st controller OP2 Second operator Ar_l Left armrest Ar_r Right armrest Ar_c center armrest D_l Left door D_r Right door

Claims

1. A vehicle capable of carrying a passenger, a drive device for moving the moving body; a control device that causes the moving body to travel in a mode in which acceleration, deceleration, and steering are automatically performed; a first operator provided on an armrest of the moving body; a direction indicator that indicates whether the moving object is turning right or left, the control device controls the drive device to decelerate the moving body in response to an operation performed on the first operating element to instruct either left or right, and controls the direction indicator to blink the direction indicator indicating the instructed direction. Mobile object.

2. the moving body further includes a detection device for acquiring a situation at least in a traveling direction of the moving body; When an operation to instruct either left or right is performed on the first operator, the control device generates a target trajectory for the moving body to move in the instructed direction of either left or right based on the acquired situation in the traveling direction, controls the drive device to decelerate the moving body, and controls the direction indicator to flash the direction indicator indicating the instructed direction. The moving body according to claim 1 .

3. the moving body further includes a detection device for acquiring a situation at least in a traveling direction of the moving body; the detection device detects a candidate path along which the moving object is traveling in the indicated left or right direction; the control device performs control so as not to execute the deceleration and the blinking when a distance between the moving object and the path candidate in a longitudinal direction of the path on which the moving object is located is within a first threshold value.

3. A moving body according to claim 1 or 2.

4. the detection device detects a candidate path along which the moving object is traveling in the specified left or right direction; The control device refers to the speed of the moving body and the target speed calculated from the target trajectory, and when a deceleration required for the moving body to enter the route candidate on the target trajectory is equal to or greater than a second threshold, performs control so as not to execute the deceleration and the flashing. The moving body according to claim 2 .

5. the moving body further includes a detection device for acquiring a situation at least in a traveling direction of the moving body; the detection device detects a candidate path along which the moving object is traveling in the indicated left or right direction; the control device controls the direction indicator to delay blinking when a distance between the moving object and the route candidate in the longitudinal direction of the route on which the moving object is located is equal to or greater than a third threshold value, or when another route exists between the moving object and the route candidate.

3. A moving body according to claim 1 or 2.

6. the moving body further includes a detection device for acquiring a situation at least in a traveling direction of the moving body; the detection device detects a candidate path along which the moving object is traveling in the indicated left or right direction; the control device maintains the target trajectory even if the moving body is stopped by the intervention of the occupant before completing entry into the candidate route. The moving body according to claim 2 .

7. When the control device fails to identify a route corresponding to the target trajectory while the direction indicator is flashing, the control device identifies the route based on past information of the route corresponding to the target trajectory. The moving body according to claim 2 .

8. A control method executed by the control device of a mobile body capable of carrying a passenger, the mobile body comprising: a drive device for moving the mobile body; a control device for running the mobile body in a mode in which the mobile body automatically accelerates, decelerates, and steers; a first operator provided on an armrest of the mobile body; and a direction indicator for indicating whether the mobile body is turning right or left, the method comprising: controlling the drive device to decelerate the moving body in response to an operation performed on the first operating element to instruct either left or right, and controlling the direction indicator to blink the direction indicator indicating the instructed direction. Control method.

9. A program executed by a control device of a mobile body capable of carrying a passenger, the mobile body comprising: a drive device for moving the mobile body; a control device for running the mobile body in a mode in which the mobile body automatically accelerates, decelerates, and steers; a first operator provided on an armrest of the mobile body; and a direction indicator for indicating whether the mobile body is turning right or left, controlling the drive device to decelerate the moving body in response to an operation performed on the first operating element to instruct either left or right, and controlling the direction indicator to blink the direction indicator indicating the instructed direction. program.

Images