Mobile device, control method, and control program

Abstract

The present invention provides a mobile body, a control method, and a control program that can improve user convenience when performing movement control based on position coordinates and surrounding environment data. [Solution] The system includes a storage unit 54 that stores a single route of a vehicle 10, including positions P1, P2, P3, and P4, in association with position coordinates and surrounding environment data, and a control unit 53 that moves the vehicle 10 from position P1 to position P4 via positions P2 and P3 based on the position coordinates and surrounding environment data. The storage unit 54 stores the route from position P1 to position P2 as a first section and the route from position P3 to position P4 as a second section. After the control unit 53 has moved the vehicle 10 from position P1 to position P2 via the first section, if it detects that the vehicle 10 has moved from position P2 to position P3, it moves the vehicle 10 from position P3 to position P4 via the second section.

Description

Technical Field

[0001] The present invention relates to a moving body, a control method, and a control program.

Background Art

[0002] In recent years, efforts have been actively made to provide access to a sustainable transportation system that takes into account people in vulnerable positions among traffic participants. Toward this realization, research and development focusing on further improving traffic safety and convenience through research and development related to autonomous driving technology have been carried out.

[0003] Conventionally, in an autonomous driving system that automatically drives a vehicle without requiring a user's driving operation, when the vehicle reaches a target position by the user's driving operation, the route at that time is memorized, and when traveling to the same target position or the same route, the vehicle is driven based on the memorized route history. Also, it is known to generate route information from the current position to the target position based on information acquired by in-vehicle sensors and drive the vehicle.

[0004] For example, Patent Document 1 describes a smart garage entry system having a plurality of 3D detectors, a communication device, and a route generator, where the 3D detectors are capable of simultaneously parking / unparking a plurality of driverless vehicles based on the postures and current positions of the plurality of driverless vehicles parked in a multi-story parking lot.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] Incidentally, in autonomous driving systems, when memorizing a vehicle's travel path, the system may store, for example, the travel path estimated based on the amount of tire rotation, along with feature points from images of the surrounding environment acquired by a camera. Then, by matching feature points acquired on a later occasion with the stored feature points, the system can determine the vehicle's position and, when driving in the same location, replay the stored travel path to assist with driving.

[0007] In a system like this, for example, when parking a vehicle in a parking lot, if that parking lot is a multi-story parking garage, the vehicle's movement path may include a section where the vehicle moves up and down while stationary, without its tires rotating. When a vehicle moves up and down, the surrounding environment captured by cameras changes before and after the movement, even though the vehicle is not moving. This can make it difficult to determine that the vehicle is parked in the same location, and thus difficult to use the stored movement path.

[0008] Patent Document 1 describes parking multiple unmanned vehicles in a multi-story parking garage, but it does not describe the control of vehicle movement after they have been moved up and down. Therefore, there is room for improvement regarding vehicle parking control in parking garages that involve upward and downward movement.

[0009] The present invention aims to provide a mobile body, a control method, and a control program that can improve user convenience when performing movement control based on position coordinates and surrounding environment data. Ultimately, this contributes to the development of sustainable transportation systems. [Means for solving the problem]

[0010] The present invention A mobile device equipped with an external environment recognition unit that acquires surrounding environment data, A storage unit that stores one path of the moving body, including a first position, a second position, a third position, and a fourth position, in association with position coordinates and surrounding environment data, The system includes a control unit that performs movement control to move the moving body from a first position to a fourth position via a second and third position, based on the position coordinates and the surrounding environment data, The aforementioned storage unit is The path from the first position to the second position in the aforementioned one path is stored as the first section, and the path from the third position to the fourth position is stored as the second section. The control unit, After moving the moving body from the first position to the second position via the first section, When movement of the moving body from the second position to the third position is detected, the moving body is moved from the third position to the fourth position via the second section. It is a mobile object.

[0011] The present invention A control method for a mobile body equipped with an external environment recognition unit that acquires surrounding environment data, The moving body comprises a storage unit that stores a single path of the moving body, including a first position, a second position, a third position, and a fourth position, in association with position coordinates and surrounding environment data, and a control unit that performs movement control to move the moving body from the first position to the fourth position via the second and third positions based on the position coordinates and the surrounding environment data. The aforementioned storage unit The path from the first position to the second position in the aforementioned one path is stored as the first section, and the path from the third position to the fourth position is stored as the second section. The control unit, After moving the moving body from the first position to the second position via the first section, When movement of the moving body from the second position to the third position is detected, the moving body is moved from the third position to the fourth position via the second section. This is a control method.

[0012] The present invention is a control program for a mobile body including an external environment recognition unit that acquires surrounding environment data, where the mobile body includes a storage unit that stores one path of the mobile body including a first position, a second position, a third position, and a fourth position in association with position coordinates and the surrounding environment data, and a processor that performs movement control to move the mobile body from the first position to the fourth position via the second position and the third position based on the position coordinates and the surrounding environment data, the processor is caused to store, in the storage unit, the path from the first position to the second position in the one path as a first section, and store, in the storage unit, the path from the third position to the fourth position as a second section, after moving the mobile body from the first position to the second position via the first section, when detecting the movement of the mobile body from the second position to the third position, move the mobile body from the third position to the fourth position via the second section, and execute the control program.

Advantages of the Invention

[0013] According to the present invention, it is possible to provide a mobile body, a control method, and a control program capable of improving the convenience of a user when performing movement control based on position coordinates and surrounding environment data.

Brief Description of the Drawings

[0014] [Figure 1] FIG. 1 is a side view showing a vehicle 10 which is an example of the "mobile body" of the present invention. [Figure 2] FIG. 2 is a top view of the vehicle 10 shown in FIG. 1. [Figure 3] FIG. 3 is a block diagram showing an example of the internal configuration of the vehicle 10 shown in FIG. 1. [Figure 4]It is a diagram showing the state in which the vehicle 10 moves from the first position to the second position on one route. [Figure 5] It is a diagram showing the state in which the vehicle 10 moves from the second position to the third position on one route. [Figure 6] It is a diagram showing the state in which the vehicle 10 moves from the third position to the fourth position on one route. [Figure 7] It is a flowchart showing a first example of the memory process of the movement route. [Figure 8] It is a flowchart showing a first example of the parking process by automatic driving. [Figure 9] It is a diagram showing the surrounding environment data stored in the first example of the memory process of the movement route. [Figure 10] It is a flowchart showing a second example of the memory process of the movement route. [Figure 11] It is a flowchart showing a second example of the parking process by automatic driving. [Figure 12] It is a diagram showing the surrounding environment data stored in the second example of the memory process of the movement route.

Embodiments for Carrying Out the Invention

[0015] Hereinafter, an embodiment of the moving body, control method, and control program of the present invention will be described based on the accompanying drawings. In the drawings, the direction of view is in the direction of the reference numerals. Also, in this specification and the like, for the sake of simplicity and clarity of explanation, the front-back, left-right, and up-down directions are described according to the directions seen from the driver of the vehicle 10 shown in FIGS. 1 and 2, and in the drawings, the front of the vehicle 10 is shown as Fr, the rear as Rr, the left as L, the right as R, the upper as U, and the lower as D.

[0016] <Vehicle 10 of the Present Invention> FIG. 1 is a side view showing the vehicle 10 which is an example of the "moving body" of the present invention. FIG. 2 is a top view of the vehicle 10 shown in FIG. 1.

[0017] Vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels and steerable wheels that are driven by the power of the drive source. In this embodiment, vehicle 10 is a four-wheeled automobile having a pair of left and right front wheels and rear wheels. The drive source of vehicle 10 is, for example, an electric motor. The drive source of vehicle 10 may be an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Furthermore, the drive source of vehicle 10 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or all four wheels including a pair of left and right front wheels and rear wheels. Both the front wheels and rear wheels may be steerable wheels, or either one of them may be a steerable wheel.

[0018] Vehicle 10 is further equipped with side mirrors 11L and 11R. Side mirrors 11L and 11R are mirrors (rearview mirrors) provided on the outside of the front passenger doors of vehicle 10 for the driver to check the area behind and to the rear side. Side mirrors 11L and 11R are each fixed to the body of vehicle 10 by a vertically extending pivot axis, and can be opened and closed by rotating around this pivot axis.

[0019] Vehicle 10 is further equipped with a front camera 12Fr, a rear camera 12Rr, a left-side camera 12L, and a right-side camera 12R. The front camera 12Fr is an imaging device (for example, a digital camera) located in front of vehicle 10 that images the area in front of vehicle 10. The rear camera 12Rr is a digital camera located behind vehicle 10 that images the area behind vehicle 10. The left-side camera 12L is a digital camera located on the left side mirror 11L of vehicle 10 that images the area to the left of vehicle 10. The right-side camera 12R is a digital camera located on the right side mirror 11R of vehicle 10 that images the area to the right of vehicle 10.

[0020] <Internal configuration of vehicle 10> Figure 3 is a block diagram showing an example of the internal configuration of the vehicle 10 shown in Figure 1. As shown in Figure 3, the vehicle 10 includes a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. The vehicle 10 further includes a drive force control system 26 and a braking force control system 28.

[0021] Sensor group 16 acquires various detection values ​​used for control by the control ECU 20. Sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left-side camera 12L, and a right-side camera 12R. Sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left-side sonar group 32c, and a right-side sonar group 32d. Furthermore, sensor group 16 includes wheel sensors 34a, 34b, a vehicle speed sensor 36, and an operation detection unit 38. Although not shown in the diagram, sensor group 16 also includes sensors for acquiring state data indicating the state of the vehicle 10. The state of the vehicle 10 refers to the acceleration of the vehicle 10. "Acceleration" is detected by the acceleration sensor.

[0022] The front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R acquire surrounding environment data (e.g., surrounding images) for recognizing the area around the vehicle 10 by imaging the area around the vehicle 10. The front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R are examples of the "external environment recognition unit" of the present invention. The surrounding images of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R are referred to as the front image, rear image, left-side image, and right-side image, respectively. The image composed of the left-side image and the right-side image may be referred to as a side image. The image of the vehicle 10 and its surroundings generated by combining the images captured by the front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R is referred to as an overhead view image of the vehicle 10.

[0023] The forward sonar group 32a, the rear sonar group 32b, the left-side sonar group 32c, and the right-side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sound from other objects. The forward sonar group 32a includes, for example, four sonars. The sonars constituting the forward sonar group 32a are located on the left front, front left, front right, and right front of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars constituting the rear sonar group 32b are located on the left rear, rear left, rear right, and right rear of the vehicle 10, respectively. The left-side sonar group 32c includes, for example, two sonars. The sonars constituting the left-side sonar group 32c are located on the left front and left rear of the vehicle 10, respectively. The right-side sonar group 32d includes, for example, two sonars. The sonars constituting the right-side sonar group 32d are located on the front right side and the rear right side of the vehicle 10, respectively.

[0024] Wheel sensors 34a and 34b detect the rotation angle of the wheels of the vehicle 10. Wheel sensors 34a and 34b may be composed of angle sensors or displacement sensors. Wheel sensors 34a and 34b output a detection pulse each time the wheel rotates by a predetermined angle. The detection pulses output from wheel sensors 34a and 34b are used to calculate the rotation angle and rotation speed of the wheels. Based on the rotation angle of the wheels, the distance traveled by the vehicle 10 is calculated. Wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. Wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

[0025] The vehicle speed sensor 36 detects the speed of the vehicle body 10, i.e., the vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based, for example, on the rotation of the transmission countershaft.

[0026] The operation detection unit 38 detects the user's operation using the operation input unit 14 and outputs the detected operation to the control ECU 20. The operation input unit 14 includes various user interfaces, such as a side mirror switch for switching the open / closed state of the side mirrors 11L and 11R, and a shift lever (selector lever or selector).

[0027] The navigation device 18 detects the current position (location coordinates) of the vehicle 10, for example, using GPS (Global Positioning System), and guides the user on the route to the destination. The navigation device 18 has a storage device (not shown) equipped with a map information database. The navigation device 18 also has a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and display device for the control ECU 20. The speaker 44 outputs various guidance information to the user of the vehicle 10 in voice.

[0028] The touch panel 42 is configured to allow input of various commands to the control ECU 20. For example, a user can input commands related to vehicle movement assistance for the vehicle 10 via the touch panel 42. This movement assistance includes parking assistance and vehicle exit assistance for the vehicle 10. The touch panel 42 is also configured to display various screens related to the control content of the control ECU 20. For example, the touch panel 42 displays screens related to vehicle movement assistance for the vehicle 10. Specifically, the touch panel 42 displays a parking assistance button to request parking assistance for the vehicle 10 and a vehicle exit assistance button to request vehicle exit assistance. The parking assistance buttons include a remote parking button to request parking by automatic steering of the control ECU 20 and an auxiliary parking button to request assistance when parking by the user. The vehicle exit assistance buttons include a remote vehicle exit button to request vehicle exit by automatic steering of the control ECU 20 and an auxiliary vehicle exit button to request assistance when vehicle exit by the user. Other components besides the touch panel 42, such as information terminals like smartphones or tablets, may be used as input or display devices.

[0029] Note that "parking" is synonymous with, for example, "parking." For example, "parking" refers to a stop that involves the user getting in and out of the vehicle, excluding temporary stops at traffic lights, etc. Also, "parking location" refers to the location where vehicle 10 is stopped, that is, the parking location.

[0030] The control ECU 20 includes an input / output unit 50, an arithmetic unit 52, and a storage unit 54. The arithmetic unit 52 is configured, for example, by a CPU (Central Processing Unit). The arithmetic unit 52 performs various controls by controlling each unit based on a program stored in the storage unit 54. The arithmetic unit 52 also inputs and outputs signals to and from each unit connected to the control ECU 20 via the input / output unit 50.

[0031] The storage unit 54 stores information regarding the remote movement (remote entry and exit) of the vehicle 10. For example, the storage unit 54 stores a single route of the vehicle 10, including a first position, a second position, a third position, and a fourth position, in association with the vehicle 10's position coordinates and surrounding environment data. "Position coordinates" are, for example, two-dimensional coordinates. "A single route including a first position, a second position, a third position, and a fourth position" refers to a single route that passes through the first position, the second position, the third position, and the fourth position in that order. A single route is stored in the storage unit 54 based on user operation. The storage unit 54 stores the route from the first position to the second position as, for example, the first section, and the route from the third position to the fourth position as, for example, the second section.

[0032] The storage unit 54 stores the surrounding environment data of the second position as, for example, the first surrounding environment data, and the surrounding environment data of the third position as, for example, the second surrounding environment data. The storage unit 54 also stores state change data indicating the change in the state data of the vehicle 10 acquired by the sensors when the vehicle 10 moves from the second position to the third position. For example, the storage unit 54 stores acceleration change data indicating the change in the acceleration of the vehicle 10 acquired by the acceleration sensor.

[0033] The calculation unit 52 has a control unit 53 that controls the movement of the vehicle 10. The control unit 53 performs remote parking assistance and remote exit assistance for the vehicle 10 by automatic steering, which automatically operates the steering 110 under the control of the control unit 53. In remote parking assistance and remote exit assistance, the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 are operated automatically. In addition, the control unit 53 provides auxiliary parking assistance and auxiliary exit assistance when the user (driver) operates the accelerator pedal, brake pedal, and operation input unit 14 to manually park and exit the vehicle 10. Note that during remote parking assistance and remote exit assistance, the driver may be in the vehicle 10 or may be outside the vehicle (unoccupied).

[0034] For example, the control unit 53 controls the movement of the vehicle 10 based on surrounding environment data of the vehicle 10 acquired by the front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R, and a designated predetermined parking space. The movement control includes parking control, which remotely parks the vehicle 10 in a predetermined parking space (target parking position), and exit control, which remotely exits the vehicle 10 from the parking space to a predetermined exit space (target exit position). The control unit 53 can execute the parking control and exit control based on instruction signals input via the input / output unit 50. The input instruction signals include instruction signals transmitted wirelessly from a user's information terminal or the like. The control unit 53 also outputs information related to the parking control and exit control to the information terminal or the like via the input / output unit 50.

[0035] The control unit 53 performs movement control to move the vehicle 10 from a first position to a fourth position, via a second and third position, based on the vehicle's position coordinates and surrounding environment data. The fourth position is the parking position of the vehicle 10.

[0036] The control unit 53 moves the vehicle 10 from the first position to the second position via the first section, and then, if it detects that the vehicle 10 has moved from the second position to the third position, it moves the vehicle 10 from the third position to the fourth position via the second section. The second and third positions are, for example, positions in an elevator capable of raising and lowering the vehicle 10. The "second position" is, for example, the position before raising or lowering. The "third position" is, for example, the position after raising or lowering.

[0037] The second and third positions may be positions on a turntable that allows the vehicle 10 to rotate. The position of the vehicle 10 after rotation on the turntable will be approximately the same before and after rotation. However, the position of the vehicle 10 may change if the position of the GPS mounted on the vehicle 10 and the center of rotation of the turntable are misaligned.

[0038] A single path passing through the first, second, third, and fourth locations in that order includes paths across multiple levels. These multiple levels include, for example, the first-floor parking area and the second-floor parking area in a multi-story parking garage. The single path passing through the first, second, third, and fourth locations in that order is the path taken by vehicle 10 within the parking garage.

[0039] The control unit 53 detects the movement of the vehicle 10 from the second position to the third position based on the surrounding environment data recognized by the external environment recognition unit and the first surrounding environment data indicating the surrounding environment data of the second position and the second surrounding environment data indicating the surrounding environment data of the third position, which are stored in the storage unit 54. The control unit 53 determines that the vehicle 10 has moved from the second position to the third position when the surrounding environment data recognized by the external environment recognition unit switches from the first surrounding environment data indicating the surrounding environment data of the second position to the surrounding environment data indicating the surrounding environment data of the third position. "When the surrounding environment data switches from the first surrounding environment data to the second surrounding environment data" means when the surrounding environment data changes from a state in which it matches the first surrounding environment data to a state in which it matches the second surrounding environment data. A state in which it matches means, for example, when the similarity is above a threshold.

[0040] The control unit 53 detects the movement of the vehicle 10 from a second position to a third position based on changes in the vehicle's state data acquired by the sensors and the state change data stored in the storage unit 54. For example, if the vehicle 10 moves from a second position to a third position due to the lifting operation of an elevator, the change in state data is the change in vertical acceleration detected by the acceleration sensor. Also, if the vehicle 10 moves from a second position to a third position due to the rotational operation of a turntable, the change in state data is, for example, the change in rotational acceleration detected by the acceleration sensor.

[0041] When the control unit 53 detects that the vehicle 10 has moved from the second position to the third position, it moves the vehicle 10 from the third position to the fourth position via the second section after a certain period of time has elapsed. The "certain period of time" may be, for example, a waiting time until the operation of the elevator that has risen to the second-floor parking lot is completed, or it may be a time for the user to check the surrounding conditions of the vehicle 10 that has moved to the third position. The second section is the path from the third position to the fourth position.

[0042] The control unit 53 moves the vehicle 10 to the fourth position based on user instructions, while the vehicle 10 is in the second position. "In the second position" means the state after moving to the second position, where the vehicle 10 is not moving due to its own driving force. The control unit 53 does not determine whether the vehicle is in the second position or the third position (or somewhere between the second and third positions), but moves to the fourth position based on user instructions. User instructions include, for example, "You have reached the third position, so move to the fourth position."

[0043] If the control unit 53 has moved the vehicle 10 to the second position and has not detected any movement of the vehicle 10 from the second position to the third position for a predetermined period of time, it accepts an instruction operation from the user and moves the vehicle 10 to the fourth position based on the instruction operation. The control unit 53 has determined whether the vehicle is in the second position or the third position, but if it is unable to determine, it instructs the user to perform a start-move instruction operation once the vehicle has moved to the third position (for example, after it has finished moving up or down on the elevator), and once the start-move instruction operation is received, it assumes the vehicle is in the third position and moves the vehicle 10 to the fourth position.

[0044] Furthermore, after the control unit 53 detects the movement of the vehicle 10 from the second position to the third position based on surrounding environment data, or after it detects the movement of the vehicle 10 from the second position to the third position based on changes in state data acquired by sensors, it may further accept instruction operations from the user and move the vehicle 10 to the fourth position.

[0045] The EPS system 22 includes a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU 108. The steering angle sensor 100 detects the steering angle θst of the steering 110. The torque sensor 102 detects the torque TQ applied to the steering 110.

[0046] The EPS motor 104 provides driving force or reaction force to the steering column 112 connected to the steering 110, thereby enabling user assistance in operating the steering 110 and automatic steering during parking assistance. The resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 controls the entire EPS system 22. The EPS ECU 108 includes an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0047] The communication unit 24 enables wireless communication with other communication devices 120. Other communication devices 120 include base stations, communication devices in other vehicles, and information terminals such as smartphones or tablets owned by the user of vehicle 10. For example, the communication unit 24 is equipped with a UWB interface that enables UWB (Ultra Wide Band: registered trademark) communication with information terminals. The communication unit 24 can send and receive information regarding remote parking / exit and auxiliary parking / exit of vehicle 10 with information terminals, etc.

[0048] The drive force control system 26 includes a drive ECU 130. The drive force control system 26 controls the drive force of the vehicle 10. The drive ECU 130 controls the drive force of the vehicle 10 by controlling an engine (not shown) and other components (not shown) based on user operation of an accelerator pedal (not shown).

[0049] The braking force control system 28 includes a braking ECU 132. The braking force control system 28 controls the braking force of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a braking mechanism (not shown) and the like based on user operation of a brake pedal (not shown).

[0050] <One of the routes within the parking lot> Referring to Figures 4 to 6, an example of the movement of a vehicle 10 along a single path within a parking lot will be described. Figure 4 shows the movement of vehicle 10 from a first position to a second position along a single path. Figure 5 shows the movement of vehicle 10 from a second position to a third position along a single path. Figure 6 shows the movement of vehicle 10 from a third position to a fourth position along a single path.

[0051] The parking garage shown in this example is a multi-story parking garage equipped with a lift 73 (e.g., an elevator). The lift 73 has a turntable 74 that can rotate the orientation of a vehicle 10. The parking garage is provided with, for example, a first-floor area 71 and a second-floor area 72. The lift 73 is provided with a shutter 71a in the first-floor area 71 and a shutter 72a in the second-floor area 72. One path within the parking garage is a movement path that includes a first position P1 and a second position P2 set in the first-floor area 71 and a third position P3 and a fourth position P4 set in the second-floor area 72.

[0052] The first position P1 is the parking start position where the vehicle 10 starts parking by autonomous driving (remote parking). The second position P2 is the stopping position of the vehicle 10 inside the elevator 73 in the first floor area 71. The third position P3 is the stopping position of the vehicle 10 inside the elevator 73 in the second floor area 72 when the vehicle 10 inside the elevator 73 moves to the second floor area 72 due to the upward movement of the elevator 73. However, the vehicle 10 that has moved to the second floor area 72 changes direction and stops due to the rotational movement of the turntable 74. The fourth position P4 is the target parking position of the vehicle 10. The path from the first position P1 to the second position P2 is the first section, and the path from the third position P3 to the fourth position P4 is the second section. The vehicle 10 moves from the first position P1 to the fourth position P4 via the second position P2 and the third position P3.

[0053] As shown in Figure 4, the user drives the vehicle 10 and stops it at a first position P1 on one of the paths within the parking lot. The user presses a parking assist button to start automatic parking. Based on the current position coordinates of the vehicle 10 and the surrounding environment data acquired by the vehicle 10's camera, and the position coordinates and surrounding environment data stored in the storage unit 54, the vehicle 10 starts automatic parking. From the first position P1, the vehicle 10 proceeds through the first section (for example, in the direction of arrow 75) into the elevator 73 with the shutter 71a open, and stops at a second position P2 inside the elevator 73.

[0054] As shown in Figure 5, when the vehicle 10 stops at the second position P2 inside the elevator 73 and the shutter 71a closes, the elevator moves upward, for example in the direction of arrow 76. As the elevator 73 rises, the vehicle 10 moves to the third position P3 inside the elevator 73 in the second floor area 72. Since the third position P3 is a position that rises almost vertically from the second position P2, the two-dimensional coordinates of the third position P3 and the second position P2 are the same. When the vehicle 10 moves to the third position P3, the elevator 73 operates the turntable 74 to rotate the vehicle 10 so that it faces the direction of the shutter 72a.

[0055] As shown in Figure 6, when the shutter 72a of the elevator 73 opens, the vehicle 10 resumes parking by automatic driving based on the current position coordinates of the vehicle 10 in the second floor area 72, the current surrounding environment data acquired by the camera, and the position coordinates and surrounding environment data stored in the storage unit 54. The vehicle 10 moves from the third position P3 of the elevator 73, via the second section (for example, in the direction of arrow 77), to the fourth position P4, which is the target parking position.

[0056] <First example of memory processing of travel routes> To enable autonomous parking of vehicle 10, a movement path storage process is performed to acquire and store information about the path that vehicle 10 will take in advance. Figure 7 is a flowchart of the first example of the movement path storage process. As one path for vehicle 10 to park autonomously, the movement path including the first position P1 to the fourth position P4 in the multi-story parking garage described in Figures 4 to 6 above will be used for the explanation below. Furthermore, the fourth position P4, which is the target parking position, is assumed to be, for example, a parking space used by a user as a monthly parking space.

[0057] First, the user drives the vehicle 10 to a first location P1 within the parking lot and stops the vehicle 10 there. The first location P1 may be a location that the user can arbitrarily determine. Next, the user presses, for example, a route memory button (not shown) to start the process of memorizing the travel route.

[0058] When the vehicle 10 receives a press of the route memory button, it acquires the position coordinates of the vehicle 10 at the first position P1 and surrounding environment data captured by the vehicle 10's camera. The surrounding feature points obtained from the surrounding environment data are registered in the storage unit 54 as surrounding feature points of the current section start point in a single route, along with the position coordinates and surrounding environment data, in association with the first position P1 (current section start point) (step S11). The current section start point is the starting point of the route (first section) from the first position P1 to the second position P2 in the first floor area 71. When the vehicle 10 receives a press of the route memory button, it continuously acquires the position coordinates of the vehicle 10 and the surrounding environment data of the vehicle 10.

[0059] Next, the user drives the vehicle 10 from the first position P1 and stops the vehicle 10 at the second position P2, which is the stopping position within the elevator 73 in the first floor area 71.

[0060] Vehicle 10 determines whether or not it has received a pause operation to temporarily suspend the memory processing of the travel path (step S12). The pause operation is an operation performed by the user. When vehicle 10 reaches the second position P2 inside the elevator 73, the user applies the brakes to stop vehicle 10 and stops the memory processing of the travel path, for example by pressing a path memory stop button (not shown).

[0061] In step S12, if no pause operation is received (step S12: No), the vehicle 10 determines whether or not a termination operation to end the memory processing of the travel route has been received (step S13). The termination operation is performed by the user. After the user stops the vehicle 10 at the fourth position P4 in the second-floor area 72, which is the target parking position for the vehicle 10, the user presses, for example, a route memory termination button (not shown) to end the memory processing of the travel route. In step S13, if no termination operation is received (step S13: No), the vehicle 10 returns to step S12 and executes each process.

[0062] On the other hand, if a pause operation is received in step S12 (step S12: Yes), the vehicle 10 pauses the storage of surrounding feature points acquired based on surrounding environment data (step S14).

[0063] Vehicle 10 registers the peripheral feature points obtained from the last surrounding environment data when the memory of peripheral feature points was temporarily paused, that is, the peripheral feature points obtained from the surrounding environment data captured at the second position P2 inside the elevator 73, as peripheral feature points of the current section endpoint in a single path, in association with the second position P2 (current section endpoint) along with the position coordinates and surrounding environment data in the storage unit 54 (step S15). The current section endpoint is the endpoint of the path (first section) from the first position P1 to the second position P2 in the first floor area 71.

[0064] Next, vehicle 10 adds a section to one of its routes (step S16). Vehicle 10 adds a new section (for example, "next section") in addition to the "current section" that was stored as the route from the first position P1 to the second position P2. At this point, elevator 73 begins to move upward, and vehicle 10 inside elevator 73 moves from the first floor area 71 to the second floor area 72.

[0065] Vehicle 10 determines whether or not it has received a restart operation to resume the memory processing of the travel path (step S17). The restart operation is performed by the user. The user presses a path memory restart button (not shown) to resume the memory processing of the travel path when the elevator 73 rises to the second floor area 72, the vehicle 10 stops at the third position P3 inside the elevator 73 in the second floor area 72, and the shutter 72a of the elevator 73 opens. The user releases the brakes on vehicle 10 and drives vehicle 10.

[0066] In step S17, if a restart operation is not accepted (step S17: No), the vehicle 10 repeats the process in step S17 until a restart operation is accepted. In step S17, if a restart operation is accepted (step S17: Yes), the vehicle 10 resumes the continuous acquisition of the vehicle's position coordinates and surrounding environment data, and the storage of surrounding feature points detected from the surrounding environment data (step S18).

[0067] After receiving the restart operation, the vehicle 10 registers the peripheral feature points of the surrounding environment data captured, that is, the peripheral feature points obtained from the surrounding environment data captured at the third position P3 inside the elevator 73, as the peripheral feature points of the next section start point in a single path, in association with the third position P3 (next section start point) along with the position coordinates and surrounding environment data in the storage unit 54 (step S19). However, since the third position P3 is the position reached by moving vertically upward from the second position P2 in the elevator 73, the position coordinates of the third position P3 and the position coordinates of the second position P2 are the same. The next section start point is the starting point of the path (second section) from the third position P3 to the fourth position P4 in the second floor area 72.

[0068] Next, the user drives the vehicle 10 from the third position P3 to the fourth position P4 in the second-floor area 72, which is the target parking position for the vehicle 10.

[0069] After the registration process in step S19, vehicle 10 returns to step S12 and executes each process. If vehicle 10 stops at the fourth position P4, the user does not pause the process of saving the travel route (step S12: No), so vehicle 10 proceeds to step S13 in step S12.

[0070] In step S13, if the termination operation is accepted (step S13: Yes), the vehicle 10 registers the peripheral feature points obtained from the last surrounding environment data at the time the termination operation was accepted, that is, the peripheral feature points obtained from the surrounding environment data captured at the fourth position P4 in the second-floor region 72, as peripheral feature points of the current section endpoint in a single path, along with the position coordinates and surrounding environment data, in the storage unit 54 (step S20), and terminates this process. The current section endpoint is the endpoint of the path (second section) from the third position P3 to the fourth position P4 in the second-floor region 72.

[0071] <First example of parking process using automated driving> Figure 8 is a flowchart showing the first example of an automated parking process. This process is initiated when the user issues an instruction to park using automated driving and when the surrounding feature points of the starting point of the current section are detected.

[0072] Specifically, the user stops the vehicle 10 at the first position P1 and presses a parking assist button to initiate automatic parking to the target parking position (fourth position P4). The vehicle 10 detects surrounding feature points from the surrounding environment data of the surrounding image captured by the camera and determines whether the detected surrounding feature points match the surrounding feature points of the surrounding environment data associated with the current section start point (first position P1) stored in the storage unit 54. The vehicle 10 starts this process on the condition that the surrounding feature points match.

[0073] Vehicle 10 starts automatic driving based on its position coordinates and surrounding environment data acquired by the camera (step S31). Vehicle 10 automatically drives from the first position P1 to the second position P2 via the first section stored in the memory unit 54.

[0074] Vehicle 10 determines whether it was able to detect the surrounding feature points of the current section endpoint (second position P2) in the acquired surrounding image data (step S32). In other words, vehicle 10 determines whether it has reached the elevator 73 in the first floor area 71.

[0075] If, in step S32, the surrounding feature points of the current section's endpoint are not detected (step S32: No), the vehicle 10 repeats the process in step S32. If, in step S32, the surrounding feature points of the current section's endpoint are detected (step S32: Yes), the vehicle 10 stops automatic driving (step S33). The vehicle 10 continuously acquires its own position coordinates and surrounding environment data.

[0076] Next, vehicle 10 determines whether the section it is currently traveling through is the last section (step S34). Based on the section information of a single route stored in the memory unit 54, vehicle 10 determines the current section in which it is automatically traveling. In this example, since the target parking position of vehicle 10 is the fourth position P4 of the second floor area 72, the second section from the third position P3 to the fourth position P4 of the second floor area 72 is the last section.

[0077] In step S34, if the section currently being traveled is the last section (step S34: Yes), the vehicle 10 terminates this process. In step S34, if the section currently being traveled is not the last section (step S34: No), the vehicle 10 determines whether it was able to detect the surrounding feature points of the next section's starting point (third position P3) in the acquired surrounding image data (step S35). That is, the vehicle 10 determines whether it has become capable of automatic travel as the elevator 73 rises, transporting the vehicle 10 to the second floor area 72, the turntable 74 rotates, changing the orientation of the vehicle 10, and the shutter 72a opens.

[0078] In step S35, if the surrounding feature points of the next section's starting point have not been detected (step S35: No), the vehicle 10 repeats the process of step S35. In step S35, if the surrounding feature points of the next section's starting point have been detected (step S35: Yes), the vehicle 10 resumes automatic driving (step S36). The vehicle 10 automatically drives from the third position P3 to the fourth position P4 via the second section stored in the memory unit 54. When resuming automatic driving, the vehicle may also resume automatic driving after a predetermined waiting time has elapsed following the detection of the surrounding feature points of the next section's starting point.

[0079] After resuming automatic driving in step S36, vehicle 10 returns to step S32 and determines whether it was able to detect the surrounding feature points of the current section endpoint (fourth position P4) in the acquired surrounding image data (step S32). In other words, vehicle 10 determines whether it has reached the target parking position (fourth position P4) in the second floor area 72.

[0080] The processing after the determination in step S32 is the same as the processing described above. If the vehicle 10 has reached the fourth position P4, it is determined in step S34 that this is the last section and the process ends.

[0081] <Surrounding environment data stored in the first example of memory processing> Figure 9 shows the surrounding environment data stored in the first example of the movement path storage process. As shown in Figure 9, the surrounding environment data is stored in the storage unit 54 as surrounding environment data 81 for one path that the vehicle 10 travels along. One path is, as described above, a path that includes, for example, a first position, a second position, a third position, and a fourth position.

[0082] The surrounding environment data 81 includes first surrounding environment data 82 acquired in the first section, which is the path taken by the vehicle 10 from a first position P1 to a second position P2 in the first floor area 71, and second surrounding environment data 83 acquired in the second section, which is the path taken by the vehicle 10 from a third position P3 to a fourth position P4 in the second floor area 72. The first surrounding environment data 82 includes, for example, a side wall feature point 82a, which is one of the feature points in the surrounding environment of the first section. The second surrounding environment data 83 includes, for example, a side wall feature point 83a, which is one of the feature points in the surrounding environment of the second section.

[0083] As described above, in this embodiment, the vehicle 10, in a single movement path including the first position P1 and the second position P2 in the first floor area 71 of the parking lot, and the third position P3 and the fourth position P4 in the second floor area 72, stores the path from the first position P1 to the second position P2 as the first section, and the path from the third position P3 to the fourth position P4 as the second section. It stores the surrounding environment data of the second position P2 as the first surrounding environment data, and the surrounding environment data of the third position P3 as the second surrounding environment data. After moving from the first position P1 to the second position P2 via the first section, if it is confirmed that the surrounding environment data acquired by the camera has switched from the first surrounding environment data to the second surrounding environment data, it is determined that the position of the vehicle 10 has moved from the second position P2 to the third position P3, and then moves from the third position P3 to the fourth position P4 via the second section. With this configuration, for example, even if the second position P2 and the third position P3 are positions where there is no change in the two-dimensional coordinates of the first and second floors before and after lifting within the elevator 73 of the parking lot, it is possible to accurately detect, based on surrounding environment data, that the user has moved from the second position P2 in the first-floor area 71 to the third position P3 in the second-floor area 72. This improves user convenience when performing control based on position coordinates and surrounding environment data.

[0084] <Second example of memory processing of travel routes> Figure 10 is a flowchart of the second example of the memory processing of the travel path. As shown in Figure 10, the processes from step S11 to step S13 are the same as the processes from step S11 to step S13 in the first example of the memory processing in Figure 7.

[0085] In the second example, if a pause operation is received in step S12 (step S12: Yes), the vehicle 10 pauses the storage of surrounding feature points based on surrounding environment data and starts recording acceleration data (step S14). The acceleration data is data acquired by the acceleration sensor as described above. The vehicle 10 detects the change in acceleration when the vehicle 10 moves vertically (from the second position P2 to the third position P3) in conjunction with the lifting operation of the elevator 73 using the acceleration sensor, and records the detected change in acceleration as acceleration change data in the storage unit 54. The vehicle 10 may also detect and record the change in acceleration in the rotational direction when the orientation of the vehicle 10 changes due to the rotational operation of the turntable 74 using the acceleration sensor. The vehicle 10 may also detect and record the change in acceleration when the vehicle 10 moves vertically and the change in acceleration in the rotational direction when the orientation of the vehicle 10 changes using the acceleration sensor.

[0086] The processes from step S15 to step S17 are the same as the processes from step S15 to step S17 in the first example of the memory processing in Figure 7.

[0087] Next, if a restart operation is accepted in step S17 (step S17: Yes), the vehicle 10 terminates the recording of acceleration data and resumes the continuous acquisition of the vehicle 10's position coordinates and surrounding environment data, as well as the storage of surrounding feature points detected from the surrounding environment data (step S18). The vehicle 10 considers that the vehicle 10 has reached the third position P3 in the second-floor region 72 because a restart operation has been performed, and terminates the recording of acceleration data.

[0088] From this point onward, the processing in steps S19 and S20 is the same as the processing in steps S19 and S20 in the first example of the memory processing in Figure 7.

[0089] <Second example of parking process using automated driving> Figure 11 is a flowchart of the second example of parking processing using automated driving. As shown in Figure 11, the processes from step S31 to step S34 are the same as the processes from step S31 to step S34 in the first example of parking processing in Figure 8.

[0090] Next, in step S34, if the section currently being traveled is not the last section (step S34: No), the vehicle 10 determines whether the acceleration sensor has detected the same acceleration change as the acceleration change data recorded in the memory unit 54 (step S35). That is, the vehicle 10 determines whether the vehicle 10 has moved from the second position P2 to the third position P3 due to the rise of the elevator 73.

[0091] The process from step S36 onwards is the same as the process from step S36 onwards in the first example of the parking process shown in Figure 7.

[0092] <Surrounding environment data stored in the second example of memory processing> Figure 12 shows the surrounding environment data stored in the second example of the movement path storage process. As shown in Figure 12, the surrounding environment data is stored in the storage unit 54 as surrounding environment data 81 for one path that the vehicle 10 travels along. One path is, for example, a path that includes a first position, a second position, a third position, and a fourth position.

[0093] The surrounding environment data 81 includes first surrounding environment data 82 acquired in the first section, which is the path of the vehicle 10 from a first position P1 to a second position P2 in the first floor area 71; vertical acceleration change data 84 detected by the acceleration sensor when the vehicle 10 is moved from the second position P2 to the third position P3 by the elevator 73; and second surrounding environment data 83 acquired in the second section, which is the path of the vehicle 10 from the third position P3 to the fourth position P4 in the second floor area 72. The acceleration change data 84 includes, for example, the positive acceleration when the vehicle starts to ascend from the second position P2, and for example, the negative acceleration when the vehicle stops at the third position P3. The first surrounding environment data 82 includes, for example, a side wall feature point 82a, which is one of the feature points in the surrounding environment of the first section. The second surrounding environment data 83 includes, for example, a side wall feature point 83a, which is one of the feature points in the surrounding environment of the second section. The acceleration change data 84 may also include changes in the rotational acceleration when the vehicle 10 changes direction due to the rotation of the turntable 74.

[0094] As described above, the vehicle 10 of this embodiment stores the path from the first position P1 to the second position P2 as the first section and the path from the third position P3 to the fourth position P4 as the second section in a single movement path that includes the first position P1 and the second position P2 in the first floor area 71 of the parking lot and the third position P3 and the fourth position P4 in the second floor area 72. The vehicle 10 stores the change in acceleration acquired by the acceleration sensor as acceleration change data when the vehicle 10 moves from the second position P2 to the third position P3. After moving from the first position P1 to the second position P2 via the first section, if the acceleration sensor acquires the same change in acceleration as the stored acceleration change data, it determines that the position of the vehicle 10 has moved from the second position P2 to the third position P3, and then moves from the third position P3 to the fourth position P4 via the second section. With this configuration, even if the second position P2 and the third position P3 are positions within the parking elevator 73 where there is no change in the two-dimensional coordinates of the first and second floors before and after lifting, it is possible to accurately detect the movement from the second position P2 in the first-floor area 71 to the third position P3 in the second-floor area 72 based on the change in acceleration. This improves user convenience when performing control based on position coordinates and surrounding environment data.

[0095] The control method described in the above-mentioned embodiment can be implemented by executing a pre-prepared control program on a computer. This control program is recorded on a computer-readable storage medium and executed when read from the storage medium. This control program may also be provided in the form of a non-transient storage medium such as flash memory, or it may be provided via a network such as the Internet. The computer that executes this control program may be included in a mobile device, or it may be included in an electronic device such as a smartphone, tablet terminal, or personal computer that can communicate with a mobile device, or it may be included in a server device that can communicate with these mobile devices and electronic devices.

[0096] Although embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and modifications, improvements, etc., can be made as appropriate.

[0097] For example, in the above embodiment, the first and second examples of the memory processing of the travel path and the parking processing by automatic driving were described, respectively, but the system is not limited to these. For example, the first and second examples may be combined. That is, the determination of whether or not the stopping position of the vehicle 10 has moved from the second position P2 to the third position P3 may be made based on both surrounding feature points obtained from surrounding environment data and changes in acceleration detected by an acceleration sensor. Also, in the above embodiment, a parking lot having a first-floor area 71 and a second-floor area 72 was described, but the number of floors of the parking lot may be greater than that.

[0098] Furthermore, although the above embodiment described an example in which the moving object is a vehicle (a four-wheeled automobile), it is not limited to this. For example, it may be a motorcycle, a Segway, or other type of vehicle. Moreover, the concept of the present invention is not limited to vehicles, but can also be applied to robots, aircraft, and the like that are equipped with a drive source and are able to move using the power of the drive source.

[0099] Furthermore, this specification includes at least the following information. Note that the components etc. in parentheses indicate those corresponding to the embodiments described above, but are not limited thereto.

[0100] (1) A mobile body (vehicle 10) equipped with an external environment recognition unit that acquires surrounding environment data, A storage unit (storage unit 54) stores one path of the moving body, including a first position, a second position, a third position, and a fourth position, in association with position coordinates and surrounding environment data. The system includes a control unit (control unit 53) that performs movement control to move the moving body from the first position to the fourth position via the second and third positions, based on the position coordinates and the surrounding environment data. The aforementioned storage unit is The path from the first position to the second position in the aforementioned one path is stored as the first section, and the path from the third position to the fourth position is stored as the second section. The control unit, After moving the moving body from the first position to the second position via the first section, When movement of the moving body from the second position to the third position is detected, the moving body is moved from the third position to the fourth position via the second section. A mobile object.

[0101] According to (1), when moving along a path from the first position to the fourth position via the second and third positions, if it is detected that the object has moved from the second position to the third position after moving from the first position to the second position via the first section, then it will move from the third position to the fourth position via the second section. Therefore, even if the moving object moves or rotates from the second position to the third position using an elevator or turntable, movement control from the first position to the fourth position can be easily performed. This improves user convenience when performing control based on position coordinates and surrounding environment data.

[0102] (2) The mobile body described in (1), The aforementioned storage unit is The surrounding environment data of the second location is stored as the first surrounding environment data. The surrounding environment data of the third location is stored as the second surrounding environment data. The control unit, Based on the surrounding environment data recognized by the external environment recognition unit and the first and second surrounding environment data stored in the storage unit, the movement of the moving body from the second position to the third position is detected. A mobile object.

[0103] According to (2), by using the surrounding environment data of the second and third positions stored in the memory unit, movement from the second position to the third position can be appropriately detected.

[0104] (3) The mobile body described in (2), The control unit, When the surrounding environment data recognized by the external environment recognition unit switches from the first surrounding environment data to the second surrounding environment data, it is determined that the moving body has moved from the second position to the third position. A mobile object.

[0105] (3) It is preferable to determine that the movement from the second position to the third position has occurred by the fact that the peripheral environment data stored in the storage unit has switched from the first peripheral environment data to the second peripheral environment data.

[0106] (4) A mobile body as described in any of (1) to (3), The system includes a sensor that acquires state data indicating the state of the moving object, The aforementioned storage unit is The system stores state change data indicating the change in state data acquired by the sensor when the moving body moves from the second position to the third position. The control unit, Based on the change in state data acquired by the sensor and the state change data stored in the storage unit, the movement of the moving body from the second position to the third position is detected. A mobile object.

[0107] According to (4), by using state change data acquired by the sensor when moving from the second position to the third position, the movement from the second position to the third position can be appropriately detected, and user convenience can be improved when performing control based on position coordinates and surrounding environment data.

[0108] (5) The mobile body described in (4), The state of the moving body is the acceleration of the moving body. A mobile object.

[0109] As shown in (5), it is preferable that the change in state data acquired by the sensor when moving from the second position to the third position is a change in acceleration.

[0110] (6) A mobile body as described in any of (1) to (5), The control unit, When the movement of the moving body from the second position to the third position is detected, after a certain period of time has elapsed, the moving body is moved from the third position to the fourth position via the second section. A mobile object.

[0111] As in (6), a certain waiting period may be provided before starting to move to the fourth position.

[0112] (7) A mobile body as described in any of (1) to (6), The control unit, With the moving body moved to the second position, the moving body is moved to the fourth position based on an instruction from the user. A mobile object.

[0113] As in (7), after moving to the second position, the system may move to the fourth position based on the user's instructions without determining whether or not it has moved to the third position.

[0114] (8) The mobile body described in (7), The control unit, If, while the moving body is moved to the second position, no movement of the moving body from the second position to the third position is detected for a predetermined period of time, Upon receiving the aforementioned instruction operation, Based on the instruction operation, the movable body is moved to the fourth position. A mobile object.

[0115] As in (8), if, after moving to the second position, the system fails to detect movement from the second position to the third position for a predetermined period of time, it may move to the fourth position based on the user's instructions.

[0116] (9) A mobile body as described in any of (1) to (8), The second and third positions are positions in an elevator capable of raising and lowering the movable body. A mobile object.

[0117] As shown in (9), the second and third positions may be positions raised or lowered by an elevator.

[0118] (10) A mobile body as described in any of (1) to (9), The second and third positions are positions of the movable body on a rotatable turntable. A mobile object.

[0119] As shown in (10), the second and third positions may be positions rotated by the turntable.

[0120] (11) A mobile body as described in any of (1) to (10), The aforementioned path is stored based on user actions. A mobile object.

[0121] (11) Preferably, one route is stored based on the user's actions on the mobile device.

[0122] (12) A mobile body as described in any of (1) to (11), The aforementioned single path includes paths of multiple levels, A mobile object.

[0123] (12) Preferably, one route includes routes of multiple levels.

[0124] (13) A mobile body as described in any of (1) to (12), The aforementioned route is a route within the parking lot premises. A mobile object.

[0125] As in (13), one of the routes is preferably a route within the parking lot.

[0126] (14) A mobile body as described in any of (1) to (13), The fourth position is the parking position of the mobile body. A mobile object.

[0127] (14) Preferably, the fourth position in one path is a parking position for the moving body.

[0128] (15) A method for controlling a mobile body that includes an external environment recognition unit for acquiring surrounding environment data, The moving body comprises a storage unit that stores a single path of the moving body, including a first position, a second position, a third position, and a fourth position, in association with position coordinates and surrounding environment data, and a control unit that performs movement control to move the moving body from the first position to the fourth position via the second and third positions based on the position coordinates and the surrounding environment data. The aforementioned storage unit The path from the first position to the second position in the aforementioned one path is stored as the first section, and the path from the third position to the fourth position is stored as the second section. The control unit, After moving the moving body from the first position to the second position via the first section, When movement of the moving body from the second position to the third position is detected, the moving body is moved from the third position to the fourth position via the second section. Control method.

[0129] According to (15), when moving along a path from the first position to the fourth position via the second and third positions, if it is detected that the movement has occurred from the second position to the third position after moving from the first position to the second position via the first section, the movement is then initiated from the third position to the fourth position via the second section. Therefore, even if the moving object moves or rotates from the second position to the third position using an elevator or turntable, movement control from the first position to the fourth position can be easily performed. This improves user convenience when performing control based on position coordinates and surrounding environment data.

[0130] (16) A control program for a mobile body equipped with an external environment recognition unit that acquires surrounding environment data, The mobile body comprises a storage unit that stores a single path of the mobile body, including a first position, a second position, a third position, and a fourth position, in association with position coordinates and surrounding environment data, and a processor that performs movement control to move the mobile body from the first position to the fourth position via the second and third positions based on the position coordinates and the surrounding environment data. The aforementioned processor, The path from the first position to the second position in the aforementioned one path is stored in the storage unit as the first section, and the path from the third position to the fourth position is stored in the storage unit as the second section. After moving the moving body from the first position to the second position via the first section, When movement of the moving body from the second position to the third position is detected, the moving body is moved from the third position to the fourth position via the second section. A control program that executes a process.

[0131] According to (16), when moving along a path from the first position to the fourth position via the second and third positions, if it is detected that the movement has occurred from the second position to the third position after moving from the first position to the second position via the first section, the movement is then initiated from the third position to the fourth position via the second section. Therefore, even if the moving object moves or rotates from the second position to the third position using an elevator or turntable, movement control from the first position to the fourth position can be easily performed. This improves user convenience when performing control based on position coordinates and surrounding environment data. [Explanation of Symbols]

[0132] 10. Vehicles (mobile devices) 53 Control Unit 54 Storage section

Claims

1. A mobile device equipped with an external environment recognition unit that acquires surrounding environment data, A storage unit that stores one path of the moving body, including a first position, a second position, a third position, and a fourth position, in association with position coordinates and surrounding environment data, The system includes a control unit that performs movement control to move the moving body from a first position to a fourth position via a second and third position, based on the position coordinates and the surrounding environment data, The aforementioned storage unit is The path from the first position to the second position in the aforementioned one path is stored as the first section, and the path from the third position to the fourth position is stored as the second section. The control unit, After moving the moving body from the first position to the second position via the first section, When movement of the moving body from the second position to the third position is detected, the moving body is moved from the third position to the fourth position via the second section. A mobile object.

2. A mobile body according to claim 1, The aforementioned storage unit is The surrounding environment data of the second location is stored as the first surrounding environment data. The surrounding environment data of the third location is stored as the second surrounding environment data. The control unit, Based on the surrounding environment data recognized by the external environment recognition unit and the first and second surrounding environment data stored in the storage unit, the movement of the moving body from the second position to the third position is detected. A mobile object.

3. A mobile body according to claim 2, The control unit, When the surrounding environment data recognized by the external environment recognition unit switches from the first surrounding environment data to the second surrounding environment data, it is determined that the moving body has moved from the second position to the third position. A mobile object.

4. A mobile body according to claim 1, The system includes a sensor that acquires state data indicating the state of the moving object, The aforementioned storage unit is The system stores state change data indicating the change in state data acquired by the sensor when the moving body moves from the second position to the third position. The control unit, Based on the change in state data acquired by the sensor and the state change data stored in the storage unit, the movement of the moving body from the second position to the third position is detected. A mobile object.

5. A mobile body according to claim 4, The state of the moving body is the acceleration of the moving body. A mobile object.

6. A mobile body according to claim 1, The control unit, When the movement of the moving body from the second position to the third position is detected, after a certain period of time has elapsed, the moving body is moved from the third position to the fourth position via the second section. A mobile object.

7. A mobile body according to claim 1, The control unit, With the moving body in the second position, the moving body is moved to the fourth position based on instructions from the user. A mobile object.

8. A mobile body according to claim 7, The control unit, If, while the moving body is moved to the second position, no movement of the moving body from the second position to the third position is detected for a predetermined period of time, Upon receiving the aforementioned instruction operation, Based on the instruction operation, the movable body is moved to the fourth position. A mobile object.

9. A mobile body according to claim 1, The second and third positions are positions in an elevator capable of raising and lowering the movable body. A mobile object.

10. A mobile body according to claim 1, The second and third positions are positions of the movable body on a rotatable turntable. A mobile object.

11. A mobile body according to claim 1, The aforementioned path is stored based on user operations. A mobile object.

12. A mobile body according to claim 1, The aforementioned single path includes paths of multiple levels, A mobile object.

13. A mobile body according to claim 1, The aforementioned route is a route within the parking lot premises. A mobile object.

14. A mobile body according to any one of claims 1 to 13, The fourth position is the parking position of the mobile body. A mobile object.

15. A control method for a mobile body equipped with an external environment recognition unit that acquires surrounding environment data, The moving body comprises a storage unit that stores a single path of the moving body, including a first position, a second position, a third position, and a fourth position, in association with position coordinates and surrounding environment data, and a control unit that performs movement control to move the moving body from the first position to the fourth position via the second and third positions based on the position coordinates and the surrounding environment data. The aforementioned storage unit The path from the first position to the second position in the aforementioned one path is stored as the first section, and the path from the third position to the fourth position is stored as the second section. The control unit, After moving the moving body from the first position to the second position via the first section, When the movement of the moving body from the second position to the third position is detected, the moving body is moved from the third position to the fourth position via the second section. Control method.

16. A control program for a mobile body equipped with an external environment recognition unit that acquires surrounding environment data, The mobile body comprises a storage unit that stores a single path of the mobile body, including a first position, a second position, a third position, and a fourth position, in association with position coordinates and surrounding environment data, and a processor that performs movement control to move the mobile body from the first position to the fourth position via the second and third positions based on the position coordinates and the surrounding environment data. The aforementioned processor, The path from the first position to the second position in one of the aforementioned paths is stored in the storage unit as the first section, and the path from the third position to the fourth position is stored in the storage unit as the second section. After moving the moving body from the first position to the second position via the first section, When the movement of the moving body from the second position to the third position is detected, the moving body is moved from the third position to the fourth position via the second section. A control program that executes a process.

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