MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND PROGRAM

Abstract

To perform appropriate control when a moving body enters a predetermined area from a roadway regarding the moving body capable of traveling to both of the roadway, and a predetermined area differing from the roadway.SOLUTION: A control device of a moving body that allows at least one occupant to board, and can travel both of a roadway, and a predetermined area differing from the roadway brings speed of the moving body closer to a second speed when the moving body is traveling the roadway, a contact part is recognized within a first predetermined range from the moving body, and the road situation is a predetermined state.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] 2. Description of the Related Art Conventionally, an invention for a single-seater electric vehicle capable of traveling on sidewalks has been disclosed (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-189536 A Summary of the Invention [Problem to be solved by the invention]

[0004] The conventional technology does not assume a mobile object that can move on both a roadway and a predetermined area different from the roadway. Therefore, there are cases where appropriate control cannot be performed when entering the predetermined area from the roadway.

[0005] The present invention has been made taking such circumstances into consideration, and one of its objectives is to provide a control device for a mobile body, a control method for a mobile body, and a program that are capable of performing appropriate control when a mobile body that can move both on a roadway and a specified area different from the roadway enters a specified area from the roadway. [Means for solving the problem]

[0006] The control device for a moving object, the control method for a moving object, and the program according to the present invention employ the following configuration. (1): A control device for a moving body according to one embodiment of the present invention is a control device for a moving body that has one or more occupants on board and is capable of moving both on a roadway and a specified area different from the roadway, and includes an acquisition unit that acquires information indicating road conditions in the traveling direction of the moving body, a road type recognition unit that recognizes whether the moving body is moving on the roadway or in the specified area, a connection recognition unit that recognizes the presence of a connection between the roadway and the specified area in the traveling direction of the moving body, and a control unit that at least partially controls the speed of the moving body, the control unit limiting the speed of the moving body when moving on the roadway to a first speed and limiting the speed of the moving body when moving in the specified area to a second speed lower than the first speed, and when the moving body is moving on the roadway, the connection unit is recognized within a first specified range from the moving body, and the road conditions are in a specified state, the control unit causes the speed of the moving body to approach the second speed.

[0007] (2): In the above aspect (1), when the moving body is moving on a roadway, the communication unit is recognized within a first predetermined range from the moving body, and the road conditions are in a predetermined state, the control unit uses an interface device to inquire about an intention to enter the predetermined area, and if an affirmative response is obtained, causes the speed of the moving body to approach the second speed.

[0008] (3): In the above aspect (1) or (2), the control unit determines that the road conditions are in a predetermined state when it recognizes, based on the information acquired by the acquisition unit, that there is a dead end within a second predetermined range in the direction of travel of the moving body.

[0009] (4): In any of the above aspects (1) to (3), when it is recognized that a construction site is located within a second predetermined range in the direction of travel of the moving body based on the information acquired by the acquisition unit, the control unit determines that the road conditions are in a predetermined state.

[0010] (5): In any of the above aspects (1) to (4), when it is recognized that a traffic jam has occurred within a second predetermined range in the direction of travel of the moving body based on the information acquired by the acquisition unit, the control unit determines that the road conditions are in a predetermined state.

[0011] (6): In any of the above aspects (1) to (5), the control unit determines that the road conditions are in a predetermined state when it recognizes, based on the information acquired by the acquisition unit, that the speed of another moving body moving in the same direction as the moving body within a second predetermined range on the side of the moving body's direction of travel is higher than threshold value A.

[0012] (7): In any of the above aspects (1) to (6), when it is recognized based on the information acquired by the acquisition unit that a predetermined number or more types of moving bodies are present within a second predetermined range in the direction of travel of the moving body, the control unit determines that the road conditions are in a predetermined state.

[0013] (8): In any of the above aspects (1) to (7), the control unit determines that the road conditions are in a predetermined state when it recognizes, based on the information acquired by the acquisition unit, that the number of large vehicles within a second specified range in the direction of travel of the moving body is equal to or greater than a threshold value B.

[0014] (9): In any of the above aspects (1) to (8), the road type recognition unit recognizes whether the moving body is moving on a roadway or in the specified area based on the output of an external environment detection device that detects the external situation of the moving body.

[0015] (10): In any of the above aspects (1) to (9), the road type recognition unit recognizes whether the moving body is moving on a roadway or in the specified area based on the occupant's operation of a switch provided inside the moving body.

[0016] (11): In any of the above aspects (1) to (10), when the road type recognition unit recognizes that the moving body is moving in the specified area, it causes an external notification device to notify outside the moving body that it is moving in the specified area.

[0017] (12): A method for controlling a moving body according to another aspect of the present invention involves a computer controlling a moving body having one or more occupants on board and capable of moving both on a roadway and a specified area different from the roadway, acquiring information indicating road conditions in the direction of travel of the moving body, recognizing whether the moving body is moving on the roadway or in the specified area, recognizing the presence of a connection between the roadway and the specified area in the direction of travel of the moving body, at least partially controlling the speed of the moving body, limiting the speed of the moving body when moving on the roadway to a first speed, limiting the speed of the moving body when moving in the specified area to a second speed lower than the first speed, and, when the moving body is moving on the roadway, the connection is recognized within a first specified range of the moving body, and the road conditions are in a specified state, bringing the speed of the moving body closer to the second speed.

[0018] (13): A program according to another aspect of the present invention causes a computer that controls a moving body, which has one or more occupants on board and is capable of moving both on a roadway and a specified area different from the roadway, to obtain information indicating road conditions in the direction of travel of the moving body, recognize whether the moving body is moving on the roadway or in the specified area, recognize the presence of a connection between the roadway and the specified area in the direction of travel of the moving body, at least partially control the speed of the moving body, limit the speed of the moving body when moving on the roadway to a first speed, limit the speed of the moving body when moving in the specified area to a second speed lower than the first speed, and, when the moving body is moving on the roadway, the connection is recognized within a first specified range of the moving body, and the road conditions are in a specified state, cause the speed of the moving body to approach the second speed.

[0019] (14): A control device for a moving body according to another aspect of the present invention is a control device for a moving body that has one or more occupants on board and is capable of moving both on a roadway and a specified area different from the roadway, and includes an acquisition unit that acquires information indicating road conditions in the traveling direction of the moving body, a road type recognition unit that recognizes whether the moving body is moving on the roadway or in the specified area, a connection recognition unit that recognizes the presence of a connection between the roadway and the specified area in the traveling direction of the moving body, and a control unit that at least partially controls the speed of the moving body, the control unit limiting the speed of the moving body when moving on the roadway to a first speed and limiting the speed of the moving body when moving in the specified area to a second speed lower than the first speed, and when the moving body is moving on the roadway, the connection unit is recognized within a first specified range from the moving body, and the road conditions are in a specified state, the control unit suggests to the occupant to decelerate using an interface device.

[0020] (15): A method for controlling a moving body according to another aspect of the present invention includes a computer that controls a moving body having one or more occupants on board and capable of moving both on a roadway and a specified area different from the roadway, acquiring information indicating road conditions in the traveling direction of the moving body, recognizing whether the moving body is moving on the roadway or in the specified area, recognizing the presence of a connection between the roadway and the specified area in the traveling direction of the moving body, at least partially controlling the speed of the moving body, limiting the speed of the moving body when moving on the roadway to a first speed, and limiting the speed of the moving body when moving in the specified area to a second speed lower than the first speed, and suggesting to the occupant to slow down using an interface device when the moving body is moving on the roadway, the connection is recognized to be within a first specified range from the moving body, and the road conditions are in a specified state.

[0021] (16): A program according to another aspect of the present invention causes a computer that controls a moving body, which has one or more occupants on board and is capable of moving both on a roadway and a specified area different from the roadway, to obtain information indicating road conditions in the direction of travel of the moving body, recognize whether the moving body is moving on the roadway or in the specified area, recognize the presence of a connection between the roadway and the specified area in the direction of travel of the moving body, at least partially control the speed of the moving body, limit the speed of the moving body when moving on the roadway to a first speed, limit the speed of the moving body when moving in the specified area to a second speed lower than the first speed, and, when the moving body is moving on the roadway, the connection is recognized within a first specified range of the moving body, and the road conditions are in a specified state, suggest to the occupant to decelerate using an interface device. Effect of the Invention

[0022] According to aspects (1) to (16), it is possible to perform appropriate control on a moving object that can move on both a roadway and a predetermined area different from the roadway when the moving object enters the predetermined area from the roadway. [Brief description of the drawings]

[0023] [Figure 1] 1 is a diagram illustrating an example of the configuration of a moving object 1 and a control device 100 according to an embodiment. [Diagram 2] 1 is a perspective view of a moving body 1 seen from above. [Diagram 3] 11A and 11B are diagrams illustrating examples of shapes of a communication portion. [Figure 4] 11A and 11B are diagrams illustrating examples of shapes of a communication portion. [Diagram 5] 11A and 11B are diagrams illustrating examples of shapes of a communication portion. [Figure 6] FIG. 13 is a diagram showing an example of a situation in which specific speed control is performed. [Figure 7] 4 is a flowchart showing an example of a flow of processing executed by the control device 100 of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Hereinafter, with reference to the drawings, an embodiment of a control device for a mobile body, a control method for a mobile body, and a program of the present invention will be described. A mobile body moves on both a roadway and a predetermined area different from the roadway. The predetermined area is, for example, a sidewalk. The predetermined area may be a part or all of a sidewalk, a bicycle lane, a public open space, etc., or may include all of a sidewalk, a sidewalk, a bicycle lane, a public open space, etc. In the following description, the predetermined area is assumed to be a sidewalk. In the following description, the part written as "sidewalk" can be appropriately read as "predetermined area".

[0025] First Embodiment 1 is a diagram showing an example of the configuration of a moving object 1 and a control device 100 according to an embodiment. The moving object 1 is equipped with, for example, an external environment detection device 10, a moving object sensor 12, an operator 14, an internal camera 16, a positioning device 18, a dialogue device 20, a mode changeover switch 22, a moving mechanism 30, a driving device 40, an external notification device 50, a storage device 70, and a control device 100. Note that some of these configurations that are not essential for realizing the functions of the present invention may be omitted.

[0026] The external environment detection device 10 is a device having a detection range in the traveling direction of the moving object 1. The external environment detection device 10 includes an external camera, a radar device, a LIDAR (Light Detection and Ranging), a sensor fusion device, etc. The external environment detection device 10 outputs information indicating the detection result (image, object position, etc.) to the control device 100.

[0027] The mobile body sensor 12 includes, for example, a speed sensor, an acceleration sensor, a yaw rate (angular velocity) sensor, a direction sensor, and an operation amount detection sensor attached to the operator 14. The operator 14 includes, for example, an operator for instructing acceleration / deceleration (for example, an accelerator pedal or a brake pedal) and an operator for instructing steering (for example, a steering wheel). In this case, the mobile body sensor 12 may include an accelerator opening sensor, a brake depression amount sensor, a steering torque sensor, etc. The mobile body 1 may be provided with an operator of a type other than those described above (for example, a non-annular rotary operator, a joystick, a button, etc.) as the operator 14.

[0028] Internal camera 16 captures an image of at least the head of an occupant of moving body 1 from the front. Internal camera 16 is a digital camera that uses an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). Internal camera 16 outputs the captured image to control device 100.

[0029] 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 a signal received from a GNSS satellite, 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.

[0030] The dialogue device 20 includes, for example, a speaker, a microphone, a touch panel, a communication device, and the like. The dialogue device 20 appropriately processes the voice of the occupant picked up by the microphone, transmits the voice to the server device via the network by the communication device, and provides information by voice from the speaker based on the information returned from the server device. The dialogue device 20 may also be called an agent device, a concierge device, an assistance device, and the like. The server device has a voice recognition function, a natural language processing function, a semantic interpretation function, a reply content determination function, and the like. The dialogue device 20 may also transmit position information to the server device, and the server device may return information on a facility corresponding to the position information and a guidance request issued by the occupant (for example, "Is there a good ramen shop around here?"). In this case, the dialogue device 20 provides voice guidance such as "It's just up ahead, turn left." In addition, the dialogue device 20 has a function of receiving natural speech by the occupant and returning an appropriate reply. The dialogue device 20 also has a function of carrying out simple dialogue without going through a server device, such as asking a question from the device side and receiving a reply, and may ask a question to the occupant in response to a request from the control device 100. The dialogue device 20 is an example of an interface device.

[0031] The mode changeover switch 22 is a switch operated by the occupant. The mode changeover switch 22 may be a mechanical switch or a GUI (Graphical User Interface) switch set on a touch panel. The mode changeover switch 22 accepts an operation to switch the driving mode to, for example, mode A: a speed assist mode in which the occupant performs steering operation and acceleration / deceleration control is performed automatically, mode B: a manual driving mode in which the occupant performs steering operation and acceleration / deceleration operation, and mode C: an automatic driving mode in which operation control and acceleration / deceleration control are performed automatically.

[0032] The moving mechanism 30 is a mechanism for moving the moving body 1 on a road. The moving mechanism 30 is, for example, a group of wheels including steering wheels and drive wheels. The moving mechanism 30 may also be legs for multi-legged walking.

[0033] The driving device 40 outputs a force to the moving mechanism 30 to move the moving body 1. For example, the driving device 40 includes a motor that drives the driving wheels, a battery that stores the power to be supplied to the motor, a steering device that adjusts the steering angle of the steering wheels, and the like. The driving device 40 may include an internal combustion engine, a fuel cell, or the like as a driving force output means or a power generation means. The driving device 40 may further include a brake device that utilizes frictional force or air resistance.

[0034] The external notification device 50 is, for example, a lamp, a display device, a speaker, or the like, provided on an outer panel of the moving body 1, for notifying the outside of the moving body 1 of information. The external notification device 50 operates differently depending on whether the moving body 1 is moving on a sidewalk or on a roadway. For example, the external notification device 50 is controlled to emit a lamp when the moving body 1 is moving on a sidewalk, and not emit a lamp when the moving body 1 is moving on a roadway. It is preferable that the emitted color of this lamp is a color specified by law. If the external notification device 50 is a display device, the external notification device 50 displays, in text or graphics, that the moving body 1 is "traveling on the sidewalk" when it is traveling on the sidewalk.

[0035] FIG. 2 is a perspective view of the moving body 1 seen from above. In the figure, FW is a steering wheel, RW is a driving wheel, SD is a steering device, DD is a motor, and BT is a battery. AP is an accelerator pedal, BP is a brake pedal, WH is a steering wheel, SP is a speaker, and MC is a microphone. The moving body 1 shown in the figure is a one-seater moving body, and an occupant P is seated in a driver's seat DS and fastened with a seat belt SB. An 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, the internal camera 16 is provided at a position where an image of the head of the occupant P can be captured from in front of the occupant P, and the mode changeover switch 22 is provided at a boss part of the steering wheel WH. An external notification device 50 as a display device is provided near the front end of the moving body 1.

[0036] Returning to Fig. 1, the storage device 70 is a non-transient storage device such as a hard disk drive (HDD), a flash memory, or a random access memory (RAM). The storage device 70 stores map information 72, a program 74 executed by the control device 100, and the like. In the figure, the storage device 70 is illustrated outside the frame of the control device 100, but the storage device 70 may be included in the control device 100.

[0037] [Control device] The control device 100 includes, for example, an acquisition unit 110, a road type recognition unit 120, a connection unit recognition unit 130, and a control unit 140. For example, the control device 100 is realized by 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 cooperation between 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-transient storage medium) such as a DVD or CD-ROM, and may be installed in the storage device 70 by mounting the storage medium in a drive device.

[0038] The acquisition unit 110 acquires information indicating road conditions in the traveling direction of the moving object 1. The information indicating the road conditions includes, for example, (1) whether there is a dead end, and (2) whether there is a construction site. The information indicating the road conditions may also include information regarding other moving objects in the traveling direction of the moving object 1. For example, the information indicating the road conditions may include (3) information indicating whether a traffic jam has occurred, (4) the speeds of other moving objects moving in the same direction as the moving object 1 in the traveling direction of the moving object 1 (which may be statistical values ​​such as average speed or median speed), and (5) the types of the other moving objects (such as large vehicles, special vehicles, ordinary cars, motorcycles, and bicycles). The acquisition unit 110 acquires some or all of the above (1) to (5), or other information of the same type as these, as information indicating the road conditions in the traveling direction of the moving object 1.

[0039] Regarding the presence or absence of a dead end or a construction site, the acquisition unit 110 acquires information by, for example, analyzing an image captured by an external camera of the external environment detection device 10. For example, the acquisition unit 110 acquires information on the presence or absence of a dead end or a construction site by inputting an image captured by an external camera to a trained model that has been trained to output information on the presence or absence of a dead end or a construction site when an image is input. Alternatively (or in addition), the acquisition unit 110 may acquire information on the presence or absence of a dead end or a construction site from an external device that provides traffic information via a communication device (not shown, one that the dialogue device 20 has may be used). The acquisition unit 110 may also acquire information on the presence or absence of a dead end or a construction site by applying the position of the moving object 1 to the map information 72. Note that there are dead ends in which the road structure is a dead end and those in which traffic is temporarily stopped, and the latter may not be described in the map information 72, so that image analysis or the like may be necessary.

[0040] Regarding other moving objects, the acquisition unit 110 acquires information by, for example, analyzing an image captured by an external camera of the external environment detection device 10. For example, the acquisition unit 110 acquires information such as the presence, position, and type of other moving objects by inputting an image captured by an external camera to a trained model that has been trained to output information such as the presence, position, and type of other moving objects when an image is input. The type of other moving objects can also be estimated based on the size in the image or the intensity of the reflected wave received by the radar device of the external environment detection device 10. In addition, the acquisition unit 110 acquires the speed of other moving objects detected by the radar device using, for example, Doppler shift.

[0041] The road type recognition unit 120 recognizes whether the moving object 1 is moving on a roadway or a sidewalk. For example, the road type recognition unit 120 recognizes whether the moving object 1 is moving on a roadway or a sidewalk by analyzing an image captured by an external camera of the external environment detection device 10. An example of image analysis is semantic segmentation. The road type recognition unit 120 classifies each pixel in an image frame into a class (roadway, sidewalk, boundary, obstacle, etc.) and assigns a label, and recognizes that the moving object 1 is moving on a roadway when there are many pixels with a roadway label in an area corresponding to the front of the moving object 1 in the image, and recognizes that the moving object 1 is moving on a sidewalk when there are many pixels with a sidewalk label in an area corresponding to the front of the moving object 1 in the image. Not limited to this, the road type recognition unit 120 may recognize that the moving object 1 is moving on a roadway when a vehicle is recognized in an area corresponding to the front of the moving object 1 in the image, and recognize that the moving object 1 is moving on a sidewalk when a pedestrian is recognized in an area corresponding to the front of the moving object 1 in the image. The road type recognition unit 120 may recognize that the moving object 1 is moving on a roadway when the width of the road surface area in the area corresponding to the front of the moving object 1 in the image is large, and may recognize that the moving object 1 is moving on a sidewalk when the width of the road surface area in the area corresponding to the front of the moving object 1 in the image is small. The road type recognition unit 120 may also compare the position information of the moving object 1 with the map information 72 to recognize whether the moving object 1 is moving on a roadway or a sidewalk. In this case, the map information must have a high enough accuracy to distinguish between a sidewalk and a roadway from the position coordinates. If the "predetermined area" is not only a sidewalk, the road type recognition unit 120 performs similar processing on shoulders, bicycle lanes, public open spaces, etc.

[0042] The connection part recognition unit 130 recognizes the presence of a connection part between the sidewalk and the roadway on the traveling direction side of the moving object. The connection part is provided at the boundary part between the sidewalk and the roadway, and refers to a part where the burden of passing through is smaller than other parts of the boundary part. For example, when a step is provided at the boundary part between the sidewalk and the roadway, the part where the step is reduced (including being flush with the sidewalk and the roadway) corresponds to the connection part. Figures 3 to 5 are diagrams illustrating examples of the shape of the connection part. As shown in Figure 3, the connection part CP is, for example, a part where the block BK at the boundary part is lowered together with the sidewalk SW. In the figure, RW indicates the roadway. As shown in Figure 4, the connection part CP may be a part where a step-eliminating plate PT that fills the step between the roadway RW and the sidewalk SW is placed. As shown in Figure 5, the connection part CP may be a part where the block BK forming the step between the roadway RW and the sidewalk SW is missing. In addition to these exemplified forms, various forms of the connection part CP are assumed. The connection part CP may be present not only in the middle of the road but also at an intersection, etc. The contact part recognition unit 130 recognizes the presence of the contact part CP, for example, by inputting an image captured by an external camera to a trained model that has been trained to output information indicating the position of the contact part CP when an image is input. The contact part recognition unit 130 may recognize the presence of the contact part CP based on the shape of a step obtained as a result of scanning diagonally downward by the LIDAR.

[0043] The control unit 140 controls the drive device 40 according to, for example, the set operation mode.

[0044] In mode A, the control unit 140 controls the drive device 40 so that when the moving body 1 moves on a roadway, the distance between the moving body 1 and an object in front of the moving body 1 is maintained at a certain level or more, and when the distance between the moving body 1 and an object in front of the moving body 1 is sufficiently long, the moving body 1 moves at a first speed V1 (for example, a speed of 10 km / h or more and less than several tens of km / h). When the moving body 1 moves on a sidewalk, the control unit 140 controls the drive device 40 so that the distance between the moving body 1 and an object in front of the moving body 1 is maintained at a certain level or more, and when the distance between the moving body 1 and an object in front of the moving body 1 is sufficiently long, the moving body 1 moves at a second speed V2 (for example, a speed of less than 10 km / h). This function is similar to an adaptive cruise control (ACC) function of a vehicle in which the first speed V1 or the second speed V2 is set as a set speed, and the technology used in the ACC can be used. In mode A, the control unit 140 controls the steering angle of the steering wheels based on the amount of operation of the operation element 14 such as a steering wheel. Such a function is similar to that of a power steering device, and the technology used in the power steering device can be used. Note that the vehicle 1 may have a steering device in which the operator 14 and a steering mechanism are mechanically connected without electronic control of steering.

[0045] In mode B, the control unit 140 controls the drive device 40 based on the speed of the moving object 1 and the operation amount of the accelerator pedal or the brake pedal. When the moving object 1 is moving on a roadway, the control unit 140 controls the drive device 40 with the first speed V1 as the upper limit speed (in mode B, this means that the moving object 1 will not accelerate even if there is a further acceleration command when the upper limit speed is reached), and when the moving object 1 is moving on a sidewalk, the control unit 140 controls the drive device 40 with the second speed V2 as the upper limit speed. Steering is the same as in mode A.

[0046] In mode C, the control unit 140 detects the path and obstacles based on the output of the external environment detection device 10, generates a target trajectory along which the moving body 1 can move while avoiding the obstacles in the path, and controls the driving device 40 so that the moving body 1 moves along the target trajectory. Even in mode C, the control unit 140 controls the driving device 40 with the first speed V1 as the upper limit speed when the moving body 1 is moving on a roadway, and controls the driving device 40 with the second speed V2 as the upper limit speed when the moving body 1 is moving on a sidewalk. Note that since mode C does not form the core of the present invention, further detailed explanation will be omitted.

[0047] [Control according to the presence of contact points] Hereinafter, the control by the control unit 140 according to the presence of the connecting unit will be described in order from mode A. In mode A, when the moving object 1 is moving on a roadway, the connecting unit is recognized within a predetermined range from the moving object 1, and the road conditions of which information is acquired by the acquisition unit 110 are in a predetermined state, the control unit 140 makes the speed of the moving object 1 approach the second speed V2 from the first speed V1. "Making the speed of the moving object 1 approach the second speed V2 from the first speed V1" means that the moving object 1 is decelerated except when the moving object 1 is moving at a low speed or stopped due to the presence of an obstacle. At this time, the control unit 140 may use the dialogue device 20 to ask a question regarding the intention to enter the sidewalk, and when an affirmative response is obtained, make the speed of the moving object 1 approach the second speed V2, and when an affirmative response is not obtained, make the speed of the moving object 1 not approach the second speed V2. Hereinafter, regardless of whether a question is asked or not, "when the moving body 1 is moving on the roadway, the connecting section is recognized within a specified range from the moving body 1, and the road conditions are in a specified state, the speed of the moving body 1 is brought closer to the second speed V2 from the first speed V1" will be referred to as "specific speed control."

[0048] The "predetermined state" refers to, for example, some or all of the following events. Information that is the criterion for determining whether or not a state is in a predetermined state is acquired by acquisition unit 110 as described above, and transmitted to control unit 140.

[0049] (A) The predetermined state is, for example, a state where there is a dead end within a second predetermined range (for example, within a second predetermined distance X2 of about several tens to a hundred meters; the same applies below) in the traveling direction of the moving body 1. In such a state, it is presumed that the occupant P wants to move to the sidewalk.

[0050] (B) The predetermined state is, for example, a state in which a construction site is present within a second predetermined range in the traveling direction of the moving object 1. In such a state, it is presumed that the occupant P would want to move to the sidewalk.

[0051] (C) The predetermined state is, for example, a state in which a traffic jam occurs within a second predetermined range in the traveling direction of the moving body 1. For example, when the number of other moving bodies existing within the second predetermined range in the traveling direction of the moving body 1 is greater than a first threshold value (e.g., a value of about several tens) and the average speed of the other moving bodies is less than a second threshold value (e.g., a value of about 20 km / h), the control unit 140 determines that a traffic jam occurs within the predetermined range in the traveling direction of the moving body 1. This determination process may be performed by the acquisition unit 110. In such a state, there is a high possibility that the occupant P will want to move to the sidewalk, since there is not much difference in speed whether moving on the sidewalk or on the roadway.

[0052] (D) The predetermined state is, for example, a state in which the speed (e.g., a statistical value such as an average speed or a median speed) of another moving body moving in the same direction as the moving body 1 within the second predetermined range on the traveling direction side of the moving body 1 is higher than a third threshold value (an example of threshold value A; for example, a value of about 70 [km / h]). Such a state is highly likely to occur when the moving body 1 is moving on a wide road such as a main road, and since it is assumed that the moving body 1 moves on the road at a relatively slow speed, it is highly likely that the occupant P will think that moving to the sidewalk will cause less stress.

[0053] (E) The predetermined state is, for example, a state in which a predetermined number of other moving bodies are mixed in among other moving bodies moving in the same direction as the moving body 1 within a second predetermined range on the moving direction side of the moving body 1. For example, the control unit 140 determines that the road conditions are in a predetermined state when a predetermined number of moving bodies (e.g., three or more types) are included among other moving bodies moving in the same direction as the moving body 1 within a second predetermined range on the moving direction side of the moving body 1. In such a state, since there are multiple types of other moving bodies with different speeds in the surrounding area, it becomes relatively difficult to operate the moving body 1, and there is a high possibility that the occupant P will think that it would be less stressful to move to the sidewalk.

[0054] (F) The predetermined state is, for example, a state in which the number of large vehicles among other moving bodies moving in the same direction as the moving body 1 within a second predetermined range on the traveling direction side of the moving body 1 is equal to or greater than a fourth threshold value (an example of threshold value B; for example, a value of about 1 to 5). Large vehicles may include special vehicles.

[0055] FIG. 6 is a diagram showing an example of a scene where the specific speed control is performed. In the figure, X is the distance between the moving body 1 and the connecting part CP. CL1 is a white line indicating the left edge of the roadway RW, and CL2 is a dashed line dividing the lane in which the moving body 1 is present from the oncoming lane. The distance X is defined, for example, as the distance from the nearest position of the connecting part CP to the front end of the moving body 1, but is not limited to this and may be defined arbitrarily, such as from the center of the connecting part CP to the center of gravity of the moving body 1. In addition, in the figure, a standard vehicle V1, a large vehicle V2, and a bicycle CY are present within a second predetermined distance X2 from the moving body 1. When the distance X1 is equal to or less than the first predetermined distance X1 (an example of the connecting part CP being within the first predetermined range from the moving body 1), and when other moving bodies of a predetermined number of types or more are mixed among other moving bodies moving in the same direction as the moving body 1 within the second predetermined range (up to the second predetermined distance X2) on the traveling direction side of the moving body 1, the specific speed control is performed. The first predetermined distance may be shorter than or equal to the second predetermined distance.

[0056] In mode B, when the moving object 1 is moving on a roadway, the communication unit is recognized within a predetermined range from the moving object 1, and the road conditions are in a predetermined state (confirmation by questioning may be further performed), the control unit 140 gradually switches the upper limit speed of the moving object 1 from the first speed V1 to the second speed V2. Alternatively, when the above conditions are satisfied in mode B, the control unit 140 may simply suggest, using the dialogue device 20, to approach the second speed V2 by manually operating the accelerator pedal AP or the brake pedal BP. For example, the control unit 140 causes the dialogue device 20 to output a voice such as "If you plan to enter the sidewalk, please slow down." The definition of the predetermined state is the same as in mode A.

[0057] 7 is a flowchart showing an example of the flow of processing executed by the control device 100 of the embodiment. The processing of this flowchart is premised on mode A. The processing of this flowchart is executed repeatedly at a predetermined cycle, for example.

[0058] First, the road type recognition unit 120 judges whether the moving object 1 is moving on a roadway (whether the moving object 1 is moving on a sidewalk) (step S200). When it is judged that the moving object 1 is moving on a roadway, the control unit 140 performs control for the case where the moving object 1 is moving on a roadway as described above (step S202). Next, the control unit 140 judges whether the contact unit CP exists within a predetermined range on the moving direction side of the moving object 1 based on the recognition result of the contact unit recognition unit 130 (step S206). When it is judged that the contact unit CP exists within a predetermined range on the moving direction side of the moving object 1, the control unit 140 judges whether the road situation is in a predetermined state based on the information provided by the acquisition unit 110 (step S208). When it is judged that the road situation is in a predetermined state, the control unit 140 executes the specific speed control (step S210).

[0059] If a negative determination result is obtained in step S206 or S208, the processing of one routine of this flowchart ends. Also, if it is determined in step S200 that the moving object 1 is moving on a sidewalk, the control unit 140 performs control for the case where the moving object 1 is moving on a sidewalk (step S204).

[0060] According to the first embodiment described above, a moving body that can move on both roadways and sidewalks can be appropriately controlled when entering a sidewalk from a roadway. The "predetermined state" is a state in which it is expected that the moving body 1 will be difficult or impossible to steer, or that the occupant P will feel stressed. Therefore, when the road conditions are in a predetermined state, it is presumed that the occupant will operate the steering wheel WH at the approaching connecting part CP to cause the moving body 1 to enter the sidewalk. However, since there is a difference between the first speed V1, which is the upper limit speed or target speed on the roadway, and the second speed V2, which is the upper limit speed or target speed on the sidewalk, if the moving body 1 moving at the first speed V1 suddenly enters the sidewalk, a situation may arise in which the moving body 1 must suddenly decelerate. In addition, there is a concern that a large lateral acceleration will occur when turning to enter the sidewalk is started while moving at the first speed V1, which is a relatively high speed. In other words, it may be too late to decelerate after steering is actually started.

[0061] In contrast, when the moving object 1 is moving on a roadway, the connecting part CP is recognized by the moving object 1 within a predetermined range in the traveling direction, and the road conditions are in a predetermined state, the control device 100 of the embodiment makes the speed of the moving object approach the second speed V2, thereby preventing the above-mentioned sudden deceleration and sudden turning from occurring. As a result, appropriate control can be performed when entering the sidewalk from the roadway.

[0062] <Second embodiment> The second embodiment will be described below. The control device 100 of the second embodiment differs from the first embodiment in the function of the road type recognition unit 120. The road type recognition unit 120 of the second embodiment recognizes whether the moving body 1 is traveling on a roadway or a sidewalk, for example, in response to an operation by the occupant of a road type input switch (not shown) provided on the moving body. The road type input switch is provided, for example, on a boss part of a steering wheel WH. The road type input switch has a mechanism that can be operated up and down and holds the operated position, and indicates a roadway when operated to the up position and a sidewalk when operated to the down position. The road type input switch may be in the form of a button or a GUI switch, and may switch to recognition of sidewalk traveling when operated in a state where the control device 100 recognizes that the moving body 1 is traveling on a roadway, and may switch to recognition of sidewalk traveling when operated in a state where the control device 100 recognizes that the moving body 1 is traveling on a sidewalk. With this configuration, it is possible to omit the function of automatically recognizing whether the moving body 1 is traveling on a roadway or a sidewalk, thereby reducing the processing load and cost. However, since there is a possibility of an erroneous operation by the occupant, it is desirable that the external notification device 50 notify information to the outside in the second embodiment.

[0063] <Other> In each of the above embodiments, the control unit 140 may execute only one of the controls of mode A and mode B. That is, the moving body 1 may execute the speed assist mode but not the manual mode, or may execute the manual mode but not the speed assist mode. The control unit 140 may execute both the controls of mode A and mode B, but may perform the specific speed control only when either mode A or mode B is being executed. In any case, it may be determined arbitrarily whether to execute the control of mode C.

[0064] The above-described embodiment can be expressed as follows. A storage device storing a program; a hardware processor; The hardware processor executes the program stored in the storage device, Obtaining information indicating road conditions in the traveling direction of the moving object; Recognizing whether the moving object is moving on a roadway or a sidewalk; Recognizing the presence of a connecting portion between a sidewalk and a roadway in the traveling direction of the moving object, at least partially controlling a speed of the moving object, limiting a speed of the moving object when moving on a roadway to a first speed and limiting a speed of the moving object when moving on a sidewalk to a second speed lower than the first speed; When the moving body is moving on a roadway, the connection unit is recognized within a predetermined range from the moving body, and the road conditions are in a predetermined state, the speed of the moving body is made to approach the second speed. The control device for a moving object is configured as follows.

[0065] The above-described embodiment can also be expressed as follows. A storage device storing a program; a hardware processor; The hardware processor executes the program stored in the storage device, Obtaining information indicating road conditions in the traveling direction of the moving object; Recognizing whether the moving object is moving on a roadway or a sidewalk; Recognizing the presence of a connecting portion between a sidewalk and a roadway in the traveling direction of the moving object, at least partially controlling a speed of the moving object, limiting a speed of the moving object when moving on a roadway to a first speed and limiting a speed of the moving object when moving on a sidewalk to a second speed lower than the first speed; when the moving body is moving on a roadway, the connection unit is recognized within a predetermined range from the moving body, and the road conditions are in a predetermined state, a suggestion is made to the occupant to decelerate using an interface device; The control device for a moving object is configured as follows.

[0066] 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]

[0067] 10. External sensing devices 12 Mobile Sensor 14 Controls 16 Internal Camera 18 Positioning Device 20 Interactive Device 22 Mode switch 30 Moving mechanism 40 Drive unit 50 External alarm device 70 Storage device 100 Control device 110 Acquisition Department 120 Road type recognition unit 130 Liaison Department Recognition Department 140 Control section

Claims

1. A control device for a moving body capable of carrying one or more occupants and moving on both a roadway and a predetermined area different from the roadway, an acquisition unit that acquires information indicating a road condition in a traveling direction of the moving object; a road type recognition unit that recognizes whether the moving object is moving on a roadway or in the predetermined area; a connection recognition unit that recognizes the presence of a connection between a roadway in a traveling direction of the moving object and the predetermined area; a control unit that at least partially controls the speed of the moving body, the control unit limiting the speed of the moving body when moving on a roadway to a first speed and limiting the speed of the moving body when moving in the specified area to a second speed lower than the first speed; Equipped with the control unit, when the moving body is moving on a roadway, the connection unit is recognized within a first predetermined range from the moving body, and the road conditions are in a predetermined state in which it is expected that it will be difficult or impossible to control the moving body or that the occupant will feel stressed, causes the speed of the moving body to approach the second speed. A control device for a moving object.

2. A control device for a moving body capable of carrying one or more occupants and moving on both a roadway and a predetermined area different from the roadway, an acquisition unit that acquires information indicating a road condition in a traveling direction of the moving object; a road type recognition unit that recognizes whether the moving object is moving on a roadway or in the predetermined area; a connection recognition unit that recognizes the presence of a connection between a roadway in a traveling direction of the moving object and the predetermined area; a control unit that at least partially controls the speed of the moving body, the control unit limiting the speed of the moving body when moving on a roadway to a first speed and limiting the speed of the moving body when moving in the specified area to a second speed lower than the first speed; Equipped with the control unit, when the moving body is moving on a roadway, the connection unit is recognized within a first predetermined range from the moving body, and it is recognized that there is a dead end within a second predetermined range in a traveling direction of the moving body based on the information acquired by the acquisition unit, causes the speed of the moving body to approach the second speed. A control device for a moving object.

3. A control device for a moving body capable of carrying one or more occupants and moving on both a roadway and a predetermined area different from the roadway, an acquisition unit that acquires information indicating a road condition in a traveling direction of the moving object; a road type recognition unit that recognizes whether the moving object is moving on a roadway or in the predetermined area; a connection recognition unit that recognizes the presence of a connection between a roadway in a traveling direction of the moving object and the predetermined area; a control unit that at least partially controls the speed of the moving body, the control unit limiting the speed of the moving body when moving on a roadway to a first speed and limiting the speed of the moving body when moving in the specified area to a second speed lower than the first speed; Equipped with the control unit, when the moving body is moving on a roadway, the communication unit is recognized within a first predetermined range from the moving body, and it is recognized that a construction site is present within a second predetermined range in a traveling direction of the moving body based on the information acquired by the acquisition unit, causes the speed of the moving body to approach the second speed. A control device for a moving object.

4. A control device for a moving body capable of carrying one or more occupants and moving on both a roadway and a predetermined area different from the roadway, an acquisition unit that acquires information indicating a road condition in a traveling direction of the moving object; a road type recognition unit that recognizes whether the moving object is moving on a roadway or in the predetermined area; a connection recognition unit that recognizes the presence of a connection between a roadway in a traveling direction of the moving object and the predetermined area; a control unit that at least partially controls the speed of the moving body, the control unit limiting the speed of the moving body when moving on a roadway to a first speed and limiting the speed of the moving body when moving in the specified area to a second speed lower than the first speed; Equipped with the control unit, when the moving body is moving on a roadway, the communication unit is recognized within a first predetermined range from the moving body, and it is recognized that a traffic jam has occurred within a second predetermined range in a traveling direction of the moving body based on the information acquired by the acquisition unit, causes the speed of the moving body to approach the second speed. A control device for a moving object.

5. the control unit, when the moving body is moving on a roadway, the communication unit is recognized within a first predetermined range from the moving body, and the road conditions are in a predetermined state, uses an interface device to inquire about an intention to enter the predetermined area, and when an affirmative response is obtained, causes the speed of the moving body to approach the second speed. The control device for a moving object according to claim 1.

6. The control unit determines that the road conditions are in a predetermined state when it is recognized that the speed of another moving object, which moves in the same direction as the moving object within a second predetermined range in the traveling direction of the moving object and moves faster than the moving object, is higher than a threshold value A based on the information acquired by the acquisition unit. The control device for a moving body according to claim 1 or 5.

7. The control unit determines that the road conditions are in a predetermined state when it is recognized that a predetermined number of moving objects of different types are present within a second predetermined range in a traveling direction of the moving object based on the information acquired by the acquisition unit. The control device for a moving body according to claim 1 or 5.

8. The control unit determines that the road conditions are in a predetermined state when it is recognized that the number of large vehicles within a second predetermined range in the traveling direction of the moving object is equal to or greater than a threshold value B based on the information acquired by the acquisition unit. The control device for a moving body according to claim 1 or 5.

9. The road type recognition unit recognizes whether the moving object is moving on a roadway or in the predetermined area based on an output of an external environment detection device that detects an external situation of the moving object. A control device according to any one of claims 1 to 8.

10. the road type recognition unit recognizes whether the moving body is moving on a roadway or in the predetermined area based on an operation of a switch provided inside the moving body by the occupant. A control device according to any one of claims 1 to 9.

11. When the road type recognition unit recognizes that the moving object is moving in the predetermined area, the road type recognition unit causes an external notification device to notify outside the moving object that the moving object is moving in the predetermined area. A control device according to any one of claims 1 to 10.

12. A computer controls a mobile body that has one or more occupants on board and is capable of moving on both a roadway and a predetermined area different from the roadway, Obtaining information indicating road conditions in the traveling direction of the moving object; Recognizing whether the moving object is moving on a roadway or in the predetermined area; Recognizing the presence of a connecting portion between a roadway in a traveling direction of the moving object and the predetermined area; at least partially controlling the speed of the moving object; limiting a speed of the moving body when the moving body moves on a roadway to a first speed; limiting a speed of the moving body when the moving body moves in the predetermined area to a second speed which is lower than the first speed; When the moving body is moving on a roadway, the connection portion is recognized within a first predetermined range from the moving body, and the road conditions are in a predetermined state in which it is expected that it will be difficult or impossible to control the moving body or that the occupant will feel stressed, The speed of the moving object is made to approach the second speed. A method for controlling a moving object.

13. A computer controls a mobile body that has one or more occupants on board and can move on both a roadway and a predetermined area different from the roadway, acquiring information indicating road conditions in the traveling direction of the moving body; Recognizing whether the moving object is moving on a roadway or in the predetermined area; The vehicle is made to recognize the presence of a connecting portion between a roadway in a traveling direction of the vehicle and the predetermined area, at least partially controlling the speed of the moving object; limiting the speed of the moving body when moving on a roadway to a first speed; limiting the speed of the moving body when it moves within the predetermined area to a second speed which is lower than the first speed; when the moving body is moving on a roadway, the connection unit is recognized within a first predetermined range from the moving body, and the road conditions are in a predetermined state in which it is expected that it will be difficult or impossible to control the moving body or that the occupant will be in a stressful situation, the speed of the moving body is made to approach the second speed; program.

14. A control device for a moving body capable of carrying one or more occupants and moving on both a roadway and a predetermined area different from the roadway, an acquisition unit that acquires information indicating a road condition in a traveling direction of the moving object; a road type recognition unit that recognizes whether the moving object is moving on a roadway or in the predetermined area; a connection recognition unit that recognizes the presence of a connection between a roadway in a traveling direction of the moving object and the predetermined area; a control unit that at least partially controls the speed of the moving body, the control unit limiting the speed of the moving body when moving on a roadway to a first speed and limiting the speed of the moving body when moving in the specified area to a second speed lower than the first speed; Equipped with the control unit, when the moving body is moving on a roadway, the connection unit is recognized within a first predetermined range from the moving body, and the road conditions are in a predetermined state in which it is expected that it will be difficult or impossible to control the moving body or that the occupant will be in a stressful situation, suggests to the occupant to decelerate using an interface device. A control device for a moving object.

15. A computer controls a mobile body that has one or more occupants on board and is capable of moving on both a roadway and a predetermined area different from the roadway, acquiring information indicating road conditions in the traveling direction of the moving body; Recognizing whether the moving object is moving on a roadway or in the predetermined area; The vehicle is made to recognize the presence of a connecting portion between a roadway in a traveling direction of the vehicle and the predetermined area, at least partially controlling the speed of the moving object; limiting the speed of the moving body when moving on a roadway to a first speed; limiting the speed of the moving body when moving in the predetermined area to a second speed that is lower than the first speed at which it is expected that the moving body will become difficult or impossible to control or that the occupant will become stressed; when the moving body is moving on a roadway, the connection unit is recognized within a first predetermined range from the moving body, and the road conditions are in a predetermined state in which it is expected that it will be difficult or impossible to control the moving body or that the occupant will be in a stressful situation, suggesting to the occupant to decelerate using an interface device; A method for controlling a moving object.

16. A computer controls a mobile body that has one or more occupants on board and can move on both a roadway and a predetermined area different from the roadway, acquiring information indicating road conditions in the traveling direction of the moving body; Recognizing whether the moving object is moving on a roadway or in the predetermined area; The vehicle is made to recognize the presence of a connecting portion between a roadway in a traveling direction of the vehicle and the predetermined area, at least partially controlling the speed of the moving object; limiting the speed of the moving body when moving on a roadway to a first speed; limiting the speed of the moving body when it moves within the predetermined area to a second speed which is lower than the first speed; when the moving body is moving on a roadway, the connection unit is recognized within a first predetermined range from the moving body, and the road conditions are in a predetermined state in which it is expected that it will be difficult or impossible to control the moving body or that the occupant will be in a stressful situation, the interface device is used to suggest to the occupant to decelerate. program.

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