AUTONOMOUS DRIVE CONTROL SYSTEM, AUTONOMOUS DRIVE CONTROL DEVICE, AUTONOMOUS DRIVE CONTROL METHOD, AUTONOMOUS DRIVE CONTROL PROGRAM

Abstract

To provide an autonomous running control system and the like which facilitate operation thereof by a user.SOLUTION: An autonomous running control system has a processor, and controls an autonomous running device that can execute autonomous running. The processor is configured to execute switching between an autonomous running mode in which autonomous running is executed and a user operation mode in which operation of moving the autonomous running device by a user is received. The processor is configured to execute a restriction of a running speed which the autonomous running device can output in the user operation mode compared with that in the autonomous running mode.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present disclosure relates to a technique for controlling an autonomous driving device capable of performing autonomous driving. [Background technology]

[0002] Patent Document 1 discloses a traveling cart that can be self-propelled by a motor. This traveling cart can perform a self-propelled operation in which the driving wheels are rotated by the motor, and a manual operation in which the driving wheels are released from the brakes and can be operated by an external force. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] WO 2020 / 59189 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology of Patent Document 1 only allows the user to operate the vehicle by releasing the brakes on the drive wheels. Therefore, Patent Document 1 has room for improvement in terms of facilitating the user's operation.

[0005] An object of the present disclosure is to provide an autonomous driving control system capable of facilitating operation by a user. Another object of the present disclosure is to provide an autonomous driving control device capable of facilitating operation by a user. Yet another object of the present disclosure is to provide an autonomous driving device capable of facilitating operation by a user. Yet another object of the present disclosure is to provide an autonomous driving control method capable of facilitating operation by a user. Yet another object of the present disclosure is to provide an autonomous driving control program capable of facilitating operation by a user. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the corresponding relationship with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is an autonomous driving control system having a processor (102) and controlling an autonomous driving device (1) capable of autonomous driving, The processor an autonomous driving mode for performing autonomous driving; Around the autonomous driving device User but Autonomous Driving Device Due to external force applied to a user operation mode in which a move operation is accepted; and In the user operation mode, a traveling speed that can be output by the autonomous driving device is limited to a value lower than that in the autonomous driving mode; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object is increased more than in the autonomous driving mode; and In the autonomous driving mode and the user operation mode, the outputtable driving speed is reduced as the approachable distance approaches, and the reduction rate of the driving speed up to each approachable distance is made the same in the autonomous driving mode and the user operation mode; The apparatus is configured to execute the following steps:

[0008] A second aspect of the present disclosure is an autonomous driving control device that has a processor (102) and controls an autonomous driving device (1) capable of autonomous driving, The processor an autonomous driving mode for performing autonomous driving; Around the autonomous driving device User but Autonomous Driving Device Due to external force applied to a user operation mode in which a move operation is accepted; and In the user operation mode, a traveling speed that can be output by the autonomous driving device is limited to a value lower than that in the autonomous driving mode; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object is increased more than in the autonomous driving mode; and In the autonomous driving mode and the user operation mode, the outputtable driving speed is reduced as the approachable distance approaches, and the reduction rate of the driving speed up to each approachable distance is made the same in the autonomous driving mode and the user operation mode; The apparatus is configured to execute the following steps:

[0009] A third aspect of the present disclosure is an autonomous driving device having a processor (102) and capable of autonomous driving, The processor an autonomous driving mode for performing autonomous driving; Around the autonomous driving device User but Autonomous Driving Device Due to external force applied to a user operation mode in which a move operation is accepted; and In the user operation mode, a driving speed that can be output is limited to a value lower than that in the autonomous driving mode; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object is increased more than in the autonomous driving mode; and In the autonomous driving mode and the user operation mode, the outputtable driving speed is reduced as the approachable distance approaches, and the reduction rate of the driving speed up to each approachable distance is made the same in the autonomous driving mode and the user operation mode; The apparatus is configured to execute the following steps:

[0010] A fourth aspect of the present disclosure is an autonomous driving control method executed by a processor (102) to control an autonomous driving device (1) capable of autonomous driving, comprising: an autonomous driving mode for performing autonomous driving; Around the autonomous driving device User but Autonomous Driving Device Due to external force applied to a user operation mode in which a move operation is accepted; and In the user operation mode, a traveling speed that can be output by the autonomous driving device is limited to a value lower than that in the autonomous driving mode; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object is increased more than in the autonomous driving mode; and In the autonomous driving mode and the user operation mode, the outputtable driving speed is reduced as the approachable distance approaches, and the reduction rate of the driving speed up to each approachable distance is made the same in the autonomous driving mode and the user operation mode; Includes.

[0011] A fifth aspect of the present disclosure is an autonomous driving control program stored in a storage medium (101) for controlling an autonomous driving device (1) capable of autonomous driving, the autonomous driving control program including instructions to be executed by a processor (102), The command is, an autonomous driving mode for performing autonomous driving; Around the autonomous driving device User but Autonomous Driving Device Due to external force applied toa user operation mode in which a moving operation is accepted; and In the user operation mode, a traveling speed that can be output by the autonomous driving device is limited to a value lower than that in the autonomous driving mode; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object is increased more than in the autonomous driving mode; In the autonomous driving mode and the user operation mode, the outputtable driving speed is reduced as the approachable distance approaches, and the reduction rate of the driving speed up to each approachable distance is made the same in the autonomous driving mode and the user operation mode; Includes.

[0012] According to these first to fifth aspects, the traveling speed that can be outputted by the autonomous driving device in the user operation mode is more limited than in the autonomous driving mode. Therefore, the traveling speed outputted by the user's operation is relatively small. Therefore, the traveling speed of the autonomous driving device is prevented from becoming excessively high during operation, which makes it easier for the user to operate the autonomous driving device. Therefore, it may be possible to facilitate the operation by the user.

[0013] A sixth aspect of the present disclosure is an autonomous driving control system having a processor (102) and controlling an autonomous driving device (1) capable of autonomous driving, The processor an autonomous driving mode for performing autonomous driving; Around the autonomous driving device User but Autonomous Driving Device Due to external force applied to a user operation mode in which a move operation is accepted; and The distance that the autonomous driving device can approach a surrounding object in the user operation mode The approachable distance at which the autonomous driving device will stop moving when it reaches the approachable distance. The above is mitigated more than in the autonomous driving mode, The apparatus is configured to execute the following steps:

[0014] A seventh aspect of the present disclosure is an autonomous driving control device that has a processor (102) and controls an autonomous driving device (1) capable of autonomous driving, The processor an autonomous driving mode for performing autonomous driving; Around the autonomous driving device User but Autonomous Driving Device Due to external force applied toa user operation mode in which a move operation is accepted; and The distance that the autonomous driving device can approach a surrounding object in the user operation mode The approachable distance at which the autonomous driving device will stop moving when it reaches the approachable distance. The above is mitigated more than in the autonomous driving mode, The apparatus is configured to execute the following steps:

[0015] An eighth aspect of the present disclosure is an autonomous driving device having a processor (102) and capable of performing autonomous driving, The processor an autonomous driving mode for performing autonomous driving; Around the autonomous driving device User but Autonomous Driving Device Due to external force applied to a user operation mode in which a move operation is accepted; and The distance that the autonomous driving device can approach a surrounding object in the user operation mode The approachable distance at which the autonomous driving device will stop moving when it reaches the approachable distance. The above is mitigated more than in the autonomous driving mode, The apparatus is configured to execute the following steps:

[0016] A ninth aspect of the present disclosure is an autonomous driving control method executed by a processor (102) to control an autonomous driving device (1) capable of autonomous driving, comprising: an autonomous driving mode for performing autonomous driving; Around the autonomous driving device User but Autonomous Driving Device Due to external force applied to a user operation mode in which a move operation is accepted; and The distance that the autonomous driving device can approach a surrounding object in the user operation mode The approachable distance at which the autonomous driving device will stop moving when it reaches the approachable distance. The above is mitigated more than in the autonomous driving mode, Includes.

[0017] A tenth aspect of the present disclosure is an autonomous driving control program stored in a storage medium (101) for controlling an autonomous driving device (1) capable of autonomous driving, the autonomous driving control program including instructions to be executed by a processor (102), The command is, an autonomous driving mode for performing autonomous driving; Around the autonomous driving device User but Autonomous Driving Device Due to external force applied toa user operation mode in which a moving operation is accepted; and The distance that the autonomous driving device can approach a surrounding object in the user operation mode The approachable distance at which the autonomous driving device will stop moving when it reaches the approachable distance. is relaxed more than in the autonomous driving mode, Includes.

[0018] According to the sixth to tenth aspects, the approachable distance of the autonomous driving device to a surrounding object in the user operation mode is relaxed compared to the autonomous driving mode. This makes it easier for the user to move the autonomous driving device closer to a surrounding object by the user's operation. Therefore, it becomes easier for the user to move the autonomous driving device to a desired position, and in this respect, it becomes easier for the user to operate the autonomous driving device. Therefore, it may be possible to facilitate the operation by the user. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 is a block diagram showing an overall configuration of a first embodiment. [Diagram 2] 1 is a schematic diagram showing an autonomous driving device to which a first embodiment is applied; [Diagram 3] FIG. 2 is a block diagram showing a functional configuration of the autonomous driving control system according to the first embodiment. [Figure 4] 11 is a graph illustrating a difference in speed limit between an autonomous driving mode and a user operation mode in the first embodiment. [Diagram 5] 6 is a graph illustrating an example of resistance force output in the first embodiment. [Figure 6] FIG. 4 is a schematic diagram showing an example of a peripheral notification in the first embodiment. [Figure 7] 4 is a flowchart illustrating an autonomous driving control method according to the first embodiment. [Figure 8] 8 is a flowchart showing the detailed process of FIG. 7. [Figure 9] FIG. 11 is a block diagram showing a functional configuration of an autonomous driving control system according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Hereinafter, multiple embodiments of the present disclosure will be described with reference to the drawings. In addition, by assigning the same reference numerals to corresponding components in each embodiment, duplicated descriptions may be omitted. In addition, when only a part of the configuration is described in each embodiment, the configuration of the other embodiment described above can be applied to the other parts of the configuration. Furthermore, in addition to the combination of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments can be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0021] Hereinafter, several embodiments of the present disclosure will be described with reference to the drawings.

[0022] First embodiment An autonomous driving control system 100 according to a first embodiment shown in Fig. 1 controls the driving of an autonomous driving device 1 shown in Fig. 2. The autonomous driving device 1 is, for example, a delivery robot that drives on a road to deliver packages. Alternatively, the autonomous driving device 1 may be a logistics robot that transports packages in a warehouse where the packages are stored.

[0023] The autonomous mobile device 1 includes a vehicle body 2 having an internal space capable of storing luggage, and a plurality of drive wheels 3 provided on the vehicle body 2. In addition, the vehicle body 2 is provided with a gripping unit 4. The gripping unit 4 is installed, for example, at the rear of the vehicle body 2. The gripping unit 4 is a grip that is held by a user who moves and operates the autonomous mobile device 1. The autonomous mobile device 1 is a mobile body that travels using a battery 5 built into the vehicle body 2 as a power source.

[0024] The autonomous driving device 1 is equipped with a sensor system 10, a communication system 20, a map database (hereinafter, "DB") 30, an information presentation system 40, a motor control unit 50, a stop device 60, and an operation request switch 70, all of which are shown in Fig. 3. The sensor system 10 obtains sensor information that can be used by the autonomous driving control system 100 by detecting the external and internal worlds of the autonomous driving device 1. To this end, the sensor system 10 is configured to include an external sensor 11 and an internal sensor 12.

[0025] The external sensor 11 acquires external information usable by the autonomous driving control system 100 from the external world that is the surrounding environment of the autonomous driving device 1. The external sensor 11 may acquire the external information by detecting a target that exists in the external world of the autonomous driving device 1. The external sensor 11 of the target detection type includes, for example, an optical sensor 11a such as a camera and LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), and a sonar 11b. The external sensor 11 of the target detection type may include a radar. The external sensor 11 may also include a contact sensor 11c that detects contact with a surrounding object.

[0026] The external sensor 11 may include a positioning type sensor that acquires external information by receiving a positioning signal from an artificial satellite of a Global Navigation Satellite System (GNSS) that exists in the external world of the autonomous driving device 1. The positioning type external sensor 11 is, for example, a GNSS receiver 11d.

[0027] The internal sensor 12 acquires internal world information usable by the autonomous driving control system 100 from the internal world that is the internal environment of the autonomous driving device 1. The internal world sensor 12 may acquire the internal world information by detecting a specific physical amount of motion in the internal world of the autonomous driving device 1. The internal world sensor 12 of the physical amount detection type is at least one type of sensor, such as a driving speed sensor, an acceleration sensor, or a gyro sensor.

[0028] The communication system 20 acquires communication information usable by the autonomous driving control system 100 through wireless communication. The communication system 20 may transmit and receive communication signals between the autonomous driving device 1 and a V2X system that exists in the external world of the autonomous driving device 1. The V2X type communication system 20 is, for example, at least one of a DSRC (Dedicated Short Range Communications) communication device and a cellular V2X (C-V2X) communication device. The communication system 20 may transmit and receive communication signals between a terminal that exists in the internal world of the autonomous driving device 1. The terminal communication type communication system 20 is, for example, at least one of a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, an infrared communication device, and the like.

[0029] The map DB 30 stores map information that can be used by the autonomous driving control system 100. The map DB 30 includes at least one type of non-transitory tangible storage medium, for example, a semiconductor memory, a magnetic medium, an optical medium, and the like. The map DB 30 may be a database of a locator that estimates the self-state quantity including the self-position of the autonomous driving device 1. The map DB 30 may be a database of a navigation unit that navigates the driving route of the autonomous driving device 1. The map DB 30 may be configured by combining multiple types of these databases, etc.

[0030] The map DB 30 acquires and stores the latest map information by communication with an external center via, for example, a V2X type communication system 20. Here, the map information is converted into two-dimensional or three-dimensional data as information representing the driving environment of the autonomous driving device 1. In particular, as the three-dimensional map data, digital data of a high-precision map may be adopted. The map information may include road information representing at least one of the position, shape, and road surface condition of the road itself. The map information may include marking information representing at least one of the positions and shapes of signs and dividing lines attached to the road. The map information may include structure information representing at least one of the positions and shapes of buildings and traffic lights facing the road.

[0031] The information presentation system 40 presents notification information to people in the vicinity of the autonomous mobile device 1. The information presentation system 40 may be a visual presentation unit 41 that presents the notification information by stimulating the vision of people in the vicinity. The visual presentation unit 41 may include, for example, a monitor device 41a that stimulates the vision by displaying a video or image, and a light-emitting unit 41b that stimulates the vision by emitting a lamp. The monitor device 41a is provided, for example, at the rear of the vehicle body 2, and presents the notification information to people in the vicinity located behind the autonomous mobile device A.

[0032] The information presentation system 40 may be an auditory presentation unit 42 that presents the notification information by stimulating the auditory sense of the occupant. The auditory presentation unit 42 is at least one of a speaker, a buzzer, a vibration unit, and the like.

[0033] The information presentation system 40 may include a tactile presentation unit that presents the notification information by stimulating the occupant's skin sensation. The skin sensation stimulated by the tactile presentation unit includes at least one of touch, temperature, and wind. The tactile presentation unit is, for example, a vibration unit built into the grip portion 4.

[0034] The motor control unit 50 is a control unit that controls the motor that rotates the drive wheels 3. The motor control unit 50 is provided on each of the left and right drive wheels 3, and controls the supply of electricity to the motor based on a control command from the autonomous driving control system 100.

[0035] The stopping device 60 is configured to stop the autonomous mobile device 1. The stopping device 60 realizes stopping of the autonomous mobile device 1 by a so-called mechanical lock mechanism that mechanically restricts the rotation of the drive wheels 3. For example, the stopping device 60 is provided by an electromagnetic brake.

[0036] The operation request switch 70 is a switch for switching the autonomous driving device 1, which is in a stopped state due to a stop mode described below, to a user operation mode described below. For example, the operation request switch 70 is provided on the grip unit 4. When the operation request switch 70 is operated by a nearby person, a switching trigger to the user operation mode is output to the autonomous driving control system 100.

[0037] The autonomous driving control system 100 is connected to a sensor system 10, a communication system 20, a map DB 30, an information presentation system 40, a motor control unit 50, a stopping device 60, and an operation request switch 70 via at least one of, for example, a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line. The autonomous driving control system 100 is configured to include at least one dedicated computer.

[0038] The dedicated computer constituting the autonomous driving control system 100 may be a driving control ECU (Electronic Control Unit) that controls the driving of the autonomous driving device 1. The dedicated computer constituting the autonomous driving control system 100 may be a navigation ECU that navigates the driving route of the autonomous driving device 1. The dedicated computer constituting the autonomous driving control system 100 may be a locator ECU that estimates the self-state quantity of the autonomous driving device 1. The dedicated computer constituting the autonomous driving control system 100 may be an actuator ECU that controls the driving actuator of the autonomous driving device 1. The dedicated computer constituting the autonomous driving control system 100 may be an HCU (Human Machine Interface (HMI) Control Unit) that controls the presentation of information in the autonomous driving device 1. The dedicated computer constituting the autonomous driving control system 100 may be a computer other than the autonomous driving device 1 that constitutes an external center or a mobile terminal that can communicate via a V2X type communication system 20, for example.

[0039] The dedicated computer constituting the autonomous driving control system 100 has at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. The processor 102 includes at least one type of core, such as a central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a data flow processor (DFP), or a graph streaming processor (GSP).

[0040] In the autonomous driving control system 100, a processor 102 executes a plurality of instructions included in an autonomous driving control program stored in a memory 101 in order to control the behavior of the autonomous driving device 1. In this way, the autonomous driving control system 100 constructs a plurality of functional blocks for controlling the behavior of the autonomous driving device 1. The plurality of functional blocks constructed in the autonomous driving control system 100 include a recognition block 110, a self-location estimation block 120, a map distribution block 130, a mode management block 140, a mode control block 150, and a notification block 160, as shown in FIG.

[0041] The recognition block 110 acquires detection information from multiple external sensors 11. The recognition block 110 integrates the multiple detection information and recognizes information about surrounding objects (surrounding object information). The surrounding object information includes, for example, the positions and sizes of the surrounding objects.

[0042] The self-location estimation block 120 estimates the self-location of the autonomous mobile device 1. For example, the self-location estimation block 120 may estimate the self-location based on the positioning information of the GNSS receiver 11d. Alternatively, the self-location estimation block 120 may estimate the self-location by dead reckoning (autonomous navigation) based on the detection information of the internal sensor 12. Alternatively, the self-location estimation block 120 may estimate the self-location by matching the detection information of the external sensor 11 with map information. Alternatively, the self-location estimation block 120 may estimate the self-location by combining the above-mentioned multiple self-location estimation methods. The self-location estimation block 120 outputs the estimated self-location together with the traveling direction of the autonomous mobile device 1 and the traveling speed of the autonomous mobile device 1.

[0043] The map distribution block 130 extracts map information relating to the surroundings of the autonomous mobile device 1 from the map DB based on the estimated self-position.

[0044] The mode management block 140 manages the control mode of the autonomous driving device 1. Specifically, the mode management block 140 switches the control mode among an autonomous driving mode, a stop mode, a motor-free mode, and a user operation mode.

[0045] The autonomous driving mode is a mode in which the autonomous driving device 1 performs autonomous driving to a destination. The stop mode is a mode in which the autonomous driving device 1 is stopped. In the stop mode, the movement of the autonomous driving device 1 caused by an external force is restricted. In other words, in the stop mode, the movement operation of the autonomous driving device 1 by the user is restricted.

[0046] The user operation mode is a mode in which the autonomous traveling device 1 is moved by an external force, that is, a movement operation by the user is accepted. In the user operation mode, the lock state of the drive wheels 3 by the stop device 60 is released, and the drive wheels 3 are allowed to rotate freely. In the user operation mode, the lock state of the drive wheels 3 may simply be released. Alternatively, in the user operation mode, an assist drive force that assists the movement operation by the user may be output by the motor control unit 50.

[0047] The mode management block 140 appropriately selects a mode to be executed by the autonomous mobile device 1 from among the above modes. For example, the mode management block 140 selects the autonomous mobile mode when the set destination has not been reached. The mode management block 140 selects the stop mode when the destination has been reached. The mode management block 140 also selects the stop mode when an internal abnormality of the autonomous mobile device 1 is detected. An internal abnormality is, for example, a failure of the on-board configuration of the autonomous mobile device 1. The mode management block 140 also selects the stop mode when an external abnormality is detected. An external abnormality is, for example, an emergency such as a disaster or accident in the vicinity of the autonomous mobile device 1.

[0048] Furthermore, the mode management block 140 selects either the motor-free mode or the user operation mode when a permissive condition for permitting a user operation is satisfied. The permissive condition may be, for example, that the operation request switch 70 is pressed. Alternatively, the permissive condition may be that a permission command for permitting a user operation is obtained from the center. When a mode is selected by the mode management block 140, a control according to the selected mode is executed by the mode control block 150.

[0049] The mode control block 150 includes a stop block 151, an autonomous driving block 152, and a user operation block 153 as sub-blocks. The stop block 151 executes a stop mode. In the stop mode, the stop block 151 generates a stop command for the motor control unit 50 and a stop request command to the stop device 60. As a result, in the stop mode, the autonomous driving device 1 stops in a state in which movement due to an external force is restricted. In addition, when a transition from the stop mode to another mode is selected, the stop block 151 generates a mechanical lock release command to the stop device 60.

[0050] The autonomous driving block 152 executes an autonomous driving mode. In the autonomous driving mode, the autonomous driving block 152 generates a driving route to a destination based on surrounding object information, self-information, and map information. The autonomous driving block 152 generates a drive command to the motor control unit 50 so as to execute autonomous driving along the driving route. Specifically, the autonomous driving block 152 generates a current command value to each of the left and right motor control units 50 that drive the left and right driving wheels 3.

[0051] In the autonomous driving, the autonomous driving block 152 executes driving control based on the speed limit vl_a and the approachable distance Da_a to the surrounding objects. That is, the autonomous driving block 152 controls the driving speed of the autonomous driving device 1 up to the preset speed limit vl_a. Then, the autonomous driving block 152 executes generation of a driving route and behavior control during driving so as to secure the preset approachable distance between the autonomous driving device 1 and the surrounding objects.

[0052] The user operation block 153 executes the manual operation mode. In the manual operation mode, the user operation block 153 stops control of the left and right motor control units 50. This stops the motor control units 50 from being energized, allowing the drive wheels 3 to rotate freely. This allows the autonomous traveling device 1 to move in accordance with the user's operation. Alternatively, the user operation block 153 may generate a drive command to output a drive force in the direction of an external force applied by the user's operation.

[0053] In addition, the user operation block 153 limits the speed limit vl_m to be lower than the speed limit vl_a in the autonomous driving mode. Specifically, the user operation block 153 causes the autonomous driving device 1 to output the smaller traveling speed between the operation speed according to the user's operation and the specified speed limit vl_m. When outputting an assist driving force that assists a moving operation by the user, the operation speed is the assist speed based on the assist control by the assist driving force.

[0054] Furthermore, the user operation block 153 relaxes the approachable distance Da_m to the surrounding object in the user operation mode compared to the approachable distance Da_a in the autonomous driving mode. As a result, the user operation block 153 allows closer access to the surrounding object than in the autonomous driving mode, as shown in FIG.

[0055] Furthermore, when the autonomous mobile device 1 approaches a point that is an approachable distance Da_m away from the peripheral object, the user operation block 153 causes the motor control unit 50 to output a resistance force that prevents the autonomous mobile device 1 from approaching the point (see FIG. 5). The resistance force can also be said to be a repulsive force that acts in a direction opposite to the approach direction to the peripheral object. For example, the user operation block 153 outputs the resistance force when the autonomous mobile device 1 is located within a first distance range from the peripheral object. The first distance range is a distance range that is less than a predetermined first threshold distance or equal to or less than the first threshold distance. The user operation block 153 outputs a resistance force that gradually increases as the autonomous mobile device 1 approaches the point. The user operation block 153 restricts the autonomous mobile device 1 from further approaching the peripheral object from the point by making the resistance force substantially equal to the magnitude of the external force input at the point.

[0056] The notification block 160 executes various notifications while the autonomous mobile device 1 is running. For example, the notification block 160 executes notifications by warning in response to approaching a surrounding object (proximity warning notification). In the proximity warning notification, the notification block 160 causes the auditory presentation unit 42 to output an alarm sound. In the proximity warning notification, the notification block 160 increases the degree of emphasis of the warning the closer the surrounding object is. Specifically, the notification block 160 increases the degree of emphasis by increasing the volume of the warning. For example, the proximity warning notification includes two levels of warning: a low-level warning and a high-level warning that is emphasized more than the low-level warning.

[0057] The notification block 160 may start the approach warning notification at substantially the same timing as the start of output of the resistance force. That is, the notification block 160 may start the approach warning notification when the autonomous mobile device 1 is located within a first distance range from the surrounding object. Furthermore, the notification block 160 may notify a low level warning when the autonomous mobile device 1 is located outside a second distance range from the surrounding object, and may notify a high level warning when the autonomous mobile device 1 is located within the second distance range. Here, the second distance range is a distance range smaller than the first distance range, and is a distance range that is less than a predetermined second threshold distance that is smaller than the first threshold distance or is equal to or less than the second threshold distance.

[0058] Additionally, in the user operation mode, the notification block 160 executes notifications (peripheral notification) regarding the surrounding situation to the user. In the peripheral notification, the notification block 160 displays information on surrounding objects detected by the external sensor 11 mounted on the autonomous mobile device 1. For example, the notification block 160 displays video from a surrounding monitoring camera. As shown in the example of FIG. 6, the notification block 160 displays video from a viewpoint looking down on the autonomous mobile device 1 from above (so-called around view).

[0059] Furthermore, the notification block 160 displays auxiliary information for assisting the user in the peripheral notification. The auxiliary information includes, for example, the possible directions in which the autonomous mobile device 1 can proceed, the relative position of the user with respect to the autonomous mobile device 1, and a warning of approach to a peripheral object.

[0060] To explain the auxiliary information in detail, the notification block 160 displays a direction icon ICd, a user icon ICu, and an approach warning icon ICc on the display D of the monitor device 41a. The direction icon ICd is a display object indicating the possible travel direction of the autonomous mobile device 1. The direction icon ICd is, for example, an arrow-shaped object indicating the possible travel direction. The user icon ICu is an icon that displays a fixed position of the user relative to the autonomous mobile device 1. The approach warning icon ICc is a display object that notifies of the approach of a surrounding object. The approach warning icon ICc is, for example, a ripple-shaped object that spreads from the autonomous mobile device 1 toward the surrounding object. As a result, the approach warning icon ICc can present the presence and direction of an approaching surrounding object.

[0061] The flow of the autonomous driving control method (hereinafter referred to as the autonomous driving control flow) in which the autonomous driving control system 100 controls the autonomous driving device 1 through cooperation of the multiple blocks 110, 120, 130, 140, 150, and 160 described above will be described below with reference to Figures 7 and 8. This processing flow is executed repeatedly while the autonomous driving device 1 is running. Note that each "S" in this processing flow refers to multiple steps executed by multiple commands included in the autonomous driving control program.

[0062] First, in S10 of FIG. 7, the mode management block 140 selects the control mode. If the mode management block 140 selects the manual operation mode, the process proceeds to S20. In S20, the user operation block 153 reduces the speed limit to a value lower than the speed limit in the autonomous driving mode. In the following S30, the user operation block 153 increases the approachable distance to a value lower than the autonomous driving mode. Then, in S40, the notification block 160 starts a surrounding notification. Note that the processes of S20 to S30 may be executed in parallel. In the following S50, the user operation block 153 executes an approach response process.

[0063] On the other hand, if a control mode other than the manual operation mode is selected in S10, the process proceeds to S60. In S60, the speed limit is set to the autonomous driving mode standard speed. In the following S70, the approachable distance is set to the autonomous driving mode standard distance.

[0064] Details of the approach response process will be described with reference to the flow in Fig. 8. First, in S51, it is determined whether the autonomous mobile device 1 is located within a first distance range from a surrounding object. If it is determined that it is located within the first distance range, in S52, a resistance force according to the distance to the surrounding object is calculated and output.

[0065] In the next step S53, it is determined whether the autonomous mobile device 1 is located within a second distance range from the surrounding object. If it is determined that the autonomous mobile device 1 is located outside the second distance range, in S54, the notification block 160 outputs a low-level warning. On the other hand, if it is determined that the autonomous mobile device 1 is located within the second distance range in S53, the notification block 160 outputs a high-level warning in S55. After the processing of S54 or S55, the flow returns to S51.

[0066] Also, if it is determined in S51 that the autonomous mobile device 1 is located outside the first distance range from the surrounding object, the process proceeds to S56. In S56, the user operation block 153 does not perform the process of outputting the resistance force and the warning. In other words, if the process of outputting the resistance force and the warning was being performed immediately before, the process is stopped, and if the process was not being performed, the state of not performing the process is maintained.

[0067] According to the first embodiment described above, the traveling speed that can be output by the autonomous driving device 1 in the user operation mode is more limited than in the autonomous driving mode. Therefore, the traveling speed output by the user's operation is relatively small. This prevents the traveling speed of the autonomous driving device 1 from becoming excessively high during operation, which makes it easier for the user to operate the autonomous driving device 1. Therefore, it may be possible to facilitate operation by the user.

[0068] Furthermore, according to the first embodiment, the approachable distance of the autonomous mobile device 1 to a surrounding object in the user operation mode is relaxed compared to the autonomous mobile mode. This makes it easier for the user to move the autonomous mobile device 1 closer to a surrounding object by the user's own operation. This makes it easier for the user to move the autonomous mobile device 1 to a desired position, making it easier for the user to operate the autonomous mobile device 1 in this respect. This makes it possible to facilitate operation by the user.

[0069] Second Embodiment As shown in FIG. 9, the second embodiment is a modification of the first embodiment.

[0070] In the user operation mode, the user operation block 153 in the autonomous driving control system 100 of the second embodiment executes driving control of the autonomous driving device 1 based on user operation of the remote operation device 80. The remote operation device 80 is a controller that can input the driving speed, traveling direction, etc. of the autonomous driving device 1.

[0071] In the second embodiment, the notification block 160 may perform various notifications via the remote control device 80. For example, the notification block 160 may perform an approach warning notification on the remote control device 80 provided with a speaker. The notification block 160 may also display a surrounding notification on the remote control device 80 provided with a display.

[0072] (Other embodiments) Although several embodiments have been described above, the present disclosure should not be construed as being limited to the embodiments described above, and can be applied to various embodiments within the scope not departing from the gist of the present disclosure.

[0073] In a modified example, the user operation block 153 may execute only one of lowering the speed limit and relaxing the approachable distance in the user operation mode.

[0074] In a variant, the notification block 160 may vary the emphasis of the proximity alert notification depending on the alert sound pattern.

[0075] In a variant, the notification block 160 may cause the visual presentation unit 41 to display the proximity alert notification as visual information.

[0076] In a modified example, the dedicated computer constituting the autonomous driving control system 100 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), CPLD (Complex Programmable Logic Device), etc. In addition, such a digital circuit may have a memory that stores a program.

[0077] In addition to the embodiments described above, the autonomous driving control system 100 according to the above-mentioned embodiments and modifications may be implemented as an autonomous driving control device that is a processing device (e.g., a processing ECU, etc.) mounted on the autonomous driving device 1. The above-mentioned embodiments and modifications may also be implemented as a semiconductor device (e.g., a semiconductor chip, etc.) having at least one each of the processor 102 and memory 101 of the autonomous driving control system 100. [Explanation of symbols]

[0078] 1: autonomous driving device, 100: autonomous driving control system, 101: memory (storage medium), 102: processor

Claims

1. An autonomous driving control system having a processor (102) and controlling an autonomous driving device (1) capable of autonomous driving, The processor, Switching between an autonomous driving mode in which the autonomous driving is performed and a user operation mode in which a movement operation due to an external force applied to the autonomous driving device by a user in the vicinity of the autonomous driving device is accepted; In the user operation mode, a traveling speed that can be output by the autonomous driving device is limited to a speed lower than that in the autonomous driving mode; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object is increased more than in the autonomous driving mode; In the autonomous driving mode and the user operation mode, the outputtable traveling speed is reduced as the approachable distance approaches, and a reduction rate of the traveling speed up to each approachable distance is made the same in the autonomous driving mode and the user operation mode; An autonomous driving control system configured to execute the above.

2. The autonomous driving control system of claim 1 , wherein limiting the driving speed includes outputting to the autonomous driving device the smaller of an operation speed corresponding to the user's operation and a specified speed limit.

3. An autonomous driving control system having a processor (102) and controlling an autonomous driving device (1) capable of autonomous driving, The processor, Switching between an autonomous driving mode in which the autonomous driving is performed and a user operation mode in which a movement operation caused by an external force applied to the autonomous driving device by a user in the vicinity of the autonomous driving device is accepted; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object and at which the autonomous driving device stops traveling when the autonomous driving device reaches the surrounding object is increased more than in the autonomous driving mode; An autonomous driving control system configured to execute the above.

4. In the user operation mode, the device is further configured to provide a warning of an approach to the surrounding object; The autonomous driving control system according to claim 3 , wherein the warning of the approach to the nearby object includes warning the user in a more emphasized manner as the distance to the nearby object decreases.

5. In the user operation mode, the autonomous driving device is further configured to apply a resistance force to the autonomous driving device against approaching the surrounding object; The autonomous driving control system according to claim 3 or 4, wherein applying the resistance force includes increasing the resistance force as the distance to the surrounding object decreases.

6. 6. The autonomous driving control system according to claim 1, further configured to visually display information about surrounding objects detected by an external sensor mounted on the autonomous driving device in the user operation mode.

7. The autonomous driving control system according to claim 6 , wherein displaying the detection information further includes displaying auxiliary information that assists the operation by the user.

8. The autonomous driving control system according to claim 7 , wherein the auxiliary information includes at least one of a possible travel direction of the autonomous driving device and a warning about approaching nearby objects.

9. An autonomous driving control device that has a processor (102) and controls an autonomous driving device (1) capable of autonomous driving, The processor, Switching between an autonomous driving mode in which the autonomous driving is performed and a user operation mode in which a movement operation due to an external force applied to the autonomous driving device by a user in the vicinity of the autonomous driving device is accepted; In the user operation mode, a traveling speed that can be output by the autonomous driving device is limited to a speed lower than that in the autonomous driving mode; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object is increased more than in the autonomous driving mode; In the autonomous driving mode and the user operation mode, the outputtable traveling speed is reduced as the approachable distance approaches, and a reduction rate of the traveling speed up to each approachable distance is made the same in the autonomous driving mode and the user operation mode; An autonomous driving control device configured to execute the above.

10. An autonomous driving control device that has a processor (102) and controls an autonomous driving device (1) capable of autonomous driving, The processor, Switching between an autonomous driving mode in which the autonomous driving is performed and a user operation mode in which a movement operation caused by an external force applied to the autonomous driving device by a user in the vicinity of the autonomous driving device is accepted; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object and at which the autonomous driving device stops traveling when the autonomous driving device reaches the surrounding object is increased more than in the autonomous driving mode; An autonomous driving control device configured to execute the above.

11. An autonomous driving device having a processor (102) and capable of performing autonomous driving, The processor, Switching between an autonomous driving mode in which the autonomous driving is performed and a user operation mode in which a movement operation due to an external force applied to the autonomous driving device by a user in the vicinity of the autonomous driving device is accepted; In the user operation mode, a driving speed that can be output is limited to a value lower than that in the autonomous driving mode; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object is increased more than in the autonomous driving mode; In the autonomous driving mode and the user operation mode, the outputtable traveling speed is reduced as the approachable distance approaches, and a reduction rate of the traveling speed up to each approachable distance is made the same in the autonomous driving mode and the user operation mode; An autonomous driving device configured to execute the above.

12. An autonomous driving device having a processor (102) and capable of performing autonomous driving, The processor, Switching between an autonomous driving mode in which the autonomous driving is performed and a user operation mode in which a movement operation caused by an external force applied to the autonomous driving device by a user in the vicinity of the autonomous driving device is accepted; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object and at which the autonomous driving device stops traveling when the autonomous driving device reaches the surrounding object is increased more than in the autonomous driving mode; An autonomous driving device configured to execute the above.

13. An autonomous driving control method executed by a processor (102) to control an autonomous driving device (1) capable of autonomous driving, comprising: Switching between an autonomous driving mode in which the autonomous driving is performed and a user operation mode in which a movement operation due to an external force applied to the autonomous driving device by a user in the vicinity of the autonomous driving device is accepted; In the user operation mode, a traveling speed that can be output by the autonomous driving device is limited to a speed lower than that in the autonomous driving mode; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object is increased more than in the autonomous driving mode; In the autonomous driving mode and the user operation mode, the outputtable traveling speed is reduced as the approachable distance approaches, and a reduction rate of the traveling speed up to each approachable distance is made the same in the autonomous driving mode and the user operation mode; An autonomous driving control method comprising:

14. An autonomous driving control method executed by a processor (102) to control an autonomous driving device (1) capable of autonomous driving, comprising: Switching between an autonomous driving mode in which the autonomous driving is performed and a user operation mode in which a movement operation caused by an external force applied to the autonomous driving device by a user in the vicinity of the autonomous driving device is accepted; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object and at which the autonomous driving device stops traveling when the autonomous driving device reaches the surrounding object is increased more than in the autonomous driving mode; An autonomous driving control method comprising:

15. An autonomous driving control program that is stored in a storage medium (101) for controlling an autonomous driving device (1) capable of autonomous driving and includes instructions to be executed by a processor (102), The instruction: Switching between an autonomous driving mode in which the autonomous driving is performed and a user operation mode in which a movement operation due to an external force applied to the autonomous driving device by a user in the vicinity of the autonomous driving device is accepted; In the user operation mode, a traveling speed that can be output by the autonomous driving device is limited to a speed lower than that in the autonomous driving mode; In the user operation mode, a distance at which the autonomous driving device can approach a surrounding object is increased more than in the autonomous driving mode; In the autonomous driving mode and the user operation mode, the outputtable traveling speed is reduced as the approachable distance approaches, and a reduction rate of the traveling speed up to each approachable distance is made the same in the autonomous driving mode and the user operation mode; An autonomous driving control program including:

16. An autonomous driving control program that is stored in a storage medium (101) for controlling an autonomous driving device (1) capable of autonomous driving and includes instructions to be executed by a processor (102), The instruction: Switching between an autonomous driving mode in which the autonomous driving is performed and a user operation mode in which a movement operation due to an external force applied to the autonomous driving device by a user in the vicinity of the autonomous driving device is accepted; In the user operation mode, an approachable distance to a surrounding object that is permitted for the autonomous driving device and that stops the autonomous driving device from traveling when the approachable distance is reached is increased more than in the autonomous driving mode. An autonomous driving control program including:

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