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 an autonomous running mode in which the autonomous running is executed. The processor is configured to execute a stop mode in which the movement of the autonomous running device is regulated. Further the processor is configured to execute a user operation mode in which the restriction on the movement is released and a movement operation by a user is received. The execution of the user operation mode includes making the autonomous running device output driving power in accordance with the movement operation by the user.SELECTED DRAWING: Figure 6

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 Executing an autonomous driving mode that executes autonomous driving; Executing a stop mode that restricts movement of the autonomous driving device; Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; configured to run Executing the user operation mode includes causing the autonomous driving device to output a driving force in accordance with a movement operation by the user. and, transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous mobile device in the stop mode; After transitioning to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to a user operation mode without transition permission from the center; Including, The user operation mode includes an external force operation mode that assists direct movement operations around the autonomous driving device by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction of movement in which the user moves the autonomous driving device. A second 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 Executing an autonomous driving mode that executes autonomous driving; Executing a stop mode that restricts movement of the autonomous driving device; Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; configured to run Executing the user operation mode includes causing the autonomous driving device to output a driving force in accordance with a movement operation by the user. and, transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous mobile device in the stop mode; After transitioning to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to a user operation mode without transition permission from the center; Including, The user operation modes include an external force operation mode that assists direct movement operations by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction in which the user moves the autonomous driving device when performing movement operations around the autonomous driving device, and a free mode that dissipates the driving force in response to an external force.

[0008] A third 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 Executing an autonomous driving mode that executes autonomous driving; Executing a stop mode that restricts movement of the autonomous driving device; Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; configured to run Executing the user operation mode includes causing the autonomous driving device to output a driving force in accordance with a movement operation by the user. and, transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous mobile device in the stop mode; After transitioning to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to a user operation mode without transition permission from the center; Including, The user operation mode includes an external force operation mode that assists direct movement operations around the autonomous driving device by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction of movement in which the user moves the autonomous driving device. A fourth 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 Executing an autonomous driving mode that executes autonomous driving; Executing a stop mode that restricts movement of the autonomous driving device; Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; configured to run Executing the user operation mode includes causing the autonomous driving device to output a driving force in accordance with a movement operation by the user. and, transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous mobile device in the stop mode; After transitioning to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to a user operation mode without transition permission from the center; Including, The user operation modes include an external force operation mode that assists direct movement operations by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction in which the user moves the autonomous driving device when performing movement operations around the autonomous driving device, and a free mode that dissipates the driving force in response to an external force.

[0009] A fifth aspect of the present disclosure is an autonomous driving device having a processor (102) and capable of performing autonomous driving, The processor Executing an autonomous driving mode that executes autonomous driving; Implementing a stop mode that restricts movement; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; configured to run Executing the user operation mode means outputting a driving force according to a movement operation by the user. and, transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous mobile device in the stop mode; After transitioning to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to a user operation mode without transition permission from the center; Including, The user operation mode includes an external force operation mode that assists direct movement operations around the autonomous driving device by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction of movement in which the user moves the autonomous driving device. A sixth aspect of the present disclosure is an autonomous driving device having a processor (102) and capable of autonomous driving, The processor Executing an autonomous driving mode that executes autonomous driving; Implementing a stop mode that restricts movement; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; configured to run Executing the user operation mode means outputting a driving force according to a movement operation by the user. and, transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous mobile device in the stop mode; After transitioning to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to a user operation mode without transition permission from the center; Including, The user operation modes include an external force operation mode that assists direct movement operations by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction in which the user moves the autonomous driving device when performing movement operations around the autonomous driving device, and a free mode that dissipates the driving force in response to an external force.

[0010] A seventh 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: Executing an autonomous driving mode that executes autonomous driving; Executing a stop mode that restricts movement of the autonomous driving device; Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; Including, Executing the user operation mode causes the autonomous driving device to output a driving force according to a movement operation by the user. and, transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous mobile device in the stop mode; After transitioning to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to a user operation mode without transition permission from the center; Including, The user operation mode includes an external force operation mode that assists direct movement operations around the autonomous driving device by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction of movement in which the user moves the autonomous driving device. An eighth 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: Executing an autonomous driving mode that executes autonomous driving; Executing a stop mode that restricts movement of the autonomous driving device; Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; Including, Executing the user operation mode causes the autonomous driving device to output a driving force according to a movement operation by the user. and, transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous mobile device in the stop mode; After transitioning to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to a user operation mode without transition permission from the center; Including, The user operation modes include an external force operation mode that assists direct movement operations by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction in which the user moves the autonomous driving device when performing movement operations around the autonomous driving device, and a free mode that dissipates the driving force in response to an external force.

[0011] A ninth 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, Executing an autonomous driving mode in which autonomous driving is performed; Executing a stop mode in which movement of the autonomous driving device is restricted; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; Including, Executing the user operation mode causes the autonomous driving device to output a driving force according to a movement operation by the user. and, When permission to transition to the user operation mode is obtained from a center external to the autonomous driving device in the stop mode, transitioning from the stop mode to the user operation mode; After transitioning to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to a user operation mode without transition permission from the center; Including, The user operation mode includes an external force operation mode that assists direct movement operations around the autonomous driving device by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction of movement in which the user moves the autonomous driving device. 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, Executing an autonomous driving mode in which autonomous driving is performed; Executing a stop mode in which movement of the autonomous driving device is restricted; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; Including, Executing the user operation mode causes the autonomous driving device to output a driving force according to a movement operation by the user. and, When permission to transition to the user operation mode is obtained from a center external to the autonomous driving device in the stop mode, transitioning from the stop mode to the user operation mode; After transitioning to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to a user operation mode without transition permission from the center; Including, The user operation modes include an external force operation mode that assists direct movement operations by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction in which the user moves the autonomous driving device when performing movement operations around the autonomous driving device, and a free mode that dissipates the driving force in response to an external force.

[0012] These first and second tenAccording to an embodiment, the autonomous driving device outputs a driving force in response to a movement operation by a user in a user operation mode. Therefore, the driving force can reduce the burden on the user in the user operation mode. Therefore, it is possible to facilitate the operation by the user. [Brief description of the drawings]

[0013] [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] 4 is a flowchart showing processing in an autonomous driving mode in the autonomous driving control method according to the first embodiment. [Diagram 5] 5 is a flowchart showing processing in a stop mode in the autonomous driving control method according to the first embodiment. [Figure 6] 5 is a flowchart showing processing in a user operation mode of the autonomous driving control method according to the first embodiment. [Figure 7] 5 is a flowchart showing a process of switching from a stop mode to an autonomous driving mode in the autonomous driving control method according to the first embodiment. [Figure 8] 5 is a flowchart showing a process of switching from a user operation mode to a stop mode in the autonomous driving control method according to the first embodiment. [Figure 9] 5 is a flowchart showing a process of switching from an autonomous driving mode to a stop mode in the autonomous driving control method according to the first embodiment. [Figure 10] 5 is a flowchart showing a process of switching from an autonomous driving mode to a stop mode in the autonomous driving control method according to the first embodiment. [Figure 11] 5 is a flowchart showing a process of switching from a stop mode to a user operation mode in the autonomous driving control method according to the first embodiment. [Figure 12]FIG. 11 is a schematic diagram showing an autonomous driving device to which a second embodiment is applied. [Figure 13] FIG. 11 is a block diagram showing a functional configuration of an autonomous driving control system according to a second embodiment. [Figure 14] 10 is a flowchart showing processing in a user operation mode of an autonomous driving control method according to a second embodiment. [Figure 15] 13 is a flowchart showing processing in a user operation mode of the autonomous driving control method according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] 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.

[0015] Hereinafter, several embodiments of the present disclosure will be described with reference to the drawings.

[0016] 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 and delivers packages. The operation of the autonomous driving device 1 is managed by communication with an external center 200. The autonomous driving device 1 may also be a logistics robot that transports packages in a warehouse where the packages are stored.

[0017] 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.

[0018] 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 regulating device 60, and an operation request switch 70, all of which are shown in Fig. 3. The sensor system 10 obtains sensor information usable 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.

[0019] 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.

[0020] The external sensor 11 may also acquire external information by monitoring the state of the external environment. The environmental monitoring type external sensor 11 is an environmental sensor 11e including at least one of a temperature sensor, a thermo camera, a wind sensor, and a water detection sensor.

[0021] 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.

[0022] 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.

[0023] The communication system 20 acquires communication information usable by the autonomous driving control system 100 by 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 V2X type communication system 20 can also be said to be a sensor that acquires external world information by communication. 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.

[0024] 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.

[0025] The map DB 30 acquires and stores the latest map information by, for example, communication with an external center 200 via 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.

[0026] The information presentation system 40 presents notification information to people nearby 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 nearby. 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 notification information to people nearby located behind the autonomous mobile device 1. The monitor device 41a may allow people nearby to input information using a touch panel or an operation button. For example, the monitor device 41a may allow input of an inquiry (described later) to the center 200 regarding a transition to a user operation mode.

[0027] 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.

[0028] 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.

[0029] The motor control unit 50 is a control unit that controls the drive 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 drive motor based on a control command (current command value) from the autonomous driving control system 100.

[0030] The regulating device 60 is a device that regulates the movement of the autonomous driving device 1 due to an external force. The regulating device 60 is configured to include a so-called mechanical lock mechanism that mechanically regulates the rotation of the drive wheels 3. For example, the regulating device 60 is provided by an electromagnetic brake.

[0031] The operation request switch 70 is a switch for requesting that the autonomous mobile device 1, which is in a stopped state due to a stop mode described below, be switched to a user operation mode described below. For example, the operation request switch 70 is provided on the grip unit 4. The operation request switch 70 is operated by any operator (user) among those in the vicinity, and outputs an operation request for the autonomous mobile device 1 in the user operation mode to the autonomous mobile control system 100. The operation request switch 70 may be, for example, a push button switch. Alternatively, the operation request switch 70 may be a toggle switch or a rocker switch.

[0032] 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 regulating 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.

[0033] 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, for example, a center 200 or a mobile terminal that can communicate via a V2X type communication system 20.

[0034] 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).

[0035] 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, an anomaly detection block 135, a mode management block 140, a mode control block 150, and a notification block 160, as shown in FIG.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] The anomaly detection block 135 detects an external anomaly, which is an anomaly that occurs outside the autonomous mobile device 1. For example, the external anomaly includes at least one of natural disasters such as flooding, strong winds, and earthquakes, and man-made disasters such as accidents and fires that occur outside the autonomous mobile device 1.

[0040] 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 stopped mode, and a user operation mode.

[0041] The autonomous driving mode is a mode in which autonomous driving control is executed. In the autonomous driving mode, autonomous driving to a destination point given by the center 200 is executed by controlling the drive motor.

[0042] The stop mode is a mode that restricts movement due to an external force of the autonomous mobile device 1. Specifically, in the stop mode, the stopped state is maintained at the stopping point, and the restriction device 60 mechanically restricts movement.

[0043] The user operation mode is a mode that accepts a movement operation by a user. Here, the user is a person who wishes to move the autonomous mobile device 1 among those around the autonomous mobile device 1. In the user operation mode, the lock state of the drive wheels 3 by the regulating device 60 is released. In the user operation mode, the autonomous mobile device 1 is caused to output a driving force corresponding to a movement operation by the user. Specifically, in the user operation mode, a driving force corresponding to an external force applied by the user to the autonomous mobile device 1 is output. That is, in the user operation mode, a driving force in a desired direction is output in response to an operation such as a user directly pushing or pulling the autonomous mobile device 1 in the desired direction. This user operation mode is an example of an "external force operation mode".

[0044] The mode management block 140 manages the control mode to be executed by appropriately switching the modes permitted by the autonomous driving device 1 from among the above modes (details will be described later). Hereinafter, switching of the control mode may be referred to as a transition of the control mode.

[0045] The mode control block 150 includes, as sub-blocks, a stop block 151 that executes a stop mode, an autonomous driving block 152 that executes an autonomous driving mode, and a user operation block 153 that executes a user operation mode.

[0046] The notification block 160 executes various notifications while the autonomous mobile device 1 is running. The notification block 160 executes notifications to people in the vicinity of the autonomous mobile device 1 via the information presentation system 40. The notification block 160 also executes notifications to the center 200 via the V2X type communication system 20. Details of the notifications executed by the notification block 160 will be described later.

[0047] 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, 135, 140, 150, and 160 described above will be described below with reference to Figures 4 to 11. Note that each "S" in each processing flow below refers to multiple steps executed by multiple commands included in the autonomous driving control program.

[0048] First, the processing flow in the autonomous driving mode will be described with reference to FIG. 4. This flow is executed repeatedly while the autonomous driving mode is being executed. First, in S100, the self-position estimation block 120 estimates the self-position of the autonomous driving device 1. Next, in S110, the recognition block 110 recognizes surrounding object information by acquiring and integrating (sensor fusion) detection information from multiple external sensors 11. Next, in S120, the map distribution block 130 extracts map information related to the surroundings of the autonomous driving device 1 from the map DB 30 based on the estimated self-position.

[0049] Then, in S130, the autonomous driving block 152 determines a driving route based on the surrounding object information, the vehicle's own position, the map information, and the destination point. In the following S140, the autonomous driving block 152 determines a current command value to perform driving along the determined driving route, and outputs the command value to the motor control unit 50. By repeating the above flow, the autonomous driving control system 100 performs autonomous driving to the destination point while successively updating the driving route.

[0050] Next, the process flow in the stop mode will be described with reference to FIG. 5. This flow is started when the transition to the stop mode is permitted. When the stop mode is started, first, in S200, the stop block 151 calculates and outputs a current command value for continuing the stop at the stop position. For example, the current command value is calculated based on the following formula (1). Note that C and k in formula (1) are predetermined coefficients. The driving force output according to this current command value can suppress traveling in a direction away from the stop point due to inertia, etc. In addition, the driving force output according to this current command value can eliminate the deviation between the stop position and the vehicle's own position. (Number 1) Current command value = -C × motor speed -k × distance to stop position (1)

[0051] In the next step S210, the stop block 151 determines whether or not a stop condition for the autonomous mobile device 1 is satisfied. The stop condition is a condition for determining that the autonomous mobile device 1 has stopped. For example, the stop condition is that the traveling speed remains equal to or below a threshold value (e.g., 3 km / h) for a predetermined period of time. If it is determined that the stop condition is not satisfied, the flow returns to S200.

[0052] On the other hand, if it is determined that the stop condition is met, the flow proceeds to S220. In S220, the stop block 151 outputs a mechanical lock request to the regulating device 60. Through the above processing in the stop mode, the autonomous mobile device 1 is reliably stopped at the stop position, and then movement due to an external force is restricted by the mechanical lock.

[0053] Next, the process flow in the user operation mode will be described with reference to FIG. 6. This flow is started when the transition to the user operation mode is permitted. When the user operation mode is started, first, in S300, the user operation block 153 calculates the rotation speed of the drive motor of the drive wheel 3. For example, the user operation block 153 may calculate the rotation speed from the motor rotation speed detected by a rotation speed sensor installed in the drive motor. In the following S310, the user operation block 153 calculates and outputs a current command value (assist command value) in the direction of movement due to an external force according to the rotation speed.

[0054] The correspondence between the assist command value and the rotation speed is predefined by a function, a table, or the like. The assist command value may be determined according to the gradient of the road surface in addition to the rotation speed. For example, the assist command value may include a current command value for outputting a driving force in a direction against the component of gravity parallel to the road surface. By repeating the above flow, the autonomous driving control system 100 executes assistance for the user's operation in the user operation mode.

[0055] Next, the transition process from the stop mode to the autonomous driving mode will be described according to the flow of Fig. 7. The flow of Fig. 7 is started while the stop mode is being executed. First, in S400, the mode management block 140 determines whether or not there is an autonomous driving request. The autonomous driving request is transmitted from the center 200 and acquired via the communication system 20. If it is determined that there is no autonomous driving request, this flow ends and the stop mode continues. On the other hand, if it is determined that there is an autonomous driving request, this flow proceeds to S410.

[0056] In S410, the mode management block 140 determines whether or not the transition to the autonomous driving mode can be permitted, that is, whether or not the transition can be permitted. For example, the mode management block 140 may determine that the transition can be permitted when the stop condition in the stop mode is satisfied. Alternatively, the mode management block 140 may determine that the transition can be permitted when there is no external abnormality or the external abnormality has been resolved. Alternatively, the mode management block 140 may determine that the transition can be permitted when there is no obstacle that impedes driving. Note that if it is determined that the transition to the autonomous driving mode cannot be permitted, this flow ends and the stop mode continues. If it is determined that the transition can be permitted, this flow proceeds to S430.

[0057] In S430, the mode management block 140 provides the autonomous driving block 152 with permission to transition to the autonomous driving mode. In the following S430, the notification block 160 notifies the outside of the start of the autonomous driving mode. For example, the notification block 160 presents a voice message notifying the start of driving and a warning, such as "The vehicle is moving, please be careful," in the auditory presentation unit 42. The notification block 160 may visually present the same content in the visual presentation unit 41. The notification block 160 may also notify the center 200 of information regarding the transition to the autonomous driving mode. After the above processing is executed, the autonomous driving control in the autonomous driving mode is performed by starting the processing flow of FIG. 4.

[0058] Further, the transition process from the user operation mode to the stop mode will be described according to the flow of FIG. 8. First, in S500, the mode management block 140 determines whether or not the user's movement operation is continuing in the user operation mode. For example, the mode management block 140 may determine that the movement operation is continuing when a predetermined time has elapsed in a state in which the autonomous mobile device 1 is not moved by an external force. Alternatively, the mode management block 140 may determine that the movement operation is continuing when the operation request switch 70 is in an on state. If it is determined that the movement operation is continuing, this flow ends and the user operation mode continues. On the other hand, if it is determined that the movement operation is interrupted, this flow proceeds to S510.

[0059] In S510, the mode management block 140 provides permission to transition to the user operation mode to the user operation block 153. In the following S520, the notification block 160 notifies the outside of the start of the user operation mode. For example, the notification block 160 may execute a notification similar to the notification in S430. After the above processing is executed, the stop control in the stop mode is executed by starting the processing flow of FIG.

[0060] Next, the transition process from the autonomous driving mode to the stop mode when an external abnormality occurs will be described with reference to Fig. 9 and Fig. 10. The respective flows in Fig. 9 and Fig. 10 are repeatedly executed in parallel while the autonomous driving mode is being executed. In S600 in Fig. 9, the abnormality detection block 135 judges whether or not there is a stop request due to an external abnormality from the center 200. If there is no stop request, this flow ends and the autonomous driving mode continues.

[0061] On the other hand, if it is determined that there is a stop request, the flow proceeds to S610. In S610, the autonomous driving block 152 executes emergency evacuation processing by autonomous driving. Specifically, in the emergency evacuation processing, the autonomous driving block 152 determines a stop point and executes autonomous driving control so that the traveling speed becomes zero at the point. The emergency evacuation processing can also be considered as a preparation processing for transitioning to a stopped state in which movement in the stop mode is restricted.

[0062] Next, in S620, the mode management block 140 provides the stop block 151 with permission to transition to the stop mode. Next, in S630, the abnormality detection block 135 sets the external abnormality flag to ON. Next, in S640, the notification block 160 notifies the outside of information related to the transition to the stop mode. For example, the notification block 160 presents a voice message such as "I'm stopping, please move away" that notifies the user of the stop notice and the distance from the autonomous mobile device 1 through the auditory presentation unit 42. The notification block 160 may visually present the same content through the visual presentation unit 41. The notification block 160 may also notify the center 200 of information related to the transition to the stop mode. After the above processing is executed, the processing flow of FIG. 11 is started.

[0063] 10, the anomaly detection block 135 determines whether an external anomaly has been detected by the external sensor 11, which is an on-board sensor mounted on the autonomous driving device 1, or the communication system 20, i.e., whether detection information has been acquired. For example, the detection information of the external anomaly includes at least one type of information, such as imaging information of the external anomaly by a camera, detection information of abnormal temperature by a thermometer or a thermal camera, detection information of strong winds by an anemometer, detection information of flooding by a flood sensor, and detection information of a communication interruption with the center 200 by the V2X type communication system 20. If detection information of an external anomaly has not been acquired, this flow ends and the autonomous driving mode continues.

[0064] On the other hand, if it is determined that an external abnormality has been detected, the flow proceeds to S710. In S710, the notification block 160 notifies the center 200 of the occurrence of the external abnormality. The subsequent processes of S720, S730, S740, and S750 are similar to the processes of S610, S620, S630, and S640 in Fig. 9, respectively, and the description of Fig. 9 is cited here.

[0065] Next, the transition process from the stop mode to the user operation mode will be described with reference to FIG. 11. The process flow of FIG. 11 is executed during the stop mode. First, in S800, the mode management block 140 judges whether the external abnormality flag is on or off. If it is judged that the external abnormality flag is set to on, the process proceeds to S805. In S805, the notification block 160 executes a stop notification to notify the surroundings that stop control is being performed in the stop mode. For example, the notification block 160 presents a voice message such as "stop control is being performed, please move away" by the auditory presentation unit 42 to notify the execution of stop control and to distance yourself from the autonomous traveling device 1. The notification block 160 may visually present the same content by the visual presentation unit 41.

[0066] In the next step S810, the mode management block 140 determines whether the autonomous mobile device 1 has been stopped in the stop mode and has entered a stopped state. For example, the mode management block 140 may determine that the autonomous mobile device 1 has entered a stopped state when a mechanical lock is activated. If it is determined that the autonomous mobile device 1 has not entered a stopped state, the flow returns to S805 and the stop notification continues.

[0067] On the other hand, if it is determined that the vehicle is in a stopped state, the flow proceeds to S815. In S815, the notification block 160 executes an operation guide notification that guides the user on an operation for transitioning to the user operation mode. For example, the notification block 160 presents a voice message notifying the user of a method for transitioning to the user operation mode, such as "If you want to move the vehicle, press the operation switch", through the auditory presentation unit 42. The notification block 160 may visually present the same content through the visual presentation unit 41.

[0068] In the next S810, the mode management block 140 judges whether or not an operation request from the user has been acquired. For example, the mode management block 140 judges that an operation request has been acquired when the operation request switch 70 is turned on. If it is judged that an operation request has not been acquired, the flow returns to S815, and the operation guide notification continues.

[0069] On the other hand, if it is determined that an operation request has been acquired, the flow proceeds to S825. In S825, the notification block 160 executes a user operation notification to notify the transition to the user operation mode. For example, the notification block 160 presents a voice message notifying the start of movement and a warning, such as "The vehicle is moving, please be careful," in the auditory presentation unit 42. The notification block 160 may visually present the same content in the visual presentation unit 41. The notification block 160 may also notify the warning by emitting light from the light-emitting unit 41b. The notification block 160 also notifies the center 200 of information regarding the transition to the user operation mode. In the following S870, the mode management block 140 allows the transition to the user operation mode. When the processing of S870 is completed, the flow ends, and the processing of FIG. 6 starts.

[0070] Also, if it is determined in S800 that the external abnormality flag is set to OFF, the flow proceeds to S830. In S830, the notification block 160 executes a stop notification to notify the surroundings that stop control is being performed in the stop mode. In the following S835, the mode management block 140 determines whether or not the autonomous mobile device 1 has entered a stopped state in which stopping has been completed in the stop mode. If it is determined that the autonomous mobile device 1 is not in a stopped state, the flow returns to S830, and the stop notification continues.

[0071] On the other hand, if it is determined that the vehicle is in a stopped state, the flow proceeds to S840. In S840, the notification block 160 executes an inquiry guidance notification that guides the user to make an inquiry to the center 200 to transition to the user operation mode. For example, the notification block 160 presents a voice message such as "If you want to move the vehicle, please contact the center" through the auditory presentation unit 42. The notification block 160 may visually present the same content through the visual presentation unit 41.

[0072] In the next step S845, the notification block 160 determines whether or not an inquiry has been made. If it is determined that an inquiry has not been made, the flow returns to S840, and the inquiry notification continues. On the other hand, if it is determined that an inquiry has been made, the flow proceeds to S850.

[0073] In S850, the mode management block 140 judges whether or not a transition permission, which is a permission for switching from the stop mode to the user operation mode, has been acquired from the center 200. If it is not judged that the transition permission has been acquired, the mode management block 140 waits until the transition permission is acquired. If it is judged that the transition permission has been acquired, the flow proceeds to S855.

[0074] In S855, the notification block 160 executes an operation permission notification to inform the user that the transition to the user operation mode has been permitted. For example, the notification block 160 presents a voice message such as "Permitted. Please press the operation switch" to notify the user that the transition permission has been obtained and the method of transitioning to the user operation mode through the auditory presentation unit 42. The notification block 160 may visually present the same content through the visual presentation unit 41.

[0075] In the next step S860, the mode management block 140 determines whether or not an operation request has been received from the user. If it is determined that an operation request has not been received, the flow returns to step S855, and the operation permission notification continues.

[0076] On the other hand, if it is determined that an operation request has been acquired, the flow proceeds to S865. In S865, the notification block 160 executes a user operation notification to notify a transition to the user operation mode. After the process of S865 is executed, the flow proceeds to S870.

[0077] According to the first embodiment described above, the autonomous mobile device 1 outputs a driving force according to a movement operation by a user in the user operation mode. Therefore, this driving force can reduce the burden on the user in the user operation mode. Therefore, it can be possible to facilitate the operation by the user.

[0078] Furthermore, according to the first embodiment, the user operation mode includes an external force operation mode that outputs a driving force corresponding to an external force applied by a user to the autonomous mobile device 1 during a movement operation. This can reduce the burden on the user when the user directly moves the autonomous mobile device 1.

[0079] Second Embodiment As shown in FIGS. 12 to 14, the second embodiment is a modification of the first embodiment.

[0080] In the user operation mode, the user operation block 153 in the autonomous driving control system 100 of the second embodiment outputs a driving force according to remote operation by a user. In the remote operation, the user inputs operation information to a remote operation device 80 shown in Figs. 12 and 13.

[0081] The remote control device 80 is a controller capable of inputting the traveling speed, traveling direction, and the like of the autonomous mobile device 1. For example, the remote control device 80 is stored in the body 2 of the autonomous mobile device 1 as shown in FIG. 12 or is detachably attached, and the user can take it out as desired. The user operation mode in the second embodiment is an example of a "remote operation mode". Note that the user operation block 153 may be capable of selectively executing either an external force operation mode or a remote operation mode as the user operation mode.

[0082] Next, the process flow in the remote operation mode will be described with reference to Fig. 14. When the remote operation mode is started as the user operation mode, first, in S900, the user operation block 153 acquires an input command value input to the remote operation device 80 via the communication system 20. In the following S910, the user operation block 153 calculates and outputs a current command value corresponding to the input command value. By repeating the above flow, the autonomous driving control system 100 executes driving control of the autonomous driving device 1 based on the remote operation of the user.

[0083] According to the second embodiment described above, the user operation mode includes a remote operation mode in which a driving force corresponding to a remote operation by a user is output during a movement operation. This makes it possible to move the autonomous mobile device 1 without the user directly applying an external force. This further reduces the burden on the user.

[0084] Third embodiment As shown in Fig. 15, the third embodiment is a modified example of the first embodiment. In the third embodiment, the user operation block 153 includes, in the user operation mode, at least one of the external force operation mode and the remote operation mode, a free mode in which the mechanical lock state of the drive wheels 3 is released and the drive force is lost. The user operation block 153 can appropriately select a mode to be executed from the above-mentioned multiple sub-modes included in the user operation mode.

[0085] Next, the process flow in the free mode will be described with reference to Fig. 15. When the free mode is started as the user operation mode, first, in S1000, the user operation block 153 sets the switch of the power supply current flowing to the drive motor to OFF. Through the above flow, the autonomous driving control system 100 loses the drive force while allowing the user to perform the movement operation. This flow also cuts off the flow of regenerative current due to the back electromotive force of the drive motor into the power supply.

[0086] (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.

[0087] In a modified example, when the autonomous mobile device 1 approaches a point that is an approachable distance away from a peripheral object, the user operation block 153 may cause the motor control unit 50 to output a resistance force that prevents the autonomous mobile device 1 from approaching the point. 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.

[0088] 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. Furthermore, such a digital circuit may have a memory that stores a program.

[0089] 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. Furthermore, the above-mentioned embodiments and modifications may 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]

[0090] 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, Executing an autonomous driving mode in which the autonomous driving is executed; Executing a stop mode in which movement of the autonomous driving device is restricted; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; configured to run Executing the user operation mode includes causing the autonomous traveling device to output a driving force corresponding to a movement operation by the user. transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous driving device in the stop mode; after transition to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to the user operation mode without the transition permission from the center; Including, The user operation mode is an autonomous driving control system that includes an external force operation mode that assists the direct movement operation around the autonomous driving device by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction of movement in which the user moves the autonomous driving device.

2. An autonomous driving control system having a processor (102) and controlling an autonomous driving device (1) capable of autonomous driving, The processor, Executing an autonomous driving mode in which the autonomous driving is executed; Executing a stop mode in which movement of the autonomous driving device is restricted; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; configured to run Executing the user operation mode includes causing the autonomous traveling device to output a driving force corresponding to a movement operation by the user. transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous driving device in the stop mode; after transition to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to the user operation mode without the transition permission from the center; Including, The autonomous driving control system includes an external force operation mode in which the user operation assists the direct movement operation by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction of movement in which the user moves the autonomous driving device during the movement operation around the autonomous driving device, and a free mode in which the driving force is lost in response to the external force.

3. An autonomous driving control device that has a processor (102) and controls an autonomous driving device (1) capable of autonomous driving, The processor, Executing an autonomous driving mode in which the autonomous driving is executed; Executing a stop mode in which movement of the autonomous driving device is restricted; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; configured to run Executing the user operation mode includes causing the autonomous traveling device to output a driving force corresponding to a movement operation by the user. transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous driving device in the stop mode; after transition to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to the user operation mode without the transition permission from the center; Including, The autonomous driving control device includes an external force operation mode in which the user operation mode assists the direct movement operation around the autonomous driving device by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction of movement in which the user moves the autonomous driving device.

4. An autonomous driving control device that has a processor (102) and controls an autonomous driving device (1) capable of autonomous driving, The processor, Executing an autonomous driving mode in which the autonomous driving is executed; Executing a stop mode in which movement of the autonomous driving device is restricted; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; configured to run Executing the user operation mode includes causing the autonomous traveling device to output a driving force corresponding to a movement operation by the user. transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous driving device in the stop mode; after transition to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to the user operation mode without the transition permission from the center; Including, The autonomous driving control device includes an external force operation mode in which the user operation assists the direct movement operation by outputting a driving force corresponding to an external force directly applied to the autonomous driving device in the direction of movement in which the user moves the autonomous driving device during the movement operation around the autonomous driving device, and a free mode in which the driving force is lost in response to the external force.

5. An autonomous driving device having a processor (102) and capable of performing autonomous driving, The processor, Executing an autonomous driving mode in which the autonomous driving is executed; Implementing a stop mode that restricts movement; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; configured to run Executing the user operation mode includes outputting a driving force in response to a moving operation by the user; transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous driving device in the stop mode; after transition to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to the user operation mode without the transition permission from the center; Including, The user operation mode of the autonomous driving device includes an external force operation mode that assists the direct movement operation by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction in which the user moves the autonomous driving device during the movement operation around the autonomous driving device.

6. An autonomous driving device having a processor (102) and capable of performing autonomous driving, The processor, Executing an autonomous driving mode in which the autonomous driving is executed; Implementing a stop mode that restricts movement; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; configured to run Executing the user operation mode includes outputting a driving force in response to a moving operation by the user; transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous driving device in the stop mode; after transition to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to the user operation mode without the transition permission from the center; Including, The user operation modes of the autonomous driving device include an external force operation mode that assists the direct movement operation by outputting a driving force corresponding to an external force directly applied to the autonomous driving device in the direction of movement in which the user moves the autonomous driving device during the movement operation around the autonomous driving device, and a free mode that dissipates the driving force in response to the external force.

7. An autonomous driving control method executed by a processor (102) to control an autonomous driving device (1) capable of autonomous driving, comprising: Executing an autonomous driving mode in which the autonomous driving is executed; Executing a stop mode in which movement of the autonomous driving device is restricted; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; Including, Executing the user operation mode includes outputting a driving force corresponding to a movement operation by the user to the autonomous traveling device. transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous driving device in the stop mode; after transition to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to the user operation mode without the transition permission from the center; Including, The autonomous driving control method includes an external force operation mode in which the user operation mode assists the direct movement operation around the autonomous driving device by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction of movement in which the user moves the autonomous driving device.

8. An autonomous driving control method executed by a processor (102) to control an autonomous driving device (1) capable of autonomous driving, comprising: Executing an autonomous driving mode in which the autonomous driving is executed; Executing a stop mode in which movement of the autonomous driving device is restricted; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; Including, Executing the user operation mode includes outputting a driving force corresponding to a movement operation by the user to the autonomous traveling device. transitioning from the stop mode to the user operation mode when permission to transition to the user operation mode is obtained from a center external to the autonomous driving device in the stop mode; after transition to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to the user operation mode without the transition permission from the center; Including, The autonomous driving control method includes an external force operation mode in which the user operation mode assists the direct movement operation by outputting a driving force corresponding to an external force directly applied to the autonomous driving device in the direction of movement in which the user moves the autonomous driving device during the movement operation around the autonomous driving device, and a free mode in which the driving force is lost in response to the external force.

9. 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: Executing an autonomous driving mode in which the autonomous driving is executed; and Executing a stop mode in which movement of the autonomous driving device is restricted; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; Including, Executing the user operation mode includes outputting a driving force corresponding to a movement operation by the user to the autonomous traveling device. When permission to transition to the user operation mode is obtained from a center external to the autonomous driving device in the stop mode, transitioning from the stop mode to the user operation mode; After transitioning to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to the user operation mode without the transition permission from the center; Including, The user operation mode is an autonomous driving control program that includes an external force operation mode that assists the direct movement operation by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction in which the user moves the autonomous driving device during the movement operation around the autonomous driving device.

10. 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: Executing an autonomous driving mode in which the autonomous driving is executed; and Executing a stop mode in which movement of the autonomous driving device is restricted; and Executing a user operation mode in which the restriction on movement is released and a movement operation by a user is accepted; Including, Executing the user operation mode includes outputting a driving force corresponding to a movement operation by the user to the autonomous traveling device. When permission to transition to the user operation mode is obtained from a center external to the autonomous driving device in the stop mode, transitioning from the stop mode to the user operation mode; After transitioning to the stop mode due to an external abnormality that is an abnormality occurring outside the autonomous driving device, transitioning to the user operation mode without the transition permission from the center; Including, The autonomous driving control program includes an external force operation mode in which the user operation mode assists the direct movement operation by outputting a driving force corresponding to an external force applied directly to the autonomous driving device in the direction of movement in which the user moves the autonomous driving device during the movement operation around the autonomous driving device, and a free mode in which the driving force is lost in response to the external force.

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