MOBILE BODY CONTROL DEVICE AND MOBILE BODY CONTROL PROGRAM

Abstract

To provide a moving body control device and a moving body control program capable of achieving a switching function of upper limit speed of a moving body at low cost.SOLUTION: A moving body control device includes a processor. The processor determines which a moving body is moving on a sidewalk or a roadway in cooperation with the moving body to switch upper limit speed of the moving body based on determination results.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a mobile object control device and a mobile object control program. [Background technology]

[0002] Patent document 1 proposes a technology that limits the speed of a moving body when moving on a roadway to a first speed, and limits the speed of the moving body when moving in a specified area (e.g., a sidewalk) to a second speed lower than the first speed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-154108 A Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, the moving object itself is provided with a function for determining the road on which it is traveling (a function for determining whether it is a sidewalk or a roadway), which makes the device configuration complicated and causes an increase in costs.

[0005] The present disclosure has been made in consideration of the above, and aims to provide a mobile body control device and a mobile body control program that can realize a function for switching the upper limit speed of a mobile body at low cost. [Means for solving the problem]

[0006] The mobile object control device according to the present disclosure includes a processor that cooperates with the mobile object to determine whether the mobile object is moving on a sidewalk or a roadway, and switches the upper limit speed of the mobile object based on the result of the determination.

[0007] A mobile object control program according to the present disclosure causes a processor to cooperate with a mobile object, determine whether the mobile object is moving on a sidewalk or a roadway, and switch the upper limit speed of the mobile object based on the result of the determination. Effect of the Invention

[0008] According to the present disclosure, a function for switching the upper limit speed of a moving object can be realized at low cost. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram showing a configuration of a mobile terminal that realizes a mobile object control device according to the embodiment, and a mobile object that cooperates with the mobile terminal. [Diagram 2] FIG. 2 is a flowchart showing a first aspect of a mobile body control method executed by a mobile body control device according to the embodiment. [Diagram 3] FIG. 3 is a flowchart showing a second aspect of the mobile body control method executed by the mobile body control device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] A mobile object control device and a mobile object control program according to an embodiment of the present disclosure will be described with reference to the drawings. Note that the components in the following embodiments include those that are replaceable and easy for a person skilled in the art, or those that are substantially the same.

[0011] (Mobile control device) The configuration of a mobile object control device according to an embodiment will be described with reference to Fig. 1. The mobile object control device according to the embodiment is for controlling a mobile object 2. The mobile object control device is realized by the functions of a mobile terminal 1 shown in the figure.

[0012] The mobile terminal 1 is a portable information processing terminal such as a smartphone or tablet terminal owned by a user. In the present embodiment, the term "user" refers to a person who owns the mobile terminal 1 and uses the mobile object 2.

[0013] The moving object 2 is assumed to be a small electric mobility that can move (run) on both sidewalks and roadways. This moving object 2 may be owned by a user, or may be for rental. Examples of the moving object 2 include an electric kickboard, an electric stand-up two-wheeler, and an electric skateboard. The following description will be given assuming that the moving object 2 is an electric kickboard.

[0014] The mobile terminal 1 at least includes a control unit 10, a positioning unit 20, and a camera 30. Note that Fig. 1 illustrates only those essential to realizing a mobile object control device among the actual components of the mobile terminal 1. Therefore, the mobile terminal 1 naturally includes various information input means (e.g., a touch panel, a microphone, etc.), output means (e.g., a display, a speaker, etc.), etc.

[0015] The control unit 10 includes a processor and a memory (main storage unit). The processor is composed of, for example, a CPU (Central Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), etc. The memory is composed of, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), etc.

[0016] The control unit 10 loads various programs into the working area of ​​the main memory and executes them, and realizes functions that meet a predetermined purpose by controlling each component through the execution of the various programs. The control unit 10 functions as a linking unit 11, a roadway discrimination unit 12, and an upper limit switching unit 13 through the execution of the various programs.

[0017] The linking unit 11 links (links, pairs) with the moving object 2. That is, the linking unit 11 links the mobile terminal 1 and the moving object 2 under a predetermined condition. In this embodiment, the mobile terminal 1 and the moving object 2 are assumed to be linked in this way, and processes of the roadway discrimination unit 12 and the upper limit switching unit 13, which will be described later, are carried out. Therefore, in this embodiment, the mobile terminal 1 is a substantial boot key for the moving object 2, and the moving object 2 cannot be used unless the two are linked.

[0018] The linking method between the portable terminal 1 and the mobile object 2 in the link unit 11 includes a wired linking method and a wireless linking method.

[0019] An example of a method for linking via a wired connection is to insert the mobile terminal 1 into a holder provided on the moving object 2 and connect a connection terminal in the holder to a charging terminal of the mobile terminal 1. When the moving object 2 is an electric kickboard, the holder is provided on the handle of the electric kickboard or the like. Another method for linking via a wired connection is to connect the moving object 2 and the mobile terminal 1 with a communication cable (e.g., a USB cable). This communication cable may be provided on the moving object 2, the mobile terminal 1, or a separately prepared cable.

[0020] Examples of a method for linking via a wireless connection include a method for connecting the mobile terminal 1 and the mobile object 2 using a short-range communication technology such as Bluetooth (registered trademark) or ZigBee (registered trademark).

[0021] As described above, the linking unit 11 may link the portable terminal 1 and the mobile body 2 in a state where the portable terminal 1 is inserted into the holder of the mobile body 2, i.e., in a state where the portable terminal 1 and the mobile body 2 are in physical contact with each other, or may link the portable terminal 1 and the mobile body 2 without contacting each other. A case where the portable terminal 1 and the mobile body 2 are not in contact with each other refers to a case where the portable terminal 1 and the mobile body 2 are linked by a wireless connection while the portable terminal 1 is stored in a user's bag, clothing, or the like.

[0022] The roadway discrimination unit 12 discriminates the roadway along which the moving object 2 moves. The roadway discrimination unit 12 discriminates whether the moving object 2 is moving on a sidewalk or a roadway while it is moving. Methods for discriminating the roadway in the roadway discrimination unit 12 include a method using a GPS (Global Positioning System) and a method using an image. Note that in either discrimination method, it is assumed that the mobile terminal 1 and the moving object 2 are in the same position, for example by being inserted into a holder in the moving object 2.

[0023] In determining the travel path using GPS, for example, current position information of the moving object 2 is sequentially acquired from the positioning unit 20 described later. Then, by comparing the position of the moving object 2 with map information of the place where the moving object 2 is traveling, it is determined whether the moving object 2 is traveling on a sidewalk or a roadway.

[0024] In determining the travel path using images, a video of the surroundings while the moving object 2 is moving is acquired, for example, from a camera 30 described later. Then, by analyzing the video using, for example, AI (Artificial Intelligence) technology, it is determined whether the moving object 2 is moving on a sidewalk or a roadway.

[0025] The roadway discrimination unit 12 may discriminate the roadway using either GPS or an image, or may discriminate the roadway using both GPS and an image. In addition, when discriminating the roadway using GPS, in places where GPS does not function, such as tunnels and underground shopping malls, discrimination may be performed based on map information, etc. In this case, if it is clear based on map information, etc. that the place is a place where general vehicles can travel (for example, a tunnel), it is discriminated as a roadway, and if it is clear that the place is a place where general vehicles cannot travel (for example, an underground shopping mall), it is discriminated as a sidewalk.

[0026] The upper limit switching unit 13 switches the upper limit speed (upper limit traveling speed) of the moving object 2 based on the result of the road discrimination by the road discrimination unit 12. When it is determined that the moving object 2 is traveling on a sidewalk, the upper limit switching unit 13 sets the upper limit speed of the moving object 2 to a first upper limit speed. When it is determined that the moving object 2 is traveling on a roadway, the upper limit switching unit 13 sets the upper limit speed of the moving object 2 to a second upper limit speed that is higher than the first upper limit speed.

[0027] Here, the "first upper speed limit" refers to the upper speed limit when the moving object 2 travels on a sidewalk. Also, the "second upper speed limit" refers to the upper speed limit when the moving object 2 travels on a roadway. The first upper speed limit and the second upper speed limit are set based on, for example, laws and regulations set by the national or local government. The first upper speed limit is, for example, "6 km / h", and the second upper speed limit is, for example, "20 km / h".

[0028] The upper limit switching unit 13 may not only switch the upper limit speed of the moving object 2, but may also prohibit operations of the mobile terminal 1 (for example, execution of various applications, notification of incoming calls, etc.) when the moving object 2 is moving. In this case, when the moving object 2 is moving, the upper limit switching unit 13 prohibits operations of the mobile terminal 1 linked to the moving object 2. In this way, by prohibiting operations of the mobile terminal 1 while the moving object 2 is moving, it is possible to suppress so-called "distracted driving" by the user.

[0029] Furthermore, when the upper limit switching unit 13 switches the upper limit speed of the moving object 2 from the first upper limit speed to the second upper limit speed, or from the second upper limit speed to the first upper limit speed, if the moving speed of the moving object 2 changes suddenly, the running stability may be impaired. Therefore, the upper limit switching unit 13 may gradually switch the upper limit speed of the moving object 2 depending on the distance between the moving object 2 and the boundary between the sidewalk and the roadway (hereinafter referred to as the "sidewalk-roadway boundary").

[0030] In this case, for example, the roadway discrimination unit 12 determines whether the moving object 2 is moving on the sidewalk or the roadway, as well as the distance between the sidewalk / roadway boundary and the moving object 2. Then, the upper limit switching unit 13 gradually switches the upper limit speed when the distance between the sidewalk / roadway boundary and the moving object 2 becomes less than a predetermined threshold (e.g., 30 cm).

[0031] For example, consider a case where a moving object 2 traveling on a sidewalk at a second upper limit speed (e.g., 20 km / h) gradually approaches the sidewalk. When the distance between the sidewalk / vehicle boundary and the moving object 2 is equal to or greater than a predetermined threshold (e.g., 30 cm), the upper limit switching unit 13 keeps the upper limit speed of the moving object 2 at the second upper limit speed. On the other hand, when the distance between the sidewalk / vehicle boundary and the moving object 2 becomes less than the predetermined threshold, the upper limit switching unit 13 gradually changes the upper limit speed of the moving object 2 from the second upper limit speed to the first upper limit speed (e.g., 6 km / h).

[0032] The amount of change from the second upper limit speed to the first upper limit speed may be set, for example, according to the above threshold value so as not to impair running stability (or so that the user does not feel uncomfortable). In this way, the running stability can be maintained by gradually switching the upper limit speed of the moving object 2 according to the distance between the pedestrian-vehicle boundary and the moving object 2.

[0033] The positioning unit 20 detects the position information and time information of the moving object 2 by receiving radio waves from, for example, a GPS satellite. The method of detecting the position information of the moving object 2 is not limited to the method using the GPS satellite, and may be, for example, a method combining LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) with a 3D map. The position information detected by the positioning unit 20 is used in the road discrimination process in the road discrimination unit 12.

[0034] The camera 30 is realized by an imaging device incorporating an imaging element such as a CCD (Charge Coupled Device) or a CIS (CMOS Image Sensor). The camera 30 captures images (moving images, still images) of the surroundings while the moving object 2 is moving, for example. The images captured by the camera 30 are used in the road discrimination process in the road discrimination unit 12.

[0035] (Mobile object control method 1) A first aspect of the processing procedure of the mobile body control method executed by the mobile body control device according to the embodiment will be described with reference to Fig. 2. In the following, the description will be given assuming that the mobile body 2 is for rental (see steps S2 to S4 in the figure), but if the user is the owner of the mobile body 2, steps S2 to S4 may be omitted.

[0036] First, the link unit 111 determines whether or not the moving object 2 has been detected (step S1). The method of detecting the moving object 2 in step S1 is not particularly limited. When the mobile terminal 1 and the moving object 2 are connected by wire, the moving object 2 may be detected when the mobile terminal 1 is inserted into a holder for the moving object 2. When the mobile terminal 1 and the moving object 2 are connected by wireless, the moving object 2 may be detected when the mobile terminal 1 and the moving object 2 enter a communication range.

[0037] In step S1, when it is determined that the moving object 2 has been detected (Yes in step S1), the linking unit 111 determines whether or not the moving object 2 is for rental (step S2). In step S2, when it is determined that the moving object 2 is for rental (Yes in step S2), the linking unit 111 determines whether or not the user of the moving object 2 has been registered (step S3).

[0038] If it is determined in step S3 that the user has been registered (Yes in step S3), the linking unit 111 executes electronic payment (step S4) and proceeds to step S5. If it is determined in step S1 that the mobile object 2 has not been detected (No in step S1) or if it is determined in step S3 that the user has not been registered (No in step S3), the linking unit 111 returns to the determination in step S1. If it is determined in step S2 that the mobile object 2 is not for rental (No in step S2), the linking unit 111 proceeds to step S5.

[0039] Next, the linking unit 111 links the mobile terminal 1 and the moving object 2 (step S5). Next, the roadway discriminator 12 acquires the position information of the moving object 2 from the positioning unit 20 (step S6). Next, the roadway discriminator 12 determines whether the moving object 2 is traveling on a sidewalk based on the position information of the moving object 2 (step S7).

[0040] In step S7, when it is determined that the moving object 2 is traveling on a sidewalk (Yes in step S7), the upper limit switching unit 13 sets the upper limit speed of the moving object 2 to a first upper limit speed (step S8). Next, the upper limit switching unit 13 determines whether or not the user has finished using the moving object 2 (step S9).

[0041] In step S9, a positive determination is made, for example, when the portable terminal 1 is removed from the holder of the moving body 2 or when it is detected that the user has dismounted from the moving body 2. Note that the fact that the user has dismounted from the moving body 2 can be detected by, for example, measuring the weight on the moving body 2 using a weight sensor mounted on the moving body 2.

[0042] In step S9, if it is determined that the user has finished using the moving object 2 (Yes in step S9), the upper limit switching unit 13 completes this process. On the other hand, in step S9, if it is determined that the user has not finished using the moving object 2 (No in step S9), the upper limit switching unit 13 returns to the determination in step S7.

[0043] Here, if it is determined in step S7 that the moving body 2 is not traveling on a sidewalk (i.e., traveling on a roadway) (No in step S7), the upper limit switching unit 13 sets the upper limit speed of the moving body 2 to a second upper limit speed (step S10) and proceeds to step S9.

[0044] As described above, in the first mode of the mobile object control method according to the embodiment, the GPS of the mobile terminal 1 is used to determine the road (sidewalk / roadway) and the upper limit speed is automatically switched.

[0045] (Mobile object control method 2) A second aspect of the processing procedure of the mobile body control method executed by the mobile body control device according to the embodiment will be described with reference to Fig. 3. In the following, the description will be given assuming that the mobile body 2 is for rental (see steps S12 to S14 in the figure), but if the user is the owner of the mobile body 2, steps S12 to S14 may be omitted.

[0046] First, the link unit 111 determines whether or not the moving object 2 has been detected (step S11). The method of detecting the moving object 2 in step S11 is not particularly limited. When the mobile terminal 1 and the moving object 2 are connected by wire, the moving object 2 may be detected when the mobile terminal 1 is inserted into a holder for the moving object 2. When the mobile terminal 1 and the moving object 2 are connected by wireless, the moving object 2 may be detected when the mobile terminal 1 and the moving object 2 enter a communication range.

[0047] In step S11, when it is determined that the moving object 2 has been detected (Yes in step S11), the linking unit 111 determines whether or not the moving object 2 is for rental (step S12). In step S12, when it is determined that the moving object 2 is for rental (Yes in step S12), the linking unit 111 determines whether or not the user of the moving object 2 has been registered (step S13).

[0048] If it is determined in step S13 that the user has been registered (Yes in step S13), the linking unit 111 executes electronic payment (step S14) and proceeds to step S15. If it is determined in step S11 that the mobile object 2 has not been detected (No in step S11) or if it is determined in step S13 that the user has not been registered (No in step S13), the linking unit 111 returns to the determination in step S11. If it is determined in step S12 that the mobile object 2 is not for rental (No in step S12), the linking unit 111 proceeds to step S15.

[0049] Next, the linking unit 111 links the mobile terminal 1 and the moving object 2 (step S15). Next, the roadway discrimination unit 12 acquires a video of the roadway of the moving object 2 from the camera 30 (step S16). Next, the roadway discrimination unit 12 determines whether the moving object 2 is traveling on a sidewalk based on the video of the roadway of the moving object 2 (step S17).

[0050] In step S17, when it is determined that the moving object 2 is traveling on a sidewalk (Yes in step S17), the upper limit switching unit 13 sets the upper limit speed of the moving object 2 to a first upper limit speed (step S18). Next, the upper limit switching unit 13 determines whether or not the user has finished using the moving object 2 (step S19).

[0051] In step S19, a positive determination is made, for example, when the portable terminal 1 is removed from the holder of the moving body 2 or when it is detected that the user has dismounted from the moving body 2. Note that the fact that the user has dismounted from the moving body 2 can be detected by, for example, measuring the weight on the moving body 2 using a weight sensor mounted on the moving body 2.

[0052] In step S19, if it is determined that the user has finished using the moving object 2 (Yes in step S19), the upper limit switching unit 13 completes this process. On the other hand, in step S19, if it is determined that the user has not finished using the moving object 2 (No in step S19), the upper limit switching unit 13 returns to the determination in step S17.

[0053] Here, if it is determined in step S17 that the moving body 2 is not traveling on a sidewalk (i.e., traveling on a roadway) (No in step S17), the upper limit switching unit 13 sets the upper limit speed of the moving body 2 to a second upper limit speed (step S20) and proceeds to step S19.

[0054] As described above, in the second mode of the mobile object control method according to the embodiment, the GPS of the mobile terminal 1 is used to determine the road (sidewalk / roadway) and the upper limit speed is automatically switched.

[0055] As part of regulations governing the speed at which electric scooters can travel, there is currently discussion of setting separate upper speed limits for sidewalks and roadways (e.g. 6km / h for sidewalks, 20km / h for roadways, etc.). In such discussions, if an accident occurs while riding on a sidewalk, for example, a point of contention may arise as to whether the speed limit for the sidewalk was being exceeded.

[0056] Therefore, in the mobile object control device and mobile object control program according to the embodiment, the upper limit speed of the mobile object 2 is automatically changed according to the traveling path (sidewalk / roadway) by using GPS and images.

[0057] In addition, in the mobile body control device and mobile body control program of the embodiment, the mobile terminal 1 has the road discrimination function (road road discrimination unit 12) and the upper limit speed switching function (upper limit switching unit 13), thereby suppressing an increase in the manufacturing costs of the mobile body 2 and realizing the upper limit speed switching function of the mobile body 2 at low cost.

[0058] In addition, the mobile object control device and the mobile object control program according to the embodiment also provide the following effects. (1) There will be no need to crack down on speed limit violations and other violations when driving on roads and sidewalks. (2) The safety of pedestrians is ensured by eliminating the need for moving objects 2 (e.g., electric kick scooters) to travel excessively fast on the sidewalk. (3) By linking the mobile terminal 1 with the mobile object 2, map information and the like are automatically updated, eliminating the need to update data on the mobile object 2. (4) By configuring the mobile device 1 so that it can be inserted into a holder in the moving object 2, it is possible to prevent so-called “distracted driving.” (5) In addition to roads / sidewalks, areas where the use of the moving object 2 is prohibited can be added separately, so that the use of the moving object 2 can be restricted in places such as parks where entry is prohibited. (6) By registering prohibited use signs in map information, it is possible to restrict the use of the mobile object 2 in restricted areas such as underground shopping malls. (7) Unlike bicycles, electric kick scooters may be used on the assumption that they will be ridden and enter buildings. By analyzing images taken by the camera 30 of the mobile terminal 1 using AI technology, it becomes possible to change the upper speed limit in places where GPS cannot be used. (8) If the upper limit speed of the moving object 2 can be changed manually, there is a possibility that the change operation is not performed (or the change operation is forgotten) when changing the traveling path. On the other hand, in this embodiment, the upper limit speed of the moving object 2 is automatically changed depending on the traveling path, thereby ensuring the safety of pedestrians on the sidewalk.

[0059] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0060] 1. Mobile devices 10 Control section 11 Collaboration Department 12 Roadway discrimination unit 13 Upper limit switch 20 Positioning unit 30 Camera 2. Mobile

Claims

1. A mobile object control device mounted on a mobile terminal carried by a user of a mobile object, A processor is provided. The processor, In cooperation with the mobile unit, determining whether the moving object is moving on a sidewalk or a roadway based on information acquired from a positioning unit or a camera mounted on the mobile terminal; switching an upper limit speed of the moving object based on a result of the determination; Mobile control device.

2. The processor prohibits operation of the mobile terminal when the moving object is moving. The mobile object control device according to claim 1 .

3. The processor, When it is determined that the moving object is traveling on a sidewalk, an upper limit speed of the moving object is set to a first upper limit speed; when it is determined that the moving object is traveling on a roadway, the upper limit speed of the moving object is set to a second upper limit speed which is higher than the first upper limit speed; The mobile object control device according to claim 1 .

4. A mobile object control program to be executed by a processor of a mobile object control device installed in a mobile terminal carried by a user of the mobile object, The processor, In cooperation with the mobile unit, determining whether the moving object is moving on a sidewalk or a roadway based on information acquired from a positioning unit or a camera mounted on the mobile terminal; switching an upper limit speed of the moving object based on a result of the determination; A mobile control program that causes the above to be executed.

5. The processor prohibits operation of the mobile terminal when the moving object is moving.

5. The moving object control program according to claim 4, which causes the moving object control program to execute the following.

6. The processor, When it is determined that the moving object is traveling on a sidewalk, an upper limit speed of the moving object is set to a first upper limit speed; when it is determined that the moving object is traveling on a roadway, the upper limit speed of the moving object is set to a second upper limit speed which is higher than the first upper limit speed; 5. The moving object control program according to claim 4, which causes the moving object control program to execute the following.

Images