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

Abstract

To reduce a cost in controlling a moving object that automatically travels on a travel route at a low speed, and to facilitate the control of the moving object.SOLUTION: In a moving object control system 500, a server device 200 stores map information 231 used for automatic driving. Also, the server device 200 comprises a vehicle control unit that generates control information 32 for controlling a speed and a steering angle of a vehicle unit of a moving object 10 so that the moving object 10 automatically drives the travel route based on the map information 231 and sensor information 31 transmitted from the moving object 10. Then, the server device 200 transmits the control information 32 to the moving object 10. In the vehicle unit of the moving object 10, the speed and the steering angle are controlled according to the control information 32 transmitted from the server device 200.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a mobile object control system, a mobile object, a server device, a mobile object control method, and a mobile object control program. In particular, the present disclosure relates to a mobile object control system that controls a mobile object such as a PMV that is automatically driven at low speed. PMV is an abbreviation for Personal Mobility Vehicle. [Background technology]

[0002] Mobile vehicles such as PMVs that run at low speeds autonomously are usually equipped with not only sensors and drive units, but also map information for autonomous driving and a calculation unit for determining actions. If a server that communicates with the PMV exists as a management center, the PMV sends information such as its own location or the system status to the server. The server then manages the status of the PMV, checks the locations of other PMVs, and instructs the PMV on where to go.

[0003] Patent Document 1 discloses a technology for enabling autonomous mobile devices to be used in real environments, in which a route is specified by an operation management unit on the server side to prevent each autonomous mobile device from deviating from the specified route. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2011-065308 A Summary of the Invention [Problem to be solved by the invention]

[0005] In Patent Document 1, the route is specified by the operation management unit on the server side, but the autonomous mobile device's actions are still determined by the autonomous mobile device. Therefore, the autonomous mobile device needs a map database and a calculation device for determining actions. Therefore, the technology in Patent Document 1 has issues such as increased costs and complicated control such as changing maps.

[0006] The present disclosure aims to reduce the cost of controlling a moving object that drives autonomously at low speeds and to facilitate control by providing a server with map information necessary for autonomous driving and a calculation device for determining actions. [Means for solving the problem]

[0007] The mobile object control system according to the present disclosure includes a mobile object that automatically drives at a low speed along a driving route, and a server device that communicates with the mobile object via a network, and the server device controls the automatic driving of the mobile object. The moving body is A sensor device that senses a situation around the moving object and transmits sensor information obtained by the sensing to the server device; a vehicle unit that drives the moving body; Equipped with. The server device includes: A storage unit that stores map information used for autonomous driving; a vehicle control unit that generates control information for controlling a speed and a steering angle of the vehicle unit of the mobile body so that the mobile body automatically drives along the travel route based on the map information and the sensor information transmitted from the mobile body, and transmits the control information to the mobile body; Equipped with The vehicle section includes: The speed and steering angle are controlled in accordance with the control information transmitted from the server device. Effect of the Invention

[0008] In the mobile object control system according to the present disclosure, the mobile object automatically drives along a travel route at a low speed. The server device includes a storage unit that stores map information used for the automatic driving. The server device also includes a vehicle control unit that generates control information for controlling the speed and steering angle of a vehicle unit of the mobile object so that the mobile object automatically drives along the travel route based on the map information and sensor information transmitted from the mobile object, and transmits the control information to the mobile object. The speed and steering angle of the vehicle unit of the mobile object are controlled according to the control information transmitted from the server device. Thus, according to the mobile object control system according to the present disclosure, by providing the server device with the map information and the vehicle control unit, it is possible to reduce the cost of controlling the mobile object and to facilitate the control of the mobile object. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram showing an example of the overall configuration of a mobile object control system according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing an example of a moving object according to the first embodiment. [Diagram 3] FIG. 2 is a diagram showing a configuration example of a PMV which is an example of a moving body according to the first embodiment. [Figure 4] FIG. 2 is a diagram showing a configuration example of a server device according to the first embodiment. [Diagram 5] FIG. 2 is a diagram showing a detailed configuration example of a vehicle control unit according to the first embodiment. [Figure 6] 4 is a flowchart showing the operation of the mobile object control system according to the first embodiment. [Figure 7] FIG. 13 is a diagram showing an example of the configuration of a mobile object control system according to a second modification of the first embodiment. [Figure 8] FIG. 4 is a diagram showing an example of an effect of the moving object control system according to the first embodiment. [Figure 9] FIG. 11 is a diagram showing another example of the effect of the moving object control system according to the first embodiment. [Figure 10] FIG. 11 is a diagram showing an example of the configuration of a server device according to the second embodiment. [Figure 11] FIG. 11 is a diagram showing an example of the effect of the group control unit according to the second embodiment. [Figure 12] FIG. 11 is a diagram showing another example of the effect of the group control unit according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the present embodiment will be described with reference to the drawings. In each drawing, the same or corresponding parts are given the same reference numerals. In the description of the embodiment, the description of the same or corresponding parts will be omitted or simplified as appropriate. In addition, the relationship of the size of each component in the following drawings may differ from the actual one. In addition, in the description of the embodiment, directions or positions such as up, down, left, right, front, back, front, and back may be indicated. These notations are for the convenience of explanation and do not limit the arrangement, direction, or orientation of devices, instruments, parts, etc.

[0011] Embodiment 1 ***Configuration Description*** FIG. 1 is a diagram showing an example of the overall configuration of a mobile object control system 500 according to this embodiment. The mobile object control system 500 includes a plurality of mobile objects 10 and a server device 200 that communicates with each of the mobile objects 10 via a network. The server device 200 controls the automatic driving of each of the moving bodies 10 of a plurality of moving bodies.

[0012] The moving body 10 is an autonomous moving body that automatically drives at a low speed along a travel route. The moving object 10 is, for example, a PMV or an AMR. AMR is an abbreviation for Autonomous Mobile Robot.

[0013] FIG. 2 is a diagram showing an example of a moving object 10 according to the present embodiment. A PMV is an autonomous vehicle designed to carry people. A PMV is an electrically powered vehicle that autonomously drives along a route at low speeds. A PMV drives along a route at low speeds. Specifically, a PMV is a vehicle that performs autonomous driving at low speeds, such as an electric wheelchair, a senior car, or a two-wheeled vehicle that moves while standing. An AMR is an unmanned vehicle that travels autonomously at low speeds. Examples of AMRs include vehicles that carry luggage, security robots, cleaning robots, and advertising cars. The moving body 10 is also called an autonomous vehicle or an autonomous robot.

[0014] In this embodiment, a PMV 100 is used as an example of the moving object 10 for explanation.

[0015] The server device 200 receives sensor information 31 from the PMV 100 via the network, and generates control information 32 for controlling the PMV 100 using the sensor information 31. Then, the server device 200 transmits the control information 32 to the PMV 100 via the network. The PMV 100 receives the control information 32 and travels autonomously in accordance with the control information 32 .

[0016] FIG. 3 is a diagram showing an example of the configuration of a PMV 100 according to the present embodiment. The PMV 100 is a mobile object equipped with a computer. Specifically, the PMV 100 includes a processor 110, as well as other hardware such as an input interface 120, an output interface 130, a memory 141, an auxiliary storage device 142, and a communication device 150. The processor 110 is connected to the other hardware via signal lines and controls the other hardware. The PMV 100 also includes a sensor device 160, a locator 170, a power supply unit 180, and a vehicle unit 190. These pieces of hardware are also connected to other pieces of hardware via signal lines.

[0017] The processor 110 includes an emergency control unit 111 as a functional element. The emergency control unit 111 causes the vehicle unit 190 to perform an emergency operation based on the relative positions of surrounding objects or the state of the PMV 100 . The emergency control unit 111 is also called an emergency control device.

[0018] The input interface 120, the output interface 130, the memory 141, the auxiliary storage device 142, and the communication device 150 are similar to the hardware of the server device 200 described below. The functions of sensor device 160, locator 170, power supply unit 180, and vehicle unit 190 will be described later.

[0019] FIG. 4 is a diagram showing an example of a configuration of the server device 200 according to the present embodiment. The server device 200 is a computer. The server device 200 includes a processor 910, as well as other hardware such as a memory 921, an auxiliary storage device 922, an input interface 930, an output interface 940, and a communication device 950. The processor 910 is connected to the other hardware via signal lines and controls the other hardware.

[0020] The server device 200 includes, as functional elements, a management unit 210, a vehicle control unit 220, and a storage unit 230. The vehicle control unit 220 includes a surrounding recognition unit 221, a self-position estimation unit 222, a route determination unit 223, and a route following unit 224. The storage unit 230 stores map information 231 and a PMV database 232.

[0021] The functions of the management unit 210 and the vehicle control unit 220 are realized by software. The storage unit 230 is provided in the memory 921. The storage unit 230 may be provided in the auxiliary storage device 922, or may be provided in a distributed manner in the memory 921 and the auxiliary storage device 922.

[0022] The processor 910 is a device that executes a PMV control program. The PMV control program is a program that realizes the functions of the management unit 210 and the vehicle control unit 220. The processor 910 is an IC that performs arithmetic processing. Specific examples of the processor 910 are a CPU, a DSP, and a GPU. IC is an abbreviation for Integrated Circuit. CPU is an abbreviation for Central Processing Unit. DSP is an abbreviation for Digital Signal Processor. GPU is an abbreviation for Graphics Processing Unit.

[0023] The memory 921 is a storage device that temporarily stores data. Specific examples of the memory 921 are SRAM and DRAM. SRAM is an abbreviation for Static Random Access Memory. DRAM is an abbreviation for Dynamic Random Access Memory. The auxiliary storage device 922 is a storage device that stores data. A specific example of the auxiliary storage device 922 is a HDD. The auxiliary storage device 922 may also be a portable storage medium such as an SD (registered trademark) memory card, CF, NAND flash, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD. Note that HDD is an abbreviation for Hard Disk Drive. SD (registered trademark) is an abbreviation for Secure Digital. CF is an abbreviation for CompactFlash (registered trademark). DVD is an abbreviation for Digital Versatile Disk.

[0024] The input interface 930 is a port connected to an input device such as a mouse, a keyboard, or a touch panel. Specifically, the input interface 930 is a USB terminal. The input interface 930 may be a port connected to a LAN. USB is an abbreviation for Universal Serial Bus. LAN is an abbreviation for Local Area Network.

[0025] The output interface 940 is a port to which a cable of an output device such as a display is connected. Specifically, the output interface 940 is a USB terminal or an HDMI (registered trademark) terminal. Specifically, the display is an LCD. The output interface 940 is also called a display interface. HDMI (registered trademark) is an abbreviation for High Definition Multimedia Interface. LCD is an abbreviation for Liquid Crystal Display.

[0026] The communication device 950 has a receiver and a transmitter. The communication device 950 is connected to a communication network such as a LAN, the Internet, or a telephone line. Specifically, the communication device 950 is a communication chip or a NIC. NIC is an abbreviation for Network Interface Card.

[0027] The PMV control program is executed in server device 200. The PMV control program is loaded into processor 910 and executed by processor 910. Memory 921 stores not only the PMV control program but also an OS (Operating System). Processor 910 executes the PMV control program while executing the OS. The PMV control program and the OS may be stored in auxiliary storage device 922. The PMV control program and the OS stored in auxiliary storage device 922 are loaded into memory 921 and executed by processor 910. Note that a part or all of the PMV control program may be incorporated into the OS.

[0028] Server device 200 may include a plurality of processors that replace processor 910. These plurality of processors share the task of executing the PMV control program. Each of the processors is a device that executes the PMV control program in the same manner as processor 910.

[0029] Data, information, signal values ​​and variable values ​​used, processed or output by the PMV control program are stored in memory 921 , secondary storage device 922 , or registers or cache memory within processor 910 .

[0030] The "part" of each part of management unit 210 and vehicle control unit 220 may be read as a "circuit," "step," "procedure," "process," "device," or "circuitry." The same applies to each part of surroundings recognition unit 221, self-position estimation unit 222, route determination unit 223, and route following unit 224 included in vehicle control unit 220. The PMV control program causes a computer to execute a management process and a vehicle control process. The "process" of the management process and the vehicle control process may be read as a "program," "program product," "computer-readable storage medium storing a program," or "computer-readable recording medium recording a program." The PMV control method is a method performed by PMV 100 and server device 200 of mobile object control system 500 executing a PMV control program. The PMV control program may be provided by being stored in a computer-readable recording medium, or may be provided as a program product.

[0031] ***Feature Description*** First, the function of each component of the PMV 100 will be described.

[0032] The sensor device 160 senses the surroundings of the PMV 100 and transmits the sensor information 31 obtained by the sensing to the server device 200. The sensor device 160 may include, for example, a camera, a sonar, a millimeter wave radar, and a lidar. The sensor device 160 may also include a GPS receiver. GPS is an abbreviation for Global Positioning System. The sensor device 160 may also include a balance sensor or a weight sensor.

[0033] The locator 170 uses the sensor information 31 sensed by the sensor device 160 to obtain the relative positions of surrounding objects. The power supply unit 180 is a power supply device that supplies power to various devices equipped in the PMV 100. In Fig. 3, signal lines that supply power from the power supply unit 180 to the various devices are omitted.

[0034] Vehicle unit 190 drives PMV 100. Vehicle unit 190 is a vehicle device that performs autonomous driving of PMV 100. Vehicle unit 190 performs autonomous driving while controlling speed and direction in accordance with control information 32.

[0035] Emergency control unit 111 acquires the relative positions of objects around PMV 100 or the state of PMV 100 based on information from sensor device 160 and locator 170. Then, emergency control unit 111 causes vehicle unit 190 to perform an emergency operation based on the relative positions of objects around PMV 100 or the state of PMV 100.

[0036] Next, the function of each component of the server device 200 will be described. The map information 231 is a high-precision base map used for automatic driving. The map information 231 includes, for example, information on sidewalks, walkways where pedestrians can pass, and their road surfaces and surrounding features. The map information 231 may be composed of a high-precision three-dimensional map of the walkways where the mobile body 10 can pass, and the road surfaces and surrounding features. The high-precision three-dimensional map may be composed of point clouds, line segments, and three-dimensional models of features expressed using high-precision three-dimensional position coordinates of centimeter to sub-meter order according to a reference coordinate system such as WGS84 or the Japanese Geodetic System. WGS is an abbreviation for World Geodetic System. The PMV database 232 is a database that stores information on each of a plurality of PMVs managed by the management unit 210 of the server device 200 .

[0037] As shown in FIG. 1, vehicle control by server device 200 is performed for each PMV. The management unit 210 manages the vehicle control unit 220 based on the PMV database 232 so that vehicle control is performed for each PMV.

[0038] FIG. 5 is a diagram showing an example of a detailed configuration of the vehicle control unit 220 according to this embodiment. Vehicle control unit 220 generates control information 32 for controlling the speed and steering angle of vehicle unit 190 of PMV 100 so that PMV 100 automatically drives along the travel route, based on map information 231 and sensor information 31 transmitted from PMV 100. Vehicle control unit 220 then transmits the control information 32 to PMV 100. It is assumed that the speed indicates the speed of the PMV 100, and the steering angle indicates the traveling direction of the PMV 100. The speed and steering angle can be rephrased as the speed and steering angle, or the speed and traveling direction.

[0039] The surroundings recognition unit 221 generates surroundings recognition information 33 for recognizing the surroundings of the PMV 100 based on the sensor information 31.

[0040] The self-position estimation unit 222 estimates self-position information 34 including the position of the PMV 100 and the direction in which the PMV 100 is facing, based on the map information 231 and the sensor information 31. Specifically, the self-position estimation unit 222 estimates the self-position information 34 based on the surrounding recognition information 33 and the map information 231.

[0041] The route determination unit 223 generates a path 35 indicating an exercise plan for the PMV 100 along the travel route, based on the map information 231, the self-position information 34, and the surrounding recognition information 33. Based on the path 35 and the self-position information 34, the path following unit 224 generates control information 32 including speed control for controlling the speed of the PMV 100 and direction control for controlling the steering angle of the PMV.

[0042] ***Explanation of Operation*** Next, an operation of the mobile object control system 500 according to this embodiment will be described. The operation procedure of the mobile object control system 500 corresponds to a PMV control method. Moreover, a program that realizes the operation of the mobile object control system 500 corresponds to a PMV control program.

[0043] FIG. 6 is a flow diagram showing the operation of the mobile object control system 500 according to this embodiment.

[0044] In step S101, the sensor device 160 acquires the sensor information 31. Specifically, the sensor device 160, such as a camera, a sonar, a millimeter wave radar, or a lidar, senses information about the surroundings of the PMV 100. The sensor information 31 includes information sensed by sensors that sense information about the surroundings of the PMV 100, such as a camera, sonar, millimeter wave radar, and lidar. The sensor information 31 may also include location information acquired by a GPS receiver. The sensor information 31 may also include information about the balance and on-board weight of the PMV 100 acquired by a balance sensor and a weight sensor.

[0045] In step S102, communication device 150 of PMV 100 transmits sensor information 31 obtained by sensing by sensor device 160 to server device 200. In addition, sensor information 31 is also transmitted to emergency control unit 111 and locator 170, as shown in FIG.

[0046] In step S103, the communication device 950 of the server device 200 receives the sensor information 31. The vehicle control unit 220 generates control information 32 based on the map information 231 and the sensor information 31 to control the speed and steering angle of the vehicle unit 190 of the PMV 100 so that the PMV 100 automatically drives along the travel route. The driving route of the PMV 100 is transmitted from the PMV 100 to the server device 200 when the PMV 100 starts traveling, for example, and is stored in the PMV database 232. The management unit 210 identifies the PMV 100 to be controlled from the information of the sender PMV included in the received sensor information 31. The management unit 210 may then extract the driving route corresponding to the identified PMV 100 from the PMV database 232, and output it to the vehicle control unit 220. Specifically, the following applies:

[0047] The surroundings recognition unit 221 generates surroundings recognition information 33 for recognizing the surroundings of the PMV 100 based on the sensor information 31. The self-location estimation unit 222 estimates the self-location information 34 based on the surrounding recognition information 33 and the map information 231. Specifically, the self-location estimation unit 222 estimates the self-location information 34 using a SLAM technique that simultaneously performs self-location estimation and environmental map creation. Furthermore, by using position information by GPS in addition to the SLAM technique, the self-location information 34 can be estimated more accurately. The position information by GPS is included in the sensor information 31, for example. SLAM is an abbreviation for Simultaneous Localization and Mapping.

[0048] The route determination unit 223 generates a path 35 indicating an exercise plan for the PMV 100 along the travel route, based on the map information 231, the self-position information 34, and the surrounding recognition information 33. The path following unit 224 performs path following based on the path 35 and the self-position information 34 , and generates control information 32 including speed control for controlling the speed of the PMV 100 and direction control for controlling the steering angle of the PMV 100 .

[0049] In step S 104 , the communication device 950 of the server device 200 transmits the control information 32 to the PMV 100 .

[0050] In step S105, communication device 150 of PMV 100 receives control information 32. Control information 32 is input to vehicle unit 190. Vehicle unit 190 controls the speed and steering angle in accordance with control information 32. As a result, PMV 100 performs automatic driving in accordance with control information 32 and autonomously travels along the travel route.

[0051] In the PMV 100, the emergency control unit 111 constantly determines whether or not an emergency is occurring. In step S106, emergency control unit 111 acquires the relative positions of surrounding objects or the state of PMV 100, and determines whether PMV 100 is in an emergency based on the relative positions of surrounding objects or the state of PMV 100. Specifically, the following applies:

[0052] In the PMV 100, as described in step S102, sensor information 31 obtained by sensing by sensor device 160 is transmitted to emergency control unit 111 and locator 170. Locator 170 obtains the relative positions of objects around the PMV 100 based on sensor information 31, and transmits it to emergency control unit 111. Emergency control unit 111 obtains the relative positions of the surrounding objects from locator 170. From the relative positions of these surrounding objects, emergency control unit 111 can determine an emergency, such as a sudden approach or contact of an object. Furthermore, the emergency control unit 111 acquires the state of the PMV 100 from the sensor information 31. The state of the PMV 100 is information such as the balance of the PMV 100 acquired by a balance sensor and a weight sensor, and the on-board weight of the PMV 100. From these states of the PMV 100, the emergency control unit 111 can determine an emergency, such as the PMV 100 being tilted and about to fall over.

[0053] If emergency control unit 111 determines that an emergency has occurred, the process proceeds to step S107. If emergency control unit 111 determines that an emergency is not occurring, the process returns to step S101 and the process is repeated.

[0054] In step S107, emergency control unit 111 causes vehicle unit 190 to perform an emergency operation. Emergency control unit 111 generates control information to stop PMV 100 from traveling or to take action such as avoiding a collision with an object as the emergency operation, and outputs the control information to vehicle unit 190. Furthermore, in an emergency such as when PMV 100 is tilted and about to fall over, emergency control unit 111 may perform processing such as stopping PMV 100 from traveling and sounding an alarm to call for help from the surroundings.

[0055] ***Other configurations*** <Variation 1> As a first modification of the present embodiment, the function of the surroundings recognition unit 221 in the vehicle control unit 220 may be provided on the PMV 100 side. The surroundings recognition information 33 may be generated on the PMV 100 side and transmitted to the server device 200 together with the sensor information 31. Furthermore, the function of the route tracking unit 224 in the vehicle control unit 220 may be provided on the PMV 100 side. If the self-position estimation unit 222 and the map information 231 can be provided on the server device 200 side, the surroundings recognition unit 221 and part or all of the route tracking unit 224 may be provided on the PMV 100 .

[0056] <Variation 2> In this embodiment, the functions of management unit 210 and vehicle control unit 220 are realized by software. As a second modification, the functions of management unit 210 and vehicle control unit 220 may be realized by hardware. Specifically, the server device 200 includes an electronic circuit 909 instead of a processor 910 .

[0057] FIG. 7 is a diagram showing an example of a configuration of a server device 200 according to the second modification of the present embodiment. The electronic circuit 909 is a dedicated electronic circuit that realizes the functions of the management unit 210 and the vehicle control unit 220. Specifically, the electronic circuit 909 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA, an ASIC, or an FPGA. GA is an abbreviation for Gate Array. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field-Programmable Gate Array.

[0058] The functions of the management unit 210 and the vehicle control unit 220 may be realized by one electronic circuit, or may be realized by distributing them among multiple electronic circuits.

[0059] As another modification, some of the functions of management unit 210 and vehicle control unit 220 may be realized by electronic circuits, and the remaining functions may be realized by software. Also, some or all of the functions of management unit 210 and vehicle control unit 220 may be realized by firmware.

[0060] Each of the processor and the electronic circuit is also called a processing circuitry. That is, the functions of the management unit 210 and the vehicle control unit 220 are realized by the processing circuitry.

[0061] ***Explanation of the Effects of the Present Embodiment*** As described above, according to the mobile object control system of this embodiment, sensor information is sent from the PMV to the server device, and the processing by the arithmetic device that performs self-location estimation is performed by the server device. Map information is used for the processing by the arithmetic device that performs self-location estimation. Therefore, the map information is provided on the server device side. Then, the server device instructs the PMV how to operate using control information. Therefore, the map information and the arithmetic device that performs self-location estimation can be placed on the server device side, which reduces the cost of the PMV and facilitates processing such as map updates. This embodiment is particularly effective for moving objects such as PMVs that travel at low speeds, since there is almost no effect of time delays due to communication.

[0062] Usually, a calculation device that performs self-location estimation is expensive. Furthermore, by providing a calculation device that performs self-location estimation, the configuration becomes complicated and power consumption increases. In a system in which a plurality of PMVs are managed by a server device, providing each PMV with a calculation device that performs self-location estimation leads to increased costs. According to the mobile object control system of this embodiment, since the calculation device that performs self-location estimation is provided only on the server device side, it is possible to reduce the price of the entire system and to save power.

[0063] Furthermore, according to the mobile object control system of the present embodiment, since the map information is stored on the server device side, frequent map updates or temporary map updates can be easily accommodated, making it possible to facilitate, speed up and centralize map updates.

[0064] In addition, according to the mobile control system of this embodiment, all control information input to the vehicle is generated on the server side. Therefore, by performing complex processing on the server side, flexible response is possible in the PMV. For example, the server can perform complex processing such as avoiding the route at the moment when the sun is shining.

[0065] Furthermore, according to the mobile object control system of the present embodiment, the server device manages each of the multiple PMVs, making it possible for the multiple PMVs to operate in cooperation with each other.

[0066] Moreover, according to the mobile object control system of this embodiment, the emergency control unit is equipped on the PMV side. Therefore, emergency operations can be performed instantly by the PMV without using control information via a network. For example, in an emergency that requires a quick reaction, such as a sudden approach of an object, contact with an object, or when the PMV is tilted and about to fall over, communication delays become a problem. According to the mobile object control system of this embodiment, such emergency actions can be controlled on the PMV side to avoid problems in the emergency. Since these controls are simple, no complicated calculation device is required. Therefore, problems such as increased costs are minimal.

[0067] The effects of the mobile object control system according to this embodiment will be described in more detail below.

[0068] According to the mobile object control system of this embodiment, the system on the PMV side is simplified, leading to cost reduction. There is no need for the PMV to store large amounts of data such as map information. In addition, there is no need for the PMV to store a separate calculation device that performs self-location estimation, which requires high-speed calculations. In addition, the server device only needs to store one copy of map information, so there is no need to store unnecessary capacity. Furthermore, when autonomous control is not being used, there is no need for a calculation device that performs self-location estimation, and it only needs to be started up when calculations are required on the server device side, eliminating waste of the calculation device that performs self-location estimation. When using equipment such as a rental server, where the cost is determined by the amount of calculation, no costs are incurred when the equipment is not being used at all, such as at night.

[0069] Furthermore, since updating of map information can be completed on the server device side, temporary updating of map information using external information can be easily performed. If each PMV has its own map information, it needs to be transmitted via communication and partially updated, which makes updating the map complicated and can cause time delays. In addition, inconsistencies can occur when multiple PMVs are used. According to the mobile object control system of this embodiment, since there is only one piece of map information on the server device side, updates are easy and all mobile objects can refer to the same data. For example, in the case of an emergency such as a fire, it takes time to update the maps of each PMV via communication. Also, there is a problem that maps that are turned off cannot be updated. According to the mobile object control system of this embodiment, it is only necessary to update one map stored in the server device, and the map update speed is fast, efficient, and error-free.

[0070] FIG. 8 is a diagram showing an example of the effect of the mobile object control system according to the present embodiment. As shown in the example of Fig. 8, when one side of the road is under construction and traffic is alternated at different times, a normal independent, simply autonomously controlled PMV cannot respond using a map and must refer to on-site traffic signals or instructions from security guards. However, with the mobile object control system according to this embodiment, information can be easily added to the map on the server device side, making it possible to control the vehicle without referring to on-site traffic signals or instructions from security guards.

[0071] In addition to being able to refer only to the data of the own PMV and making travel decisions based only on data around the own PMV, the mobile control system according to this embodiment allows the data of multiple PMVs to be referenced, which allows for more accurate control decisions to be made by referencing data that cannot be seen from the own PMV. For example, by obtaining information from other PMVs that a route that is not visible from the PMV itself is congested or in a state where travel is impossible, a more correct route can be selected. In other words, since the sensor information of each PMV of a plurality of PMVs is transmitted to the server device, the sensor information of the other PMVs can be used. Furthermore, the mobile object control system according to this embodiment can determine not only whether a road was passable in the past, but also whether the road is currently passable. For example, it can predict the current congestion situation from accurate information on other PMVs on the route that the vehicle is planning to travel. Depending on the circumstances, a detour can be set up to arrive earlier.

[0072] FIG. 9 is a diagram showing another example of the effect of the mobile object control system according to the present embodiment. Figure 9 shows PMVs A, B, and C attempting to reach their destination. In the case of simple autonomous control, since the path ahead cannot be seen at the branching point, the shorter lower route is selected. At this time, if there is a preceding C, the lower route is closed and the information that it is impassable is transmitted to A via the server device. Conversely, B tells A that the upper route is definitely passable, and A can determine that it is best to take the upper route. This is a simple determination of whether or not passage is possible, but if the server device has the sensor information itself, such as whether passage is difficult due to a large number of people, a more accurate determination is possible. For example, if a PMV is equipped with a sunshine sensor, if the location of a certain PMV is currently in a drought state, other PMVs can be controlled to avoid the location.

[0073] Embodiment 2 In this embodiment, differences from and additions to the first embodiment will be mainly described. In this embodiment, components having the same functions as those in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

[0074] ***Configuration Description*** FIG. 10 is a diagram showing an example of a configuration of a server device 200 according to the present embodiment. In this embodiment, in addition to the configuration of server device 200 of the first embodiment, a group control unit 240 is provided.

[0075] The group control unit 240 performs group control to control the multiple PMVs as a group, based on self-position information 34 estimated for each PMV of the multiple PMVs and sensor information 31 acquired from each PMV of the multiple PMVs. Furthermore, when estimating self-position information 34 of one PMV 100 among a plurality of PMVs, self-position estimation section 222 estimates self-position information 34 of PMV 100 using map information 231 and sensor information 31 of PMVs other than PMV 100.

[0076] ***Explanation of the Effects of the Present Embodiment*** FIG. 11 is a diagram showing an example of the effect of group control section 240 according to this embodiment. When multiple PMVs are traveling in a platoon, this is advantageous for group control because the relative positions of other PMVs can be clearly determined not only from position information but also from the sensor information of each PMV. For example, when traveling in a file at equal intervals, simple autonomous control requires that the position of each PMV be determined only from the position of the PMV, and since they are usually equipped with only a single-frequency receiver (meaning that the position accuracy is vague), the spacing is not accurate. In contrast, with the mobile object control system according to this embodiment, sensor information from each PMV is stored in the server device, so the distance to the vehicle in front and the distance to the following vehicle can be accurately determined. This allows the vehicles to form a file at more accurate equal intervals.

[0077] FIG. 12 is a diagram showing another example of the effect of group control section 240 according to the present embodiment. FIG. 12 shows a case where an unexpected obstruction occurs when vehicles are traveling in a line. In the mobile object control system according to this embodiment, the server device has sensor information for each PMV. Therefore, even in the case shown in Fig. 12, the server device can determine that only PMV C can pass through based on the shielding conditions of PMVs A through E, and that two PMVs can pass in a row, making it easier to plan a driving plan and control for efficient passage.

[0078] The effects of the mobile object control system according to this embodiment will be further described below.

[0079] When creating a map of an unknown location, in the case of individual control, sensor information is not sent, so it is necessary to prepare a special mode, etc. With the mobile object control system according to the present embodiment, there is no need to prepare a special mode, and multiple PMVs can be efficiently controlled to create an overall map more quickly.

[0080] When performing group control of PMVs, if some of the sensors on one PMV fail, the missing sensor can be compensated for by placing other PMVs before and after the failed PMV.

[0081] If the PMV is equipped with a camera, video information can also be obtained, and the video information of the location where each PMV is located can be used. The mobile object control system according to this embodiment can be used to grasp the situation or as a surveillance camera. Also, if a sensor such as a temperature or illuminance sensor is equipped, the current situation of each location can be grasped. For example, in the event of an accident or fire, if the situation needs to be known more quickly, a PMV can be moved to the location, even without a human, to gather information.

[0082] In the above first and second embodiments, each unit of the PMV and the server device in the mobile object control system has been described as an independent functional block. However, the configuration of each device in the mobile object control system does not have to be as in the above-mentioned embodiments. The functional blocks of each device in the mobile object control system may have any configuration as long as they can realize the functions described in the above-mentioned embodiments. In addition, it is possible to combine a plurality of parts of the first and second embodiments. Alternatively, it is possible to implement only one part of these embodiments. In addition, it is possible to implement any combination of these embodiments, either as a whole or in part. That is, in the first and second embodiments, the embodiments can be freely combined, any of the components in each embodiment can be modified, or any of the components in each embodiment can be omitted.

[0083] It should be noted that the above-described embodiment is essentially a preferred example, and is not intended to limit the scope of the present disclosure, the scope of application of the present disclosure, and the scope of use of the present disclosure. The above-described embodiment can be modified in various ways as necessary. [Explanation of symbols]

[0084] 10 Mobile object, 31 Sensor information, 32 Control information, 33 Surrounding recognition information, 34 Self-location information, 35 Path, 100 PMV, 111 Emergency control unit, 160 Sensor equipment, 170 Locator, 180 Power supply unit, 190 Vehicle unit, 200 Server device, 210 Management unit, 220 Vehicle control unit, 221 Surrounding recognition unit, 222 Self-location estimation unit, 223 Route determination unit, 224 Route following unit, 240 Group control unit, 230 Memory unit, 231 Map information, 232 PMV database, 500 Mobile object control system, 909 Electronic circuit, 110,910 Processor, 141,921 Memory, 142,922 Auxiliary storage device, 120,930 Input interface, 130,940 Output interface, 150,950 Communication device.

Claims

1. A mobile object control system includes a mobile object that automatically drives a travel route at a low speed, and a server device that communicates with the mobile object via a network, and the server device controls the automatic driving of the mobile object, The moving body is A sensor device that senses a situation around the moving object and transmits sensor information obtained by the sensing to the server device; a vehicle unit that drives the moving body; Equipped with The server device includes: A storage unit that stores map information used for autonomous driving; a vehicle control unit that generates control information for controlling a speed and a steering angle of the vehicle unit of the mobile body so that the mobile body automatically drives along the travel route based on the map information and the sensor information transmitted from the mobile body, and transmits the control information to the mobile body; Equipped with The vehicle section includes: The speed and the steering angle are controlled in accordance with the control information transmitted from the server device, The vehicle control unit includes: a self-location estimation unit that estimates self-location information including a position of the moving object and a direction in which the moving object is facing based on the map information and the sensor information; The moving body is a plurality of moving bodies, The server device includes: A mobile object control system comprising a group control unit that performs group control to control the multiple moving objects as a group based on self-location information estimated for each moving object of the multiple moving objects and sensor information obtained from each moving object of the multiple moving objects.

2. A mobile object control system comprising a mobile object that automatically drives a travel route at a low speed and a server device that communicates with the mobile object via a network, the server device controlling the automatic driving of the mobile object, The moving body is A sensor device that senses a situation around the moving object and transmits sensor information obtained by the sensing to the server device; a vehicle unit that drives the moving body; Equipped with The server device includes: A storage unit that stores map information used for autonomous driving; a vehicle control unit that generates control information for controlling a speed and a steering angle of the vehicle unit of the mobile body so that the mobile body automatically drives along the travel route based on the map information and the sensor information transmitted from the mobile body, and transmits the control information to the mobile body; Equipped with The vehicle section includes: The speed and the steering angle are controlled in accordance with the control information transmitted from the server device, The vehicle control unit includes: a self-location estimation unit that estimates self-location information including a position of the moving object and a direction in which the moving object is facing based on the map information and the sensor information; The moving body is a plurality of moving bodies, The self-location estimation unit is A mobile object control system that, when estimating the self-location information of one of the multiple moving objects, estimates the self-location information of the one moving object using the map information and sensor information of moving objects other than the one moving object.

3. The moving body is The mobile body control system according to claim 1 or claim 2, further comprising an emergency control unit that acquires the relative positions of surrounding objects or the state of the mobile body based on the sensor information, and causes the vehicle unit to perform emergency operations based on the relative positions of the surrounding objects or the state of the mobile body.

4. The vehicle control unit includes: A surrounding recognition unit that generates surrounding recognition information for recognizing the surroundings based on the sensor information, The self-location estimation unit is 3. The mobile object control system according to claim 1, wherein the self-location information is estimated based on the surrounding recognition information, the map information, and the sensor information.

5. The vehicle control unit includes: a route determination unit that generates a path indicating a motion plan of the moving object on the travel route based on the map information, the self-location information, and the surrounding recognition information; a path following unit that generates the control information including a speed control for controlling a speed of the moving body and a direction control for controlling a steering angle of the moving body based on the path and the self-position information; The mobile object control system according to claim 4 .

6. 3. The mobile object control system according to claim 1, wherein the mobile object is a PMV (Personal Mobility Vehicle) or an AMR (Autonomous Mobile Robot).

7. A server device that communicates with a moving object that is automatically driven at a low speed along a travel route via a network, the server device controlling the automatic driving of the moving object, A storage unit that stores map information used for autonomous driving; a vehicle control unit that generates control information for controlling a speed and a steering angle of a vehicle unit that drives the moving body so that the moving body automatically drives along the travel route, based on the map information and sensor information obtained by sensing a situation around the moving body using a sensor device provided in the moving body and transmitted from the moving body, and transmits the control information to the moving body; Equipped with The vehicle control unit includes: a self-location estimation unit that estimates self-location information including a position of the moving object and a direction in which the moving object is facing based on the map information and the sensor information; The moving body is a plurality of moving bodies, The server device includes: A server device comprising a group control unit that performs group control to control the plurality of moving bodies as a group based on self-location information estimated for each of the plurality of moving bodies and sensor information obtained from each of the plurality of moving bodies.

8. A mobile object control method for use in a mobile object control system including a mobile object that automatically drives a travel route at a low speed and a server device that communicates with the mobile object via a network, the server device controlling the automatic driving of the mobile object, the mobile object senses a situation around the mobile object and transmits sensor information obtained by the sensing to the server device; the server device generates control information for controlling a speed and a steering angle of a vehicle part that drives the moving body so that the moving body automatically drives along the driving route, based on map information used for automatic driving and the sensor information transmitted from the moving body, and transmits the control information to the moving body; The speed and steering angle of the moving body are controlled in accordance with the control information transmitted from the server device, the server device estimates self-location information including a position of the moving object and a direction in which the moving object is facing, based on the map information and the sensor information; The moving body is a plurality of moving bodies, A mobile object control method in which the server device performs group control to control the multiple moving objects as a group based on self-location information estimated for each of the multiple moving objects and sensor information obtained from each of the multiple moving objects.

9. A server device that communicates with a moving object that is automatically driven at a low speed along a travel route via a network, the server device controlling the automatic driving of the moving object includes a moving object control program, The server device includes a storage unit that stores map information used for autonomous driving, a vehicle control program that causes a server device, which is a computer, to execute a vehicle control process that generates control information for controlling a speed and a steering angle of a vehicle unit that drives the moving body so that the moving body automatically drives along the travel route, based on the map information and sensor information obtained by sensing a situation around the moving body using a sensor device equipped in the moving body and transmitted from the moving body, and transmits the control information to the moving body, The vehicle control process includes: a self-location estimation process for estimating self-location information including a position of the moving object and a direction in which the moving object is facing based on the map information and the sensor information; The moving body is a plurality of moving bodies, The moving object control program includes: A mobile object control program that causes the server device to execute a group control process that performs group control to control the multiple moving objects as a group based on self-location information estimated for each moving object of the multiple moving objects and sensor information obtained from each moving object of the multiple moving objects.

10. A server device that communicates with a moving object that is automatically driven at a low speed along a travel route via a network, the server device controlling the automatic driving of the moving object, A storage unit that stores map information used for autonomous driving; a vehicle control unit that generates control information for controlling a speed and a steering angle of a vehicle unit that drives the moving body so that the moving body automatically drives along the travel route, based on the map information and sensor information obtained by sensing a situation around the moving body using a sensor device provided in the moving body and transmitted from the moving body, and transmits the control information to the moving body; Equipped with The vehicle control unit includes: a self-location estimation unit that estimates self-location information including a position of the moving object and a direction in which the moving object is facing based on the map information and the sensor information; The moving body is a plurality of moving bodies, The self-location estimation unit is A server device that, when estimating self-location information of one of the multiple moving bodies, estimates the self-location information of the one moving body using the map information and sensor information of moving bodies other than the one moving body.

11. A mobile object control method for use in a mobile object control system comprising a mobile object that automatically drives a travel route at a low speed and a server device that communicates with the mobile object via a network, the server device controlling the automatic driving of the mobile object, the mobile object senses a situation around the mobile object and transmits sensor information obtained by the sensing to the server device; the server device generates control information for controlling a speed and a steering angle of a vehicle part that drives the moving body so that the moving body automatically drives along the driving route, based on map information used for automatic driving and the sensor information transmitted from the moving body, and transmits the control information to the moving body; The speed and steering angle of the moving body are controlled in accordance with the control information transmitted from the server device, the server device estimates self-location information including a position of the moving object and a direction in which the moving object is facing, based on the map information and the sensor information; The moving body is a plurality of moving bodies, A mobile body control method in which, when estimating self-location information of one of the multiple moving bodies, the server device estimates the self-location information of the one moving body using the map information and sensor information of moving bodies other than the one moving body.

12. A server device that communicates with a mobile object that is automatically driven at a low speed along a travel route via a network, the server device controlling the automatic driving of the mobile object includes a mobile object control program, The server device includes a storage unit that stores map information used for autonomous driving, a vehicle control program that causes a server device, which is a computer, to execute a vehicle control process that generates control information for controlling a speed and a steering angle of a vehicle unit that drives the moving body so that the moving body automatically drives along the travel route, based on the map information and sensor information obtained by sensing a situation around the moving body using a sensor device equipped in the moving body and transmitted from the moving body, and transmits the control information to the moving body, The vehicle control process includes: a self-location estimation process for estimating self-location information including a position of the moving object and a direction in which the moving object is facing based on the map information and the sensor information; The moving body is a plurality of moving bodies, The self-location estimation process includes: A mobile object control program that, when estimating self-location information of one of the multiple mobile objects, estimates the self-location information of the one mobile object using the map information and sensor information of mobile objects other than the one mobile object.

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