CONTROL DEVICE, CONTROL METHOD, STORAGE MEDIUM, AND CONTROL SYSTEM

Abstract

This control device comprises: a recognition unit that recognizes the environment surrounding a mobile body; a diagnostic unit that, on the basis of the recognition results according to the recognition unit, diagnoses the strength of electromagnetic waves projected to the mobile body; and a route planning unit that determines a movement route for the mobile body, on the basis of the diagnosis results according to the diagnostic unit.

Description

[Technical field]

[0001] The present disclosure relates to a control device, a control method, a storage medium, and a control system. [Background technology]

[0002] When exposed to strong electromagnetic waves such as jamming radio waves, the control device may malfunction due to noise generated. Therefore, by surrounding the target object with a metal plate or other material called a shield that blocks electromagnetic waves, the control device can prevent noise generation and malfunction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-092418 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, from the viewpoint of fail-safe, it is necessary to consider the case where the shield cannot completely block electromagnetic waves. Thus, there is a demand for technology that can perform appropriate processing even when irradiated with electromagnetic waves.

[0005] Therefore, the present disclosure proposes a control device, a control method, a storage medium, and a control system that are capable of executing appropriate control even when irradiated with strong electromagnetic waves. [Means for solving the problem]

[0006] According to the present disclosure, the control device includes a recognition unit that recognizes the environment around a moving body, a diagnosis unit that diagnoses the intensity of electromagnetic waves irradiated to the moving body based on the recognition result by the recognition unit, and a route planning unit that determines a movement route of the moving body based on the diagnosis result by the diagnosis unit. [Brief description of the drawings]

[0007] [Figure 1] FIG. 2 is a top view illustrating an example of a schematic configuration example of a moving body according to a first embodiment of the present disclosure. [Diagram 2] 1 is a graph showing an example of electromagnetic wave characteristics of a moving body according to the present disclosure. [Diagram 3] 1 is a diagram illustrating a configuration example of a control system according to a first embodiment of the present disclosure. [Figure 4] 2 is a diagram illustrating a configuration example of a server device according to the first embodiment of the present disclosure. FIG. [Diagram 5] 5 is a flowchart showing an example of a route planning process executed by the control device according to the first embodiment of the present disclosure. [Figure 6] 5 is a flowchart showing an example of a traveling detection process executed by the control device according to the first embodiment of the present disclosure. [Figure 7] FIG. 2 is a diagram illustrating a configuration example of a control system according to a first modified example of the first embodiment of the present disclosure. [Figure 8] FIG. 11 is a diagram illustrating a configuration example of a control system according to a second modified example of the first embodiment of the present disclosure. [Figure 9] FIG. 11 is a diagram illustrating a configuration example of a control system according to a second embodiment of the present disclosure. [Figure 10] 10 is a flowchart illustrating an example of a failure detection process executed by a power receiving device according to a second embodiment of the present disclosure. [Figure 11] 10 is a flowchart showing an example of a fault notification process executed by a server device according to a second embodiment of the present disclosure. [Figure 12] FIG. 11 is a diagram illustrating a configuration example of a control system according to a second embodiment of the present disclosure. [Figure 13] FIG. 13 is a diagram illustrating an example of the configuration of an insurance premium calculation device according to a third embodiment of the present disclosure. [Figure 14] 13 is a flowchart showing an example of a calculation process executed by an insurance premium calculation device according to a third embodiment of the present disclosure. [Figure 15] 1 is a block diagram showing an example of a schematic configuration of a vehicle control system; [Figure 16]4 is an explanatory diagram showing an example of the installation positions of an outside-vehicle information detection unit and an imaging unit; FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the following embodiments, the same components are designated by the same reference numerals, and duplicated descriptions will be omitted.

[0009] Hereinafter, embodiments of the present disclosure will be described in the following order. 1. Description of the assignment 2. First embodiment 2-1. Configuration of the moving body according to the first embodiment 2-2. Electromagnetic wave characteristics of the moving body according to the first embodiment 2-3. Configuration of the control system according to the first embodiment 2-4. Route planning process according to the first embodiment 2-5. Travel detection process procedure according to the first embodiment 3. Modification 1 of the First Embodiment 3-1. Configuration of the control system according to the first modification of the first embodiment 4. Modification 2 of the First Embodiment 4-1. Configuration of the control system according to the second modification of the first embodiment 5. Second embodiment 5-1. Configuration of the control system according to the second embodiment 5-2. Fault detection process procedure according to the second embodiment 5-3. Fault notification process procedure according to the second embodiment 6. Modification 1 of the second embodiment 6-1. Configuration of control system according to modification 1 of the second embodiment 7. Third embodiment 7-1. Configuration of insurance premium calculation device according to the third embodiment 7-2. Calculation process procedure according to the third embodiment 8. Application Examples

[0010] (1. Description of the Project) When a vehicle operating in autonomous driving is exposed to strong electromagnetic waves such as jamming radio waves, the images used for autonomous driving may be corrupted or the recognition ECU (Electronic Control Unit) may malfunction, making it impossible to continue autonomous driving. Similarly, driving assistance systems such as ADAS (Advanced Driving Assistant System) may also be hindered.

[0011] Until now, electromagnetic wave countermeasures have been implemented by strengthening shielding that blocks electromagnetic waves. However, strengthening shielding increases costs. In addition, as vehicle systems become more complex, it is difficult to install complete shielding. Furthermore, when a wireless power supply system is implemented in a vehicle, conventional shielding may not be able to sufficiently block electromagnetic waves. Furthermore, it is conceivable that malicious individuals may irradiate a vehicle with electromagnetic waves in order to attack it.

[0012] Therefore, from the perspective of fail-safe, there is a demand for technology that transitions to the safe side when electromagnetic waves are irradiated.

[0013] 2. First Embodiment [2-1. Configuration of the moving body according to the first embodiment] FIG. 1 is a top view showing an example of a schematic configuration example of a moving body 1 according to a first embodiment of the present disclosure. The moving body 1 is a vehicle such as an automobile. The moving body 1 is an automated vehicle at any level of levels 0 to 5 defined by the Society of Automotive Engineers (SAE). That is, the moving body 1 may be a vehicle in which the moving body 1 at level 3 autonomously controls the traveling and a driver riding the moving body 1 can operate it as necessary. That is, the moving body 1 may be a vehicle provided with a driving assistance system such as ADAS. The moving body 1 may be a highly automated vehicle at level 4 or higher that does not require a driver to ride, or a vehicle at level 2 or lower.

[0014] The moving object 1 is equipped with one or more antennas 142. The antennas 142 are used to receive electromagnetic waves irradiated to the moving object 1. Then, an electric signal output from the antenna 142 that has received the electromagnetic waves is used to diagnose the strength of the electromagnetic waves. The antennas 142 have characteristics that match the electromagnetic wave characteristics of the moving object 1. That is, the antennas 142 are selected according to the frequency of the measurement target, the type of electric field or magnetic field, etc., which are determined according to the electromagnetic wave characteristics of the moving object 1. Furthermore, the antennas 142 may be configured by combining multiple types of antennas 142.

[0015] The moving body 1 shown in FIG. 1 has one antenna 142 installed at each of five locations: the front, rear, right side, left side, and ceiling. However, the moving body 1 does not need to have antennas 142 at all of these locations, and may have antennas 142 at locations other than these. For example, if the moving body 1 has sufficient resistance to electromagnetic waves from a specific direction, the moving body 1 may not need to have an antenna 142 that receives electromagnetic waves from the corresponding direction. In addition, if there is a possibility that electromagnetic waves will be irradiated from the ground due to wireless power supply, the moving body 1 may have an antenna 142 on the bottom surface. Furthermore, the moving body 1 may have six or more antennas 142, not limited to five, or may have four or fewer antennas 142.

[0016] Furthermore, the electromagnetic wave intensity that the mobile body 1 tolerates is set for each type of mobile body 1, such as the model of the mobile body 1. The electromagnetic wave intensity that the mobile body 1 tolerates can be measured by conducting a limit test of electromagnetic wave irradiation at an EMC (Electro Magnetic Compatibility) test site.

[0017] [2-2. Electromagnetic wave characteristics of the moving body according to the first embodiment] Here, FIG. 2 is a graph showing an example of the electromagnetic wave characteristics of the mobile body 1. In the graph shown in FIG. 2, the vertical axis indicates the allowable strength of the mobile body 1, and the horizontal axis indicates the frequency. The allowable strength is expressed in dBV / m when the target is an electric field, and in dBA / m when the target is a magnetic field. In this way, the graph shown in FIG. 2 shows the allowable strength for each frequency of the mobile body 1. As shown in FIG. 2, the allowable strength has a limit value, a first threshold value that is lower than the limit value, and a second threshold value that is lower than the first threshold value. The limit value is the upper limit of the allowable strength of the mobile body 1. The first threshold value is a value between the limit value and the second threshold value in the allowable strength of the mobile body 1. The second threshold value is a value that is a starting point for exiting an area that is determined to be an area with high electromagnetic wave strength.

[0018] If the permissible strength is lower than the limit value, the moving body 1 will not be unable to operate autonomously. However, if the strength is at the limit value, the moving body 1 may execute unexpected processing, such as suddenly stopping. Therefore, in order to prevent unexpected processing, the moving body 1 stops in a safe place when it is irradiated with electromagnetic waves that are equal to or greater than the first threshold value. Also, if the strength is equal to or greater than the second threshold value, the moving body 1 executes processing to shift to the safe side. In other words, the second threshold value shown in FIG. 2 is a threshold value that determines that the electromagnetic waves are abnormal and may have a negative effect on the moving body 1.

[0019] [2-3. Configuration of the control system according to the first embodiment] 3 is a diagram illustrating a configuration example of a control system 10 according to the first embodiment of the present disclosure. The control system 10 is a system that controls the traveling of a moving object 1. The control system 10 includes a brake 111, a steering wheel 112, an accelerator 113, a LiDAR (Light Detection and Ranging) 121, a radar 122, a camera 123, a monitor 131, a speaker 132, a receiver 141, an antenna 142, and a control device 100.

[0020] The brake 111 stops the moving body 1 based on the control of the control device 100. The steering wheel 112 changes the traveling direction of the moving body 1 based on the control of the control device 100. The accelerator 113 accelerates the moving body 1 based on the control of the control device 100.

[0021] The LiDAR 121 irradiates a target object with a laser beam while scanning it, and measures the distance to the target object and identifies the properties of the target object by observing the scattered and reflected light. The LiDAR 121 then outputs LiDAR information indicating the observation result to the control device 100.

[0022] The radar 122 irradiates an object with radio waves and observes the reflection to obtain information such as the distance to the object. Then, the radar 122 outputs radar information indicating the observation result to the control device 100.

[0023] The camera 123 captures an image of the imaging area. Then, the camera 123 outputs the captured image information to the control device 100.

[0024] The monitor 131 is a display device that displays image information output from the control device 100. The speaker 132 is an output device that outputs audio information output from the control device 100.

[0025] The receiver 141 is connected to an antenna 142 that receives electromagnetic waves. The antenna 142 is a device that generates an electrical signal when irradiated with electromagnetic waves. The receiver 141 outputs an electrical signal indicative of the electromagnetic waves received by the antenna 142 to the control device 100. This electrical signal is then used to diagnose the strength of the electromagnetic waves.

[0026] The control device 100 controls the control system 10. The control device 100 includes a storage unit 1100, an antenna 1200, and a control unit 1300.

[0027] The storage unit 1100 is a storage device capable of reading and writing data, such as a dynamic random access memory (DRAM), a static random access memory (SRAM), a flash memory, or a hard disk. The storage unit 1100 functions as a storage medium for the control device 100. The storage unit 1100 stores, for example, a control program 1101. The control program 1101 is a program for causing a computer or the like to execute various functions possessed by the control device 100.

[0028] The antenna 1200 is a device that transmits and receives electromagnetic waves. The antenna 1200 communicates with the server device 200.

[0029] The control unit 1300 is a controller that controls each unit of the control device 100. The control unit 1300 is realized by a processor such as a central processing unit (CPU) or a micro processing unit (MPU). For example, the control unit 1300 is realized by a processor executing various programs such as a control program 1101 stored in a storage device such as the storage unit 1100 using a random access memory (RAM) or the like as a working area. Note that the control unit 1300 may be realized in whole or in part by an integrated circuit such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA). The CPU, MPU, ASIC, and FPGA can all be regarded as controllers.

[0030] The control unit 1300 includes a driver detection unit 1001 , a position information acquisition unit 1002 , a communication unit 1003 , a recognition unit 1004 , a diagnosis unit 1005 , a route planning unit 1006 , a driving control unit 1007 , and a notification unit 1008 .

[0031] The driver detection unit 1001 determines whether or not there is a driver capable of driving the moving object 1. For example, when the driver detection unit 1001 is able to read a pre-set driver's license, it determines that there is a driver capable of driving the moving object 1. Alternatively, when the driver detection unit 1001 does not detect alcohol in the breath of a passenger in the driver's seat, it determines that there is a driver capable of driving the moving object 1. Note that the driver detection unit 1001 may determine whether or not there is a driver capable of driving the moving object 1 by other methods, not limited to these determination methods.

[0032] The location information acquisition unit 1002 receives location information indicating the current location of the mobile object 1 from a system that measures the current location of the mobile object 1, such as a Global Navigation Satellite System (GNSS). The location information acquisition unit 1002 may acquire location information from other systems, not limited to the GNSS.

[0033] The communication unit 1003 communicates with the server device 200 (see FIG. 4) and other vehicles via the antenna 1200. For example, the communication unit 1003 receives map information indicating a map used in a car navigation system. The map information includes information indicating roads on which the mobile object 1 can travel and parking areas such as parking lots and roadsides where the mobile object 1 can be parked.

[0034] The communication unit 1003 also receives travel-allowed information indicating travel-allowed areas in which the moving body 1 can travel. Furthermore, the communication unit 1003 receives travel-prohibited information indicating travel-prohibited areas in which the moving body 1 is prohibited from traveling. The travel-prohibited information includes central electromagnetic wave information and outer edge electromagnetic wave information.

[0035] The central electromagnetic wave information is information that indicates the electromagnetic wave characteristics of the central point of the no-driving area. The central electromagnetic wave information has electromagnetic wave characteristic information, coordinate information, and date and time information. The electromagnetic wave characteristic information is information that indicates the electromagnetic wave intensity for each frequency, as shown in the graph in Figure 2. The coordinate information is information that indicates the coordinates of the central point of the no-driving area. The date and time information is information that indicates the date and time when the electromagnetic wave intensity for each frequency was measured.

[0036] The outer edge electromagnetic wave information is information that indicates the electromagnetic wave characteristics of at least one point on the outer edge of the no-driving area. The outer edge electromagnetic wave information has electromagnetic wave characteristic information, coordinate information, and date and time information. The electromagnetic wave characteristic information is information that indicates the electromagnetic wave intensity for each frequency, as shown in the graph in FIG. 2. The coordinate information is information that indicates the coordinates of at least one point on the outer edge of the no-driving area. The date and time information is information that indicates the date and time when the electromagnetic wave intensity for each frequency was measured.

[0037] Here, the travelable information is used to calculate a travel route that the moving object 1 can travel. Also, the moving object 1 can travel if it is outside of a travel-prohibited area. Therefore, the communication unit 1003 may receive travel-prohibited information instead of the travelable information.

[0038] The recognition unit 1004 recognizes the environment around the moving object 1. More specifically, the recognition unit 1004 recognizes the environment around the moving object 1 based on LiDAR information, radar information, image information, and the like. However, the LiDAR information, radar information, and image information are damaged when the moving object 1 is irradiated with electromagnetic waves exceeding the limit value for each frequency shown in FIG. 2. Therefore, when the moving object 1 is irradiated with electromagnetic waves exceeding the limit value, the recognition unit 1004 cannot normally recognize the environment around the moving object 1.

[0039] The diagnosis unit 1005 diagnoses the intensity of the electromagnetic waves irradiated to the moving object 1 based on the recognition result by the recognition unit 1004. That is, the diagnosis unit 1005 diagnoses whether or not the electromagnetic waves are irradiated with an intensity that may cause the recognition unit 1004 to erroneously recognize the environment around the moving object 1. More specifically, the diagnosis unit 1005 diagnoses the intensity of the electromagnetic waves irradiated to the moving object 1 based on the electrical signal output from the receiver 141. The diagnosis unit 1005 diagnoses the intensity of the electromagnetic waves irradiated to the moving object 1 based on the electrical signal output from the antenna 1200. Specifically, the diagnosis unit 1005 diagnoses whether or not the electromagnetic waves having an intensity equal to or greater than a threshold are irradiated based on the allowable intensity for each frequency of the electromagnetic waves set for each type of the moving object 1, such as the model, as shown in the electromagnetic wave characteristics of FIG. 2. The electromagnetic waves having an intensity equal to or greater than a threshold are abnormal electromagnetic waves that adversely affect the moving object 1, such as the second threshold shown in FIG. 2.

[0040] Furthermore, the diagnosis unit 1005 stores the area in which the electromagnetic waves having an intensity equal to or greater than a threshold value are detected as a driving-prohibited area in the memory unit 1100 or the like. Note that the diagnosis unit 1005 may store the driving-prohibited area not only in the memory unit 1100 of its own device, but also in the memory unit 2200 of the server device 200 or the like. Specifically, the diagnosis unit 1005 stores driving-prohibited information having the frequency and intensity of the electromagnetic waves of the driving-prohibited area in the memory unit 1100 of its own device, the memory unit 2200 of the server device 200, or the like.

[0041] Here, even if the diagnosis unit 1005 determines that electromagnetic waves having an intensity equal to or greater than a threshold are irradiated, there is a possibility that the detection is erroneous due to a malfunction of the function for diagnosing electromagnetic waves, etc. Therefore, the diagnosis unit 1005 stores the area as a no-travel area in the memory unit 1100 of the own device, the memory unit 2200 of the server device 200, etc., based on the diagnosis result at the first location and the diagnosis result at the second location.

[0042] First, the diagnosis unit 1005 measures the intensity of the electromagnetic wave at the first location based on the electric signal output from the receiver 141. The diagnosis unit 1005 also stores the measured electromagnetic wave characteristic information, coordinate information indicating the first location, and date and time information indicating the date and time of measurement in the storage unit 1100 as central electromagnetic wave information. The diagnosis unit 1005 may cause the communication unit 1003 to transmit the central electromagnetic wave information, thereby storing the central electromagnetic wave information in the storage unit 2200 of the server device 200 or the like. Furthermore, the diagnosis unit 1005 may cause the communication unit 1003 to transmit the central electromagnetic wave information, thereby storing the central electromagnetic wave information in a storage device of the other vehicle or the like.

[0043] Furthermore, the diagnosis unit 1005 determines whether the intensity of the electromagnetic waves measured at the first point is equal to or greater than the second threshold shown in Fig. 2. When the diagnosis unit 1005 determines that electromagnetic waves of an intensity equal to or greater than the second threshold have been irradiated, it determines whether the intensity is less than a first threshold at which the control system 10 can continue to operate. That is, the diagnosis unit 1005 determines whether the intensity of the electromagnetic waves is less than the first threshold. When the intensity of the electromagnetic waves is equal to or greater than the first threshold, the diagnosis unit 1005 determines that the operation of the control system 10 cannot continue.

[0044] When the control system 10 can continue to operate, the moving object 1 travels to a second point. Here, the second point is a point where the strength of the electromagnetic waves is expected to be equal to or less than a first threshold. For example, the second point is a point where the strength of the electromagnetic waves in the vicinity is equal to or less than the first threshold, a point where the strength of the electromagnetic waves measured by another vehicle is equal to or less than the first threshold, or a point sufficiently distant from the first point.

[0045] Furthermore, the diagnosis unit 1005 diagnoses whether the intensity of the electromagnetic wave at the second point has improved based on the electric signal output from the receiver 141. That is, the diagnosis unit 1005 diagnoses whether the intensity of the electromagnetic wave at the second point is less than the intensity of the electromagnetic wave at the first point or less than a second threshold. When the diagnosis unit 1005 diagnoses that the intensity of the electromagnetic wave at the second point has improved, the diagnosis unit 1005 stores the measured electromagnetic wave characteristic information, the coordinate information indicating the second point, and the date and time information indicating the date and time of measurement as edge electromagnetic wave information in the storage unit 1100. The diagnosis unit 1005 may store the edge electromagnetic wave information in the storage unit 2200 of the server device 200 by causing the communication unit 1003 to transmit the edge electromagnetic wave information. Furthermore, the diagnosis unit 1005 may store the edge electromagnetic wave information in a storage unit of another vehicle by causing the communication unit 1003 to transmit the edge electromagnetic wave information.

[0046] On the other hand, when the diagnosis unit 1005 diagnoses that the electromagnetic wave intensity at the second point has not improved, it determines that the function of diagnosing the electromagnetic waves is malfunctioning. In other words, when the electromagnetic wave intensity at the second point has not decreased, the diagnosis unit 1005 determines that the function of diagnosing the electromagnetic waves is malfunctioning.

[0047] Furthermore, the diagnosis unit 1005 sets the travel-prohibited area to a circle with the first point as the center and the distance between the first point and the second point as the radius. That is, the diagnosis unit 1005 sets the area indicated by the center electromagnetic wave information and the outer edge electromagnetic wave information as the travel-prohibited area. Then, the diagnosis unit 1005 causes the communication unit 1003 to transmit travel-prohibited information having the center electromagnetic wave information and the outer edge electromagnetic wave information, thereby storing the travel-prohibited area in the storage unit 2200 of the server device 200 or the storage device of the other vehicle. In this way, when the diagnosis unit 1005 diagnoses that the moving object 1 is irradiated with electromagnetic waves having an intensity equal to or greater than the threshold value at the first point, and when the intensity of the electromagnetic waves irradiated to the moving object 1 is decreased at the second point where the intensity of the electromagnetic waves is expected to decrease, the diagnosis unit 1005 stores the travel-prohibited area as a travel-prohibited area in the storage unit 1100 of the own device, the storage unit 2200 of the server device 200, or the like. This allows the diagnosing unit 1005 to reduce the possibility of registering a no-travel area based on an erroneous diagnosis result.

[0048] The route planning unit 1006 determines a travel route for the moving object 1 based on the diagnosis result by the diagnosis unit 1005. That is, the route planning unit 1006 acquires a travel route by which the moving object 1 can travel to the destination without passing through a travel-prohibited area. More specifically, the route planning unit 1006 acquires a travel route by which the moving object 1 can travel from the current position indicated by the position information to the destination without passing through a travel-prohibited area, based on the map information. Furthermore, when a travel-prohibited area is set by the diagnosis unit 1005, the route planning unit 1006 acquires a travel route by which the moving object 1 can travel from the second point to the destination without passing through the travel-prohibited area.

[0049] Here, in the case of manual driving, the driver recognizes the environment around the moving object 1. Therefore, there is no problem even if the recognition unit 1004 cannot recognize the surrounding environment due to electromagnetic waves having an intensity equal to or greater than a threshold value. Therefore, when it is not possible to obtain a travel route that can be used to reach the destination without passing through a prohibited driving area, the route planning unit 1006 determines whether or not it is possible to obtain a travel route that can be used to reach the destination if the moving object 1 is driven manually. In other words, the route planning unit 1006 determines whether or not it is possible to obtain a travel route that can be used to reach the destination if it is acceptable to pass through a prohibited driving area.

[0050] When it is possible to acquire a travel route to the destination if it is acceptable to pass through the prohibited areas, the route planning unit 1006 determines whether or not a driver capable of driving the moving body 1 has been detected by the driver detection unit 1001. When the driver detection unit 1001 detects a driver capable of driving the moving body 1, the route planning unit 1006 acquires a travel route to the destination passing through the prohibited areas.

[0051] Furthermore, when the moving body 1 cannot move to the destination even after passing through a no-travel area, or when the driver detection unit 1001 does not detect a driver capable of driving the moving body 1, the route planning unit 1006 acquires a moving route to a parking area indicated in the map information. In other words, since the moving body 1 cannot move to the destination, the route planning unit 1006 parks the moving body 1 in a safe place.

[0052] The traveling control unit 1007 controls traveling of the moving object 1 along the travel route acquired by the route planning unit 1006, based on the external environment of the moving object 1 recognized by the recognition unit 1004. More specifically, the traveling control unit 1007 controls the brake 111, the steering wheel 112, and the accelerator 113 in accordance with the external environment of the moving object 1 recognized by the recognition unit 1004 during traveling along the travel route acquired by the route planning unit 1006.

[0053] Moreover, the traveling control unit 1007 changes the level of autonomous driving when the diagnosis unit 1005 diagnoses that the moving object 1 is irradiated with electromagnetic waves having an intensity equal to or greater than the threshold. Here, when the diagnosis unit 1005 diagnoses that the moving object 1 is irradiated with electromagnetic waves having an intensity equal to or greater than the threshold, the route planning unit 1006 determines whether or not the moving object 1 can move to the destination without passing through the driving-prohibited area. Furthermore, when the moving object 1 cannot move to the destination without passing through the driving-prohibited area, the route planning unit 1006 determines whether or not the moving object 1 can move to the destination if the moving object 1 is manually driven. When the moving object 1 is manually driven and can move to the destination, the traveling control unit 1007 changes the level of autonomous driving defined by the SAE. For example, the traveling control unit 1007 changes the level from level 5 or 4, or from level 3 to 1. Furthermore, the traveling control unit 1007 may switch to autonomous driving when the moving object 1 has passed through the driving-prohibited area. Therefore, the traveling control unit 1007 may change the level of autonomous driving when the moving object 1 has passed through the driving-prohibited area. For example, the driving control unit 1007 changes the level from any of levels 3 to 1 to level 5 or 4.

[0054] The notification unit 1008 controls the monitor 131 and the speaker 132 to notify the passenger of the moving object 1 of various information. That is, the notification unit 1008 notifies the passenger of the moving object 1 by outputting a sound indicating the notification content to the speaker 132 or displaying a screen having the notification content on the monitor 131. For example, the notification unit 1008 notifies that the moving object 1 is to be stopped or parked because electromagnetic waves equal to or greater than a first threshold have been irradiated. Alternatively, the notification unit 1008 notifies that a function for diagnosing electromagnetic waves may be broken if the strength of the electromagnetic waves does not improve at the second point. Alternatively, the notification unit 1008 notifies that the moving object 1 cannot travel to the destination without passing through a no-travel area, and therefore that the moving object 1 is to be switched to manual driving or that the moving object 1 is to be stopped or parked. Alternatively, the notification unit 1008 notifies that a handover is to be performed in which a base station with which the communication unit 1003 is to communicate is switched.

[0055] 4 is a diagram illustrating an example of a configuration of the server device 200 according to the first embodiment of the present disclosure. The server device 200 includes an antenna 2100, a storage unit 2200, and a control unit 2300.

[0056] The antenna 2100 is a device that transmits and receives electromagnetic waves. The antenna 2100 communicates with the control device 100.

[0057] The storage unit 2200 is a storage device capable of reading and writing data, such as a DRAM, an SRAM, a flash memory, or a hard disk. The storage unit 2200 functions as a storage means of the server device 200. The storage unit 2200 stores, for example, programs, map information, and travelable information. The programs are programs for causing a computer or the like to execute various functions of the server device 200.

[0058] The control unit 2300 is a controller that controls each unit of the server device 200. The control unit 2300 is realized by a processor such as a CPU or an MPU. For example, the control unit 2300 is realized by a processor executing various programs stored in a storage device such as the storage unit 2200 using a RAM or the like as a working area. Note that the control unit 2300 may be realized in whole or in part by an integrated circuit such as an ASIC or an FPGA. The CPU, MPU, ASIC, and FPGA can all be considered as controllers.

[0059] The control unit 2300 includes a communication unit 2001 and a data management unit 2002 .

[0060] The communication unit 2001 executes communication with the control device 100 of the moving object 1 via the antenna 2100. For example, the communication unit 2001 receives travel prohibition information from the control device 100. The communication unit 2001 also transmits map information to the control device 100. The communication unit 2001 also transmits travel permission information to the control device 100.

[0061] The data management unit 2002 manages the data stored in the storage unit 2200. More specifically, when the communication unit 2001 receives travel prohibition information, the data management unit 2002 stores the travel prohibition information in the storage unit 2200. Furthermore, when travel permitted information is requested, the data management unit 2002 sets an area that is not prohibited by the travel prohibition information as a travel permitted area.

[0062] Furthermore, the data management unit 2002 may set a travelable area according to the electromagnetic wave characteristics of the mobile body 1 that is the requester of the travelable information. Specifically, the data management unit 2002 identifies an area where the intensity of the irradiated electromagnetic waves is less than a second threshold for the requester of the mobile body 1 based on the travel prohibition information. The data management unit 2002 sets the identified area as the travelable area. Then, the data management unit 2002 causes the communication unit 2001 to transmit travelable information indicating the set travelable area.

[0063] [2-4. Route planning process according to the first embodiment] FIG. 5 is a flowchart showing an example of a route planning process executed by the control device 100 according to the first embodiment of the present disclosure.

[0064] The route planning unit 1006 receives an input specifying a destination (step S1).

[0065] The communication unit 2001 receives information used for navigation (step S2). More specifically, the location information acquisition unit 1002 receives location information indicating the current location. The communication unit 2001 also receives map information and travelable information indicating a travelable area.

[0066] The route planning unit 1006 determines whether the moving object 1 can reach the destination by traveling by automatic driving (step S3). Specifically, the route planning unit 1006 determines whether a travel route that can reach the destination by traveling through a travel-permitted area has been acquired. In other words, the route planning unit 1006 determines whether a travel route that can reach the destination without passing through a travel-prohibited area has been acquired.

[0067] When the moving object 1 can reach the destination by autonomous driving (step S3; Yes), the traveling control unit 1007 starts autonomous driving to cause the moving object 1 to travel to the destination (step S4).

[0068] If the moving object 1 cannot reach the destination by automatic driving (step S3; No), the route planning unit 1006 determines whether the moving object 1 can reach the destination by driving manually (step S5). That is, the route planning unit 1006 determines whether a travel route that passes through a driving-prohibited area and can reach the destination has been acquired.

[0069] If the destination cannot be reached by manually driving the vehicle (step S5; No), the notification unit 1008 notifies the user that there is no travel route that can reach the destination (step S6).

[0070] When the destination can be reached by driving manually (step S5; Yes), the driver detection unit 1001 determines whether or not a driver capable of driving the moving object 1 has been detected (step S7).

[0071] When the driver is not detected (step S7; No), the notification unit 1008 notifies that the vehicle cannot travel because there is no driver (step S8).

[0072] When a driver is detected (step S7; Yes), the notification unit 1008 notifies the user that navigation by manual driving will be started (step S9).

[0073] With the above, the control device 100 ends the route planning process.

[0074] [2-5. Travel detection processing procedure according to the first embodiment] FIG. 6 is a flowchart showing an example of a travel detection process executed by the control device 100 according to the first embodiment of the present disclosure.

[0075] The diagnosis unit 1005 diagnoses the intensity of the electromagnetic wave received by the antenna 1200 (step S11). That is, the diagnosis unit 1005 measures the intensity of the electromagnetic wave irradiated to the moving object 1.

[0076] The diagnosis unit 1005 determines whether the intensity of the diagnosed electromagnetic wave is equal to or greater than the second threshold (step S12). If the intensity of the electromagnetic wave is less than the second threshold (step S12; No), the diagnosis unit 1005 proceeds to step S11.

[0077] If the intensity of the electromagnetic wave is equal to or greater than the second threshold value (step S12; Yes), the diagnosis unit 1005 stores it as central electromagnetic wave information in the storage unit 1100 or the like (step S13).

[0078] The diagnosis unit 1005 determines whether or not the autonomous driving can be continued (step S14). That is, the diagnosis unit 1005 determines whether or not the intensity of the electromagnetic waves is less than the first threshold value.

[0079] If the automatic operation cannot be continued (step S14; No), the notification unit 1008 notifies the occurrence of a problem (step S18). More specifically, the notification unit 1008 notifies the driver that the automatic operation cannot be continued and that the vehicle will be stopped in a safe place. Furthermore, the communication unit 1003 notifies the driver to contact a service center or the like where a serviceman who performs maintenance and management is located.

[0080] When the automatic driving can be continued (step S14; Yes), the traveling control unit 1007 causes the moving object 1 to travel to a second point where the strength of the electromagnetic waves is predicted to be improved (step S15).

[0081] The diagnosis unit 1005 diagnoses the intensity of the electromagnetic wave received by the antenna 1200 (step S16). That is, the diagnosis unit 1005 measures the intensity of the electromagnetic wave irradiated to the moving object 1 at the second point.

[0082] The diagnostic unit 1005 determines whether the intensity of the electromagnetic waves has improved (step S17). That is, the diagnostic unit 1005 determines whether the diagnosed intensity of the electromagnetic waves is equal to or higher than the second threshold value.

[0083] If the strength of the electromagnetic waves has not improved (step S17; No), the notification unit 1008 notifies the occurrence of trouble in step S18. That is, if the strength of the electromagnetic waves is equal to or greater than the second threshold, the notification unit 1008 notifies the occurrence of trouble in step S18. Normally, the strength of the electromagnetic waves should improve at the second location, but the strength of the electromagnetic waves does not improve. Therefore, the notification unit 1008 notifies that there is a possibility that the control device 100 is malfunctioning.

[0084] If the intensity of the electromagnetic waves has improved (step S17; Yes), the diagnosis unit 1005 stores it in the storage unit 1100 as outer edge electromagnetic wave information (step S19). That is, if the intensity of the electromagnetic waves is less than the second threshold, the diagnosis unit 1005 stores it in the storage unit 1100 as outer edge electromagnetic wave information.

[0085] The diagnosis unit 1005 sets the area specified by the central electromagnetic wave information and the peripheral electromagnetic wave information as a no-travel area (step S20).

[0086] The communication unit 1003 stores the traveling prohibition information having the central electromagnetic wave information and the peripheral electromagnetic wave information in the storage unit 1100 or the like (step S21). Note that the diagnosis unit 1005 may store the traveling prohibition information in the storage unit 2200 or the like of the server device 200 by causing the communication unit 1003 to transmit the traveling prohibition information.

[0087] The route planning unit 1006 determines whether the destination is within the range of the driveable area (step S22). If the destination is within the range of the driveable area (step S22; Yes), the drive control unit 1007 resumes driving by autonomous driving (step S23). If the destination is not within the range of the driveable area (step S22; No), the control device 100 proceeds to step S24.

[0088] In step S24, the route planning unit 1006 determines whether or not the destination can be reached by manual driving (step S24).

[0089] If the destination can be reached by manual driving (step S24; Yes), the notification unit 1008 starts navigation of a travel route to the destination by manual driving (step S25).

[0090] If the destination cannot be reached even through manual driving (step S24; No), the notification unit 1008 notifies a message indicating that the vehicle cannot reach the destination (step S26).

[0091] With the above, the control device 100 ends the traveling detection process.

[0092] As described above, according to the control device 100 according to the first embodiment, the recognition unit 1004 recognizes the environment around the moving object 1 based on various information output from the LiDAR 121, the radar 122, or the camera 123. The diagnosis unit 1005 diagnoses whether or not the moving object 1 is irradiated with electromagnetic waves having an intensity equal to or greater than a threshold based on an electric signal output from the antenna 142. The route planning unit 1006 determines a moving route for the moving object 1 based on a diagnosis result by the diagnosis unit 1005. That is, the route planning unit 1006 determines a moving route that does not pass through a no-travel area, which is an area where the moving object 1 is irradiated with electromagnetic waves having an intensity equal to or greater than a threshold. This reduces the possibility that the control device 100 is irradiated with electromagnetic waves having an intensity equal to or greater than a threshold, such as jamming waves, and thus prevents a system stop.

[0093] (3. Modification 1 of the First Embodiment) [3-1. Configuration of the control system according to the first modification of the first embodiment] The control device 100a according to the first modification of the first embodiment diagnoses whether or not electromagnetic waves having an intensity equal to or greater than a threshold, such as jamming waves, are irradiated based on the ratio of errors to data in communication. Note that the same components as those in the first embodiment are given the same reference numerals and will not be described.

[0094] A harness is stretched all over the moving body 1. For example, measuring devices such as sensors and cameras are connected to a recognition ECU through the harness. The harness may generate noise when it is irradiated with electromagnetic waves having a strength equal to or greater than a threshold, such as jamming waves. When noise occurs, data transmitted through the harness may be corrupted. Therefore, the control device 100a diagnoses whether or not electromagnetic waves having a strength equal to or greater than a threshold, such as jamming waves, are irradiated based on the ratio of errors to data in communication through the harness.

[0095] 7 is a diagram showing a configuration example of a control system 10a according to a first modification of the first embodiment of the present disclosure. The control device 100a diagnoses whether or not an electromagnetic wave having an intensity equal to or greater than a threshold, such as a jamming wave, is being irradiated, based on a bit error rate (BER) indicating a ratio of errors to data in low voltage differential signaling (LVDS).

[0096] The control system 10a differs from the first embodiment in that it does not include an antenna 142 for receiving electromagnetic waves such as jamming radio waves. Also, the control unit 1300a differs from the first embodiment in that it includes a recognition diagnosis unit 1009.

[0097] The brake 111, the steering wheel 112, the accelerator 113, the LiDAR 121, the radar 122, the camera 123, the monitor 131, and the speaker 132 have the same functions as those in the first embodiment.

[0098] The LiDAR 121, the radar 122, and the camera 123 are connected to the recognition diagnosis unit 1009 by LVDS. More specifically, the LiDAR 121, the radar 122, and the camera 123 are connected to a Ser (Serializer) 151. The LiDAR 121, the radar 122, and the camera 123 transmit information such as LiDAR information, radar information, and image information to the Ser 151.

[0099] When the Ser 151 receives information from the LiDAR 121, the radar 122, and the camera 123, the Ser 151 serializes information such as the LiDAR information, the radar information, and the image information to convert it into serial data. Then, the Ser 151 outputs the serialized serial data and the test pattern data to the transmission path 152. The test pattern data is data for verification to verify whether or not an error has occurred in the LiDAR information, the radar information, and the image information.

[0100] The transmission line 152 is a harness such as a differential transmission line that transmits data in LVDS. The transmission line 152 is a device that generates an electric signal when irradiated with electromagnetic waves. That is, when irradiated with electromagnetic waves, the transmission line 152 generates noise. The noise may damage data passing through the transmission line 152.

[0101] The recognition diagnosis unit 1009 includes a Des (Deserializer) 153, a diagnosis unit 1005a, and a recognition unit 1004a.

[0102] Des153 receives the serialized serial data and the test pattern data via the transmission path 152. Based on the test pattern data, Des153 calculates a BER indicating a ratio of erroneous data to the received serial data. Furthermore, Des153 restores the serialized serial data to parallel data. As a result, Des153 acquires LiDAR information, radar information, and image information. Then, Des153 outputs BER information indicating a BER value to the diagnosis unit 1005a. Furthermore, Des153 outputs the LiDAR information, radar information, and image information to the recognition unit 1004a.

[0103] The diagnosis unit 1005a diagnoses the intensity of the electromagnetic waves irradiated to the mobile unit 1 based on the ratio of errors to data in communication. If the mobile unit 1 is irradiated with electromagnetic waves having an intensity equal to or greater than a threshold, such as jamming waves, noise will occur in the transmission path 152, etc., causing data corruption. Therefore, the diagnosis unit 1005a can estimate the intensity of the electromagnetic waves irradiated to the mobile unit 1 based on the BER value indicated by the BER information. That is, the diagnosis unit 1005a can diagnose whether or not electromagnetic waves having an intensity equal to or greater than a threshold are irradiated based on the ratio of errors to data in communication.

[0104] When the strength of the electromagnetic waves is estimated based on the BER information, the diagnosis unit 1005a cannot identify the frequency of the electromagnetic waves irradiated to the moving object 1 because the electromagnetic waves are not measured. However, when the error ratio indicated by the BER information is high, it is considered that a lot of data has been corrupted because the moving object 1 was irradiated with electromagnetic waves of a frequency to which the moving object 1 has low resistance. Therefore, based on the characteristics of the electromagnetic wave strength of the moving object 1, the diagnosis unit 1005a estimates that the moving object 1 is irradiated with electromagnetic waves of a frequency to which the moving object 1 has low resistance.

[0105] Furthermore, the diagnosis unit 1005a stores the BER information, the coordinate information, and the date and time information as central electromagnetic wave information in the storage unit 1100. Note that the diagnosis unit 1005a may store, instead of the BER information, electromagnetic wave characteristic information, coordinate information, and date and time information indicating that an electromagnetic wave of an estimated frequency has been irradiated with an estimated intensity in the storage unit 1100 as central electromagnetic wave information.

[0106] Similarly, the diagnosis unit 1005a stores the BER information, the coordinate information, and the date and time information as edge electromagnetic wave information in the storage unit 1100. Furthermore, the diagnosis unit 1005a may store, instead of the BER information, electromagnetic wave characteristic information, coordinate information, and date and time information indicating that an electromagnetic wave of an estimated frequency has been irradiated with an estimated intensity in the storage unit 1100 as edge electromagnetic wave information.

[0107] In addition, when there are multiple candidate frequencies, the diagnosis unit 1005a does not limit the frequency to any one of them. In other words, the diagnosis unit 1005a stores electromagnetic wave characteristic information indicating that the electromagnetic waves of each of the multiple candidate frequencies are irradiated with the estimated intensity. This allows another moving body 1 to use the travel prohibition information as a basis for determining whether to make the area a travel prohibition area.

[0108] The recognition unit 1004a has the same functions as in the first embodiment.

[0109] The driver detection unit 1001, the position information acquisition unit 1002, the communication unit 1003, the route planning unit 1006, the driving control unit 1007, and the notification unit 1008 have the same functions as those in the first embodiment.

[0110] The control device 100a executes the same route planning process as in the first embodiment.

[0111] The control device 100a executes the same travel detection process as in the first embodiment, except that the central electromagnetic wave information and the peripheral electromagnetic wave information include BER information or electromagnetic wave characteristic information.

[0112] As described above, according to the control device 100a according to the first modification of the first embodiment, the recognition unit 1004a recognizes the environment around the moving object 1 based on various information output from the LiDAR 121, the radar 122, or the camera 123. Furthermore, the diagnosis unit 1005a diagnoses the intensity of the electromagnetic wave irradiated to the moving object 1 based on the BER included in the BER information. In this way, the control device 100a can diagnose whether or not an electromagnetic wave having an intensity equal to or greater than a threshold is being irradiated, even without special hardware such as the antenna 142 of the first embodiment.

[0113] (4. Modification 2 of the First Embodiment) [4-1. Configuration of the control system according to the second modification of the first embodiment] The control device 100b according to the second modification of the first embodiment diagnoses whether or not electromagnetic waves having an intensity equal to or greater than a threshold, such as jamming waves, are irradiated based on a data loss rate in communication. Note that the same components as those in the first embodiment are given the same reference numerals and descriptions thereof are omitted.

[0114] 8 is a diagram showing a configuration example of a control system 10b according to a second modification of the first embodiment of the present disclosure. The control device 100b diagnoses whether or not electromagnetic waves having an intensity equal to or greater than a threshold, such as jamming waves, are irradiated based on a PLR (Packet Loss Rate) indicating a loss rate of packets having data to be transmitted in Ethernet (registered trademark) communications. That is, the control device 100b diagnoses whether or not electromagnetic waves having an intensity equal to or greater than a threshold are irradiated based on the packet loss rate.

[0115] The control system 10b differs from the first embodiment in that it does not include an antenna 142 for receiving electromagnetic waves such as jamming radio waves. Also, the control unit 1300b differs from the first embodiment in that it includes a recognition diagnosis unit 1009b.

[0116] The brake 111, the steering wheel 112, the accelerator 113, the LiDAR 121, the radar 122, the camera 123, the monitor 131, and the speaker 132 have the same functions as those in the first embodiment.

[0117] The LiDAR 121, the radar 122, and the camera 123 are connected to the recognition diagnosis unit 1009b by Ethernet (registered trademark) cables. More specifically, the LiDAR 121, the radar 122, and the camera 123 are connected to a PHY (Physical Layer) 161. The LiDAR 121, the radar 122, and the camera 123 transmit information such as LiDAR information, radar information, and image information to the PHY 161.

[0118] When the PHY 161 receives information such as LiDAR information, radar information, or image information, the PHY 161 outputs the information to the transmission path 162 on a packet-by-packet basis based on the Ethernet (registered trademark) standard.

[0119] The transmission path 162 is a harness such as a cable that transmits packets in Ethernet (registered trademark). The transmission path 162 is also a device that generates an electric signal when irradiated with electromagnetic waves. That is, when the transmission path 162 is irradiated with electromagnetic waves, noise is generated. Data passing through the transmission path 162 may be corrupted by the noise.

[0120] The recognition and diagnosis unit 1009b includes a PHY 163, a diagnosis unit 1005b, and a recognition unit 1004b.

[0121] The PHY 163 receives a packet via the transmission path 162. The PHY 163 outputs information such as LiDAR information, radar information, and image information contained in the received packet to the recognition unit 1004b. The PHY 163 also calculates a PLR indicating a data loss rate. The PHY 163 outputs PLR information indicating a PLR value to the recognition unit 1004b.

[0122] The recognition unit 1004b has the same functions as in the first embodiment, but differs from the first embodiment in that the recognition unit 1004b outputs PLR information to a diagnosis unit 1005b.

[0123] The diagnosis unit 1005b diagnoses the strength of the electromagnetic waves irradiated to the mobile unit 1 based on the data loss rate in communication. If the mobile unit 1 is irradiated with electromagnetic waves having a strength equal to or greater than a threshold, such as jamming waves, noise will be generated in the transmission path 162, etc., causing data corruption. In other words, packets will be lost. Therefore, the diagnosis unit 1005b can diagnose whether or not electromagnetic waves having a strength equal to or greater than a threshold are irradiated based on the PLR ​​value indicated by the PLR ​​information.

[0124] When estimating the electromagnetic wave intensity based on the PLR ​​information, the diagnosis unit 1005b cannot identify the frequency of the electromagnetic wave irradiated to the moving object 1 because the electromagnetic wave is not measured. When the packet loss rate indicated by the PLR ​​information is high, it is considered that many packets are lost because the moving object 1 was irradiated with electromagnetic waves of a frequency to which the moving object 1 has low resistance. Therefore, based on the electromagnetic wave intensity characteristics of the moving object 1, the diagnosis unit 1005b estimates that the moving object 1 is irradiated with electromagnetic waves of a frequency to which the moving object 1 has low resistance.

[0125] Furthermore, the diagnosis unit 1005b stores the PLR ​​information, the coordinate information, and the date and time information as central electromagnetic wave information in the storage unit 1100. Note that the diagnosis unit 1005b may store, instead of the PLR ​​information, electromagnetic wave characteristic information, coordinate information, and date and time information indicating that an electromagnetic wave of an estimated frequency has been irradiated with an estimated intensity in the storage unit 1100 as central electromagnetic wave information.

[0126] Similarly, the diagnosis unit 1005b stores the PLR ​​information, the coordinate information, and the date and time information as edge electromagnetic wave information in the storage unit 1100. Furthermore, the diagnosis unit 1005b may store, instead of the PLR ​​information, electromagnetic wave characteristic information, coordinate information, and date and time information indicating that an electromagnetic wave of an estimated frequency has been irradiated with an estimated intensity in the storage unit 1100 as edge electromagnetic wave information.

[0127] In addition, when there are multiple candidate frequencies, the diagnosis unit 1005b does not limit the frequency to any one of them. In other words, the diagnosis unit 1005b stores electromagnetic wave characteristic information indicating that the electromagnetic waves of each of the multiple candidate frequencies are irradiated with the estimated intensity. This allows another moving body 1 to use the travel prohibition information as a basis for determining whether to make the area a travel prohibition area.

[0128] The driver detection unit 1001, the position information acquisition unit 1002, the communication unit 1003, the route planning unit 1006, the driving control unit 1007, and the notification unit 1008 have the same functions as those in the first embodiment.

[0129] The control device 100b executes the same route planning process as in the first embodiment.

[0130] The control device 100b executes the same travel detection process as in the first embodiment, except that the central electromagnetic wave information and the peripheral electromagnetic wave information include PLR ​​information or electromagnetic wave characteristic information.

[0131] As described above, according to the control device 100b according to the second modification of the first embodiment, the recognition unit 1004b recognizes the environment around the moving object 1 based on various information output from the LiDAR 121, the radar 122, or the camera 123. Furthermore, the diagnosis unit 1005b diagnoses the intensity of the electromagnetic waves irradiated to the moving object 1 based on the PLR ​​included in the PLR ​​information. In this way, the control device 100b can diagnose whether or not electromagnetic waves having an intensity equal to or greater than a threshold are being irradiated, even without special hardware such as the antenna 142 of the first embodiment.

[0132] 5. Second Embodiment [5-1. Configuration of the control system according to the second embodiment] The control system 20 according to the second embodiment detects a failure of the device based on the intensity of the irradiated electromagnetic wave. Note that the same components as those in the first embodiment are given the same reference numerals and the description thereof will be omitted.

[0133] In the first embodiment, the possibility of being unable to recognize the surrounding environment is reduced by detecting electromagnetic waves having an intensity equal to or greater than a threshold, such as jamming radio waves. Here, a device that transmits electromagnetic waves may unintentionally transmit electromagnetic waves having an intensity equal to or greater than the threshold due to a malfunction. Therefore, the control system 20 detects a malfunction of the device that transmitted the electromagnetic waves by detecting electromagnetic waves having an intensity equal to or greater than the threshold.

[0134] 9 is a diagram illustrating a configuration example of a control system 20 according to a second embodiment of the present disclosure. The control system 20 is an example application to a wireless power supply system that performs wireless power supply to a vehicle such as an automobile. The control system 20 includes a power transmitting device 300, a power receiving device 400, and a server device 500.

[0135] The power transmitting device 300 is installed on the ground or the like, and transmits power wirelessly to a vehicle such as an automobile. The power transmitting device 300 includes a wireless charging pad 310, a power supply unit 320, an antenna 330, a storage unit 340, and a control unit 350.

[0136] Wireless charging pad 310 is a pad that generates a magnetic flux, such as a coil. Wireless charging pad 310 generates a magnetic flux using power from power supply unit 320 under the control of control unit 350. As a result, wireless charging pad 310 transmits power to power receiving device 400.

[0137] The power supply unit 320 is a power source for transmitting electric power wirelessly. The power supply unit 320 may be an external power source such as a commercial power source, or may be a battery.

[0138] The antenna 330 is a device that transmits and receives electromagnetic waves and communicates with the server device 500.

[0139] The storage unit 340 is a storage device capable of reading and writing data, such as a DRAM, an SRAM, a flash memory, a hard disk, etc. The storage unit 340 stores, for example, programs, map information, and travelable information. The programs are programs for causing a computer or the like to execute various functions of the server device 500.

[0140] The control unit 350 is a controller that controls each unit of the power transmitting device 300. The control unit 350 is realized by a processor such as a CPU or an MPU. For example, the control unit 350 is realized by a processor executing various programs stored in a storage device such as the storage unit 340 using a RAM or the like as a working area. Note that the control unit 350 may be realized in whole or in part by an integrated circuit such as an ASIC or an FPGA. The CPU, the MPU, the ASIC, and the FPGA can all be regarded as controllers.

[0141] The control unit 350 includes a communication unit 3001 and a power transmission control unit 3002 .

[0142] The communication unit 3001 executes communication with the server device 500 via the antenna 330. For example, the communication unit 3001 transmits execution record information indicating a log of wireless power transmission. The execution record information includes location information, power transmission content information, and date and time information. The location information is information indicating the location where the power transmission device 300 is installed. Note that, if the server device 500 stores the location where the power transmission device 300 is installed, the execution record information may include identification information for identifying the power transmission device 300. The power transmission content information is information indicating the content of the wireless power transmission. For example, the power transmission content information includes information such as a power value, a voltage value, and a current value required for wireless power transmission. The date and time information is information indicating the date and time when wireless power transmission was performed.

[0143] The power transmission control unit 3002 controls wireless power transmission. When wireless power transmission is performed, the power transmission control unit 3002 generates execution record information. Then, the power transmission control unit 3002 causes the communication unit 3001 to transmit the execution record information.

[0144] The power receiving device 400 is installed in a vehicle such as an automobile, and receives power transmitted from the power transmitting device 300. The power receiving device 400 includes a wireless charging pad 410, a battery 420, an antenna 430, a receiver 440, an antenna 450, a storage unit 460, and a control unit 470.

[0145] The wireless charging pad 410 is a pad that receives power transmitted from the power transmitting device 300. More specifically, the wireless charging pad 410 is a pad such as a coil that generates power by a magnetic flux generated by the power transmitting device 300.

[0146] Battery 420 is a battery that stores power used by a vehicle such as an automobile. Battery 420 charges wireless charging pad 410 with the power received.

[0147] The antenna 430 is a device that generates an electric signal when irradiated with an electromagnetic wave. The antenna 430 receives the electromagnetic wave in order to measure the intensity of the electromagnetic wave generated by the magnetic flux generated by the power transmitting device 300.

[0148] The receiver 440 is connected to the antenna 450. The receiver 440 outputs to the diagnosis unit 4003 an electrical signal indicative of the electromagnetic wave received by the antenna 450.

[0149] The antenna 450 is a device that transmits and receives electromagnetic waves. The antenna 450 communicates with the server device 500.

[0150] The storage unit 460 is a storage device capable of reading and writing data, such as a DRAM, an SRAM, a flash memory, or a hard disk. The storage unit 460 stores, for example, a program, map information, and travelable information. The program is a program for causing a computer or the like to execute various functions of the power receiving device 400.

[0151] The control unit 470 is a controller that controls each unit of the power receiving device 400. The control unit 470 is realized by a processor such as a CPU or an MPU. For example, the control unit 470 is realized by a processor executing various programs stored in a storage device such as the storage unit 460 using a RAM or the like as a working area. Note that the control unit 470 may be realized in whole or in part by an integrated circuit such as an ASIC or an FPGA. The CPU, the MPU, the ASIC, and the FPGA can all be regarded as controllers.

[0152] The control unit 470 includes a position information acquisition unit 4001 , a power supply control unit 4002 , a diagnosis unit 4003 , and a communication unit 4004 .

[0153] The location information acquisition unit 4001 has the same function as the location information acquisition unit 1002 in the first embodiment.

[0154] Power supply control unit 4002 controls wireless charging. More specifically, when wireless charging pad 410 receives power, power supply control unit 4002 causes the received power to be charged to battery 420. Furthermore, when wireless charging pad 410 receives power, power supply control unit 4002 requests diagnosing unit 4003 to diagnose whether or not power transmitting device 300 is malfunctioning.

[0155] The diagnosing unit 4003 diagnoses whether or not the power transmitting device 300 is malfunctioning, based on a signal indicating the intensity of the electromagnetic wave output from the receiver 440. More specifically, the diagnosing unit 4003 determines whether or not the intensity of the electromagnetic wave is within a specified range. If the intensity of the electromagnetic wave is outside the range, the diagnosing unit 4003 determines that the power transmitting device 300 is malfunctioning. Furthermore, if the diagnosing unit 4003 determines that the power transmitting device 300 is malfunctioning, it generates malfunction detection information.

[0156] The fault detection information includes location information, intensity information, and date and time information. The location information is information indicating the location at which it is determined that the power transmitting device 300 is faulty. The intensity information is information indicating the intensity of the electromagnetic waves at which it is determined that the power transmitting device 300 is faulty. The date and time information is information indicating the date and time at which it is determined that the power transmitting device 300 is faulty. When the diagnosis unit 4003 generates the fault detection information, it notifies the power supply control unit 4002 that a fault has been detected.

[0157] The communication unit 4004 controls the antenna 450 to communicate with the server device 500. When the communication unit 4004 is notified by the power supply control unit 4002 that a failure has been detected, the communication unit 4004 transmits failure detection information to the server device 500.

[0158] When a failure in the wireless power supply system is detected, the server device 500 registers that maintenance is required for the failed part. The server device 500 includes an antenna 510, a storage unit 520, and a control unit 530.

[0159] The antenna 510 is a device that transmits and receives electromagnetic waves. The antenna 510 communicates with the power receiving device 400.

[0160] The storage unit 520 is a data readable / writable storage device such as a DRAM, an SRAM, a flash memory, a hard disk, etc. The storage unit 520 stores, for example, a program. The program is a program for causing a computer or the like to execute various functions of the server device 500.

[0161] The control unit 530 is a controller that controls each unit of the server device 500. The control unit 530 is realized by a processor such as a CPU or an MPU. For example, the control unit 530 is realized by a processor executing various programs stored in a storage device such as the storage unit 520 using a RAM or the like as a working area. Note that the control unit 530 may be realized in whole or in part by an integrated circuit such as an ASIC or an FPGA. The CPU, MPU, ASIC, and FPGA can all be considered as controllers.

[0162] The control unit 530 includes a communication unit 5001 and a maintenance management unit 5002 .

[0163] The communication unit 5001 controls the antenna 510 to perform communication with the power transmitting device 300 and the power receiving device 400. The communication unit 5001 receives execution record information from the power transmitting device 300. In addition, the communication unit 5001 receives fault detection information from the power receiving device 400.

[0164] When the communication unit 5001 receives execution record information, the maintenance management unit 5002 stores the execution record information in the storage unit 520. Similarly, when the communication unit 5001 receives fault detection information, the maintenance management unit 5002 stores the fault detection information in the storage unit 520.

[0165] Here, if the power transmitting device 300 or the power receiving device 400 erroneously detects a fault and registers a maintenance request for the target device, the maintenance technician will perform maintenance that would otherwise be unnecessary. Therefore, the maintenance management unit 5002 needs to reduce the possibility of executing a maintenance request for the target device due to erroneous detection by the power transmitting device 300 or the power receiving device 400. Therefore, the maintenance management unit 5002 determines whether or not to execute the maintenance request by a two-stage determination.

[0166] More specifically, when the maintenance management unit 5002 receives fault detection information indicating that a fault has been detected from the power receiving device 400, the maintenance management unit 5002 determines whether or not fault detection information received from another power receiving device 400 is stored in the storage unit 520. That is, the maintenance management unit 5002 determines whether or not another fault detection information having location information matching the location information included in the fault detection information is stored in the storage unit 520. When the fault detection information received from another power receiving device 400 is stored in the storage unit 520, the maintenance management unit 5002 executes a maintenance request because it is unlikely that the power receiving device 400 has erroneously detected a fault.

[0167] When the fault detection information received from another power receiving device 400 is not stored in the storage unit 520, the maintenance management unit 5002 judges whether or not execution record information indicating that abnormal power transmission has been performed from the power transmitting device 300 is stored. Execution record information indicating an abnormality is execution record information having power transmission content information indicating a power value, a voltage value, a current value, etc. that is outside the range of a specified value. In other words, the maintenance management unit 5002 judges whether or not execution record information that matches the position information and date and time information included in the fault detection information contains power transmission content information indicating that abnormal power transmission has been performed. When abnormal power transmission is being performed, the maintenance management unit 5002 registers a maintenance request because it is unlikely that the power receiving device 400 has erroneously detected a fault.

[0168] [5-2. Fault detection process procedure according to the second embodiment] FIG. 10 is a flowchart showing an example of a failure detection process executed by the power receiving device 400 according to the second embodiment of the present disclosure.

[0169] The power supply control unit 4002 determines whether or not wireless power supply has ended (step S31).

[0170] If wireless power supply has not ended (step S31; No), diagnosis unit 4003 determines whether or not the intensity of the electromagnetic wave is within a specified range based on the signal output from receiver 440 (step S32).

[0171] If the intensity of the electromagnetic waves is within the specified range (step S32; Yes), the power receiving device 400 proceeds to step S31.

[0172] If the intensity of the electromagnetic waves is outside the specified range (step S32; No), the communication unit 4004 transmits the fault detection information generated by the diagnosis unit 4003 to the server device 500 (step S33).

[0173] When the wireless power supply has ended (step S31; Yes), the power receiving device 400 ends the failure detection process.

[0174] [5-3. Fault notification processing procedure according to the second embodiment] FIG. 11 is a flowchart showing an example of a fault notification process executed by the server device 500 according to the second embodiment of the present disclosure.

[0175] The communication unit 5001 receives the failure detection information (step S41).

[0176] The maintenance management unit 5002 determines whether or not a malfunction has been detected by another vehicle or the like at the position indicated by the position information included in the received malfunction detection information (step S42). That is, the maintenance management unit 5002 determines whether or not malfunction detection information having position information matching the position information included in the received malfunction detection information is stored in the storage unit 520.

[0177] If the fact that a failure has been detected has already been registered (step S42; Yes), the maintenance management unit 5002 registers that maintenance is required (step S43).

[0178] If the detection of the fault is not registered (step S42; No), the maintenance management unit 5002 judges whether execution record information indicating an abnormality is stored in the vicinity of the fault detection (step S44). That is, the maintenance management unit 5002 judges whether execution record information is stored in the storage unit 520, in which the location indicated by the location information in the fault detection information matches, the date and time indicated by the date and time information matches, and the power transmission content information indicating an abnormality is stored.

[0179] If execution record information indicating an abnormality is stored (step S44; Yes), the maintenance management unit 5002 proceeds to step S43 and registers that maintenance is required.

[0180] If no execution record information indicating an abnormality is stored (step S44; No), the server device 500 reserves the malfunction registration and ends the malfunction notification process. As a result, the server device 500 executes a maintenance request when another vehicle or the like detects a malfunction.

[0181] As described above, according to the power receiving device 400 of the second embodiment, the diagnosing unit 4003 diagnoses whether or not an unexpected electromagnetic wave is irradiated by the power transmitting device 300 based on an electric signal output from the antenna 430 that receives electromagnetic waves related to wireless power supply. This allows the power receiving device 400 to detect a failure of the power transmitting device 300 based on whether or not the power transmitting device 300 irradiates an unexpected electromagnetic wave.

[0182] (6. Modification 1 of the Second Embodiment) [6-1. Configuration of the control system according to the first modification of the second embodiment] The control system 20a according to the first modification of the second embodiment detects a failure of the device based on the intensity of the irradiated electromagnetic wave. Note that the same components as those in the first embodiment are given the same reference numerals and the description thereof will be omitted.

[0183] In the first modification of the second embodiment, a failure of a base station is detected based on the intensity of an electromagnetic wave transmitted from the base station in mobile communication. The control system 20a is an example of application to a mobile communication system that performs communication between devices mounted on a smartphone or a vehicle.

[0184] 12 is a diagram illustrating an example of the configuration of a control system 20a according to the second embodiment of the present disclosure. The control system 20a includes a base station device 600, a communication device 700, and a server device 500.

[0185] The base station device 600 is installed in a base station, and is a device that relays communications between the communication devices 700. The base station device 600 includes an antenna 610, a storage unit 620, and a control unit 630.

[0186] The antenna 610 is a device that transmits and receives electromagnetic waves. The antenna 610 communicates with the communication device 700.

[0187] The storage unit 620 is a storage device capable of reading and writing data, such as a DRAM, an SRAM, a flash memory, or a hard disk. The storage unit 620 stores, for example, a program, map information, and travelable information. The program is a program for causing a computer or the like to execute various functions of the base station device 600.

[0188] The control unit 630 is a controller that controls each unit of the base station device 600. The control unit 630 is realized by a processor such as a CPU or an MPU. For example, the control unit 630 is realized by a processor executing various programs stored in a storage device such as the storage unit 620 using a RAM or the like as a working area. Note that the control unit 630 may be realized in whole or in part by an integrated circuit such as an ASIC or an FPGA. The CPU, the MPU, the ASIC, and the FPGA can all be regarded as controllers.

[0189] The control unit 630 includes a communication unit 6001 and a communication recording unit 6002 .

[0190] The communication unit 6001 executes communication with the communication device 700 via the antenna 610. For example, the communication unit 6001 transmits execution record information. The execution record information has base station identification information, communication content information, and date and time information. The base station identification information may have identification information for identifying the base station device 600. The communication content information is information indicating the content of the communication. For example, the communication content information includes information such as the power consumption value, voltage value, and current value required for the communication. The date and time information is information indicating the date and time of the communication. Furthermore, the execution record information indicating an abnormality is execution record information having communication content information indicating a power value, voltage value, current value, etc. that is outside the range of a specified value.

[0191] The communication recording unit 6002 controls recording of communication. Furthermore, the communication recording unit 6002 generates execution record information when communication is executed with the communication device 700. Then, the communication recording unit 6002 causes the communication unit 6001 to transmit the execution record information.

[0192] The communication device 700 is installed in a vehicle such as an automobile, and performs communication with the base station device 600. Note that the communication device 700 may be a mobile terminal such as a smartphone or a tablet terminal, may be provided in a laptop, or may be provided in other devices.

[0193] The communication device 700 includes an antenna 710 , a receiver 720 , an antenna 730 , a memory unit 740 , and a control unit 750 .

[0194] The antenna 710 is a device that receives electromagnetic waves. The antenna 710 receives the electromagnetic waves in order to measure the intensity of the electromagnetic waves transmitted from the base station device 600.

[0195] The receiver 720 is connected to the antenna 710. The receiver 720 outputs to the control unit 750 an electrical signal indicative of the electromagnetic waves received by the antenna 710.

[0196] The antenna 730 is a device that transmits and receives electromagnetic waves. The antenna 730 communicates with the server device 500.

[0197] The storage unit 740 is a storage device capable of reading and writing data, such as a DRAM, an SRAM, a flash memory, or a hard disk. The storage unit 740 stores, for example, a program, map information, and travelable information. The program is a program for causing a computer or the like to execute various functions of the communication device 700.

[0198] The control unit 750 is a controller that controls each unit of the communication device 700. The control unit 750 is realized by a processor such as a CPU or an MPU. For example, the control unit 750 is realized by a processor executing various programs stored in a storage device such as the storage unit 740 using a RAM or the like as a working area. Note that the control unit 750 may be realized in whole or in part by an integrated circuit such as an ASIC or an FPGA. The CPU, MPU, ASIC, and FPGA can all be considered as controllers.

[0199] The control unit 750 includes a position information acquisition unit 7001 , a diagnosis unit 7002 , and a communication unit 7003 .

[0200] The location information acquisition unit 7001 has the same function as the location information acquisition unit 1002 in the first embodiment.

[0201] The diagnostic unit 7002 diagnoses whether or not the base station device 600 is malfunctioning, based on a signal indicating the intensity of the electromagnetic waves output from the receiver 720. More specifically, the diagnostic unit 7002 determines whether or not the intensity of the electromagnetic waves is within a specified range. If the intensity of the electromagnetic waves is outside the specified range, the diagnostic unit 7002 determines that the base station device 600 is malfunctioning. Furthermore, if the diagnostic unit 7002 determines that the base station device 600 is malfunctioning, it generates malfunction detection information.

[0202] The fault detection information includes base station identification information, strength information, and date and time information. The base station identification information is identification information for identifying the base station device 600 in communication, that is, the base station device 600 that has transmitted electromagnetic waves having strength equal to or greater than a threshold. If the communication device 700 can identify the communication device 700 with which communication is to be performed based on its position, the fault detection information may include location information indicating the current location of the communication device 700. The strength information is information indicating the strength of the electromagnetic waves at which the base station device 600 has determined that it has a fault. The date and time information is information indicating the date and time at which the base station device 600 has been determined to have a fault.

[0203] The communication unit 7003 executes communication with the server device 500. When the diagnosis unit 7002 generates fault detection information, the communication unit 7003 transmits the fault detection information to the server device 500.

[0204] The server device 500 has the same functions as in the second embodiment.

[0205] The communication device 700 executes a fault detection process similar to that of the power receiving device 400 according to the second embodiment. That is, when the communication device 700 receives an electromagnetic wave having an intensity outside a predetermined range, the communication device 700 transmits fault detection information to the server device 500.

[0206] The server device 500 executes the same failure notification process as the server device 500 according to the second embodiment.

[0207] As described above, according to the communication device 700 according to the second modification of the second embodiment, the diagnosis unit 7002 diagnoses whether or not the base station device 600 is emitting unexpected electromagnetic waves, based on an electrical signal output from the antenna 710 that receives electromagnetic waves related to communication. This allows the communication device 700 to detect a failure of the base station device 600, based on whether or not the base station device 600 is emitting unexpected electromagnetic waves.

[0208] (7. Third embodiment) [7-1. Configuration of the insurance premium calculation device according to the third embodiment] An insurance premium calculation device 800 according to the third embodiment calculates an insurance premium based on travel prohibition information. Note that the same components as those in the first embodiment are given the same reference numerals and descriptions thereof will be omitted.

[0209] Insurance premiums for a moving object 1 such as an automobile are calculated according to the possibility of causing an accident. Even when the vehicle is driven by autonomous driving, the insurance premium must be calculated according to the possibility of causing an accident, just as in manual driving. Therefore, there is a demand for technology that can calculate insurance premiums according to the possibility of causing an accident in autonomous driving.

[0210] In the first embodiment, the no-travel area is specified by detecting electromagnetic waves having a strength equal to or greater than a threshold, such as jamming radio waves. The no-travel area is an area irradiated with electromagnetic waves having a strength equal to or greater than a threshold, such as jamming radio waves. Therefore, if the moving body 1 travels through the no-travel area or its surroundings, there is a high possibility of causing an accident. Therefore, the insurance premium calculation device 800 calculates the insurance premium based on the no-travel information indicating the no-travel area.

[0211] 13 is a diagram showing an example of the configuration of an insurance premium calculation device 800 according to the third embodiment of the present disclosure. The insurance premium calculation device 800 includes a storage unit 810 and a control unit 820.

[0212] The storage unit 810 is a data readable / writable storage device such as a DRAM, an SRAM, a flash memory, a hard disk, etc. The storage unit 810 stores, for example, programs, map information, and travel prohibition information acquired from multiple moving objects 1. The programs are programs for causing a computer or the like to execute various functions of the insurance premium calculation device 800.

[0213] The control unit 820 is a controller that controls each unit of the insurance premium calculation device 800. The control unit 820 is realized by a processor such as a CPU or MPU. For example, the control unit 820 is realized by a processor executing various programs stored in a storage device such as the storage unit 810 using a RAM or the like as a working area. Note that the control unit 820 may be realized in whole or in part by an integrated circuit such as an ASIC or FPGA. The CPU, MPU, ASIC, and FPGA can all be considered as controllers.

[0214] The control unit 820 includes an analysis processing unit 8001 , an analysis result recording unit 8002 , an information acquisition unit 8003 , and an insurance premium calculation unit 8004 .

[0215] The analysis processing unit 8001 calculates the degree of danger when the moving body 1 travels for each point of the map information based on the travel prohibition information stored in the storage unit 810. Here, the frequency with low resistance differs depending on the type of the moving body 1 such as the model of the moving body 1 and the type of the ADSA or the automatic driving system. Therefore, the analysis processing unit 8001 may calculate the degree of danger of the point of the map information for each type of the moving body 1 such as the model of the moving body 1 and the type of the ADAS or the automatic driving system. In addition, the degree of danger may be a value indicating the rate of causing an accident or the like, or may be a value indicating any of a plurality of stages such as grades.

[0216] The analysis result recording unit 8002 records the degree of risk of each point calculated by the analysis processing unit 8001. That is, the analysis result recording unit 8002 stores the degree of risk of each point calculated by the analysis processing unit 8001 in the storage unit 810.

[0217] The information acquisition unit 8003 accepts input of insurance premium calculation information used for calculating insurance premiums. The insurance premium calculation information includes insured person information, vehicle information, and usage mode information. The insured person information is information indicating the name, age, address, etc. of the person driving the mobile object 1. The vehicle information is information indicating the type of the mobile object 1, such as the model of the mobile object 1, and the type of ADSA or automatic driving system. The usage mode information is information indicating the storage location of the mobile object 1, the usage mode of the mobile object 1, such as use for commuting, etc. Note that the insurance premium calculation information does not need to include all of this information, and may include information other than these. In addition, the information acquisition unit 8003 may acquire the insurance premium calculation information via an operating device such as a keyboard or a mouse, may acquire the insurance premium calculation information by receiving it via a network, or may acquire the insurance premium calculation information by another method.

[0218] The insurance premium calculation unit 8004 calculates the insurance premium based on the risk of each point recorded by the analysis result recording unit 8002 and the insurance premium calculation information. That is, the insurance premium calculation unit 8004 calculates the insurance premium by adding the risk of each point to a general insurance premium calculation formula. For example, the insurance premium calculation unit 8004 calculates the insurance premium based on the risk of a point where the insured person is likely to travel. Specifically, the insurance premium calculation unit 8004 increases the insurance premium when there are multiple high-risk points around the storage location of the mobile object 1. In addition, when the insured person uses the mobile object 1 for commuting, the insurance premium calculation unit 8004 increases the insurance premium when the risk of the commuting route is high. Then, the insurance premium calculation unit 8004 notifies the calculated insurance premium. Here, the notification method is not limited. For example, the insurance premium calculation unit 8004 may notify by displaying on a display, may notify by transmitting via a network, or may notify by another method.

[0219] [7-2. Calculation process procedure according to the third embodiment] FIG. 14 is a flowchart showing an example of the calculation process executed by the insurance premium calculation device 800 according to the third embodiment of the present disclosure.

[0220] The analysis processing unit 8001 acquires the travel prohibition information from the storage unit 810 (step S51).

[0221] The analysis processing unit 8001 calculates the degree of danger for each point in the map information based on the driving prohibition information (step S52). Furthermore, the analysis result recording unit 8002 stores the degree of danger for each point calculated by the analysis processing unit 8001 in the storage unit 810 (step S53).

[0222] The information acquisition unit 8003 acquires insurance premium calculation information (step S54).

[0223] The insurance premium calculation unit 8004 calculates the insurance premium (step S55). The insurance premium calculation unit 8004 also notifies the calculated insurance premium (step S56).

[0224] With the above, insurance premium calculation device 800 ends the calculation process.

[0225] As described above, according to the insurance premium calculation device 800 of the third embodiment, the analysis processing unit 8001 calculates the degree of danger of each point of the map information based on the driving prohibition information indicating the driving prohibition areas. The information acquisition unit 8003 calculates the insurance premium based on the degree of danger of each point. This allows the insurance premium calculation device 800 to calculate the insurance premium according to the degree of danger of each area where electromagnetic waves are irradiated.

[0226] (8. Application Examples) 15 is a block diagram showing a schematic configuration example of a vehicle control system 7000 which is an example of a mobile object control system to which the technology according to the present disclosure can be applied. The vehicle control system 7000 includes a plurality of electronic control units connected via a communication network 7010. In the example shown in FIG. 15, the vehicle control system 7000 includes a drive system control unit 7100, a body system control unit 7200, a battery control unit 7300, an outside-vehicle information detection unit 7400, an inside-vehicle information detection unit 7500, and an integrated control unit 7600. The communication network 7010 connecting these multiple control units may be an in-vehicle communication network conforming to any standard such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), or FlexRay (registered trademark).

[0227] Each control unit includes a microcomputer that performs arithmetic processing according to various programs, a storage unit that stores the programs executed by the microcomputer or parameters used in various calculations, and a drive circuit that drives various control target devices. Each control unit includes a network I / F for communicating with other control units via a communication network 7010, and a communication I / F for communicating with devices or sensors inside and outside the vehicle by wired communication or wireless communication. In FIG. 15, a microcomputer 7610, a general-purpose communication I / F 7620, a dedicated communication I / F 7630, a positioning unit 7640, a beacon receiving unit 7650, an in-vehicle device I / F 7660, an audio / video output unit 7670, an in-vehicle network I / F 7680, and a storage unit 7690 are illustrated as functional configurations of the integrated control unit 7600. Other control units also include a microcomputer, a communication I / F, a storage unit, and the like.

[0228] The drivetrain control unit 7100 controls the operation of devices related to the drivetrain of the vehicle according to various programs. For example, the drivetrain control unit 7100 functions as a control device for a drive force generating device for generating a drive force of the vehicle, such as an internal combustion engine or a drive motor, a drive force transmission mechanism for transmitting the drive force to the wheels, a steering mechanism for adjusting the steering angle of the vehicle, and a braking device for generating a braking force of the vehicle. The drivetrain control unit 7100 may also function as a control device such as an ABS (Antilock Brake System) or an ESC (Electronic Stability Control).

[0229] A vehicle state detection unit 7110 is connected to the drive system control unit 7100. The vehicle state detection unit 7110 includes at least one of a gyro sensor that detects the angular velocity of the axial rotational motion of the vehicle body, an acceleration sensor that detects the acceleration of the vehicle, or a sensor for detecting the amount of operation of an accelerator pedal, the amount of operation of a brake pedal, the steering angle of a steering wheel, the engine rotation speed, or the rotation speed of wheels, for example. The drive system control unit 7100 performs arithmetic processing using signals input from the vehicle state detection unit 7110, and controls the internal combustion engine, the drive motor, the electric power steering device, the brake device, etc.

[0230] The body system control unit 7200 controls the operation of various devices mounted on the vehicle body according to various programs. For example, the body system control unit 7200 functions as a control device for a keyless entry system, a smart key system, a power window device, or various lamps such as head lamps, back lamps, brake lamps, turn signals, and fog lamps. In this case, radio waves or signals of various switches transmitted from a portable device that replaces a key may be input to the body system control unit 7200. The body system control unit 7200 receives the input of these radio waves or signals and controls the door lock device, power window device, lamps, and the like of the vehicle.

[0231] The battery control unit 7300 controls the secondary battery 7310, which is a power supply source for the drive motor, according to various programs. For example, information such as battery temperature, battery output voltage, or remaining capacity of the battery is input to the battery control unit 7300 from a battery device equipped with the secondary battery 7310. The battery control unit 7300 performs calculation processing using these signals, and controls the temperature regulation of the secondary battery 7310 or controls a cooling device or the like equipped in the battery device.

[0232] The outside-vehicle information detection unit 7400 detects information outside the vehicle equipped with the vehicle control system 7000. For example, at least one of an imaging unit 7410 and an outside-vehicle information detection unit 7420 is connected to the outside-vehicle information detection unit 7400. The imaging unit 7410 includes at least one of a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, an infrared camera, and other cameras. The outside-vehicle information detection unit 7420 includes at least one of an environmental sensor for detecting the current weather or climate, or a surrounding information detection sensor for detecting other vehicles, obstacles, pedestrians, and the like around the vehicle equipped with the vehicle control system 7000.

[0233] The environmental sensor may be, for example, at least one of a raindrop sensor that detects rain, a fog sensor that detects fog, a sunshine sensor that detects the degree of sunshine, and a snow sensor that detects snowfall. The surrounding information detection sensor may be at least one of an ultrasonic sensor, a radar device, and a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) device. The imaging unit 7410 and the outside vehicle information detection unit 7420 may be provided as independent sensors or devices, or may be provided as a device in which multiple sensors or devices are integrated.

[0234] Here, FIG. 16 shows an example of the installation positions of the imaging unit 7410 and the vehicle exterior information detection unit 7420. The imaging units 7910, 7912, 7914, 7916, and 7918 are provided, for example, at least one of the front nose, side mirrors, rear bumper, back door, and upper part of the windshield in the vehicle interior of the vehicle 7900. The imaging unit 7910 provided on the front nose and the imaging unit 7918 provided on the upper part of the windshield in the vehicle interior mainly acquire images of the front of the vehicle 7900. The imaging units 7912 and 7914 provided on the side mirrors mainly acquire images of the sides of the vehicle 7900. The imaging unit 7916 provided on the rear bumper or back door mainly acquires images of the rear of the vehicle 7900. The imaging unit 7918 provided on the upper part of the windshield in the vehicle interior is mainly used to detect a preceding vehicle, a pedestrian, an obstacle, a traffic light, a traffic sign, a lane, or the like.

[0235] 16 shows an example of the imaging ranges of the imaging units 7910, 7912, 7914, and 7916. Imaging range a indicates the imaging range of the imaging unit 7910 provided on the front nose, imaging ranges b and c indicate the imaging ranges of the imaging units 7912 and 7914 provided on the side mirrors, and imaging range d indicates the imaging range of the imaging unit 7916 provided on the rear bumper or back door. For example, image data captured by the imaging units 7910, 7912, 7914, and 7916 are superimposed to obtain an overhead image of the vehicle 7900.

[0236] The outside information detection units 7920, 7922, 7924, 7926, 7928, and 7930 provided on the front, rear, sides, and corners of the vehicle 7900 and on the upper part of the windshield inside the vehicle cabin may be, for example, ultrasonic sensors or radar devices. The outside information detection units 7920, 7926, and 7930 provided on the front nose, rear bumper, back door, and on the upper part of the windshield inside the vehicle cabin of the vehicle 7900 may be, for example, LIDAR devices. These outside information detection units 7920 to 7930 are mainly used to detect preceding vehicles, pedestrians, obstacles, and the like.

[0237] Returning to FIG. 15, the description will be continued. The outside-vehicle information detection unit 7400 causes the imaging unit 7410 to capture an image outside the vehicle, and receives the captured image data. The outside-vehicle information detection unit 7400 also receives detection information from the outside-vehicle information detection unit 7420 connected thereto. When the outside-vehicle information detection unit 7420 is an ultrasonic sensor, a radar device, or a LIDAR device, the outside-vehicle information detection unit 7400 transmits ultrasonic waves or electromagnetic waves, and receives information on the received reflected waves. The outside-vehicle information detection unit 7400 may perform object detection processing or distance detection processing for people, cars, obstacles, signs, or characters on the road surface, based on the received information. The outside-vehicle information detection unit 7400 may perform environment recognition processing for recognizing rainfall, fog, road surface conditions, and the like, based on the received information. The outside-vehicle information detection unit 7400 may calculate the distance to an object outside the vehicle based on the received information.

[0238] Furthermore, the outside vehicle information detection unit 7400 may perform image recognition processing or distance detection processing to recognize people, cars, obstacles, signs, or characters on the road surface, based on the received image data. The outside vehicle information detection unit 7400 may perform processing such as distortion correction or position adjustment on the received image data, and may generate an overhead image or a panoramic image by synthesizing image data captured by different imaging units 7410. The outside vehicle information detection unit 7400 may perform viewpoint conversion processing using image data captured by different imaging units 7410.

[0239] The in-vehicle information detection unit 7500 detects information inside the vehicle. For example, a driver state detection unit 7510 that detects the state of the driver is connected to the in-vehicle information detection unit 7500. The driver state detection unit 7510 may include a camera that captures an image of the driver, a biosensor that detects the bioinformation of the driver, or a microphone that collects sound in the vehicle cabin. The biosensor is provided, for example, on the seat or steering wheel, and detects the bioinformation of a passenger sitting in the seat or a driver gripping the steering wheel. The in-vehicle information detection unit 7500 may calculate the degree of fatigue or concentration of the driver based on the detection information input from the driver state detection unit 7510, or may determine whether the driver is dozing. The in-vehicle information detection unit 7500 may perform processing such as noise canceling processing on the collected sound signal.

[0240] The integrated control unit 7600 controls the overall operation of the vehicle control system 7000 according to various programs. The input unit 7800 is connected to the integrated control unit 7600. The input unit 7800 is realized by a device that can be operated by an occupant to input, such as a touch panel, a button, a microphone, a switch, or a lever. Data obtained by voice recognition of a voice input by a microphone may be input to the integrated control unit 7600. The input unit 7800 may be, for example, a remote control device using infrared or other radio waves, or an externally connected device such as a mobile phone or a PDA (Personal Digital Assistant) that supports the operation of the vehicle control system 7000. The input unit 7800 may be, for example, a camera, in which case the occupant can input information by gestures. Alternatively, data obtained by detecting the movement of a wearable device worn by the occupant may be input. Furthermore, the input unit 7800 may include, for example, an input control circuit that generates an input signal based on information input by the occupant using the above-mentioned input unit 7800 and outputs the input signal to the integrated control unit 7600. A passenger or the like operates the input unit 7800 to input various data to the vehicle control system 7000 and to instruct processing operations.

[0241] The storage unit 7690 may include a ROM (Read Only Memory) that stores various programs executed by the microcomputer, and a RAM (Random Access Memory) that stores various parameters, calculation results, sensor values, etc. The storage unit 7690 may be realized by a magnetic storage device such as an HDD (Hard Disc Drive), a semiconductor storage device, an optical storage device, or a magneto-optical storage device, etc.

[0242] The general-purpose communication I / F 7620 is a general-purpose communication I / F that mediates communication between various devices present in the external environment 7750. The general-purpose communication I / F 7620 may implement a cellular communication protocol such as GSM (registered trademark), WiMAX (registered trademark), LTE (registered trademark) (Long Term Evolution) or LTE-Advanced (LTE-A), or other wireless communication protocols such as wireless LAN (also called Wi-Fi (registered trademark)) and Bluetooth (registered trademark). The general-purpose communication I / F 7620 may connect to a device (e.g., an application server or a control server) present on an external network (e.g., the Internet, a cloud network, or a carrier-specific network) via, for example, a base station or an access point. The general-purpose communication I / F 7620 may also connect to a terminal (e.g., a driver's, pedestrian's, or store's terminal, or a Machine Type Communication (MTC) terminal) present in the vicinity of the vehicle using, for example, a Peer To Peer (P2P) technology.

[0243] The dedicated communication I / F 7630 is a communication I / F that supports a communication protocol designed for use in a vehicle. The dedicated communication I / F 7630 may implement a standard protocol such as WAVE (Wireless Access in Vehicle Environment), which is a combination of a lower layer IEEE802.11p and a higher layer IEEE1609, DSRC (Dedicated Short Range Communications), or a cellular communication protocol. The dedicated communication I / F 7630 typically performs V2X communication, which is a concept including one or more of vehicle-to-vehicle communication, vehicle-to-infrastructure communication, vehicle-to-home communication, and vehicle-to-pedestrian communication.

[0244] The positioning unit 7640 performs positioning by receiving, for example, a GNSS signal from a Global Navigation Satellite System (GNSS) satellite (for example, a GPS signal from a Global Positioning System (GPS) satellite) and generates position information including the latitude, longitude, and altitude of the vehicle. The positioning unit 7640 may identify the current position by exchanging signals with a wireless access point, or may obtain position information from a terminal such as a mobile phone, PHS, or smartphone having a positioning function.

[0245] The beacon receiving unit 7650 receives, for example, radio waves or electromagnetic waves transmitted from radio stations or the like installed on the road, and acquires information such as the current location, congestion, road closure, required time, etc. The function of the beacon receiving unit 7650 may be included in the dedicated communication I / F 7630 described above.

[0246] The in-vehicle device I / F 7660 is a communication interface that mediates a connection between the microcomputer 7610 and various in-vehicle devices 7760 present in the vehicle. The in-vehicle device I / F 7660 may establish a wireless connection using a wireless communication protocol such as wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), or WUSB (Wireless USB). The in-vehicle device I / F 7660 may also establish a wired connection such as USB (Universal Serial Bus), HDMI (High-Definition Multimedia Interface), or MHL (Mobile High-definition Link) via a connection terminal (and a cable, if necessary) not shown. The in-vehicle device 7760 may include at least one of a mobile device or a wearable device owned by a passenger, or an information device carried or attached to a vehicle. The in-vehicle device 7760 may also include a navigation device that searches for a route to an arbitrary destination. The in-vehicle equipment I / F 7660 exchanges control signals and data signals with these in-vehicle equipment 7760.

[0247] The in-vehicle network I / F 7680 is an interface that mediates communication between the microcomputer 7610 and the communication network 7010. The in-vehicle network I / F 7680 transmits and receives signals in accordance with a predetermined protocol supported by the communication network 7010.

[0248] The microcomputer 7610 of the integrated control unit 7600 controls the vehicle control system 7000 according to various programs based on information acquired through at least one of the general-purpose communication I / F 7620, the dedicated communication I / F 7630, the positioning unit 7640, the beacon receiving unit 7650, the in-vehicle device I / F 7660, and the in-vehicle network I / F 7680. For example, the microcomputer 7610 may calculate a control target value of a driving force generating device, a steering mechanism, or a braking device based on the acquired information inside and outside the vehicle, and output a control command to the drive system control unit 7100. For example, the microcomputer 7610 may perform cooperative control for the purpose of realizing the functions of an ADAS (Advanced Driver Assistance System), including vehicle collision avoidance or impact mitigation, following driving based on the distance between vehicles, vehicle speed maintenance driving, vehicle collision warning, vehicle lane departure warning, etc. In addition, the microcomputer 7610 may perform cooperative control for the purpose of autonomous driving, in which the vehicle travels autonomously without relying on driver operation, by controlling a driving force generating device, a steering mechanism, a braking device, etc. based on information acquired about the vehicle's surroundings.

[0249] The microcomputer 7610 may generate three-dimensional distance information between the vehicle and objects such as surrounding structures and people, and create local map information including peripheral information of the current position of the vehicle, based on information acquired via at least one of the general-purpose communication I / F 7620, the dedicated communication I / F 7630, the positioning unit 7640, the beacon receiving unit 7650, the in-vehicle device I / F 7660, and the in-vehicle network I / F 7680. The microcomputer 7610 may also predict dangers such as vehicle collisions, the approach of pedestrians, or entry into a closed road, based on the acquired information, and generate a warning signal. The warning signal may be, for example, a signal for generating a warning sound or turning on a warning lamp.

[0250] The audio / image output unit 7670 transmits at least one of audio and image output signals to an output device capable of visually or audibly notifying the passengers of the vehicle or the outside of the vehicle of information. In the example of FIG. 15, an audio speaker 7710, a display unit 7720, and an instrument panel 7730 are illustrated as output devices. The display unit 7720 may include, for example, at least one of an on-board display and a head-up display. The display unit 7720 may have an AR (Augmented Reality) display function. The output device may be other devices such as headphones, a wearable device such as a glasses-type display worn by the passenger, a projector, or a lamp, other than these devices. When the output device is a display device, the display device visually displays the results obtained by various processes performed by the microcomputer 7610 or information received from other control units in various formats such as text, image, table, graph, etc. When the output device is an audio output device, the audio output device converts an audio signal consisting of reproduced audio data or acoustic data into an analog signal and audibly outputs it.

[0251] In the example shown in FIG. 15, at least two control units connected via the communication network 7010 may be integrated into one control unit. Alternatively, each control unit may be composed of multiple control units. Furthermore, the vehicle control system 7000 may include another control unit not shown. In the above description, some or all of the functions performed by any control unit may be provided by another control unit. In other words, as long as information is transmitted and received via the communication network 7010, a predetermined arithmetic processing may be performed by any control unit. Similarly, a sensor or device connected to any control unit may be connected to another control unit, and multiple control units may transmit and receive detection information to each other via the communication network 7010.

[0252] A computer program for implementing each function of the control devices 100, 100a, and 100b according to the present embodiment described with reference to Figs. 3, 7, and 8 can be implemented in any of the control units. A computer-readable recording medium storing such a computer program can also be provided. The recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like. The computer program may also be distributed, for example, via a network, without using a recording medium.

[0253] In the vehicle control system 7000 described above, the control devices 100, 100a, and 100b according to the present embodiment described using Figs. 3, 7, and 8 can be applied to the integrated control unit 7600 of the application example shown in Fig. 15. For example, the driver detection unit 1001, the position information acquisition unit 1002, the communication unit 1003, the recognition units 1004, 1004a, and 1004b, the diagnosis units 1005, 1005a, and 1005b, the route planning unit 1006, the driving control unit 1007, and the notification unit 1008 of the control devices 100, 100a, and 100b correspond to the microcomputer 7610, the storage unit 7690, and the in-vehicle network I / F 7680 of the integrated control unit 7600.

[0254] At least some of the components of the control devices 100, 100a, and 100b described using Figures 3, 7, and 8 may be realized in a module (for example, an integrated circuit module configured on a single die) for the integrated control unit 7600 shown in Figure 15. Alternatively, the control devices 100, 100a, and 100b described using Figures 3, 7, and 8 may be realized by multiple control units of the vehicle control system 7000 shown in Figure 15.

[0255] (effect) The control devices 100, 100a, 100b include recognition units 1004, 1004a, 1004b, diagnosis units 1005, 1005a, 1005b, and a route planning unit 1006. The recognition units 1004, 1004a, 1004b recognize the environment around the moving object 1. The diagnosis units 1005, 1005a, 1005b diagnose the intensity of electromagnetic waves irradiated to the moving object 1 based on the recognition results by the recognition units 1004, 1004a, 1004b. The route planning unit 1006 determines the movement route of the moving object 1 based on the diagnosis results by the diagnosis units 1005, 1005a, 1005b.

[0256] This allows the control devices 100, 100a, and 100b to prevent system shutdown even when they are irradiated with electromagnetic waves having a strength equal to or greater than a threshold, such as jamming waves.

[0257] The diagnosis units 1005, 1005a, and 1005b diagnose whether or not electromagnetic waves of an intensity that may cause the recognition units 1004, 1004a, and 1004b to erroneously recognize the environment around the moving object 1 are being emitted.

[0258] This allows the control devices 100, 100a, and 100b to prevent unexpected operations caused by erroneous recognition of the surrounding environment.

[0259] The diagnosis units 1005, 1005a, and 1005b diagnose whether or not electromagnetic waves above a threshold value are being irradiated, based on the allowable intensity for each frequency of electromagnetic waves set for each type of moving object 1.

[0260] This allows the control devices 100, 100a, and 100b to prevent unexpected operations even when irradiated with electromagnetic waves above a threshold value.

[0261] The traveling control unit 1007 changes the level of autonomous driving when the diagnosing units 1005, 1005a, and 1005b diagnose that the moving object 1 is being irradiated with electromagnetic waves having an intensity equal to or greater than a threshold value.

[0262] As a result, the control devices 100, 100a, 100b can switch to manual driving when automatic driving cannot be continued, so that the moving object 1 can be driven to the destination even when the moving object does not pass through a no-travel area.

[0263] The diagnosis units 1005, 1005a, and 1005b store in the memory unit 1100 an area in which electromagnetic waves having an intensity equal to or greater than a threshold are detected as a no-travel area.

[0264] As a result, the control devices 100, 100a, 100b store the no-travel areas, and can prevent the moving body 1 from entering an area where electromagnetic waves having an intensity equal to or greater than a threshold are irradiated after the no-travel areas are set.

[0265] The diagnosis units 1005, 1005a, and 1005b cause the storage unit 2200 of the server device 200 to store the no-travel areas.

[0266] In this way, the control devices 100, 100a, and 100b can share the travel-prohibited areas among a plurality of moving bodies 1. This makes it possible to prevent a moving body 1 from entering a travel-prohibited area detected by another moving body 1.

[0267] The diagnosis units 1005, 1005a, and 1005b cause the memory unit 1100 to store the frequency and intensity of the electromagnetic waves in the no-travel area.

[0268] Here, the electromagnetic wave characteristics of the moving object 1 differ depending on the type, such as the model, of the moving object 1. In other words, the frequencies to which the moving object 1 has low resistance differ depending on the type. Therefore, the control devices 100, 100a, and 100b can set no-travel areas depending on the type, such as the model, of the moving object 1.

[0269] The route planning unit 1006 acquires a travel route along which the moving object 1 can travel to the destination without passing through any travel-prohibited areas.

[0270] This allows the control devices 100, 100a, and 100b to reduce the possibility of being irradiated with electromagnetic waves having an intensity equal to or greater than a threshold, such as jamming waves.

[0271] The diagnosis units 1005, 1005a, and 1005b store the area as a no-travel area in the storage unit 1100 based on the diagnosis result at the first location and the diagnosis result at the second location.

[0272] This allows the control devices 100, 100a, 100b to reduce the possibility of setting the area as a no-travel area due to erroneous detection.

[0273] The diagnosis units 1005, 1005a, 1005b diagnose that electromagnetic waves having an intensity equal to or greater than a threshold have been irradiated to the moving body 1 at a first location, and when the intensity of the electromagnetic waves irradiated to the moving body 1 has decreased at a second location where the intensity of the electromagnetic waves is expected to decrease, the diagnosis units 1005, 1005a, 1005b store the area as a no-travel area in the memory unit 1100.

[0274] This allows the control devices 100, 100a, 100b to reduce the possibility of setting the area as a no-travel area due to erroneous detection.

[0275] If the intensity of the electromagnetic waves at the second point does not decrease, the diagnosis units 1005, 1005a, and 1005b determine that the function of diagnosing the electromagnetic waves is broken.

[0276] This allows the control devices 100, 100a, and 100b to detect a malfunction in the function of diagnosing electromagnetic waves.

[0277] When the diagnosis units 1005, 1005a, and 1005b have stored a prohibited area in the storage unit 1100, the route planning unit 1006 acquires a travel route that can be traveled from the second point to the destination without passing through the prohibited area.

[0278] This allows the control devices 100, 100a, 100b to reduce the possibility that the moving object 1 will enter the no-travel area again after the no-travel area has been set, and will be irradiated with electromagnetic waves having an intensity equal to or greater than the threshold value.

[0279] The diagnosis units 1005 , 1005 a , and 1005 b diagnose the intensity of the electromagnetic waves irradiated to the moving object 1 based on the electronic signal output from the antenna 142 .

[0280] This enables the control devices 100, 100a, and 100b to detect and avoid electromagnetic waves having an intensity equal to or greater than a threshold value.

[0281] The diagnosis unit 1005a diagnoses the intensity of the electromagnetic waves irradiated to the moving object 1 based on the ratio of errors to data in communication.

[0282] This allows the control device 100a to detect and avoid electromagnetic waves having an intensity equal to or greater than a threshold without adding special hardware such as the antenna 142.

[0283] The diagnosis unit 1005b diagnoses the intensity of the electromagnetic waves irradiated to the moving object 1 based on the data loss rate in communication.

[0284] This allows the control device 100b to detect and avoid electromagnetic waves having an intensity equal to or greater than a threshold without adding special hardware such as the antenna 142.

[0285] It should be noted that the effects described in this specification are merely examples and are not limiting, and other effects may also be obtained.

[0286] The present technology can also be configured as follows. (1) A recognition unit that recognizes the environment around the moving object; a diagnosis unit that diagnoses an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result by the recognition unit; a route planning unit that determines a movement route of the moving object based on a diagnosis result by the diagnosis unit; A control device comprising: (2) The diagnosis unit diagnoses whether or not the electromagnetic waves are irradiated with an intensity that may cause the recognition unit to erroneously recognize the environment around the moving object. The control device described in (1). (3) The diagnosis unit diagnoses whether or not the electromagnetic waves are irradiated at a threshold value or more based on an allowable intensity for each frequency of the electromagnetic waves set for each type of the moving object. The control device according to (1) or (2). (4) A driving control unit that changes a level of autonomous driving when the diagnosis unit diagnoses that the moving body is irradiated with the electromagnetic wave having an intensity equal to or greater than a threshold value. A control device according to any one of (1) to (3). (5) The diagnosis unit stores in a storage unit, in the storage unit, the area in which the electromagnetic wave having an intensity equal to or greater than a threshold is detected as a no-travel area. A control device according to any one of (1) to (4). (6) The diagnosis unit stores the no-travel area in the storage unit of the server device. The control device described in (5) above. (7) The diagnosis unit stores the frequency and intensity of the electromagnetic waves in the no-travel area in the storage unit. The control device according to (5) or (6). (8) the route planning unit acquires a travel route along which the moving body can travel to the destination without passing through the travel-prohibited area; A control device according to any one of (5) to (7). (9) The diagnosis unit stores the no-travel area in the storage unit based on a diagnosis result at the first location and a diagnosis result at the second location. A control device according to any one of (5) to (8). (10) the diagnosis unit diagnoses that the electromagnetic waves having an intensity equal to or greater than a threshold value have been irradiated to the moving body at the first location, and when the intensity of the electromagnetic waves irradiated to the moving body has decreased at the second location where the intensity of the electromagnetic waves is expected to decrease, causes the diagnosis unit to store the area as the no-travel area in the storage unit. The control device described in (9). (11) The diagnosis unit determines that a function of diagnosing electromagnetic waves is broken when the intensity of the electromagnetic waves at the second location is not reduced. The control device according to (9) or (10). (12) the route planning unit, when the travel-prohibited area is stored in the storage unit by the diagnosis unit, acquires a travel route that can be traveled from the second point to the destination without passing through the travel-prohibited area. The control device according to any one of (9) to (11). (13) The diagnosis unit diagnoses the intensity of the electromagnetic wave irradiated to the moving object based on the electronic signal output from the antenna. A control device according to any one of (1) to (12). (14) The diagnosis unit diagnoses the intensity of the electromagnetic waves irradiated to the moving object based on a ratio of errors to data in communication. A control device according to any one of (1) to (12). (15) The diagnosis unit diagnoses the intensity of the electromagnetic waves irradiated to the moving object based on a data loss rate in communication. A control device according to any one of (1) to (12). (16) A recognition step of recognizing an environment around the moving object; a diagnosis step of diagnosing an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result obtained by the recognition step; a route planning step of determining a movement route of the moving object based on a diagnosis result of the diagnosis step; A control method comprising: (17) Computer, A recognition unit that recognizes the environment around the moving object; a diagnosis unit that diagnoses an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result by the recognition unit; a route planning unit that determines a movement route of the moving object based on a diagnosis result by the diagnosis unit; A storage medium on which a program for functioning as a (18) A device that generates an electrical signal when irradiated with electromagnetic waves; A recognition unit that recognizes the environment around the moving object; a diagnosis unit that diagnoses an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result by the recognition unit based on a signal output from the device; a route planning unit that determines a movement route of the moving object based on a diagnosis result by the diagnosis unit; A control system comprising: [Explanation of symbols]

[0287] 1. Mobile 10, 10a, 10b, 20, 20a Control system 100, 100a, 100b Control device 142, 1200, 330, 450, 510, 610, 710 Antennas 151 Ser 152, 162 Transmission line 153 Des 161, 163 PHY 200 Server device 300 Power transmission equipment 400 Powered Device 500 Server device 600 Base station equipment 700 Communication Equipment 800 Insurance premium calculation device 1001 Driver detection unit 1002, 4001, 7001 Location information acquisition unit 1003, 4004, 3001, 5001, 6001, 7003 Communications Department 1004, 1004a, 1004b recognition section 1005, 1005a, 1005b, 4003, 7002 Diagnostic Department 1006 Route Planning Department 1007 Travel control unit 1008 Notification Department 1009, 1009b Recognition and diagnosis section 1101 Control Program 2001 Communications Department 2002 Data Management Department 2100 Antenna 3002 Power transmission control unit 4002 Power supply control unit 5002 Maintenance Management Department 6002 Communication Recording Unit 8001 Analysis processing section 8002 Analysis result recording section 8003 Information acquisition department 8004 Insurance Premium Calculation Department

Claims

1. A recognition unit that recognizes the environment around the moving object; a diagnosis unit that diagnoses an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result by the recognition unit; a route planning unit that determines a movement route of the moving object based on a diagnosis result by the diagnosis unit; Equipped with The diagnosing unit diagnoses whether or not the electromagnetic waves are irradiated at a threshold value or above based on an allowable intensity for each frequency of the electromagnetic waves set for each type of the moving body.

2. A recognition unit that recognizes the environment around a moving object; a diagnosis unit that diagnoses an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result by the recognition unit; a route planning unit that determines a movement route of the moving object based on a diagnosis result by the diagnosis unit; A driving control unit that changes a level of autonomous driving when the diagnosis unit diagnoses that the moving object is irradiated with the electromagnetic waves having an intensity equal to or greater than a threshold value; and A control device comprising:

3. The diagnosis unit diagnoses whether or not the electromagnetic waves are irradiated with an intensity that may cause the recognition unit to erroneously recognize the environment around the moving object. The control device according to claim 1 or 2.

4. The diagnosis unit stores in a storage unit, in the storage unit, the area in which the electromagnetic wave having an intensity equal to or greater than a threshold is detected as a no-travel area. The control device according to claim 1 or 2.

5. The diagnosis unit stores the frequency and intensity of the electromagnetic waves in the no-travel area in the storage unit. The control device according to claim 4.

6. the route planning unit acquires a travel route along which the moving body can travel to the destination without passing through the travel-prohibited area; The control device according to claim 4.

7. The diagnosis unit stores the area as the no-travel area in the storage unit based on a diagnosis result at the first location and a diagnosis result at the second location. The control device according to claim 4.

8. The diagnosis unit diagnoses the intensity of the electromagnetic wave irradiated to the moving object based on the electronic signal output from the antenna. The control device according to claim 1 or 2.

9. The diagnosis unit diagnoses the intensity of the electromagnetic waves irradiated to the moving object based on a ratio of errors to data in communication. The control device according to claim 1 or 2.

10. The diagnosis unit diagnoses the intensity of the electromagnetic waves irradiated to the moving object based on a data loss rate in communication. The control device according to claim 1 or 2.

11. A recognition unit that recognizes the environment around a moving object; a diagnosis unit that diagnoses an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result by the recognition unit; a route planning unit that determines a movement route of the moving object based on a diagnosis result by the diagnosis unit; Equipped with The control device, wherein the diagnosis unit diagnoses that the electromagnetic waves having an intensity above a threshold have been irradiated to the moving body at the first point based on the diagnosis results at the first point and the diagnosis results at the second point, and when the intensity of the electromagnetic waves irradiated to the moving body at the second point where the intensity of the electromagnetic waves is expected to decrease has decreased, stores the area in which the electromagnetic waves having an intensity above a threshold have been detected as a no-travel area in a memory unit.

12. A recognition unit that recognizes the environment around a moving object; a diagnosis unit that diagnoses an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result by the recognition unit; a route planning unit that determines a movement route of the moving object based on a diagnosis result by the diagnosis unit; Equipped with The control device, wherein the diagnosis unit stores in a memory unit an area in which the electromagnetic waves having an intensity above a threshold are detected as a no-driving area based on the diagnosis results at a first location and the diagnosis results at a second location, and if the intensity of the electromagnetic waves does not decrease at the second location, determines that there is a malfunction of the function for diagnosing electromagnetic waves.

13. A recognition step of recognizing an environment around the moving object; a diagnosis step of diagnosing an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result obtained by the recognition step; a route planning step of determining a movement route of the moving object based on a diagnosis result of the diagnosis step; Including, The diagnosing step is a control method for diagnosing whether or not the electromagnetic waves are irradiated at a threshold value or above, based on an allowable intensity for each frequency of the electromagnetic waves set for each type of the moving body.

14. A recognition step of recognizing an environment around a moving object; a diagnosis step of diagnosing an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result obtained by the recognition step; a route planning step of determining a movement route of the moving object based on a diagnosis result of the diagnosis step; a driving control step of changing a level of autonomous driving when it is diagnosed in the diagnosis step that the moving object is irradiated with the electromagnetic wave having an intensity equal to or greater than a threshold; A control method comprising:

15. Computer, A recognition unit that recognizes the environment around the moving object; a diagnosis unit that diagnoses an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result by the recognition unit; a route planning unit that determines a movement route of the moving object based on a diagnosis result by the diagnosis unit; A program for causing the device to function as a A storage medium having a program stored therein, the diagnosis unit diagnoses whether or not the electromagnetic waves are being irradiated at a threshold value or above based on the allowable intensity for each frequency of the electromagnetic waves, which is set for each type of moving body.

16. A computer comprising: A recognition unit that recognizes the environment around the moving object; a diagnosis unit that diagnoses an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result by the recognition unit; a route planning unit that determines a movement route of the moving object based on a diagnosis result by the diagnosis unit; A driving control unit that changes a level of autonomous driving when the diagnosis unit diagnoses that the moving object is irradiated with the electromagnetic waves having an intensity equal to or greater than a threshold value; and A storage medium on which a program for functioning as a

17. A device that generates an electrical signal when irradiated with electromagnetic waves; A recognition unit that recognizes the environment around the moving object; a diagnosis unit that diagnoses an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result by the recognition unit, based on a signal output from the device; a route planning unit that determines a movement route of the moving object based on a diagnosis result by the diagnosis unit; Equipped with The diagnosis unit diagnoses whether or not the electromagnetic waves are irradiated at a threshold value or above based on an allowable intensity for each frequency of the electromagnetic waves set for each type of the moving body.

18. A device that generates an electrical signal when irradiated with electromagnetic waves; A recognition unit that recognizes the environment around the moving object; a diagnosis unit that diagnoses an intensity of an electromagnetic wave irradiated to the moving object based on a recognition result by the recognition unit, based on a signal output from the device; a route planning unit that determines a movement route of the moving object based on a diagnosis result by the diagnosis unit; A driving control unit that changes a level of autonomous driving when the diagnosis unit diagnoses that the moving object is irradiated with the electromagnetic waves having an intensity equal to or greater than a threshold value; and A control system comprising:

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