CONTROL SYSTEM, CONTROL METHOD, AND PROGRAM

Abstract

To determine a stop position according to an environment.SOLUTION: A control system is a system for controlling a movable body which moves autonomously in a region where a pedestrian can move, and the control system comprises: a recognition part for recognizing an object in the surrounding of the movable body; an identification part for identifying a candidate region which is a region where the movable body stops when a prescribed event occurs, the identification part referring to information of multiple candidate regions, and identifying the candidate regions according to priority, obtained by excluding from the multiple candidate regions, the candidate region with which the object interferes; and a control part for moving the movable body to the identified candidate region.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a control system, a control method, and a program. [Background technology]

[0002] 2. Description of the Related Art Conventionally, robots that guide users to desired locations or transport luggage are known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-111011 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above system, the stopping position of the moving object is not sufficiently considered.

[0005] The present invention has been made in consideration of the above circumstances, and one of its objects is to provide a control system, a control method, and a program that can determine a stopping position according to the environment. [Means for solving the problem]

[0006] The control system, the control method, and the program according to the present invention employ the following configuration. (1): A control system according to one embodiment of the present invention is a control system for controlling a moving body that moves autonomously in an area where pedestrians can move, the control system comprising: a recognition unit that recognizes objects around the moving body; an identification unit that identifies a candidate area, which is an area where the moving body will stop when a specified event occurs, the identification unit referring to information on a plurality of candidate areas and identifying the candidate area from the plurality of candidate areas excluding the candidate area in which the object interferes and according to a priority; and a control unit that moves the moving body to the identified candidate area.

[0007] (2): In the above aspect (1), the identification unit refers to information on a plurality of candidate areas to which priorities have been assigned and stored in a memory unit, and identifies the candidate area that is the candidate area remaining after excluding the candidate area in which the object interferes from the plurality of candidate areas, and that corresponds to the priority.

[0008] (3): In the above aspect (1) or (2), the information on the candidate area includes information on the priority of the candidate area, and the priority is set based on information provided by an apparatus outside the moving body that is not mounted on the moving body.

[0009] (4): In the above aspect (4), the information provided by the device outside the vehicle is information on past traffic flow for each of the candidate areas.

[0010] (5): In the aspect (4) above, a setting unit is provided that sets the priority of the candidate area in which the past traffic flow is equal to or greater than a threshold to be lower than the priority of the candidate area in which the past traffic flow is less than the threshold.

[0011] (6): In any of the aspects of (5) above, the setting unit sets the priority based on one or more of the following items in addition to the information on past traffic flow: the size of the moving body relative to the size of the area corresponding to each of the candidate areas; and the distance between the target that the moving body is following and the candidate area.

[0012] (7) In the aspect (6) above, the setting unit sets a higher priority for a candidate area relative to the moving body as the candidate area is larger.

[0013] (8) In any of the aspects of (6) above, the setting unit sets a higher priority for a candidate region as the distance between the target and the candidate region becomes shorter.

[0014] (9) In any of the above aspects (6), the setting unit excludes from the candidate areas any area in which the past traffic flow is equal to or greater than a predetermined value.

[0015] (10): In any of the aspects of (7) above, the identification unit identifies the candidate areas based on the priority and one or both of the cost and risk involved in the moving body moving to each of the candidate areas.

[0016] (11): In the above aspect (1) or (2), the moving body is capable of autonomously moving in an area where vehicles cannot move and pedestrians can move.

[0017] (10): In another aspect of the control method of the present invention, a computer of a control system for controlling a moving body that moves autonomously in an area where vehicles cannot move and pedestrians can move is provided, which computer recognizes objects around the moving body, identifies a candidate area in which the moving body will stop when a specified event occurs, refers to information on a plurality of candidate areas, identifies a candidate area from the plurality of candidate areas excluding a candidate area in which the object interferes and according to a priority, and moves the moving body to the identified candidate area.

[0018] (11): A program according to another aspect of the present invention causes a computer of a control system for controlling a moving body that moves autonomously in an area where vehicles cannot move and pedestrians can move, to execute the following processes: recognize objects around the moving body; identify a candidate area in which the moving body will stop when a specified event occurs; refer to information on a plurality of candidate areas; identify the candidate area from the plurality of candidate areas excluding the candidate area in which the object interferes and according to a priority; and move the moving body to the identified candidate area. Effect of the Invention

[0019] According to the aspects (1) to (12), a stopping position can be determined according to the environment. [Brief description of the drawings]

[0020] [Figure 1] 1 is a diagram showing an example of the configuration of a mobile object system 1 including a mobile object 100. FIG. [Diagram 2] FIG. 2 is a diagram for explaining an example of a usage mode of a moving object 100. [Diagram 3] FIG. 13 is a diagram for explaining a guidance mode. [Figure 4] FIG. 1 is a perspective view showing a moving body 100. [Diagram 5] 2 is a diagram illustrating an example of a functional configuration of a moving object 100. FIG. [Figure 6] FIG. 2 is a diagram illustrating an example of a functional configuration of an information providing device 30. [Figure 7] 2 is a diagram showing an example of an image IM captured by an imaging section 20. FIG. [Figure 8] FIG. 13 is a diagram showing candidate areas for a stop position. [Figure 9] FIG. 13 is a diagram for explaining the specification of a target region. [Figure 10] FIG. 13 is a diagram illustrating an example of a candidate region. [Figure 11] FIG. 13 is a diagram showing an example of analysis information 226. [Figure 12] FIG. 2 is a diagram showing an example of priority information 228. [Figure 13] 4 is a flowchart showing an example of the flow of processing executed by the information providing device 30. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, with reference to the drawings, an embodiment of the control system, control method, and program of the present invention will be described. The control system of the mobile body of the present invention controls the drive device of the mobile body to move the mobile body. The mobile body in the present invention autonomously moves in an area where pedestrians walk, leading a leading subject and following the subject. The mobile body can move in an area where pedestrians can move, even if a vehicle (car, motorcycle, light vehicle) cannot move. The area where pedestrians move is a sidewalk, a public open space, a floor in a building, etc., and may include a roadway. In the following description, it is assumed that no person rides on the mobile body, but a person may ride on the mobile body. The leading subject is, for example, one of the pedestrians, but may also be a robot or an animal. For example, the mobile body moves a little ahead of an elderly user while heading toward a predetermined destination point, so that other pedestrians who are an obstacle to the user's movement do not get too close to the user (that is, it operates to make a way for the user). The user is not limited to the elderly, but may be a person who tends to have difficulty walking, a child, a person shopping at a supermarket, a patient moving in a hospital, a pet taking a walk, etc. Also, the user does not necessarily need to determine the destination point in advance, and the direction in which the user moves may be predicted and the vehicle may move autonomously in front of the user at the user's moving speed. Note that such an operation may not be performed all the time, but may be performed temporarily. For example, when a moving body runs alongside or pursues a user and detects a predetermined situation (e.g., the presence of an obstacle or traffic congestion) in the user's traveling direction, the moving body may temporarily lead the user by executing the algorithm of the present invention.

[0022] FIG. 1 is a diagram showing an example of the configuration of a mobile body system 1 including a mobile body 100. The mobile body system ("control system") 1 includes, for example, one or more terminal devices 2, a management device 10, one or more imaging units 20, an information providing device 30, and one or more mobile bodies 100. These communicate with each other, for example, via a network NW. The network NW is any network, such as a LAN, a WAN, or an Internet line. A part of the functional configuration included in the information providing device 30 may be mounted on the mobile body 100, and a part of the functional configuration included in the mobile body 100 may be mounted on the information providing device 30.

[0023] [Terminal Device] The terminal device 2 is, for example, a computer device such as a smartphone, a tablet terminal, etc. The terminal device 2 requests the provision of authority to use the mobile object 100 from the management device 10 based on, for example, an operation by a user, and obtains information indicating that the use has been permitted.

[0024] [Management device] In response to a request from the terminal device 2, the management device 10 grants the user of the terminal device 2 the authority to use the mobile object 100 and manages reservations for the use of the mobile object 100. The management device 10 generates and manages schedule information that associates, for example, preregistered user identification information with the date and time of reservations for the use of the mobile object 100.

[0025] [Imaging section] The imaging unit 20 is a camera that captures images of the scenery of a target area. The imaging unit 20 provides the information providing device 30 with images captured at predetermined intervals.

[0026] [Information providing device] The information providing device 30 provides the mobile body 100 with information on the location of the mobile body 100, the area in which the mobile body 100 moves, and map information on the surrounding area. In response to a request from the mobile body 100, the information providing device 30 may generate a route to the destination of the mobile body 100 and provide the generated route to the mobile body 100. Details of the information providing device 30 will be described later.

[0027] [Mobile object] The moving body 100 is used by a user in the following manner of use. FIG. 2 is a diagram for explaining an example of the manner of use of the moving body 100. The moving body 100 can autonomously move in an area where pedestrians can move. The moving body 100 can pass through, for example, an area where vehicles cannot pass. The moving body 100 is disposed, for example, at a predetermined position in a facility or a town. When a user wants to use the moving body 100, the user can start using the moving body 100 by operating an operation unit (not shown) of the moving body 100, or can start using the moving body 100 by operating the terminal device 2. For example, when a user goes shopping and has a lot of luggage, the user starts using the moving body 100 and puts the luggage in a storage unit of the moving body 100. Then, the moving body 100 moves together with the user so as to autonomously follow the user. The user can continue shopping or move to the next destination with the luggage stored in the moving body 100. For example, the moving body 100 moves together with the user while moving on a sidewalk or a crosswalk on a roadway. The mobile body 100 can move in areas where pedestrians can pass, such as roadways and sidewalks. For example, the mobile body 100 may be used in indoor or outdoor facilities or private land, such as shopping centers, airports, parks, and theme parks, and can move in areas where pedestrians can pass.

[0028] The moving body 100 may be capable of moving autonomously in a mode such as a guidance mode or an emergency mode in addition to (or instead of) the following mode in which the moving body 100 follows the user as described above.

[0029] FIG. 3 is a diagram for explaining the guidance mode. The guidance mode is a mode in which the user is guided to a destination specified by the user, and the mobile unit moves autonomously in front of the user in accordance with the user's moving speed to lead the user. As shown in FIG. 3, when a user is looking for a specific product in a shopping center, if the user requests the mobile unit 100 to lead the user to the location of the specific product, the mobile unit 100 leads the user to the location of the product. This allows the user to easily find the specific product. When the mobile unit 100 is used in a shopping center, the mobile unit 100 or the information providing device 30 holds information in which the location of the product, the location of the store, the location of the facility in the shopping center, etc. are associated with map information, and map information of the shopping center. This map information includes detailed map information including the width of roads and passages.

[0030] The emergency mode is a mode in which the moving body 100 moves autonomously to request help from nearby people or facilities in order to help the user if something unusual happens to the user (e.g., the user falls) while moving with the user. In addition to (or instead of) following or guiding the user as described above, the moving body 100 may move while keeping a proper distance from the user.

[0031] 4 is a perspective view showing the moving body 100. In the following explanation, the forward direction of the moving body 100 is the plus x-direction, the rearward direction of the moving body 100 is the minus x-direction, the width direction of the moving body 100, which is the left direction based on the plus x-direction, the right direction is the minus y-direction, and the height direction of the moving body 100, which is a direction perpendicular to the x-direction and y-direction, is the plus z-direction.

[0032] The moving body 100 includes, for example, a base body 110, a door section 112 provided on the base body 110, and wheels (first wheel 120, second wheel 130, and third wheel 140) attached to the base body 110. For example, a user can open the door section 112 to put luggage into a storage section provided on the base body 110 or take luggage out of the storage section. The first wheel 120 and the second wheel 130 are driving wheels, and the third wheel 140 is an auxiliary wheel (driven wheel). The moving body 100 may be movable using a configuration other than wheels, such as caterpillars.

[0033] A cylindrical support 150 extending in the positive z direction is provided on the surface of the base 110 in the positive z direction. A camera 180 that captures an image of the surroundings of the moving body 100 is provided on the end of the support 150 in the positive z direction. The position at which the camera 180 is provided may be any position different from the above.

[0034] Camera 180 is, for example, a camera capable of capturing images of the periphery of moving body 100 at a wide angle (for example, 360 degrees). Camera 180 may include multiple cameras. Camera 180 may be realized by combining, for example, multiple 120-degree cameras or multiple 60-degree cameras.

[0035] 5 is a diagram showing an example of a functional configuration of the moving body 100. In addition to the functional configuration shown in FIG. 4, the moving body 100 further includes a first motor 122, a second motor 132, a battery 134, a brake device 136, a steering device 138, a communication unit 190, and a control device 200. The first motor 122 and the second motor 132 are operated by power supplied to the battery 134. The first motor 122 drives the first wheel 120, and the second motor 132 drives the second wheel 130. The first motor 122 may be an in-wheel motor provided in the wheel of the first wheel 120, and the second motor 132 may be an in-wheel motor provided in the wheel of the second wheel 130.

[0036] The brake device 136 outputs a brake torque to each wheel based on an instruction from the control device 200. The steering device 138 includes an electric motor. The electric motor applies a force to a rack-and-pinion mechanism based on an instruction from the control device 200 to change the direction of the first wheel 120 or the second wheel 130, thereby changing the course of the moving body 100.

[0037] The communication unit 190 is a communication interface for communicating with the terminal device 2, the management device 10, or the information providing device 30.

[0038] [Control device] The control device 200 includes, for example, a position identification unit 202, an information processing unit 204, a recognition unit 206, a stop position processing unit 208, a path generation unit 212, a trajectory generation unit 214, a control unit 216, and a storage unit 220. The position identification unit 202, the information processing unit 204, the recognition unit 206, the path generation unit 212, the trajectory generation unit 214, and the control unit 216 are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by cooperation between software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transient storage medium) such as a hard disk drive (HDD) or a flash memory, or may be stored in a removable storage medium (non-transient storage medium) such as a DVD or a CD-ROM, and installed by inserting the storage medium into a drive device. The storage unit 220 is realized by a storage device such as a HDD, a flash memory, or a random access memory (RAM). The stop position processing unit 208 is an example of a "determining unit".

[0039] The storage unit 220 stores control information 222, which is a control program for controlling the behavior of the moving object 100 referred to by the control unit 216, map information 224, analysis information 226, and priority information 228. The map information 224 is, for example, map information such as the location of the moving object 100 provided by the information providing device 30, the area in which the moving object 100 moves, and the surrounding area of ​​the area. The analysis information 226 is analysis information 54 provided by the information providing device 30 (described later). The priority information 228 is information in which the area in which the moving object 100 stops is associated with the priority. A part or all of the functional configuration included in the control device 200 may be included in another device. For example, the moving object 100 may communicate with the other device and cooperate to control the moving object 100.

[0040] The position identifying unit 202 identifies the position of the moving body 100. The position identifying unit 202 acquires position information of the moving body 100 by a GPS (Global Positioning System) device (not shown) built into the moving body 100. The position information may be, for example, two-dimensional map coordinates or latitude and longitude information. The position identifying unit 202 may also estimate the position of the moving body 100 at the same time as creating the environmental map by a method such as a so-called SLAM using a camera image captured by the camera 180 or a sensor such as Lidar.

[0041] The information processing unit 204 manages information acquired from the terminal device 2, the management device 10, or the information providing device 30, for example.

[0042] The recognition unit 206 recognizes the position (distance from the moving body 100 and direction relative to the moving body 100) of an object in the vicinity of the moving body 100, and the state of the object such as speed and acceleration, based on, for example, an image captured by the camera 180. The object includes traffic participants and obstacles present in a facility or on a road. The recognition unit 206 recognizes and tracks the user of the moving body 100. For example, the recognition unit 206 tracks the user based on an image (e.g., a face image of the user) captured by the user who is registered when the user uses the moving body 100, or a face image of the user (or a feature amount obtained from the face image of the user) provided by the terminal device 2 or the management device 10. The recognition unit 206 recognizes a gesture made by the user. Note that the moving body 100 may be provided with a detection unit different from a camera, such as a radar device or LIDAR. In this case, the recognition unit 206 recognizes the situation around the moving body M using the detection result of the radar device or LIDAR instead of (or in addition to) the image.

[0043] The stop position processing unit 208 specifies a candidate area where the robot stops after a predetermined task is completed. The stop position processing unit 208 includes a setting unit 210. The setting unit 210 sets a priority for the candidate area. The processing of the stop position processing unit 208 and the setting unit 210 will be described in detail later.

[0044] The route generation unit 212 generates a route to a destination specified by the user. The destination may be the location of a product or a facility. In this case, the user specifies the product or facility, and the mobile body 100 sets the location of the specified product or facility as the destination. The route is a route that can reach the destination reasonably. For example, the distance to the destination, the time required to reach the destination, the ease of travel of the route, etc. are scored, and a route is derived in which each score and the combined score of the scores are equal to or greater than a threshold value.

[0045] The trajectory generating unit 214 generates a trajectory along which the moving body 100 should travel in the future based on, for example, a gesture of the user, a destination set by the user, surrounding objects, the position of the user, and the like. The trajectory generating unit 214 generates a trajectory that allows the moving body 100 to move smoothly to a target point. The trajectory generating unit 214 generates a trajectory according to the behavior of the moving body 100 based on, for example, a correspondence between a gesture and a behavior determined in advance, or generates a trajectory for moving toward a destination while avoiding surrounding objects. The trajectory generating unit 214 generates, for example, a trajectory for following a tracked user or a trajectory for leading a user. The trajectory generating unit 214 generates, for example, a trajectory according to a behavior based on a preset mode. The trajectory generation unit 214 generates a plurality of trajectories according to the behavior of the moving body 100, calculates the risk for each trajectory, and when the total value of the calculated risks and the risk of each trajectory point meet a preset criterion (for example, when the total value is equal to or less than a threshold value Th1 and the risk of each trajectory point is equal to or less than a threshold value Th2), adopts the trajectory that satisfies the criterion as the trajectory along which the moving body 100 will move. For example, the risk tends to be higher the closer the distance between the trajectory (trajectory point of the trajectory) and an obstacle, and to be lower the closer the distance between the trajectory and an obstacle.

[0046] The control unit 216 controls the motors (the first motor 122, the second motor 132), the brake device 136, and the steering device 138 so that the moving body 100 travels along a trajectory that satisfies a preset standard.

[0047] [Information providing device] FIG. 6 is a diagram showing an example of a functional configuration of the information providing device 30. The information providing device 30 includes, for example, an information acquiring unit 32, an image analyzing unit 34, and a providing unit 36. A part or all of these functional units are realized by, for example, a hardware processor such as a CPU executing a program (software). A part or all of these components may be realized by hardware (including circuitry) such as an LSI, ASIC, FPGA, or GPU, or may be realized by cooperation between software and hardware. The program may be stored in a storage device such as an HDD or flash memory (a storage device having a non-transient storage medium) in advance, or may be stored in a removable storage medium (non-transient storage medium) such as a DVD or CD-ROM, and may be installed by mounting the storage medium in a drive device. The storage unit 220 is realized by a storage device such as an HDD, flash memory, or RAM. The storage unit 50 stores image information 52, analysis information 54, candidate area information 56 (described later), and the like. The image information 52 is information on an image captured by the imaging unit 20. The analysis information 54 is information on the results of processing by the image analysis unit 34 .

[0048] The information acquisition unit 32 acquires an image captured by the imaging unit 20. Fig. 7 is a diagram showing an example of an image IM captured by the imaging unit 20. In the example of Fig. 7, the imaging unit 20 is installed on the ceiling and captures an image of the ground from the ceiling, but is not limited to this and may be installed in a position where it can capture an image of the ground side from diagonally above and capture an image of the ground from diagonally above. The image IM is, for example, an image of a predetermined area or an object OB (person) included in the predetermined area.

[0049] The image analysis unit 34 recognizes an object in an image based on, for example, an image captured by the imaging unit 20. The image analysis unit 34 repeats this process (repeated for each image in the time series), derives the degree to which an object OB exists in each region, and generates analysis information 54 indicating the degree to which an object exists in each region. This analysis information 54 is information indicating past traffic flow for each region, such as a heat map indicating the degree to which an object existed in each region in the past.

[0050] The providing unit 36 ​​provides the analysis information 54 to the mobile entity 100 .

[0051] [Priority-based control] The control device 200 refers to information on a plurality of candidate areas, identifies a candidate area that is a candidate area that is obtained by excluding candidate areas in which an object interferes from the plurality of candidate areas and that corresponds to a priority, and moves the mobile body 100 to the identified candidate area. The priority may be identified based on priority information 228 as described later, or may be identified based on a predetermined criterion. For example, the priority of a candidate area is identified based on information on the candidate area, such as past traffic flow, current traffic flow in or near the candidate area, the size of the candidate area, the distance to an object (the current position of the mobile body 100 or the user's position) relative to the candidate area, or a combination of these, and the candidate area is identified. Specifically, the control device 200 refers to, for example, the priority information 228 to identify the candidate area. The mobile body can autonomously move in an area where vehicles cannot move and where pedestrians can move. The priority is set based on information provided by a device outside the mobile body that is not mounted on the mobile body 100 (for example, the information providing device 30). The information provided by the device outside the mobile body 100 is information on past traffic flow for each candidate area. This process will be described below.

[0052] The stop position processing unit 208 specifies a stop area which is a position where the robot stops when a predetermined event occurs. The predetermined event is a task specified by the user, an instruction by the user, or the like. The task is, for example, a specified task such as a task of guiding the user to a predetermined position. The instruction by the user is, for example, a voice instruction such as "wait for a moment" or an instruction according to an operation specifying waiting. The stop position processing unit 208 specifies, for example, a stop area where the robot stops after an event ends and before the next event occurs. The end of an event means that the task specified by the user has been completed.

[0053] FIG. 8 is a diagram showing candidate areas for a stop position. For example, as shown in FIG. 8, candidate areas AR-C1-AR-C4 are candidate areas. These candidate areas AR-C1-AR-C4 may be information managed by the moving body 100, or may be information provided by the information providing device 30. For example, the information providing device 30 provides the moving body 100 with information on the candidate areas corresponding to the position information of the moving body 100 included in the candidate area information 56. The provided candidate area information is information in which the positions of the candidate areas are associated with the priorities of the candidate areas.

[0054] The candidate area may be specified by the stop position processing unit 208 of the moving body 100. The stop position processing unit 208 specifies one or more target areas. FIG. 9 is a diagram for explaining the specification of the target area. The target area is, for example, a position where the moving body 100 is unlikely to hinder the movement of an object even if it stops. In the example of FIG. 9, an area AR-C near a wall is specified as the target area. The stop position processing unit 208 may specify the wall as the target area as described above, or may specify all areas in the image as the target area. When all areas are set as candidate areas, the processing of the stop position processing unit 208 is performed on all areas (or areas other than the wall).

[0055] The stop position processing unit 208 specifies a candidate area in the target area where the moving body 100 can stop, based on the target area and the recognized object. A candidate area is a position in the target area where no object or user is present. FIG. 10 is a diagram showing an example of a candidate area. In the example of FIG. 10, candidate areas AR-C1, AR-C2, AR-C3, and AR-C4 are specified. In this manner, the candidate area may be specified by the moving body 100, or information on the candidate areas may be provided by the information providing device 30 as described above. In the diagram, "TA" is a user who uses the moving body 100.

[0056] The setting unit 210 specifies an area where the traffic flow is equal to or less than a threshold value among the candidate areas based on the analysis information 226. FIG. 11 is a diagram showing an example of the analysis information 226. FIG. 11 is an example of a graph showing the degree of presence of an object for each area during a predetermined period. The vertical axis shows the degree of presence of an object, and the horizontal axis shows the position of the area. The setting unit 210 performs statistical processing on the position of the object for each image to derive the degree of presence of an object for each position. In the example of FIG. 11, the area AR-C4 is an area where the degree of presence of an object is equal to or greater than a threshold value. The setting unit 210 excludes the area AR-C4 from the candidate areas. This process is an example of a process in which "the setting unit excludes an area where the past traffic flow is equal to or greater than a predetermined value from the candidate areas". This process is an example of a process in which "the priority of the candidate area where the past traffic flow is equal to or greater than a threshold value is set lower than the priority of the candidate area where the past traffic flow is less than the threshold value".

[0057] The setting unit 210 evaluates the candidate area based on a predetermined criterion. Fig. 12 is a diagram showing an example of the priority information 228. The setting unit 210 evaluates the predetermined priority based on a predetermined criterion and modifies the priority. The predetermined criterion is, for example, the size of the candidate area, the distance between the candidate area and the user, the traffic flow in the candidate area, etc.

[0058] For example, the larger the candidate area is, the higher the evaluation of the target candidate area is given by the setting unit 210. At this time, the size of the moving body 100 may be taken into consideration. For example, the evaluation may be determined according to how large the candidate area is relative to the size of the moving body 100. For example, the larger the candidate area is relative to the size of the moving body 100, the higher the evaluation is given by the setting unit 210. The closer the distance between the candidate area and the user, the higher the evaluation is given by the setting unit 210. The lower the past traffic flow of the candidate area is, the higher the evaluation is given by the setting unit 210, and the higher the past traffic flow is, the lower the evaluation is given by the setting unit 210. The process of lowering the evaluation depending on the traffic flow is another example of the process of "setting the priority of the candidate area whose past traffic flow is equal to or greater than a threshold lower than the priority of the candidate area whose past traffic flow is less than the threshold".

[0059] As described above, the setting unit 210 evaluates the candidate areas for each criterion and performs statistical processing on the evaluation results. The setting unit 210 evaluates the candidate areas based on the results of the statistical processing, and assigns (modifies) priorities to the candidate areas. For example, the candidate areas are assigned (modified) with higher priorities in descending order of evaluation. In the example of FIG. 12, the candidate areas AR-C2, AR-C3, and AR-C1 have the highest evaluations in that order.

[0060] [flowchart] 13 is a flowchart showing an example of the flow of processing executed by the information providing device 30. The processing of this flowchart is executed immediately before the moving object 100 finishes a task. The processing of this flowchart may be started at the timing when the task is finished or immediately after the task is finished.

[0061] First, the information providing device 30 provides information on past traffic flow (analysis information 54) to the mobile object 100 (step S10). This allows the stop position processing unit 208 to acquire information on past traffic flow. This process may be executed at any timing.

[0062] Next, the stop position processing unit 208 judges whether or not it is time to end the task (S100). If it is time to end the task, the stop position processing unit 208 identifies candidate areas based on past traffic flows and object positions (step S100). As described above, the candidate areas AR-C1, AR-C2, and AR-C3 are identified.

[0063] Next, the setting unit 210 evaluates the size of the candidate area, the distance between the candidate area and the user, and the traffic flow of the candidate area (steps S104, S106, S108). The setting unit 210 performs statistical processing on each evaluation to obtain an evaluation (step S110), and sets a priority for the candidate area (step S112). Next, the control unit 216 identifies a candidate area with a high priority (step S114), and moves the mobile object 100 to the identified candidate area (step S116). This ends the processing of one routine of this flowchart. Thereafter, when a task is set and an event occurs, the mobile object 100 starts moving from the stopped position.

[0064] As described above, the moving body 100 can stably and robustly respond to the situation at hand by combining static information (information on past traffic flow) and dynamic information (information on the recognized area). For example, a location where no traffic participants such as people are passing through is identified as a stop position, and the moving body 100 can automatically stop at the stop position. In this way, the moving body 100 can determine a stop position according to the environment and stop there.

[0065] The stop position processing unit 208 may specify the candidate areas based on the above priority and one or both of the cost and risk when the moving body 100 moves to each of the candidate areas. The setting unit 210 may adjust the priority based on scores such as the ease of moving to each candidate area and the ease of stopping. For example, the setting unit 210 lowers the priority of a candidate area whose score is equal to or less than a threshold, or raises the priority of a candidate area whose score exceeds the threshold. For example, the setting unit 210 causes the trajectory generating unit 214 to generate a trajectory to each candidate area, evaluates each trajectory, and derives a score. For example, the score is derived based on the risk when moving along the trajectory, or the length of the trajectory or the cost when moving along the trajectory. For example, the straighter the trajectory, the higher the cost, and the farther the degree of proximity to the object when moving along the trajectory, the lower the risk.

[0066] As described above, the moving body 100 determines a position where it will wait after the task is completed, and moves to the determined position. This allows the moving body 100 to determine a stop position according to the environment, and wait at the stop position until the task is started. This position is expected to contribute to smooth traffic without restricting the actions of users who use the target area.

[0067] In the above example, the mobile body 100 performs an evaluation based on the past traffic flow provided by the information providing device 30, and sets a priority. Some of the processes performed by the mobile body 100 may be performed by the information providing device 30. For example, the information providing device 30 may perform a part of the processes of the mobile body 100 in FIG. 13 described above. For example, the information providing device 30 may perform the process of setting the priority performed by the mobile body 100. In this case, the information providing device 30 and the mobile body 100 may cooperate to set the priority. For example, the information providing device 30 and the mobile body 100 may transmit and receive information to each other, and may execute the processes in charge using the transmitted and received information, and a system including the information providing device 30 and the mobile body 100 may determine the priority or move the mobile body 100.

[0068] According to the embodiment described above, the control device 200 identifies a candidate area in which the mobile object will stop after a preset task is completed, and by referring to information on a plurality of candidate areas with priorities assigned thereto and stored in a memory unit, identifies a candidate area that is obtained by excluding candidate areas in which an object may interfere from the plurality of candidate areas and that corresponds to the priority, and moves the mobile object 100 to the identified candidate area, thereby making it possible to determine a stopping position that corresponds to the environment.

[0069] The above-described embodiment can be expressed as follows. a storage medium for storing computer-readable instructions; a processor coupled to the storage medium; The processor executes the computer-readable instructions to: Controlling a mobile object that moves autonomously within an area where pedestrians can move, Recognizing objects around the moving object; Identifying a candidate region, which is a region in which to stop when a predetermined event occurs; Refer to the information of multiple candidate regions, A control system that identifies, from the plurality of candidate areas, the candidate areas that are obtained by excluding the candidate areas in which the object interferes, and that identify the candidate areas according to priority.

[0070] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0071] 1 Mobile Systems 2 Terminal Device 10 Management device 20 Imaging unit 30 Information provision device 100 Mobile 200 Control device 204 Information Processing Section 206 Recognition part 208 Stop position processing unit 210 Setting section 216 Control Unit 220 Storage section 228 Priority information

Claims

1. A control system for controlling a moving object that moves autonomously in an area where pedestrians can move, comprising: A recognition unit that recognizes objects around the moving object; A specification unit that specifies a candidate area that is an area in which the vehicle will stop when a predetermined event occurs, Refer to the information of multiple candidate regions, a specification unit that specifies the candidate area from the plurality of candidate areas, the candidate area being obtained by excluding the candidate area in which the object interferes, and that specifies the candidate area according to a priority; A control unit that moves the moving object to the identified candidate area; Equipped with the information on the candidate regions includes information on priority of the candidate regions; The priority is set based on information on past traffic flow for each of the candidate areas. Control system.

2. The information on past traffic flow for each of the candidate areas is provided by a device outside the mobile body. The control system of claim 1 .

3. The information provided by the device outside the mobile body is information on past traffic flow for each of the candidate areas. The control system of claim 2.

4. a setting unit that sets a priority of the candidate area in which the past traffic flow is equal to or greater than a threshold lower than a priority of the candidate area in which the past traffic flow is less than the threshold; The control system of claim 3.

5. The setting unit sets the priority based on one or more of the following items in addition to the information on the past traffic flow: a size of the moving object relative to a size of an area corresponding to each of the candidate areas; and a distance between an object followed by the moving object and the candidate area.

5. The control system of claim 4.

6. the setting unit sets a higher priority for a candidate area as the candidate area becomes larger with respect to the moving body; The control system of claim 5.

7. the setting unit sets a higher priority for a candidate region as the distance between the target and the candidate region becomes shorter; The control system of claim 5.

8. The setting unit excludes an area where the past traffic flow is equal to or greater than a predetermined value from the candidate area. The control system of claim 5.

9. the identification unit identifies the candidate areas based on the priority and one or both of a cost and a risk when the moving object moves to each of the candidate areas.

7. The control system of claim 6.

10. The identification unit refers to information on a plurality of candidate areas to which priorities have been assigned and which is stored in a storage unit, identifying the candidate area, which is obtained by excluding the candidate area in which the object interferes from the plurality of candidate areas and which corresponds to the priority; The control system of claim 1 .

11. The moving body is capable of autonomously moving in an area where vehicles cannot move and pedestrians can move. A control system according to claim 1 or 10.

12. A computer in a control system that controls a moving object that moves autonomously in an area where vehicles cannot move and pedestrians can move is Recognizing objects around the moving object; Identifying a candidate region, which is a region in which the robot will stop after completing a preset task; Refer to information on a plurality of candidate regions to which priorities have been assigned and which are stored in a storage unit, identifying the candidate area, which is obtained by excluding the candidate area in which the object interferes from the plurality of candidate areas and which corresponds to the priority; Moving the moving object into the identified candidate area; the information on the candidate regions includes information on priority of the candidate regions; The priority is set based on information on past traffic flow for each of the candidate areas. Control methods.

13. The computer in the control system controls a vehicle that moves autonomously in areas where vehicles cannot move and pedestrians can move. A process of recognizing objects around the moving body; A process of identifying a candidate area in which the robot will stop after a preset task is completed; A process of referring to information on a plurality of candidate regions to which priorities have been assigned and which is stored in a storage unit; a process of identifying the candidate area, which is obtained by excluding the candidate area in which the object interferes from the plurality of candidate areas and which corresponds to the priority; A process of moving the moving object to the identified candidate area; Run the command, the information on the candidate regions includes information on priority of the candidate regions; The priority is set based on information on past traffic flow for each of the candidate areas. program.

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