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

Abstract

This control apparatus is for a mobile body which at least one occupant is on board and which is movable both on a roadway and on a prescribed region different from the roadway, and said control apparatus comprises: a road type recognition unit for recognizing, on the basis of output of an external detection device, which type of road, i.e., the roadway or the prescribed region, the mobile body is moving on; and a control unit for causing, on the basis of the recognized road type, the mobile body to move in a travel condition that is one of a first travel condition where the speed of the mobile body is limited to a first speed and a second travel condition where the speed of the mobile body is limited to a second speed lower than the first speed. When it has been recognized that the mobile body is moving on the roadway, the mobile body is caused to move in the first travel condition. When it has been recognized that the mobile body is moving on the prescribed region, the mobile body is caused to move in the second travel condition. When operation of switching between the travel conditions is performed by a switching operation unit which receives travel condition switching operation by the occupant, the travel condition under control is forcibly switched regardless of whether the mobile body is recognized as moving on the roadway or on the prescribed region.

Description

[Technical field]

[0001] The present invention relates to a control device for a moving object, a control method for a moving object, and program Regarding. [Background technology]

[0002] Conventionally, practical application of mobile objects that can move on both sidewalks and roadways has been promoted. In this connection, a technology has been disclosed that detects the direction in which an electric vehicle can move from an image of a block for guiding visually impaired persons included in image data captured by an imaging unit, and controls the traveling of the electric vehicle based on the detected direction (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-197328 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, a mobile object that can move on both the sidewalk and the roadway needs to move in a driving state in which different upper limit speeds are set for the sidewalk and the roadway, but in a situation where it is difficult to recognize the road type, the system may erroneously recognize the road type, which may result in the mobile object moving in an incorrect driving state. However, conventional technology does not take into consideration driving control in the above-mentioned situations, and there are cases where appropriate driving control according to road conditions cannot be performed.

[0005] The present invention has been made in consideration of the above circumstances, and provides a control device and a control method for a moving body that can move the moving body in a more appropriate running state according to the road conditions during movement, and program One of the aims is to provide. [Means for solving the problem]

[0006] The control device for a moving object, the control method for a moving object, and the storage medium according to the present invention employ the following configuration. (1): A control device for a moving body according to one embodiment of the present invention is a control device for a moving body that has one or more occupants on board and is capable of moving both on a roadway and a predetermined area different from the roadway, and includes a road type recognition unit that recognizes whether the moving body is moving on a roadway or the predetermined area based on the output of an external environment detection device that detects the external condition of the moving body, and a control unit that moves the moving body in either a first running state in which the speed of the moving body is limited to a first speed or a second running state in which the speed of the moving body is limited to a second speed lower than the first speed, based on the road type recognized by the road type recognition unit. The control unit moves the moving body in the first running state when it is recognized that the moving body is moving on the roadway, moves the moving body in the second running state when it is recognized that the moving body is moving in the predetermined area, and when an operation to switch the running state is performed by a switching operation unit that accepts an operation to switch the running state by the occupant, the control device forcibly switches the running state being controlled even if the moving body is recognized as moving on the roadway or the predetermined area.

[0007] (2): In the above aspect (1), when the driving state is switched based on a switching operation by the switching operation unit, the control unit notifies one or both of the occupant and those around the moving body of information indicating that the driving state has been forcibly switched.

[0008] (3): In the above aspect (1), when the driving state is switched based on a switching operation by the switching operation unit, the control unit notifies one or both of the occupant and those around the moving body of information indicating whether the moving body is moving in the first driving state or the second driving state.

[0009] (4): In the above aspect (1), the control unit changes the notification manner when notifying the driving condition switched by the switching operation of the switching operation unit from the manner when notifying the driving condition determined based on the road type recognized by the road type recognition unit.

[0010] (5): In the above aspect (1), the control unit moves the moving body in any one of a plurality of pre-set driving modes, and when the driving mode being executed is a specific driving mode, does not switch the traveling state based on the switching operation by the switching operation unit.

[0011] (6): In the above aspect (1), the control unit does not switch the driving state based on the switching operation by the switching operation unit when the degree of recognition of the road type recognized by the road type recognition unit is equal to or greater than a threshold value.

[0012] (7) In the above aspect (1), the control unit notifies an external device of position information of the moving object when the switching operation unit performs a switching operation of the traveling state.

[0013] (8) A method for controlling a moving body according to another aspect of the present invention is a method for controlling a moving body, the method comprising the steps of: a computer that controls a moving body having one or more occupants on board and capable of moving both on a roadway and a predetermined area different from the roadway, recognizing, based on an output of an external environment detection device that detects the external condition of the moving body, whether the moving body is moving on a roadway or the predetermined area; and, based on the recognized road type, moving the moving body in either a first running state in which the speed of the moving body is limited to a first speed or a second running state in which the speed of the moving body is limited to a second speed lower than the first speed; moving the moving body in the first running state when it is recognized that the moving body is moving on the roadway; moving the moving body in the second running state when it is recognized that the moving body is moving in the predetermined area; and, when an operation for switching the running state is performed by a switching operation unit that accepts an operation for switching the running state by the occupant, forcibly switching the controlled running state even if the moving body is recognized as moving on the roadway or the predetermined area.

[0014] (9) A storage medium according to another aspect of the present invention is a storage medium having stored therein a program for causing a computer that controls a moving body, which has one or more occupants on board and is capable of moving both on a roadway and a predetermined area different from the roadway, to recognize, based on the output of an external environment detection device that detects the external conditions of the moving body, which road type the moving body is moving on, either the roadway or the predetermined area, and, based on the recognized road type, moving the moving body in either a first running state in which the speed of the moving body is limited to a first speed or a second running state in which the speed of the moving body is limited to a second speed lower than the first speed; moving the moving body in the first running state when it is recognized that the moving body is moving on the roadway, and moving the moving body in the second running state when it is recognized that the moving body is moving in the predetermined area; and forcibly switching the controlled running state when an operation for switching the running state is performed by a switching operation unit that accepts an operation for switching the running state by the occupant, even if the moving body is recognized as moving on the roadway or the predetermined area. Effect of the Invention

[0015] According to the above aspects (1) to (9), the moving body can be moved in a more appropriate traveling state in accordance with the road conditions during movement. [Brief description of the drawings]

[0016] [Figure 1] 1 is a diagram illustrating an example of the configuration of a moving object 1 and a control device 100 according to an embodiment. [Diagram 2] 1 is a perspective view of a moving body 1 seen from above. [Diagram 3] 10 is a diagram for explaining the control of the moving object 1 in the control unit 140. FIG. [Figure 4] FIG. 11 is a diagram showing an example of notification content at time T1. [Diagram 5] FIG. 13 is a diagram showing an example of notification content at time T2. [Figure 6] FIG. 13 is a diagram showing an example of notification content at time T3. [Figure 7] FIG. 13 is a diagram showing an example of information indicating that the driving state cannot be forcibly switched. [Figure 8] 4 is a flowchart showing an example of a flow of processing executed by the control device 100 of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, with reference to the drawings, an embodiment of a mobile body control device, a mobile body control method, and a storage medium of the present invention will be described. A mobile body moves on both roadways and a predetermined area different from the roadway. A mobile body may be called micromobility. An electric kick scooter is a type of micromobility. The predetermined area is, for example, a sidewalk. The predetermined area may be a part or all of a sidewalk, a bicycle lane, a public open space, etc., or may include all of a sidewalk, a sidewalk, a bicycle lane, a public open space, etc. In the following description, the predetermined area is assumed to be a sidewalk. In the following description, the part written as "sidewalk" may be appropriately read as "predetermined area".

[0018] 1 is a diagram showing an example of the configuration of a moving body 1 and a control device 100 according to an embodiment. The moving body 1 is equipped with, for example, an external environment detection device 10, a moving body sensor 12, an operator 14, an internal camera 16, a positioning device 18, a communication device 20, a mode change switch 22, a forced change switch 24, an HMI (Human Machine Interface) 26, a moving mechanism 30, a driving device 40, an external notification device 50, a storage device 70, and a control device 100. Note that some of these configurations that are not essential for realizing the functions of the present invention may be omitted.

[0019] The external environment sensing device 10 detects the external situation of the moving object 1. For example, the external environment sensing device 10 is a device having a detection range of at least a part of the surroundings of the moving object 1 (including the traveling direction). The external environment sensing device 10 includes an external camera, a radar device, a LIDAR (Light Detection and Ranging), a sensor fusion device, etc. The external environment sensing device 10 outputs information indicating the detection result (images, object positions, etc.) to the control device 100.

[0020] The mobile body sensor 12 includes, for example, a speed sensor, an acceleration sensor, a yaw rate (angular velocity) sensor, a direction sensor, and an operation amount detection sensor attached to the operation element 14.

[0021] The operator 14 accepts driving operations by a passenger of the moving body. The operator 14 includes, for example, an operator for instructing acceleration / deceleration (for example, an accelerator pedal, a brake pedal, a dial switch or a lever for adjusting speed) and an operator for instructing steering (for example, a steering wheel). In this case, the moving body sensor 12 may include an accelerator opening sensor, a brake depression sensor, a steering torque sensor, etc. The moving body 1 may include an operator of a type other than those described above as the operator 14 (for example, a non-annular rotary operator, a joystick, a button, etc.).

[0022] Internal camera 16 captures an image of at least the head of an occupant of moving body 1 from the front. Internal camera 16 is a digital camera that uses an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). Internal camera 16 outputs the captured image to control device 100.

[0023] The positioning device 18 is a device that measures the position of the mobile object 1. The positioning device 18 is, for example, a Global Navigation Satellite System (GNSS) receiver, and identifies the position of the mobile object 1 based on a signal received from a GNSS satellite, and outputs the position information. Note that the position information of the mobile object 1 may be estimated from the position of a Wi-Fi base station to which the communication device 20 is connected.

[0024] The communication device 20 communicates with other mobile objects in the vicinity, for example, using a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), etc., or communicates with various external devices (e.g., a management server) via a wireless base station.

[0025] The mode changeover switch 22 is a switch operated by the occupant. The mode changeover switch 22 may be a mechanical switch or a GUI (Graphical User Interface) switch set on a touch panel of the HMI 26. The mode changeover switch 22 accepts an operation to change the driving mode to one of, for example, mode A: an assist mode in which one of the steering operation and the acceleration / deceleration control is performed by the occupant and the other is performed automatically, and there may be mode A-1 in which the steering operation is performed by the occupant and the acceleration / deceleration control is performed automatically, and mode A-2 in which the acceleration / deceleration operation is performed by the occupant and the steering control is performed automatically, mode B: a manual driving mode in which the steering operation and the acceleration / deceleration operation are performed by the occupant, and mode C: an automatic driving mode in which the operation control and the acceleration / deceleration control are performed automatically.

[0026] The forced changeover switch 24 is a switch that accepts a forced changeover operation of the traveling state of the moving object 1, which will be described later, or an operation to release the changeover. The forced changeover switch 24 may be a mechanical switch or a GUI switch set on the touch panel of the HMI 26. The forced changeover switch 24 is an example of a "changeover operation unit." The changeover operation unit may include the mode changeover switch 22.

[0027] Note that the operation to switch the above-mentioned mode or driving state may be received from a microphone or internal camera 16 provided in the moving body 1, instead of the mode changeover switch 22 or the forced changeover switch 24. In this case, the control device 100 may receive the operation to switch the mode or driving state from the analysis result of the voice of the occupant inputted by the microphone, or may receive the operation to switch the mode or driving state from the gestures or mouth movements of the occupant obtained as the analysis result of the front image of the occupant captured by the internal camera 16.

[0028] The HMI 26 presents (or notifies or notifies) various information to the occupant of the moving body 1, and accepts input operations by the occupant. The HMI 26 includes various display devices, speakers, microphones, buzzers, touch panels, switches, keys, lamps, etc. The HMI 26 is an example of an "internal notification device." For example, the HMI 26 notifies the occupant of the running state of the moving body 1 controlled by the control unit 140 in different notification modes depending on the running state. In addition, the HMI 26 presents, for example, information from the control device 100, and information obtained from an external device by the communication device 20.

[0029] The moving mechanism 30 is a mechanism for moving the moving body 1 on a road. The moving mechanism 30 is, for example, a group of wheels including steering wheels and drive wheels. The moving mechanism 30 may also be legs for multi-legged walking.

[0030] The driving device 40 outputs a force to the moving mechanism 30 to move the moving body 1. For example, the driving device 40 includes a motor that drives the driving wheels, a battery that stores the power to be supplied to the motor, a steering device that adjusts the steering angle of the steering wheels, and the like. The driving device 40 may include an internal combustion engine, a fuel cell, or the like as a driving force output means or a power generation means. The driving device 40 may further include a brake device that utilizes frictional force or air resistance.

[0031] The external notification device 50 is, for example, a lamp, a display device, a speaker, or the like, provided on an outer plate portion of the moving body 1, for notifying information to the outside of the moving body 1. The external notification device 50 notifies, for example, the traveling state of the moving body 1 controlled by the control unit 140 to those around the moving body (within a predetermined distance from the moving body 1) in different notification modes depending on the difference in the traveling state.

[0032] FIG. 2 is a perspective view of the moving body 1 seen from above. In the figure, FW is a steering wheel, RW is a driving wheel, SD is a steering device, MT is a motor, and BT is a battery. The steering device SD, the motor MT, and the battery BT are included in the driving device 40. AP is an accelerator pedal, BP is a brake pedal, WH is a steering wheel, SP is a speaker, and MC is a microphone. The moving body 1 shown in the figure is a one-seater moving body, and an occupant P is seated in the driver's seat DS and fastens a seat belt SB. An arrow α1 is the traveling direction (velocity vector) of the moving body 1. The external environment detection device 10 is provided near the front end of the moving body 1, the internal camera 16 is provided at a position where the head of the occupant P can be imaged from in front of the occupant P, and the mode changeover switch 22 and the forced changeover switch 24 are provided at the boss part of the steering wheel WH. An external notification device 50 as a display device is provided near the front end of the moving body 1. An HMI 26 as a display device is provided in front of the occupant P inside the moving body. The external notification device 50 may be formed integrally with the speaker SP, and the HMI 26 may be formed integrally with the speaker SP and the microphone MC.

[0033] Returning to Fig. 1, the storage device 70 is a non-transient storage device such as a hard disk drive (HDD), a flash memory, or a random access memory (RAM). The storage device 70 stores map information 72, a program 74 executed by the control device 100, and the like. In the figure, the storage device 70 is illustrated outside the frame of the control device 100, but the storage device 70 may be included in the control device 100.

[0034] [Control device] The control device 100 includes, for example, a road type recognition unit 120, an object recognition unit 130, and a control unit 140. For example, the control device 100 is realized by a hardware processor such as a CPU (Central Processing Unit) executing a program (software) 74. 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 a combination of software and hardware. The program may be stored in the storage device 70 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 in the storage device 70 by mounting the storage medium in a drive device.

[0035] The road type recognition unit 120 recognizes whether the moving object 1 is moving on a roadway or a sidewalk. For example, the road type recognition unit 120 recognizes whether the moving object 1 is moving on a roadway or a sidewalk by analyzing an image captured by an external camera of the external environment detection device 10. Note that the output of a radar device, a LIDAR, a sensor fusion device, or the like may be used auxiliary.

[0036] An example of image analysis is semantic segmentation. The road type recognition unit 120 classifies each pixel in an image frame into a class (roadway, sidewalk, boundary such as road division line, obstacle, etc.) and assigns a label, and recognizes that the moving body 1 is moving on a roadway when there are many pixels with a roadway label in the area corresponding to the front of the moving body 1 in the image, and recognizes that the moving body 1 is moving on a sidewalk when there are many pixels with a sidewalk label in the area corresponding to the front of the moving body 1 in the image. Not limited to this, the road type recognition unit 120 may recognize that the moving body 1 is moving on a roadway when a vehicle is recognized in the area corresponding to the front of the moving body 1 in the image, and may recognize that the moving body 1 is moving on a sidewalk when a pedestrian is recognized in the area corresponding to the front of the moving body 1 in the image. In addition, the road type recognition unit 120 may recognize that the moving body 1 is moving on a roadway when the width of the road surface area in the area corresponding to the front of the moving body 1 in the image is large, and may recognize that the moving body 1 is running on a sidewalk when the width of the road surface area in the area corresponding to the front of the moving body 1 in the image is small.

[0037] The road type recognition unit 120 may also compare the position information of the mobile object 1 obtained by the positioning device 18 with the map information 72 to recognize whether the mobile object 1 is moving on a roadway or a sidewalk. In this case, the map information must have a high enough accuracy to distinguish between sidewalks and roadways from the position coordinates. In addition, if the "predetermined area" is not only sidewalks, the road type recognition unit 120 performs similar processing on shoulders, bicycle lanes, public open spaces, and the like.

[0038] The road type recognition unit 120 may also acquire a recognition degree of the recognized road type. The recognition degree is an index value indicating the degree of certainty (probability) of the recognized road type, and the higher the recognition degree, the higher the possibility that the actual road type is the same as the recognized road type. The recognition degree varies depending on, for example, performance degradation (e.g., deterioration or failure) of the external environment detection device 10, the surrounding environment (dirt or wear on the road division lines, weather, road shape), and the like. For example, the recognition degree is derived based on the degree of match between the road type recognized from the image captured by the external camera of the external environment detection device 10 and the reference road type. The recognition degree may be derived based on the degree of match between the road type recognized from the image captured by the external camera and the division line information recognized by LIDAR or the road type included in the map information instead of (or in addition to) the above-mentioned degree of match.

[0039] The object recognition unit 130 recognizes objects present around the moving body 1 (for example, within a predetermined distance from the moving body 1) based on the output of the external environment detection device 10. The objects include some or all of the following obstacles: moving bodies such as vehicles, bicycles, and pedestrians, road boundaries such as road division lines, steps, guardrails, road shoulders, and median strips, structures installed on the road such as road signs and billboards, and objects that have fallen on the road. The object recognition unit 130 may also recognize steps and grooves that exist between the road and the sidewalk (boundary). The object recognition unit 130 obtains information such as the presence, position, and type of other moving bodies by inputting an image captured by an external camera into a trained model that has been trained to output information such as the presence, position, and type of an object when an image captured by the external camera of the external environment detection device 10 is input. The type of other moving bodies can also be estimated based on the size in the image and the intensity of the reflected wave received by the radar device of the external environment detection device 10. Furthermore, the object recognition unit 130 may recognize the speed of another moving object detected by a radar device using, for example, a Doppler shift.

[0040] The control unit 140 controls the drive unit 40 according to, for example, a driving mode determined by the mode changeover switch 22 or the like from among a plurality of driving modes set in advance. The moving body 1 may execute only some of the driving modes described below, but in any case, the control unit 140 basically differentiates the running state between when the moving body 1 moves on a roadway and when it moves on a sidewalk. In that case, the mode changeover switch 22 may be omitted. The running state includes at least state information related to a speed limit value. The running state includes, for example, at least a first running state and a second running state. The first running state is a running state in which the moving body 1 moves on a roadway in principle, and the upper limit speed of the moving body 1 is limited to a first speed. The second running state is a running state in which the moving body 1 moves on a sidewalk in principle, and the upper limit speed of the moving body 1 is limited to a second speed lower than the first speed.

[0041] For example, in mode A-1, the control unit 140 refers to information on the road and objects based on the output of the road type recognition unit 120 and the object recognition unit 130, and when it is recognized that the moving body 1 is moving on a roadway, it switches to the first running state to maintain a distance to an object in front of the moving body 1 at a certain level or more, and when the distance to the object in front of the moving body 1 is sufficiently long, it controls the motor MT of the drive unit 40 so that the moving body 1 moves at a first speed V1 (for example, a speed of 10 km / h or more and less than several tens of km / h). Also, when it is recognized that the moving body 1 is moving on a sidewalk, the control unit 140 controls the motor MT of the drive unit 40 so that the moving body 1 moves at a second speed V2 (for example, a speed of less than 10 km / h) by switching to the second running state to maintain a distance to an object in front of the moving body 1 at a certain level or more, and when the distance to the object in front of the moving body 1 is sufficiently long. This function is similar to the ACC (Adaptive Cruise Control) function of a vehicle with the first speed V1 or the second speed V2 set as the set speed, and the technology used in the ACC can be used. In addition, in mode A-1, the control unit 140 controls the steering device SD to change the steering angle of the steering wheels based on the operation amount of the operator 14 such as a steering wheel. This function is similar to the function of a power steering device, and the technology used in the power steering device can be used. Note that electronic control of steering is not performed, and the moving body 1 may have a steering device in which the operator 14 and a steering mechanism are mechanically connected.

[0042] In mode A-2, the control unit 140 refers to information on the running path and objects based on the output of the road type recognition unit 120 and the object recognition unit 130, generates a target trajectory on which the moving body 1 can move while avoiding objects on the running path, and controls the steering device SD of the drive device 40 so that the moving body 1 moves along the target trajectory. Regarding acceleration and deceleration, the control unit 140 controls the motor MT of the drive device 40 based on the speed of the moving body 1 and the operation amount of the accelerator pedal or the brake pedal. When the control unit 140 recognizes that the moving body 1 is moving on a roadway, it switches to the first running state and controls the motor MT of the drive device 40 with the first speed V1 as the upper limit speed (in the case of mode A-2, when the upper limit speed is reached, it means that the moving body 1 will not accelerate even if a further acceleration command is given), and when the control unit 140 recognizes that the moving body 1 is moving on a sidewalk, it switches to the second running state and controls the drive device 40 with the second speed V2 as the upper limit speed.

[0043] In mode B, the control unit 140 controls the motor MT of the drive unit 40 based on the speed of the moving object 1 and the operation amount of the accelerator pedal or the brake pedal. When the control unit 140 recognizes that the moving object 1 is moving on a roadway, it switches to the first running state and controls the motor MT of the drive unit 40 with the first speed V1 as the upper limit speed (in the case of mode B, this means that the moving object 1 will not accelerate even if a further acceleration command is given when the upper limit speed is reached), and when the control unit 140 recognizes that the moving object 1 is moving on a sidewalk, it switches to the second running state and controls the motor MT of the drive unit 40 with the second speed V2 as the upper limit speed. Steering is the same as in mode A-1.

[0044] In mode C, the control unit 140 refers to information about the path and objects based on the output of the object recognition unit 130, generates a target trajectory along which the moving body 1 can move while avoiding objects in the path, and controls the driving device 40 so that the moving body 1 moves along the target trajectory. Even in mode C, the control unit 140 switches to the first running state and controls the driving device 40 with the first speed V1 as the upper limit speed when it is recognized that the moving body 1 is moving on a roadway, and switches to the second running state and controls the driving device 40 with the second speed V2 as the upper limit speed when it is recognized that the moving body 1 is moving on a sidewalk.

[0045] In addition, for example, when a driving state switching operation is accepted from occupant P via forced changeover switch 24 (when a switching operation is performed by occupant P), control unit 140 may switch the driving state, which is controlled based on the recognition results by road type recognition unit 120 and object recognition unit 130, based on the switching operation by occupant P.

[0046] The following will specifically describe the switching of the traveling state in the control unit 140 and the contents of notification to one or both of the occupant and the surroundings of the moving body 1 based on the traveling state.

[0047] [Switching driving states] FIG. 3 is a diagram for explaining the control contents of the moving object 1 in the control unit 140. In the example of FIG. 3, a road RD1 including a roadway 200 and a sidewalk 210 is shown. In addition, in FIG. 3, the road RD1 is divided by road dividing lines L1 and L3, the roadway 200 is further divided by road dividing lines L1 and L2, and the sidewalk 210 is divided by road dividing lines L2 and L3. The road RD1 is assumed to extend in the X-axis direction in the figure, and the moving object 1 and the vehicle 220 are assumed to move along the extension direction. In addition, in FIG. 3, the time T1 is assumed to be the earliest, followed by T2 and T3 in the order of latest. In addition, in the example of FIG. 3, the position and traveling direction of the moving object 1 at each time are shown. Also, in the example of Figure 3, the road dividing line L2 can be recognized by the system (road type recognition unit 120, object recognition unit 130) in section D1 of road RD1 up to road point (position in the X-axis direction) PO1, but the road dividing line L2 cannot be recognized by the system in section D2 beyond point PO1 due to dirt or wear on the road dividing line L2.

[0048] At time T1, the moving object 1 is moving along the roadway 200 of the road RD1 in the extension direction. In this case, the road type recognition unit 120 recognizes that the type of road on which the moving object 1 is currently moving is the roadway 200. Since the road type recognition unit 120 recognizes that the moving object 1 is moving on the roadway 200, the control unit 140 performs control to move the moving object 1 in the first traveling state.

[0049] In the example of FIG. 3, the moving object 1 moves from the roadway 200 to the sidewalk 210 between time T1 and T2. At time T2, the road type recognition unit 120 recognizes that the type of road on which the moving object 1 is traveling is the roadway 200. Since the road type recognition unit 120 recognizes that the moving object 1 is traveling on the sidewalk 210, the control unit 140 moves the moving object 1 in the second traveling state. Note that the control unit 140 may switch from the first traveling state to the second traveling state when the reference position (e.g., center of gravity) of the moving object 1 or the entire moving object 1 is present on the sidewalk 210 beyond the roadway 200 and across the road dividing line L2 (or when a predetermined time has elapsed since it was determined that the moving object 1 is present on the sidewalk 210).

[0050] Time T3 is the time when the moving object 1 is moving on the sidewalk 210, and indicates the time when the moving object T1, which is traveling in the extension direction of the road RD1, passes the road point PO1. At time T3, the road type recognition unit 120 cannot recognize the road dividing line L2, and therefore recognizes that the type of the road on which the moving object 1 is traveling is the roadway 200 based on the road dividing lines L1 and L3. In this case, since the road type recognition unit 120 recognizes that the moving object 1 is traveling on the roadway 200, the control unit 140 switches from the second traveling state to the first traveling state and moves the moving object 1. However, since the moving object 1 is actually traveling on the sidewalk 210, the occupant P performs an operation to forcibly switch to the second traveling state using the forced changeover switch 24. The control unit 140 performs control to forcibly switch the traveling state of the moving object 1 from the first traveling state to the second traveling state based on the switching operation (instruction) accepted by the forced changeover switch 24.

[0051] As a result, even if the system erroneously recognizes the type of road on which the moving body 1 is traveling, the traveling state of the moving body 1 can be switched at the will of the occupant P, so that more appropriate traveling control can be performed according to the road conditions during travel.

[0052] The forced switching control of the traveling state is continued, for example, until an operation to release the switching is received by the forced changeover switch 24. The forced changeover control may be continued until a predetermined time has elapsed since the switching control was executed and / or until the moving body 1 has traveled a predetermined distance. This makes it possible to suppress frequent switching of the traveling state, and to realize more stable traveling control.

[0053] In addition, the control unit 140 may not switch the driving control based on the operation accepted by the forced changeover switch 24 when the recognition degree of the road type in the road type recognition unit 120 is equal to or higher than the threshold. For example, in the example of FIG. 3, in the section D1, the road dividing lines L1 to L3 can be recognized, so the recognition degree of the road type is equal to or higher than the threshold. On the other hand, in the section D2, the road dividing line L2 cannot be recognized, so the recognition degree of the road type drops and becomes less than the threshold. Therefore, the control unit 140 does not switch the driving control based on the operation accepted by the forced changeover switch 24 in the section D1, and switches the driving control based on the operation accepted by the forced changeover switch 24 in the section D2. In addition, the control unit 140 may forcibly perform the driving control corresponding to the instruction accepted by the forced changeover switch 24 only while the recognition degree is less than the threshold, and when the recognition degree returns to the threshold or higher, end the above driving control and switch to driving control based on the recognition result of the road type.

[0054] [About the notification content] Next, the notification contents to the occupant P (inside the moving body 1) and the surroundings (outside the moving body 1) based on the traveling state of the moving body 1 will be specifically described. The control unit 140 notifies the occupant P and / or the surroundings of information related to the traveling state in a different notification manner for each traveling state of the moving body 1. The control unit 140 may also make the notification manner when notifying the traveling state switched by the switching operation of the forced changeover switch 24 different from the notification manner when notifying the traveling state determined based on the road type recognized by the road type recognition unit 120. The notification manner is, for example, lighting, blinking, color of a lamp, text, font, graphics, etc. to be displayed on a display device, sound from a speaker, an alarm, etc.

[0055] For example, the control unit 140 controls the external notification device 50 so that the lamp is not illuminated when the moving object 1 is moving on a roadway in the first running state, and the lamp is illuminated when the moving object 1 is moving on a sidewalk in the second running state. The color of the lamp is preferably a color specified by law. The control unit 140 may also control the lamp to illuminate in blue when the road type recognition unit 120 recognizes that the moving object 1 is moving on the roadway 200, and to illuminate in green when the moving object 1 is recognized as moving on the sidewalk 210. Furthermore, the control unit 140 may control the lamp to light up or blink in red (a color different from normal) when the moving object 1 is traveling in a running state corresponding to the switching operation received by the forced changeover switch 24. The control unit 140 may control the notification mode by the lamp so that the mode differs for each running state corresponding to the switching operation.

[0056] In addition, when the HMI 26 and the external notification device 50 are equipped with a display device, the control unit 140, when the road type recognition unit 120 recognizes that the moving object 1 is moving on the roadway 200, causes the HMI 26 and the external notification device 50 to display information indicating that the moving object 1 is moving on the roadway by text or graphics. Furthermore, when the road type recognition unit 120 recognizes that the moving object 1 is moving on the sidewalk 210, causes the HMI 26 and the external notification device 50 to display information indicating that the moving object 1 is moving on the sidewalk by text or graphics. Furthermore, the control unit 140 may cause the HMI 26 and the external notification device 50 to display information indicating that the moving object 1 is moving in a first running state or a second running state by text or graphics. Furthermore, the control unit 140 may cause the HMI 26 and the external notification device 50 to display information indicating that the moving object 1 is forcibly running in a running state corresponding to the switching operation received by the forced changeover switch 24 by text or graphics.

[0057] Furthermore, when the HMI 26 or the external notification device 50 is equipped with an audio output device such as a speaker, the control unit 140 may cause the HMI 26 and the external notification device 50 to output audio or an alarm corresponding to the content to be displayed on the above-mentioned display device. Note that the control unit 140 may cause the notification to be made in a notification mode that combines two or more of the above-mentioned lamp indication, display indication, and audio output.

[0058] The control unit 140 notifies (notifies) the occupant P of the state of the moving object 1 by outputting the above-mentioned contents to the HMI 26, and notifies the state of the moving object 1 to those around the moving object 1 by outputting the contents to the external notification device 50. This allows the occupant P and surrounding traffic participants (e.g., pedestrians, other vehicles) to more accurately grasp the state of the moving object 1. Therefore, the occupant P can perform appropriate driving operations according to the driving conditions, and surrounding traffic participants can pass appropriately.

[0059] Specific examples of the notification content at each of the above-mentioned times T1 to T3 will be described below. Fig. 4 is a diagram showing an example of the notification content at time T1. Fig. 4 shows an example of an image IM10 displayed on a display screen when the external notification device 50 is equipped with a display device. The display mode such as the content and layout displayed on the image IM10 is not limited to the example in Fig. 4. The same applies to the subsequent figures.

[0060] At time T1, the control unit 140 generates an image IM10 including information indicating that the moving object 1 is traveling in the first traveling state and information regarding the upper limit speed in the first traveling state based on the recognition result by the road type recognition unit 120, and causes the external notification device 50 to display the generated image IM10. The image IM10 in FIG. 4 displays character information (text) such as "moving in roadway mode" and "the upper limit speed is set to 30 [km / h]." The roadway mode is a mode in which the moving object 1 is in the first traveling state. The upper limit speed is a speed associated with the first traveling state, but is not limited to 30 [km / h] shown in FIG. 4. By displaying the image IM10 at time T1, it is possible to notify the surroundings that the moving object 1 is traveling correctly on the roadway 200 in the roadway mode.

[0061] FIG. 5 is a diagram showing an example of the notification content at time T2. At time T2, the control unit 140 generates an image IM20 including information indicating that the moving object 1 is traveling in the second traveling state and information regarding the upper limit speed in the second traveling state based on the recognition result by the road type recognition unit 120, and causes the external notification device 50 to display the generated image IM20. The image IM20 in FIG. 5 displays character information (text) such as "moving in sidewalk mode" and "the upper limit speed is set to 6 [km / h]." The sidewalk mode is a mode in which the moving object 1 is in the second traveling state. In addition, the upper limit speed is a speed associated with the second traveling state, but is not limited to 6 [km / h] shown in FIG. 5. By displaying the image IM20 at time T2, it is possible to notify the surroundings that the moving object 1 is traveling correctly on the sidewalk 210 in sidewalk mode.

[0062] Fig. 6 is a diagram showing an example of the notification content at time T3. At time T3 (after forced switching), the control unit 140 generates an image IM30 including information indicating that the moving object 1 is forcibly traveling in the second traveling state based on the switching operation accepted by the forced changeover switch 24 and information regarding the upper limit speed in the second traveling state, and causes the external notification device 50 to display the generated image IM30. The image IM30 in Fig. 6 displays character information (text) such as "Moving in sidewalk mode due to forced switching by the occupant" and "Upper limit speed is set to 6 [km / h]."

[0063] In addition, when the driving state is forcibly switched by the instruction of the occupant P, the control unit 140 may blink a part of the text information, change the font (thickness) or color, or change the color of the outer periphery (edge) of the image IM30, as shown in the image IM30. In this way, by highlighting the display more than the display in the normal state (driving state based on the recognition result on the system side), it is possible to more reliably notify the surroundings, and it is possible to make the surrounding traffic participants pay more attention to the behavior of the moving body 1 while passing through. Therefore, it is possible to further improve the safety of the moving body 1 in the driving control by the instruction of the occupant P. The control unit 140 may display the above-mentioned images IM10 to IM30 on the display device of the HMI 26 instead of (or in addition to) the external notification device 50.

[0064] Furthermore, when a switching operation of the traveling state is accepted by the forced changeover switch 24, the control unit 140 may acquire the position information of the moving body 1 from the positioning device 18 and notify an external device (e.g., a management server) of the acquired position information via the communication device 20. In this way, the server side can acquire position information from one or more moving bodies 1 and grasp road points where the road type is likely to be erroneously recognized. In addition, the server side can perform processes such as investigating the cause of the erroneous recognition based on the grasped road points, improving the recognition process (programs, etc.), and identifying the road type of the grasped road point and notifying the moving body 1 of the specified road type to eliminate the erroneous recognition. In this way, it is possible to reduce erroneous recognition and perform more appropriate traveling control.

[0065] Furthermore, the control unit 140 may add identification information of the moving body 1 and identification information of the occupant P to the position information of the moving body 1 and notify the external device. This allows the server side to identify, for example, the moving body 1 and the occupant P who frequently perform switching operations using the forced changeover switch 24, and by issuing a warning or the like to the identified moving body 1 and the occupant P, it is possible to prevent the forced changeover switch 24 from being used in an inappropriate manner.

[0066] When the forced changeover switch 24 becomes capable of switching the driving state, the occupant P may inappropriately switch the driving state even if the system correctly recognizes the road type and the vehicle is moving in a driving state corresponding to the recognized road type. Therefore, when a predetermined condition is satisfied, the control unit 140 does not switch the driving control even if an operation to switch the driving state by the forced changeover switch 24 is accepted.

[0067] For example, when a specific driving mode among a plurality of driving modes set in advance is being executed as a predetermined condition, the control unit 140 does not accept a switching operation of the driving state by the forced changeover switch 24. The specific driving mode is, for example, mode C (automatic driving mode). In the case of mode C, the moving body 1 is running along a target trajectory that avoids an object, so if the driving state is forcibly switched by the switching operation of the occupant P while mode C is being executed, there is a possibility that the object cannot be avoided. Therefore, the control unit 140 performs control so as not to accept a switching operation of the driving state by the forced changeover switch 24 while mode C is being executed. Note that, when a switching operation is performed by the forced changeover switch 24 while mode C is being executed, the control unit 140 may notify the occupant P of information indicating that the driving state cannot be forcibly switched.

[0068] FIG. 7 is a diagram showing an example of information indicating that the driving state cannot be forcibly switched. In the example of FIG. 7, when mode C is being executed at time T1 and an operation to switch the driving state is accepted by the forced changeover switch 24, an image IM40 is displayed on the display device of the HMI 26. For example, when an operation to switch the driving state is accepted by the forced changeover switch 24 while mode C is being executed at time T1, the control unit 140 generates an image IM40 indicating that the forced changeover is not possible, and causes the generated image IM40 to be displayed on the HMI 26. In the example of FIG. 7, the image IM40 is superimposed on the image IM10, but the image IM10 may be switched to the image IM40. In the image IM40 of FIG. 7, character information (text) such as "The driving state cannot be forcibly changed because the vehicle is in automatic driving mode" is displayed. This allows the occupant P to more accurately understand the reason why the driving state is not changed.

[0069] Furthermore, as a predetermined condition, as described above, when the degree of recognition of the road type in the road type recognition unit 120 is equal to or greater than a threshold, the control unit 140 may not switch the driving control based on the operation accepted by the forced changeover switch 24. Furthermore, the control unit 140 may forcibly perform driving control corresponding to the instruction accepted by the forced changeover switch 24 only while the degree of recognition is below the threshold, and when the degree of recognition returns to equal to or greater than the threshold, end the above driving control and switch to driving control based on the recognition result of the road type.

[0070] This allows the driver P to change the driving state in response to a command from the driver P in situations where there is a high possibility of the road type being misrecognized, and suppresses the driver P from changing the driving state in situations where the system's recognition accuracy is high, thereby enabling more appropriate driving control.

[0071] <Modification> In the above-described embodiment, instead of forcibly switching from the first driving state to the second driving state based on a switching operation received by the forced changeover switch 24, when the second driving state is being executed based on the recognition result of the road type, etc. by the system side, the driving control may be forcibly switched to the first driving control by a switching operation of the forced changeover switch 24.

[0072] In addition, in the embodiment, the manner of notification to the occupant P or the surrounding area is varied depending on the driving state or whether or not the driving control has been switched based on the switching operation received by the forced changeover switch 24, but instead (or in addition) a different notification manner may be used for each driving mode currently being executed by the moving body 1.

[0073] [Processing flow] Fig. 8 is a flowchart showing an example of the flow of processing executed by the control device 100 of the embodiment. In the example of Fig. 8, the description will be centered on the control of the running state and the notification processing among various processing executed by the control device 100. The processing of Fig. 8 may be repeatedly executed at a predetermined timing.

[0074] 8, the road type recognition unit 120 recognizes the road type of the road on which the moving object 1 is traveling (step S100). Next, the control unit 140 causes the moving object 1 to travel in a traveling state according to the recognized road type (step S110). Next, the control unit 140 notifies the occupant P and / or surroundings of information indicating the traveling state (step S120).

[0075] Next, the control unit 140 judges whether or not the occupant has performed a switching operation of the driving state (step S130). If it is judged that the occupant has performed a switching operation of the driving state, the control unit 140 judges whether or not the moving body 1 is executing an automatic driving mode (step S140). If it is judged that the automatic driving mode is not being executed, the control unit 140 forcibly switches the driving state based on the switching operation until the occupant performs a release operation (step S150). Next, the control unit 140 notifies the occupant P or one or both of the surroundings of information indicating that the moving body 1 is running in the driving state switched by the forced switching (step S160). Also, if it is judged in step S140 that the automatic driving mode is being executed, the control unit 140 notifies the occupant P of information indicating that switching is not possible (step S170). This ends the processing of this flowchart. Also, if it is judged in the processing of step S130 that the occupant has not performed a switching operation of the driving control, the processing of this flowchart ends.

[0076] In the processing of step S140 described above, the control unit 140 may determine whether the degree of recognition of the road type is equal to or greater than a threshold value, instead of whether the autonomous driving mode is being executed, or may determine whether other specified conditions are met that prevent the driving state from being forcibly switched.

[0077] According to the embodiment described above, the control device 100 for the moving body 1, which has one or more passengers on board and can move both on a roadway and a predetermined area different from the roadway, includes a road type recognition unit 120 that recognizes whether the moving body is moving on a roadway or in the predetermined area based on the output of an external environment detection device 10 that detects the external situation of the moving body 1, and a driving state of either a first driving state in which the speed of the moving body 1 is limited to a first speed or a second driving state in which the speed of the moving body 1 is limited to a second speed lower than the first speed based on the road type recognized by the road type recognition unit 120. The control unit 140 moves the moving body 1 in a first running state when it is recognized that the moving body 1 is moving on a roadway, and moves the moving body 1 in a second running state when it is recognized that the moving body 1 is moving in a specified area. When an operation to switch the running state is performed by a switching operation unit that accepts an operation to switch the running state by an occupant, even if it is recognized that the moving body 1 is moving on a roadway or a specified area, the control unit 140 forcibly switches the controlled running state, thereby making it possible to move the moving body in a more appropriate running state according to the road conditions during movement.

[0078] The above-described embodiment can be expressed as follows. A storage medium storing computer-readable instructions for controlling a vehicle capable of carrying one or more passengers and moving on both a roadway and a predetermined area different from the roadway; a processor coupled to the storage medium; The processor executes the computer-readable instructions to: Based on an output from an external environment detection device that detects an external situation of the moving object, the moving object recognizes whether the moving object is moving on a roadway or the predetermined area; moving the moving body in either a first running state in which the speed of the moving body is limited to a first speed, or a second running state in which the speed of the moving body is limited to a second speed lower than the first speed, based on the recognized road type; When it is recognized that the moving body is moving on a roadway, the moving body is moved in the first traveling state; When it is recognized that the moving object is moving in the predetermined area, the moving object is moved in the second traveling state; When an operation for switching the driving state is performed by a switching operation unit that accepts a switching operation of the driving state by the occupant, the driving state being controlled is forcibly switched even if it is recognized that the moving body is moving on a roadway or the predetermined area. A control device for a moving object.

[0079] 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]

[0080] 10. External sensing devices 12 Mobile Sensor 14 Controls 16 Internal Camera 18 Positioning Device 20. Communications Equipment 22 Mode switch 24 Forced changeover switch 26 Human Machine Interfaces 30 Moving mechanism 40 Drive unit 50 External alarm device 70 Storage device 100 Control device 120 Road type recognition unit 130 Object recognition section 140 Control section

Claims

1. A control device for a moving body capable of carrying one or more occupants and moving on both a roadway and a predetermined area different from the roadway, a road type recognition unit that recognizes whether the moving object is moving on a roadway or the predetermined area based on an output of an external environment detection device that detects an external situation of the moving object; a control unit that moves the moving body in either a first running state in which a speed of the moving body is limited to a first speed, or a second running state in which the speed of the moving body is limited to a second speed lower than the first speed, based on the road type recognized by the road type recognition unit; The control unit is When it is recognized that the moving body is moving on a roadway, the moving body is moved in the first traveling state; When it is recognized that the moving object is moving in the predetermined area, the moving object is moved in the second traveling state; When an operation to switch the driving state is performed by a switching operation unit that accepts a switching operation of the driving state by the occupant, even if it is recognized that the moving body is moving on a roadway or the specified area, the driving state being controlled is forcibly switched, and the switched driving state is continued until an operation to release the switching is accepted by the switching operation unit. A control device for a moving object.

2. A control device for a moving body capable of carrying one or more occupants and moving on both a roadway and a predetermined area different from the roadway, a road type recognition unit that recognizes whether the moving object is moving on a roadway or the predetermined area based on an output of an external environment detection device that detects an external situation of the moving object; a control unit that moves the moving body in either a first running state in which a speed of the moving body is limited to a first speed, or a second running state in which the speed of the moving body is limited to a second speed lower than the first speed, based on the road type recognized by the road type recognition unit; The control unit is When it is recognized that the moving body is moving on a roadway, the moving body is moved in the first traveling state; When it is recognized that the moving object is moving in the predetermined area, the moving object is moved in the second traveling state; When an operation to switch the driving state is performed by a switching operation unit that accepts a switching operation of the driving state by the occupant, even if it is recognized that the moving body is moving on a roadway or the predetermined area, a switching control is performed to forcibly switch the driving state being controlled, The switching control is continued until a predetermined time has elapsed since the switching control was executed, or until the moving body has traveled a predetermined distance since the switching control was executed. A control device for a moving object.

3. When the driving state is switched based on the switching operation by the switching operation unit, the control unit notifies one or both of the occupant and the surroundings of the moving body of information indicating that the driving state has been forcibly switched. The control device for a moving body according to claim 1 or 2.

4. When the running state is switched based on the switching operation by the switching operation unit, the control unit notifies one or both of the occupant and the surroundings of the moving body of information indicating in which running state, the first running state or the second running state, the moving body is moving. The control device for a moving body according to claim 1 or 2.

5. The control unit changes a notification manner in a case where a driving condition switched by the switching operation of the switching operation unit is notified from a case where a driving condition determined based on the road type recognized by the road type recognition unit is notified. The control device for a moving body according to claim 1 or 2.

6. The control unit is The moving body is moved in any one of a plurality of preset driving modes; When the driving mode being executed is a specific driving mode, the driving state is not switched based on a switching operation by the switching operation unit. The control device for a moving body according to claim 1 or 2.

7. the control unit does not switch the driving state based on the switching operation by the switching operation unit when a recognition degree of the road type recognized by the road type recognition unit is equal to or greater than a threshold. The control device for a moving body according to claim 1 or 2.

8. The control unit notifies an external device of position information of the moving object when the switching operation unit switches the traveling state. The control device for a moving body according to claim 1 or 2.

9. A computer controls a mobile body that has one or more occupants on board and is capable of moving on both a roadway and a predetermined area different from the roadway, Based on an output from an external environment detection device that detects an external situation of the moving object, the moving object recognizes whether the moving object is moving on a roadway or the predetermined area; moving the moving body in either a first running state in which the speed of the moving body is limited to a first speed or a second running state in which the speed of the moving body is limited to a second speed lower than the first speed, based on the recognized road type; When it is recognized that the moving body is moving on a roadway, the moving body is moved in the first traveling state; When it is recognized that the moving object is moving in the predetermined area, the moving object is moved in the second traveling state; When an operation to switch the driving state is performed by a switching operation unit that accepts a switching operation of the driving state by the occupant, even if it is recognized that the moving body is moving on a roadway or the predetermined area, the driving state being controlled is forcibly switched; The running state after the switching is continued until an operation to release the switching is received by the switching operation unit. A method for controlling a moving object.

10. A computer controls a mobile body that has one or more occupants on board and is capable of moving on both a roadway and a predetermined area different from the roadway, Based on an output from an external environment detection device that detects an external situation of the moving object, the moving object recognizes whether the moving object is moving on a roadway or the predetermined area; moving the moving body in either a first running state in which the speed of the moving body is limited to a first speed or a second running state in which the speed of the moving body is limited to a second speed lower than the first speed, based on the recognized road type; When it is recognized that the moving body is moving on a roadway, the moving body is moved in the first traveling state; When it is recognized that the moving object is moving in the predetermined area, the moving object is moved in the second traveling state; When an operation to switch the driving state is performed by a switching operation unit that accepts a switching operation of the driving state by the occupant, even if it is recognized that the moving body is moving on a roadway or the predetermined area, a switching control is performed to forcibly switch the driving state being controlled, The switching control is continued until a predetermined time has elapsed since the switching control was executed, or until the moving body has traveled a predetermined distance since the switching control was executed. A method for controlling a moving object.

11. A computer controls a mobile body that has one or more occupants on board and can move on both a roadway and a predetermined area different from the roadway, Based on an output of an external environment detection device that detects an external situation of the moving body, the moving body recognizes whether the moving body is moving on a roadway or the predetermined area; moving the moving body in either a first running state in which the speed of the moving body is limited to a first speed or a second running state in which the speed of the moving body is limited to a second speed lower than the first speed, based on the recognized road type; When it is recognized that the moving body is moving on a roadway, the moving body is moved in the first traveling state; When it is recognized that the moving object is moving in the predetermined area, the moving object is moved in the second traveling state; When an operation for switching the driving state is performed by a switching operation unit that accepts a switching operation of the driving state by the occupant, even if it is recognized that the moving body is moving on a roadway or the predetermined area, the driving state being controlled is forcibly switched, The running state after the switching is continued until an operation to release the switching is received by the switching operation unit. program.

12. A computer controls a mobile body that has one or more occupants on board and can move on both a roadway and a predetermined area different from the roadway, Based on an output of an external environment detection device that detects an external situation of the moving body, the moving body recognizes whether the moving body is moving on a roadway or the predetermined area; moving the moving body in either a first running state in which the speed of the moving body is limited to a first speed or a second running state in which the speed of the moving body is limited to a second speed lower than the first speed, based on the recognized road type; When it is recognized that the moving body is moving on a roadway, the moving body is moved in the first traveling state; When it is recognized that the moving object is moving in the predetermined area, the moving object is moved in the second traveling state; When an operation for switching the driving state is performed by a switching operation unit that accepts a switching operation for the driving state by the occupant, even if it is recognized that the moving body is moving on a roadway or the predetermined area, a switching control is performed to forcibly switch the driving state being controlled, The switching control is continued until a predetermined time has elapsed since the switching control was executed, or until the moving body has traveled a predetermined distance since the switching control was executed. program.

Images