Mobile body and control method

Abstract

A moving body (100) is present in a planned travel range (10), and has been switched from automatic driving to manual driving. The moving body (100) comprises: an acquiring unit (120) for acquiring information indicating a direction of travel of the moving body (100), map information, and first information, which is at least one of an image obtained by imaging and a distance obtained from a sensor; an estimating unit (140) for estimating the position of the moving body (100) on the basis of the map information and the first information; a determining unit (150) for determining whether the moving body (100) will enter an unplanned travel range (20), using the information indicating the direction of travel, the position of the moving body (100), and the map information; and a control unit (160) which, if the moving body (100) enters the unplanned traveling range (20), sets the maximum speed in the unplanned travel range (20) as the maximum speed that the moving body (100) can output.

Description

[Technical field]

[0001] The present disclosure relates to a moving object and a control method. [Background technology]

[0002] A mobile object can move both indoors and outdoors. In addition, a mobile object may be capable of automatic driving and manual driving. For example, when the mobile object is manually driven, the mobile object can travel on a road where pedestrians walk. When the mobile object travels on the road, it is desirable to limit the maximum speed of the mobile object. In this way, the maximum speed is controlled depending on the area in which the mobile object travels. Here, a technique for controlling the maximum speed has been proposed (see Patent Document 1). The electric scooter in Patent Document 1 changes the maximum speed depending on the current location. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-158866 A Summary of the Invention [Problem to be solved by the invention]

[0004] A mobile object can acquire location information using a system such as the Quasi-Zenith Satellite System. However, depending on the location of the mobile object, the mobile object may not be able to acquire location information. If the mobile object is unable to acquire location information, the mobile object cannot change its maximum speed using the above technology.

[0005] The objective of this disclosure is to vary the maximum speed. [Means for solving the problem]

[0006] A moving body according to one embodiment of the present disclosure is provided. The moving body is a moving body that is present within a planned travel range, which is a range in which a first maximum speed is set, and has been switched from automatic driving to manual driving. The moving body includes an acquisition unit that acquires first information, which is at least one of information indicating the moving direction of the moving body, map information, and an image obtained by imaging and a distance obtained from a sensor, an estimation unit that estimates the position of the moving body based on the map information and the first information, and an estimation unit that estimates the position of the moving body based on a plurality of waypoints that are present on the travel route of the moving body and are set in the map information. closest to the position of the moving object A selection unit that selects one waypoint, and the information indicating the traveling direction, the position of the moving body, and a graphic associated with the selected waypoint are displayed. 、 The vehicle speed controller includes a determination unit that determines whether the moving body will enter an unplanned driving range based on a boundary between the planned driving range and an unplanned driving range in which a second maximum speed is set, and a control unit that sets the maximum speed that the moving body can output to the second maximum speed when the moving body enters the unplanned driving range. Effect of the Invention

[0007] According to the present disclosure, the maximum speed can be changed. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a diagram showing a specific example of a driving environment. [Diagram 2] FIG. 2 is a diagram showing hardware possessed by a moving object. [Diagram 3] FIG. 2 is a block diagram showing the functions of a moving object. [Figure 4] 13 is a flowchart illustrating an example of a process executed by a moving body. [Diagram 5] FIG. 13 is a diagram showing a specific example of entry into an unplanned travel range. [Figure 6] FIG. 13 is a diagram illustrating an example of selection. [Figure 7] This is a diagram (part 1) for explaining the setting of a sector shape. [Figure 8] This is the second diagram to explain the setting of the sector shape. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment will be described with reference to the drawings. The following embodiment is merely an example, and various modifications are possible within the scope of the present disclosure.

[0010] Embodiment Fig. 1 is a diagram showing a specific example of a traveling environment. Fig. 1 shows a moving body 100. The moving body 100 executes a control method. The moving body 100 can perform automatic driving and manual driving. For example, the moving body 100 is a PMV (Personal Mobility Vehicle), a senior car, an electric wheelchair, etc.

[0011] A planned travel range 10 is set in the travel environment. When the moving body 100 performs autonomous driving, the moving body 100 can travel in the planned travel range 10. For example, the planned travel range 10 is a road dedicated to mobility. For example, the range of the travel environment other than the planned travel range 10 is called an unplanned travel range 20. For example, the unplanned travel range 20 is a sidewalk.

[0012] When the moving body 100 performs autonomous driving, the moving body 100 travels along a travel route 30 indicated by map information. The travel route 30 may be set in advance by a designer of the moving body 100, a manager of the building, or the like.

[0013] There are a plurality of waypoints on the travel route 30. For example, FIG. 1 shows a waypoint 31. The waypoints are set in advance in map information by a designer or the like. The waypoints are set at regular intervals on the travel route 30. Position information of the waypoint is associated with each waypoint. Number information is also associated with each waypoint. When the mobile body 100 performs autonomous driving, the mobile body 100 travels in the order of the waypoint numbers. Furthermore, direction information indicating the direction in which the next waypoint is located is associated with each waypoint.

[0014] The moving body 100 can travel in the unplanned traveling range 20 by manual driving. Here, for example, if the unplanned traveling range 20 is a sidewalk, a pedestrian walks in the unplanned traveling range 20. If the moving body 100 travels in the unplanned traveling range 20 at the same speed as in the planned traveling range 10, the moving body 100 may collide with a pedestrian. Therefore, it is necessary to limit the maximum speed of the moving body 100 in the unplanned traveling range 20. Therefore, the maximum speed in the unplanned traveling range 20 is specified by ordinances, laws, or the like. For example, the maximum speed S1 in the unplanned traveling range 20 is slower than the maximum speed S0 in the planned traveling range 10. Here, the planned travel range 10 may be expressed as a range in which a first maximum speed is set. The unplanned travel range 20 may be expressed as a range in which a second maximum speed is set. For example, the first maximum speed is a maximum speed S0. The second maximum speed is a maximum speed S1.

[0015] Next, the hardware of the moving object 100 will be described. 2 is a diagram showing hardware of a moving object 100. The moving object 100 includes a processor 101, a volatile storage device 102, a non-volatile storage device 103, an alarm device 104, a driving unit 105, and a group of sensors 106.

[0016] The processor 101 controls the entire moving object 100. For example, the processor 101 is a central processing unit (CPU) or a field programmable gate array (FPGA). The processor 101 may be a multiprocessor. The moving object 100 may also include a processing circuit.

[0017] The volatile storage device 102 is a main storage device of the mobile object 100. For example, the volatile storage device 102 is a random access memory (RAM). The non-volatile storage device 103 is an auxiliary storage device of the mobile object 100. For example, the non-volatile storage device 103 is a hard disk drive (HDD) or a solid state drive (SSD).

[0018] The notification device 104 notifies the driver. For example, the notification device 104 is a display or a speaker. For example, the notification device 104 notifies the driver by displaying information. Also, for example, the notification device 104 notifies the driver by outputting a sound. The driving unit 105 drives the moving body 100. For example, the driving unit 105 is an actuator.

[0019] The sensor group 106 includes an operation amount sensor 106a and an object detection sensor 106b. The sensor group 106 may also include a position sensor 106c. The operation amount sensor 106a detects the operation amount of manual driving. The operation amount of manual driving is the operation amount of the driver. For example, the operation amount sensor 106a is a steering angle sensor that detects the operation amount of a steering wheel, an accelerator pedal position sensor that detects the amount of depression of an accelerator, etc. Furthermore, when the driver operates a remote control, the operation amount may be an input value input to the remote control. Furthermore, when the driver operates a lever, the operation amount may be the inclination of the lever.

[0020] The object detection sensor 106b detects objects present around the moving object 100. For example, the object detection sensor 106b is a camera, a LiDAR (Light Detection And Ranging), an ultrasonic sensor, or the like. The position sensor 106c detects the position of the moving object 100. For example, the position sensor 106c may be a Global Navigation Satellite System (GNSS). The sensor group 106 may also include a speed sensor.

[0021] Next, the functions of the moving object 100 will be described. 3 is a block diagram showing the functions of a moving object 100. The moving object 100 includes a storage unit 110, an acquisition unit 120, a detection unit 130, an estimation unit 140, a determination unit 150, a control unit 160, and a selection unit 170.

[0022] The storage unit 110 may be realized as a storage area secured in the volatile storage device 102 or the non-volatile storage device 103 . A part or all of the acquiring unit 120, the detecting unit 130, the estimating unit 140, the determining unit 150, the control unit 160, and the selecting unit 170 may be realized by a processing circuit. Also, a part or all of the acquiring unit 120, the detecting unit 130, the estimating unit 140, the determining unit 150, the control unit 160, and the selecting unit 170 may be realized as a module of a program executed by the processor 101.

[0023] The storage unit 110 stores various information, such as map information and route information. The acquisition unit 120 acquires map information from the storage unit 110. The acquisition unit 120 also acquires route information from the storage unit 110. The functions of the detection unit 130, the estimation unit 140, the determination unit 150, the control unit 160, and the selection unit 170 will be described in detail later.

[0024] Next, the process executed by the moving object 100 will be described with reference to a flowchart. 4 is a flowchart showing an example of a process executed by the moving body 100. It is assumed that the moving body 100 is present in the planned travel range 10. (Step S11) The acquisition unit 120 acquires mode switching information in response to an operation by the driver to switch from the automatic driving mode to the manual driving mode, whereby the moving body 100 switches from automatic driving to manual driving.

[0025] (Step S12) The acquisition unit 120 acquires information indicating the traveling direction of the moving body 100. For example, the detection unit 130 detects the traveling direction of the moving body 100 based on the operation amount of the steering wheel acquired from the operation amount sensor 106a. The acquisition unit 120 acquires information indicating the detected traveling direction.

[0026] (Step S13) The acquisition unit 120 acquires at least one of an image obtained by imaging and a distance obtained from the sensor from the object detection sensor 106b. For example, the image is an image obtained by a camera capturing an image of the periphery of the moving body 100. For example, the distance is a distance obtained from a LiDAR. At least one of the image and the distance is also referred to as first information.

[0027] (Step S14) The estimation unit 140 estimates the position of the moving body 100 based on map information and at least one of the image and the distance. In detail, the estimation unit 140 estimates the position of the moving body 100 using at least one of the image and the distance, map information, and Simultaneous Localization and Mapping (SLAM). In this manner, the current position of the moving body 100 is estimated.

[0028] (Step S15) The determination unit 150 uses information indicating the traveling direction, the position of the moving body 100, and map information to determine whether or not the moving body 100 will enter the unplanned traveling range 20. For example, when the traveling direction is the direction of the unplanned traveling range 20 and the distance between the position of the moving body 100 and the unplanned traveling range 20 is equal to or less than a predetermined threshold, the determination unit 150 determines that the moving body 100 will enter the unplanned traveling range 20. When the moving body 100 will enter the unplanned traveling range 20, the process proceeds to step S16. When the moving body 100 will not enter the unplanned traveling range 20, the process proceeds to step S18.

[0029] (Step S16) The control unit 160 sets the maximum speed that the moving body 100 can output to the maximum speed of the unplanned traveling range 20. As a result, the maximum speed of the moving body 100 is changed from the maximum speed S0 to the maximum speed S1. (Step S17) The control unit 160 causes the notification device 104 to output the fact that the maximum speed has been changed. This allows the driver to know that the maximum speed has been changed. (Step S18) The control unit 160 performs control based on the amount of operation.

[0030] The moving body 100 may perform the following process. The acquisition unit 120 acquires information indicating the current speed of the moving body 100. For example, the detection unit 130 detects the current speed of the moving body 100 based on the accelerator depression amount acquired from the operation amount sensor 106a. The acquisition unit 120 acquires information indicating the detected current speed. The acquisition unit 120 may also acquire information indicating the current speed of the moving body 100 from a speed sensor. The determination unit 150 determines whether the moving body 100 will enter the unplanned traveling range 20 using information indicating the traveling direction, the position of the moving body 100, the current speed of the moving body 100, and map information. The moving body 100 can more accurately determine whether the moving body 100 will enter the unplanned traveling range 20 by taking into account the current speed of the moving body 100.

[0031] Furthermore, when the moving body 100 enters the unplanned traveling range 20 and the current speed of the moving body 100 is faster than the maximum speed of the unplanned traveling range 20, the control unit 160 controls the driving unit 105 so that the moving body 100 smoothly enters the unplanned traveling range 20. Here, it is not preferable for the moving body 100 to suddenly change its speed when it enters the unplanned traveling range 20. Therefore, the control unit 160 controls the driving unit 105 so that the moving body 100 smoothly enters the unplanned traveling range 20. This allows the moving body 100 to prevent a sudden change in speed.

[0032] The moving body 100 may use a waypoint to determine whether or not the moving body 100 will enter the unplanned traveling range 20. The determination process will be described below. 5 is a diagram showing a specific example of entry into an unplanned travel range. FIG. 5 shows a travel route 40. FIG. 5 also shows a plurality of waypoints. For example, FIG. 5 shows a waypoint 41. After passing the waypoint 41, the moving body 100 is operating in manual driving. The moving body 100 is about to enter the unplanned travel range 20.

[0033] A graphic is associated with each waypoint. For example, the graphic may be a sector, a circle, a rectangle, a triangle, or the like. In FIG. 5, the graphic is a sector. The arc of the sector indicates the boundary between the planned travel range 10 and the unplanned travel range 20. In this manner, the boundary between the planned travel range 10 and the unplanned travel range 20 is represented by the graphic.

[0034] The selection unit 170 selects one waypoint from among the multiple waypoints. For example, the selection unit 170 selects the waypoint 41 that is closest to the position of the moving object 100 (i.e., the current position of the moving object 100) from among the multiple waypoints. The determination unit 150 determines whether the moving body 100 will enter the unplanned traveling range 20 based on information indicating the traveling direction, the position of the moving body 100, and information on the sector-shaped arc 41a associated with the waypoint 41. In detail, the determination unit 150 determines that the moving body 100 will enter the unplanned traveling range 20 when the traveling direction is the direction of the arc 41a and the distance between the position of the moving body 100 and the arc 41a is equal to or less than a predetermined threshold. In this manner, the moving body 100 may use the waypoint to determine whether or not the moving body 100 is entering the unplanned traveling range 20.

[0035] The selection unit 170 may also select a waypoint that the moving object 100 will pass through next. The selection unit 170 may also select a waypoint that has been set in advance by a designer. The selection will be described with reference to the drawings.

[0036] FIG. 6 is a diagram showing an example of selection. FIG. 6 shows waypoints 41, 42, and 43. A sector shape is associated with each of the waypoints 41, 42, and 43. The arc 41a indicates the boundary between the planned travel range 10 and the unplanned travel range 20. The arcs 42a and 43a do not indicate the boundary between the planned travel range 10 and the unplanned travel range 20. Therefore, the selection unit 170 selects the waypoint 41 that is set in advance by the designer. Then, the determination unit 150 uses information on the arc 41a to determine whether or not the moving body 100 enters the unplanned travel range 20.

[0037] Here, the setting of the sector will be described. Fig. 7 is a diagram (part 1) for explaining the setting of a sector. Fig. 7 shows a travel route 50. Fig. 7 also shows a plurality of waypoints. For example, Fig. 7 shows waypoint 51. The sector shape is set by a line perpendicular to the travel path 50 and an angle. For example, the sector shape is set by a line r1 perpendicular to the travel path 50 and an angle θ1. The sector shape is also set by a line r2 perpendicular to the travel path 50 and an angle θ2. The sector shape is further set by a line r3 perpendicular to the travel path 50 and an angle θ3.

[0038] The sector may be set as follows: FIG. 8 is a diagram (part 2) for explaining the setting of a sector. The sector is set by a perpendicular line from a waypoint to the unplanned traveling range 20 and an angle. For example, the sector is set by a perpendicular line r1 from a waypoint 51 (i.e., wp1) to the unplanned traveling range 20 and an angle θ1. The sector is also set by a perpendicular line r2 from a waypoint (i.e., wp2) to the unplanned traveling range 20 and an angle θ2. The sector is also set by a perpendicular line r3 from a waypoint (i.e., wp3) to the unplanned traveling range 20 and an angle θ3.

[0039] According to the embodiment, the moving body 100 estimates the position of the moving body 100 based on at least one of the image and the distance, and on map information. Therefore, the moving body 100 can estimate the position of the moving body 100 even when position information cannot be acquired using a system such as the quasi-zenith satellite system. Therefore, the moving body 100 can determine whether or not to enter the unplanned travel range 20 using the estimated position. Therefore, the moving body 100 can change the maximum speed.

[0040] Furthermore, the moving body 100 may use waypoints to determine whether or not the moving body 100 will enter the unplanned traveling range 20. Here, if the unplanned traveling range 20 is set on a map, the amount of data in the map information becomes large. If the moving body 100 uses waypoints, the unplanned traveling range 20 does not need to be set on a map. Therefore, the amount of data in the map information becomes small.

[0041] In the above, a case where there is one travel route has been described. The embodiment can be applied to a case where there are multiple travel routes. In the above, for the sake of simplicity, the travel route is set on a plane, but this is not limiting. For example, the actual travel environment of the moving object includes undulations. Therefore, the travel route may be set according to the undulations of the travel environment.

[0042] The moving body 100 may also be a moving body that moves in a three-dimensional space. For example, the moving body is a drone. For example, when the moving body 100 is a moving body that moves in a three-dimensional space, a plurality of waypoints are set in the three-dimensional space in the map information. The angle indicating the sector associated with the waypoint is expressed as a solid angle.

[0043] In the above, a case has been described in which the notification is made by the notification device 104. The control unit 160 may notify a terminal carried by the driver of the moving object 100 that the maximum speed has been changed.

[0044] The features of each of the embodiments described above can be combined with each other as appropriate. [Explanation of symbols]

[0045] 10 planned driving range, 20 unplanned driving range, 30 driving route, 31 waypoint, 40 driving route, 41, 42, 43 waypoint, 41a, 42a, 43a arc, 50 driving route, 51 waypoint, 100 moving body, 101 processor, 102 volatile storage device, 103 non-volatile storage device, 104 notification device, 105 drive unit, 106 sensor group, 106a operation amount sensor, 106b object detection sensor, 106c position sensor, 110 memory unit, 120 acquisition unit, 130 detection unit, 140 estimation unit, 150 judgment unit, 160 control unit, 170 selection unit.

Claims

1. A moving body that is present in a planned travel range in which a first maximum speed is set and that has been switched from automatic driving to manual driving, an acquisition unit that acquires first information, which is at least one of information indicating a traveling direction of the moving object, map information, an image acquired by imaging, and a distance acquired from a sensor; an estimation unit that estimates a position of the moving object based on the map information and the first information; a selection unit that selects one waypoint that is closest to the position of the moving body from among a plurality of waypoints that are present on a travel route of the moving body and that are set in the map information; a determination unit that determines whether or not the moving body will enter the unplanned travel range based on a boundary between the planned travel range and an unplanned travel range, which is a range in which a second maximum speed is set, and which is represented by the information indicating the traveling direction, the position of the moving body, and a graphic associated with the selected waypoint; a control unit that sets a maximum speed that the moving body can output to the second maximum speed when the moving body enters the unplanned travel range; A mobile object having the above configuration.

2. Further comprising a drive unit, The acquisition unit acquires information indicating a current speed of the moving object, the control unit controls the drive unit so that the moving body smoothly enters the unplanned traveling range when the moving body enters the unplanned traveling range and when a current speed of the moving body is faster than the second maximum speed. The moving body according to claim 1 .

3. Further comprising an alarm device, When a maximum speed that can be output by the moving body is changed, the control unit causes the notification device to output information that the maximum speed has been changed.

3. A moving body according to claim 1 or 2.

4. When a maximum speed that the moving body can output is changed, the control unit notifies a terminal carried by a driver of the moving body that the maximum speed has been changed.

3. A moving body according to claim 1 or 2.

5. A moving body that is present in a planned travel range, which is a range in which a first maximum speed is set, and that has been switched from automatic driving to manual driving, acquire first information, which is at least one of information indicating a traveling direction of the moving body, map information, and an image obtained by imaging and a distance obtained from a sensor, estimate a position of the moving body based on the map information and the first information, and select one waypoint that is closest to the position of the moving body from among a plurality of waypoints that are present on a travel route of the moving body and are set in the map information; determining whether or not the moving body will enter the unplanned travel range based on a boundary between the planned travel range and an unplanned travel range, which is a range in which a second maximum speed is set, and which is represented by the information indicating the traveling direction, the position of the moving body, and a graphic associated with the selected waypoint; When the moving body enters the unplanned travel range, a maximum speed that the moving body can output is set to the second maximum speed. Control methods.

Images