Control device for a moving body, control method for a moving body, and storage medium

Abstract

To provide appropriate control both on a roadway and in predetermined areas that differ from the roadway.SOLUTION: A control device for a moving vehicle capable of moving both on a roadway and in a predetermined area different from the roadway includes: a road type recognition unit that recognizes whether the moving vehicle is moving on the roadway or in the predetermined area; and a control unit that at least partially controls the speed of the moving vehicle, wherein the control unit limits the speed of the moving vehicle to a first speed or lower when the moving vehicle is moving on the roadway and limits the speed of the moving vehicle to a second speed, which is lower than the first speed, or lower when the moving vehicle is moving in the predetermined area. The control unit determines a first target speed, which is lower than the second speed, based on the relationship with objects in the vicinity of the moving vehicle when the moving vehicle is recognized as moving in the predetermined area, and determines a second target speed by making a correction based on a user speed indication to the determined first target speed.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a control device for a moving body, a control method for a moving body, and a storage medium.

Background Art

[0002] Conventionally, an invention of a single-seater electric vehicle capable of moving on a sidewalk has been disclosed (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The conventional technology does not assume a moving body that can move on both a roadway and a predetermined area different from the roadway. For this reason, there were cases where appropriate control could not be performed on both the roadway and a predetermined area different from the roadway.

[0005] The present invention has been made in consideration of such circumstances, and one of its objects is to provide a control device for a moving body, a control method for a moving body, and a storage medium capable of performing appropriate control on both a roadway and a predetermined area different from the roadway.

Means for Solving the Problems

[0006] The control device for a moving body, the control method for a moving body, and the storage medium according to this invention employ the following configuration. (1): The control device for a moving body according to one aspect of the present invention is a control device for a moving body capable of moving in both a roadway and a predetermined area different from the roadway. The control device includes a road type recognition unit that recognizes whether the moving body is moving on the roadway or in the predetermined area, and a control unit that at least partially controls the speed of the moving body. When the moving body is moving on the roadway, the control unit limits the speed to a first speed or lower, and when the moving body is moving in the predetermined area, the control unit limits the speed to a second speed or lower, which is lower than the first speed. When the control unit recognizes that the moving body is moving in the predetermined area, the control unit determines a first target speed lower than the second speed based on the relationship with an object around the moving body, and determines a second target speed by correcting based on a user's speed instruction for the determined first target speed.

[0007] (2): In the aspect of (1) above, when the road type recognition unit recognizes that the moving body is moving in the predetermined area, the road type recognition unit causes an external notification device to notify the outside of the moving body that it is moving in the predetermined area.

[0008] (3): In the aspect of (1) or (2) above, the road type recognition unit recognizes whether the moving body is moving in the predetermined area based on the output of an external environment detection device that detects the external situation of the moving body.

[0009] (4): In any of the aspects of (1) to (3) above, the road type recognition unit recognizes whether the moving body is moving on the roadway or in the predetermined area based on a user's operation on a switch.

[0010] (5): In any of the aspects of (1) to (4) above, the control unit automatically controls at least the speed when the moving body is moving in the predetermined area with reference to the speed instruction, and limits the speed when the moving body is moving in the predetermined area to the second speed or lower regardless of the speed instruction.

[0011] (6) In any one of the aspects (1) to (5) above, the speed instruction is received via a dial switch in which the increase or decrease of the speed is instructed by the rotation angle.

[0012] (7) In any one of the aspects (1) to (6) above, the moving body is provided with a first operator for receiving an acceleration / deceleration instruction and a second operator for receiving a steering instruction, and the control unit controls the acceleration / deceleration and steering of the moving body based on an operation on either one of the first operator and the second operator. Mode A, a mode B in which the acceleration / deceleration and steering of the moving body are controlled based on operations on both the first operator and the second operator, and a mode C in which the acceleration / deceleration and steering of the moving body are controlled without being based on any operation on either the first operator or the second operator. It is executed by switching.

[0013] (8) In any one of the aspects (1) to (7) above, when the second target speed exceeds the second speed, the control unit limits the second target speed to the second speed and moves the moving body at the second target speed.

[0014] (9) In any one of the aspects (1) to (8) above, the control unit determines the first target speed by performing correction according to the scene in which the moving body moves with respect to a preset default target speed.

[0015] (10) A method for controlling a moving body according to another aspect of the present invention is a method for controlling a moving body capable of moving on both a roadway and a predetermined area different from the roadway, wherein a computer recognizes whether the moving body is moving on the roadway or moving on the predetermined area, at least partially controls the speed of the moving body, limits the speed when the moving body is moving on the roadway to a first speed or less, and limits the speed when the moving body is moving on the predetermined area to a second speed or less that is lower than the first speed. When it is recognized that the moving body is moving on the predetermined area, the computer determines a first target speed lower than the second speed based on the relationship with an object around the moving body, and determines a second target speed by correcting based on a user's speed instruction for the determined first target speed. (11) A storage medium according to another aspect of the present invention stores a program for causing a computer that controls a moving body capable of moving on both a roadway and a predetermined area different from the roadway to recognize whether the moving body is moving on the roadway or moving on the predetermined area, at least partially control the speed of the moving body, limit the speed when the moving body is moving on the roadway to a first speed or less, and limit the speed when the moving body is moving on the predetermined area to a second speed or less that is lower than the first speed. When it is recognized that the moving body is moving on the predetermined area, the program causes the computer to determine a first target speed lower than the second speed based on the relationship with an object around the moving body, and determine a second target speed by correcting based on a user's speed instruction for the determined first target speed.

Advantages of the Invention

[0016] (1) According to the aspects (1) to (11), appropriate control can be performed in both the roadway and a predetermined area different from the roadway.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0018] Hereinafter, with reference to the drawings, embodiments of a control device for a moving body, a control method for a moving body, and a program according to the present invention will be described. The moving body moves in both a roadway and a predetermined area different from the roadway. The moving body may be a vehicle that can carry passengers, or may be an autonomous moving body capable of autonomous driving without a driver. The latter autonomous moving body is used, for example, for transporting luggage and the like. In the following description, it is assumed that one or more passengers board the moving body. The predetermined area is, for example, a sidewalk. Also, the predetermined area may be part or all of a roadside strip, a bicycle lane, an open space, etc., or may include all of a sidewalk, a roadside strip, a bicycle lane, an open space, etc. In the following description, it is assumed that the predetermined area is a sidewalk. In the following description, the part described as "sidewalk" can be read as "predetermined area" as appropriate.

[0019] <First Embodiment> FIG. 1 is a diagram showing an example of the configuration of a moving body 1 and a control device 100 according to the embodiment. The moving body 1 is equipped with, for example, an external detection device 10, a moving body sensor 12, an operator 14, an internal camera 16, a positioning device 18, an intercom device 20, a mode changeover switch 22, a dial switch 24, a moving mechanism 30, a drive 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.

[0020] The external detection device 10 is various devices that use the traveling direction of the moving body 1 as the detection range. The external detection device 10 includes an external camera, a radar device, LIDAR (Light Detection and Ranging), a sensor fusion device, and the like. The external detection device 10 outputs information (such as an image, the position of an object, etc.) indicating the detection result to the control device 100.

[0021] The moving body sensor 12 includes, for example, a speed sensor, an acceleration sensor, a yaw rate (angular velocity) sensor, an azimuth sensor, and an operation amount detection sensor attached to the operator 14. The operator 14 includes, for example, an operator for instructing acceleration and deceleration (such as an accelerator pedal or a brake pedal) and an operator for instructing steering (such as a steering wheel). In this case, the moving body sensor 12 may include an accelerator opening sensor, a brake depression amount sensor, a steering torque sensor, and the like. The moving body 1 may be provided with an operator in a form other than the above as the operator 14 (for example, a non-circular rotary operator, a joystick, a button, etc.).

[0022] The internal camera 16 images at least the head of the passenger of the moving body 1 from the front. The 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). The internal camera 16 outputs the captured image to the control device 100.

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

[0024] The dialogue device 20 includes, for example, a speaker, a microphone, a touch panel, a communication device, etc. The dialogue device 20 appropriately processes the voice of the occupant collected by the microphone, transmits it to the server device via the network by the communication device, and provides voice information from the speaker based on the information returned from the server device. The dialogue device 20 may also be referred to as an agent device, a concierge device, an assistance device, etc. The server device has functions such as a voice recognition function, a natural language processing function, a semantic interpretation function, a reply content determination function, etc. Further, the dialogue device 20 transmits location information to the server device, and the server device may reply with information on the corresponding facility according to the location information and a guidance request issued by the occupant (such as "Is there a delicious ramen restaurant around here?"). In this case, voice guidance such as "It is at the place where you turn left ahead" is given by the dialogue device 20. Not limited to this, the dialogue device 20 has a function of accepting natural utterances by the occupant and returning an appropriate reply. Also, the dialogue device 20 has a function of performing simple conversations without going through the server device, such as making inquiries from the device side and accepting replies, and may make inquiries to the occupant according to a request from the control device 100. The dialogue device 20 is an example of an interface device.

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

[0026] Figure 2 is a diagram showing an example of the external configuration of the dial switch 24. The dial switch 24 is installed at an arbitrary position operable by the passenger P in the moving body 1 and can be rotated clockwise and counterclockwise. For example, it is set such that clockwise rotation indicates acceleration and counterclockwise rotation indicates deceleration. The dial switch 24 can change the speed by, for example, 5 [km / h] each time it is operated by one scale. Details of the speed control using the dial switch 24 will be described later.

[0027] The moving mechanism 30 is a mechanism for moving the moving body 1 on the road. The moving mechanism 30 is, for example, a group of wheels including a steering wheel and drive wheels. Also, the moving mechanism 30 may be legs for multi-legged walking.

[0028] The drive device 40 outputs force to the moving mechanism 30 to move the moving body 1. For example, the drive device 40 includes a motor that drives the drive wheels, a battery that stores the electric power supplied to the motor, a steering device that adjusts the steering angle of the steering wheel, and the like. The drive device 40 may be provided with an internal combustion engine, a fuel cell, etc. as a driving force output means or a power generation means. Also, the drive device 40 may further include a braking device due to frictional force or air resistance.

[0029] The external notification device 50 is provided, for example, on the outer plate portion of the moving body 1, and is a lamp, a display device, a speaker, etc. for notifying information to the outside of the moving body 1. The external notification device 50 performs different operations when the moving body 1 is moving on the sidewalk and when it is moving on the road. For example, the external notification device 50 is controlled such that the lamp emits light when the moving body 1 is moving on the sidewalk and does not emit light when the moving body 1 is moving on the road. It is preferable that the emission color of this lamp is a color defined by regulations. The external notification device 50 may be controlled such that the lamp emits light in green when the moving body 1 is moving on the sidewalk and emits light in blue when the moving body 1 is moving on the road. When the external notification device 50 is a display device, the external notification device 50 displays "Running on the sidewalk" in text or graphics when the moving body 1 is running on the sidewalk.

[0030] Figure 3 is a perspective view of the moving body 1 seen from above. In the figure, FW is the steering wheel, RW is the drive wheel, SD is the steering device, MT is the motor, and BT is the battery. The steering device SD, the motor MT, and the battery BT are included in the drive device 40. Also, AP is the accelerator pedal, BP is the brake pedal, WH is the steering wheel, SP is the speaker, and MC is the microphone. The illustrated moving body 1 is a single-seater moving body, and the occupant P is seated in the driver's seat DS and wearing the seat belt SB. Arrow D1 is the traveling direction (velocity vector) of the moving body 1. The external detection device 10 is provided near the front end of the moving body 1, the internal camera 16 is at a position where it can image the head of the occupant P from in front of the occupant P, and the mode changeover switch 22 is provided on the boss portion of the steering wheel WH, respectively. Also, near the front end of the moving body 1, an external notification device 50 as a display device is provided.

[0031] Returning to FIG. 1, the storage device 70 is a non-transitory storage device such as an HDD (Hard Disk Drive), a flash memory, or a RAM (Random Access Memory). 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 shown outside the frame of the control device 100, but the storage device 70 may be included in the control device 100.

[0032] [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, it 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 a circuit unit; 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 the cooperation of software and hardware. The program may be stored in advance in the storage device 70, or may be stored in a removable storage medium (non-transitory storage medium) such as a DVD or a CD-ROM, and may be installed in the storage device 70 when the storage medium is mounted on the drive device.

[0033] The road type recognition unit 120 recognizes whether the moving body 1 is moving on a road lane or a sidewalk. For example, the road type recognition unit 120 recognizes whether the moving body 1 is moving on a road lane or a sidewalk by analyzing an image captured by the external camera of the external detection device 10. An example of image analysis is semantic segmentation. The road type recognition unit 120 classifies each pixel in the frame of the image into a class (such as a road lane, a sidewalk, a boundary, an object, etc.) and assigns a label. When there are many pixels with the label of the road lane in the area corresponding to the front of the moving body 1, it is recognized that the moving body 1 is moving on a road lane. When there are many pixels with the label of the sidewalk in the area corresponding to the front of the moving body 1 in the image, it is recognized that the moving body 1 is moving on a sidewalk. Not limited to this, when a vehicle is recognized in the area corresponding to the front of the moving body 1 in the image, the road type recognition unit 120 may recognize that the moving body 1 is moving on a road lane. When a pedestrian is recognized in the area corresponding to the front of the moving body 1 in the image, the road type recognition unit 120 may recognize that the moving body 1 is moving on a sidewalk. Also, 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, the road type recognition unit 120 may recognize that the moving body 1 is moving on a road lane. 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, the road type recognition unit 120 may recognize that the moving body 1 is moving on a sidewalk. Further, the road type recognition unit 120 may collate the position information of the moving body 1 with the map information 72 to recognize whether the moving body 1 is moving on a road lane or a sidewalk. In this case, the map information needs to have an accuracy level that can distinguish a sidewalk from a road lane from the position coordinates. When the "predetermined area" is not only a sidewalk, the road type recognition unit 120 performs similar processing for the roadside strip, the bicycle lane, the public open space, etc.

[0034] The object recognition unit 130 recognizes objects existing around the moving body 1 based on the output of the external detection device 10. The objects include some or all of moving bodies such as vehicles, bicycles, and pedestrians, road markings, steps, guardrails, road shoulders, road boundaries such as median strips, structures installed on the road such as road signs and billboards, and obstacles such as falling objects (lying on the road). The acquisition unit 110 inputs, for example, an image captured by the external camera of the external detection device 10 into a learned model that has been trained to output information such as the presence, position, and type of an object, thereby acquiring information such as the presence, position, and type of other moving bodies. The type of other moving bodies can also be estimated based on, for example, the size in the image and the intensity of the reflected wave received by the radar device of the external detection device 10. Further, the acquisition unit 110 acquires, for example, the speed of other moving bodies detected by the radar device using Doppler shift or the like.

[0035] The control unit 140 controls the drive device 40, for example, according to the set driving mode.

[0036] In mode A-1, the control unit 140 refers to the information on the travel path and the object based on the output of the object recognition unit 130. When the moving body 1 moves on the roadway, it maintains a distance from the object existing in front of the moving body 1 to be a certain value or more. When the distance from the object existing in front of the moving body 1 is sufficiently long, the control unit 140 controls the motor MT of the drive device 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 [km / h]). When the moving body 1 moves on the sidewalk, the control unit 140 maintains a distance from the object existing in front of the moving body 1 to be a certain value or more. When the distance from the object existing in front of the moving body 1 is sufficiently long, the control unit 140 controls the motor MT of the drive device 40 so that the moving body 1 moves at a second speed V2 (for example, a speed of less than 10 [km / h]). Such a function is similar to the ACC (Adaptive Cruise Control) function of a vehicle with the first speed V1 or the second speed V2 as the set speed, and the technology used in ACC can be utilized. Also, in mode A-1, the control unit 140 controls the steering device SD so as to change the steering angle of the steered wheels based on the operation amount of the operator 14 such as the steering wheel. Such a function is similar to the function of the power steering device, and the technology used in the power steering device can be utilized. Note that the moving body 1 may have a steering device in which the operator 14 and the steering mechanism are mechanically connected without performing electronic control for steering.

[0037] In mode A-2, the control unit 140 refers to the information on the travel path and the object based on the output of the object recognition unit 130, generates a target trajectory that can avoid the object within the travel 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 moving body 1 is moving on the roadway, the control unit 140 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 is not accelerated even if there is a further acceleration instruction). When the moving body 1 is moving on the sidewalk, the control unit 140 controls the drive device 40 with the second speed V2 as the upper limit speed.

[0038] In mode B, 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 moving body 1 is moving on a road, the control unit 140 controls the motor MT of the drive device 40 with the first speed V1 as the upper limit speed (in the case of mode B, when the upper limit speed is reached, it means that the moving body 1 will not be accelerated even if there is a further acceleration instruction), and when the moving body 1 is moving on a sidewalk, the control unit 140 controls the motor MT of the drive device 40 with the second speed V2 as the upper limit speed. Regarding steering, it is the same as in mode A-1.

[0039] In mode C, the control unit 140 refers to the information of the walking path and the object based on the output of the object recognition unit 130, generates a target trajectory that can avoid the object within the walking path, and controls the drive device 40 so that the moving body 1 moves along the target trajectory. Also in mode C, when the moving body 1 is moving on a road, the control unit 140 controls the drive device 40 with the first speed V1 as the upper limit speed, and when the moving body 1 is moving on a sidewalk, the control unit 140 controls the drive device 40 with the second speed V2 as the upper limit speed.

[0040] [Control according to the operation of the dial switch] In modes (mode A-1 and mode C) where the control unit 140 controls the speed regardless of the operation amount of the accelerator pedal or the brake pedal, the control unit 140 controls the speed of the moving body 1 based on the operation amount for the dial switch 24. When the moving body 1 moves on a lane in mode A-1 and mode C, the control unit 140 sets a target speed according to the scene. For example, the control device 140 corrects the default target speed Vdef based on the average speed of the road, the amount of traffic participants, the distance from an object around the moving body 1, etc., and determines the target speed Vref according to the scene. The default target speed Vdef is preset to a speed lower than the first speed V1, for example. Further, the control device 140 corrects the target speed Vref according to the scene based on the operation position of the dial switch 24 to determine the final target speed V#. Here, when the value obtained by correcting the target speed Vref according to the scene based on the operation position of the dial switch 24 exceeds the first speed V1, the control unit 140 sets the final target speed V# to the first speed V1. In this way, the control unit 140 receives a speed instruction from the occupant via an instruction receiving unit such as the dial switch 24 provided on the moving body 1 (which does not receive an instruction directly related to the output torque like the accelerator pedal, but has the nature of receiving an additional instruction for the current speed). Then, the control unit 140 automatically controls at least the speed when the moving body 1 moves on a lane with reference to the additional instruction. However, regardless of the specified speed instruction, the control unit 140 limits the speed when the moving body 1 moves on a lane to the first speed V1. Thereby, for example, the regulations of the country where the moving body 1 moves can be complied with.

[0041] Figure 4 is a diagram illustrating changes in control content based on the amount of operation on the dial switch 24. In this figure, it is assumed that the default target speed Vdef = 20 [km / h] and the first speed V1 = 30 [km / h]. In the scene shown in (1) in the figure, since there is a vehicle on the traveling direction side of the moving body 1 and the control unit 140 determines to suppress acceleration due to its presence, the target speed Vref corresponding to the scene is determined to be the same as the default target speed Vdef. Since the operation position of the dial switch 24 is zero, the final target speed V# also becomes the same as the default target speed Vdef.

[0042] In the subsequent scene shown in (2), since the road conditions do not change from the scene shown in (1), the target speed Vref corresponding to the scene is determined to be the same as the default target speed Vdef. However, since the operation position of the dial switch 24 is changed to +5, the final target speed V# becomes a value 5 [km / h] higher than the default target speed Vdef.

[0043] In the subsequent scene shown in (3), since the vehicle in front of the moving body 1 has disappeared from being recognized by the moving body 1 due to a lane change or the like, the control unit 140 raises the target speed Vref corresponding to the scene to the first speed V1. Although the operation position of the dial switch 24 remains at +5, since adding 5 to the target speed Vref corresponding to the scene exceeds the first speed V1, the final target speed V# is limited to the first speed V1.

[0044] In the subsequent scene shown in (4), the front of the moving body 1 is congested, and the control unit 140 sets the target speed Vref corresponding to the scene to a value lower than the default target speed Vdef. On the other hand, the operation position of the dial switch 24 is +5, and the value obtained by adding 5 to the target speed Vref corresponding to the scene is set as the final target speed V#.

[0045] Figure 5 is a flowchart showing an example of the processing flow executed by the control device 100 of the embodiment. The processing of this flowchart is premised on mode A. The processing of this flowchart is repeatedly executed, for example, at a predetermined cycle.

[0046] First, a road type recognition unit 120 determines whether the moving body 1 is moving on a roadway (or moving on a sidewalk) (step S200). When it is determined that the moving body 1 is moving on a roadway, as described above, the control unit 140 corrects the default target speed Vdef based on the average speed of the road, the amount of traffic participants, the distance from an object around the moving body 1, etc., and determines a target speed Vref according to the scene (step S202). For the target speed Vref according to the scene, correction is performed based on the operation position of the dial switch 24 to determine a final target speed V# (step S204). Next, the control unit 140 determines whether the final target speed V# exceeds a first speed V1 (step S206). When the final target speed V# exceeds the first speed V1, the control unit 140 limits the final target speed V# to the first speed V1 (step S208). Then, the control unit 140 moves the moving body 1 at the final target speed V# (step S210).

[0047] Also, when it is determined in step S200 that the moving body 1 is moving on a sidewalk, the control unit 140 performs control when the moving body 1 is moving on a sidewalk (step S212).

[0048] The above-mentioned "control according to the operation of the dial switch" may be performed not only when the moving body 1 is moving on a roadway but also when the moving body 1 is moving on a sidewalk. In that case, when the moving body 1 is moving on a sidewalk, the control unit 140 determines a target speed Vref according to the scene, performs correction based on the operation position of the dial switch 24 for the target speed Vref according to the scene to determine a final target speed V#, and when the value obtained by performing correction based on the operation position of the dial switch 24 for the target speed Vref according to the scene exceeds a second speed V2, sets the final target speed V# to the first speed V2. Although the flowchart in FIG. 5 is premised on performing control according to the operation of the dial switch only for the roadway, when control according to the operation of the dial switch is also performed when the moving body 1 is moving on a sidewalk, the same processing as steps S202 to S210 (where V1 is replaced by V2) is performed when the moving body 1 is moving on a sidewalk.

[0049] According to the first embodiment described above, there are provided a road type recognition unit 120 that recognizes whether the moving body 1 is moving on a roadway or a sidewalk, and a control unit 140 that at least partially controls the speed of the moving body 1. When the moving body 1 is moving on a roadway, the speed is limited to a first speed V1, and when the moving body 1 is moving on a sidewalk, the speed is limited to a second speed V2 lower than the first speed V1. By providing such components, appropriate control can be performed on both roadways and sidewalks.

[0050] <Second Embodiment> Hereinafter, the second embodiment will be described. The control device 100 of the second embodiment differs from that of the first embodiment in the function of the road type recognition unit 120. The road type recognition unit 120 of the second embodiment recognizes whether the moving body 1 is traveling on a roadway or a sidewalk, for example, according to an operation by a passenger on a road type input switch (not shown) provided on the moving body. The road type input switch is provided, for example, on the boss portion of the steering wheel WH. The road type input switch can be operated up and down and has a mechanism for holding the operated position. When it is operated upward, it represents a roadway, and when it is operated downward, it represents a sidewalk. Further, the road type input switch may be in the form of a button or a GUI switch, and when it is operated in a state where the control device 100 recognizes that the vehicle is traveling on a roadway, the recognition switches to the recognition of traveling on a sidewalk, and when it is operated in a state where the control device 100 recognizes that the vehicle is traveling on a sidewalk, the recognition switches to the recognition of traveling on a roadway. With such a configuration, the function of automatically recognizing whether the moving body 1 is traveling on a roadway or a sidewalk can be omitted, and the processing load and cost can be reduced. However, since there is a possibility of incorrect operation by the passenger, it is desirable that information be externally notified by the external notification device 50 in the second embodiment.

[0051] <Others> In each of the above embodiments, the control unit 140 may execute only the control of either mode A or mode B. That is, the moving body 1 may execute the assist mode but not the manual mode, or may execute the manual mode but not the assist mode. Further, the control unit 140 may execute the control of both mode A and mode B, but may perform the specific speed control only when either mode A or mode B is being executed. In any case, whether to execute the control of mode C may be arbitrarily determined.

[0052] Further, the moving body 1 may be provided without an accelerator pedal and may receive speed instructions exclusively via the dial switch 24. In that case, mode A-2 and mode B are not executed, and substantially only mode A-1 and mode C are executed.

[0053] The above-described embodiments can be expressed as follows. A storage device storing a program, A hardware processor, and by the hardware processor executing the program stored in the storage device, recognize whether the moving body is moving on a roadway or moving in a predetermined area different from the roadway, at least partially control the speed of the moving body, limit the speed when the moving body is moving on the roadway to a first speed, and limit the speed when the moving body is moving in the predetermined area to a second speed lower than the first speed, A control device for a moving body configured as described above.

[0054] As described above, the embodiments for carrying out the present invention have been described using the embodiments. However, the present invention is not limited to such embodiments, and various modifications and substitutions can be made without departing from the gist of the present invention.

Explanation of Reference Numerals

[0055] 10 External detection device 12 Mobile body sensor 14 Operator 16 Internal camera 18 Positioning device 20 Interaction device 22 Mode switching switch 24 Dial switch 30 Moving mechanism 40 Driving device 50 External notification device 70 Storage device 100 Control device 120 Road type recognition unit 130 Object recognition unit 140 Control unit

Claims

1. A control device for a moving body that can move 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 in the predetermined area; a control unit that at least partially controls the speed of the moving body, the control unit limiting the speed of the moving body when moving on a roadway to a first speed or less, and limiting the speed of the moving body when moving in the specified area to a second speed or less that is lower than the first speed; Equipped with When the control unit recognizes that the moving object is moving in the predetermined area, determining a first target speed that is lower than the second speed based on a relationship with an object in the vicinity of the moving body; determining a second target speed by correcting the determined first target speed based on a speed instruction from a user; A control device for a moving object.

2. When the road type recognition unit recognizes that the moving object is moving in the predetermined area, the road type recognition unit causes an external notification device to notify outside the moving object that the moving object is moving in the predetermined area. The control device according to claim 1.

3. The road type recognition unit recognizes whether the moving object is moving in the predetermined area based on an output of an external environment detection device that detects an external situation of the moving object.

3. The control device according to claim 1 or 2.

4. the road type recognition unit recognizes whether the moving object is moving on a roadway or in the predetermined area based on a user's operation on a switch. A control device according to any one of claims 1 to 3.

5. the control unit automatically controls at least a speed of the moving object when the moving object moves in the predetermined area by referring to the speed instruction, and limits the speed of the moving object when the moving object moves in the predetermined area to equal to or less than the second speed, regardless of the speed instruction. A control device according to any one of claims 1 to 4.

6. The speed instruction is received via a dial switch that instructs an increase or decrease in speed depending on a rotation angle. A control device according to any one of claims 1 to 5.

7. the moving body is provided with a first operator for receiving an acceleration / deceleration instruction and a second operator for receiving a steering instruction, the control unit switches between and executes a mode A in which acceleration / deceleration and steering of the moving body are controlled based on an operation of either the first operator or the second operator, a mode B in which acceleration / deceleration and steering of the moving body are controlled based on an operation of both the first operator and the second operator, and a mode C in which acceleration / deceleration and steering of the moving body are controlled without being based on an operation of either the first operator or the second operator. A control device according to any one of claims 1 to 6.

8. The control unit is If the second target speed exceeds the second speed, the second target speed is limited to the second speed; moving the moving object at the second target speed; A control device according to any one of claims 1 to 7.

9. The control unit determines the first target speed by correcting a preset default target speed according to a scene in which the moving body moves. A control device according to any one of claims 1 to 8.

10. A computer controls a mobile object that can move on both a roadway and a predetermined area different from the roadway, Recognizing whether the moving object is moving on a roadway or in the predetermined area; at least partially controlling the speed of the moving object; limiting the speed of the moving body when it moves on a roadway to equal to or less than a first speed, and limiting the speed of the moving body when it moves in the predetermined area to equal to or less than a second speed lower than the first speed; A method for controlling a moving object, comprising: When it is recognized that the moving object is moving in the predetermined area, the computer determining a first target speed that is lower than the second speed based on a relationship with an object in the vicinity of the moving body; determining a second target speed by correcting the determined first target speed based on a speed instruction from a user; A method for controlling a moving object.

11. A computer that controls a mobile object that can move on both a roadway and a predetermined area different from the roadway, Recognizing whether the moving object is moving on a roadway or in the predetermined area; at least partially controlling the speed of the moving object; limiting the speed of the moving body when it moves on a roadway to a first speed or less, and limiting the speed of the moving body when it moves in the predetermined area to a second speed or less that is lower than the first speed; A storage medium storing a program, When it is recognized that the moving object is moving in the predetermined area, the program causes the computer to determining a first target speed that is lower than the second speed based on a relationship with an object in the periphery of the moving body; determining a second target speed by correcting the determined first target speed based on a speed instruction from a user; storage medium.

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