Mobile object management method, mobile object control method, mobile object, and program

Abstract

To suppress interference with an object present in a lateral direction.SOLUTION: A mobile body management method includes the steps of: acquiring movement conditions of a mobile body moving automatically; and setting a safety area, the area in a traveling direction of the mobile body that an object should not be located, based on the movement conditions. In the step of setting the safety area, the safety area is so set that as a speed of the mobile body is higher, the safety area is set wider in the lateral direction intersecting with the traveling direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a mobile object management method, a mobile object control method, a mobile object, and a program. [Background technology]

[0002] There are known techniques for automatically moving a moving body such as a forklift, etc. For example, Patent Document 1 describes a technique for preventing collisions with obstacles by determining the speed of a moving body that autonomously travels along a reference route in a traveling direction calculated from a movement vector from a previous position, so that the moving body maintains a predetermined distance from the obstacle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5830533 Summary of the Invention [Problem to be solved by the invention]

[0004] However, because the moving body also moves laterally when steered, there is a risk that it may interfere with objects located to the side due to steering uncertainty. Therefore, it is necessary to suppress interference with objects located to the side.

[0005] The present disclosure aims to solve the above-mentioned problems and to provide a method for managing a moving body, a method for controlling a moving body, a moving body, and a program that can suppress interference with objects located to the lateral side. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objectives, the method of managing a moving body according to the present disclosure includes a step of acquiring movement conditions of an automatically moving moving body, and a step of setting a safety area, which is an area on the moving body's direction of travel where no target object should be located, based on the movement conditions. In the step of setting the safety area, the safety area is set so that the higher the speed of the moving body, the wider the safety area is in the horizontal direction intersecting the moving direction.

[0007] In order to solve the above-mentioned problems and achieve the objectives, the method for controlling a moving body according to the present disclosure includes a step of acquiring information about the safety area set by the management method of the moving body, and a step of moving the moving body while detecting whether the object is located within the safety area.

[0008] In order to solve the above-mentioned problems and achieve the objectives, the moving body of the present disclosure is an automatically moving moving body, and includes a safety area acquisition unit that acquires information about a safety area, which is an area in the moving direction of the moving body where an object should not be located, set based on the moving conditions of the moving body, and a movement control unit that moves the moving body while detecting whether the object is located within the safety area, and the safety area is set to expand in a horizontal direction that intersects with the moving direction as the speed of the moving body increases.

[0009] In order to solve the above-mentioned problems and achieve the objectives, the program of the present disclosure is a program that causes a computer to execute the steps of acquiring movement conditions of an automatically moving body, and setting a safety area, which is an area on the direction of travel of the moving body where no target objects should be located, based on the movement conditions.In the step of setting the safety area, the safety area is set so that the higher the speed of the moving body, the wider the safety area is in the horizontal direction that intersects with the direction of travel. [Effects of the Invention]

[0010] According to the present disclosure, interference with objects located laterally can be suppressed. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram of a mobility control system according to this embodiment. [Figure 2] FIG. 2 is a schematic diagram of the configuration of a moving body. [Figure 3] FIG. 3 is a schematic block diagram of an information processing device. [Figure 4] FIG. 4 is a schematic diagram for explaining the safety area. [Figure 5] FIG. 5 is a schematic block diagram of a control device for a moving object. [Figure 6] FIG. 6 is a flowchart illustrating a control flow for moving a moving object. [Figure 7] FIG. 7 is a schematic diagram for explaining another example of setting a route for a moving object. [Figure 8] FIG. 8 is a schematic diagram for explaining another example of setting a route for a moving object. [Figure 9] FIG. 9 is a flowchart illustrating a process flow for route setting in another example. [Figure 10] FIG. 10 is a schematic diagram for explaining another example of setting a route for a moving object. [Figure 11A] FIG. 11A is a schematic diagram for explaining another example of setting a route for a moving object. [Figure 11B] FIG. 11B is a schematic diagram for explaining another example of the safety area. [Figure 11C] FIG. 11C is a schematic diagram for explaining another example of the safety region. [Figure 11D] FIG. 11D is a schematic diagram for explaining another example of the safety region. [Figure 12] FIG. 12 is a schematic diagram for explaining the setting of a route for a moving object in the second embodiment. [Figure 13] FIG. 13 is a schematic diagram for explaining setting of a route for a moving object in the second embodiment. [Figure 14]FIG. 14 is a schematic diagram for explaining setting of a route for a moving object in the second embodiment. [Figure 15] FIG. 15 is a flowchart illustrating a process flow of route switching in the second embodiment. [Figure 16] FIG. 16 is a schematic diagram of the switching path. DETAILED DESCRIPTION OF THE INVENTION

[0012] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes configurations in which the respective embodiments are combined.

[0013] (First embodiment) (Overall configuration of the mobility control system) FIG. 1 is a schematic diagram of a mobility control system according to a first embodiment. As shown in FIG. 1, the mobility control system 1 according to the first embodiment includes a mobile object 10 and an information processing device 12. The mobility control system 1 controls the movement of the mobile object 10 belonging to a facility W. The facility W is, for example, a facility managed by logistics, such as a warehouse, but is not limited thereto and may be any facility, for example, outdoors. In the mobility control system 1, the mobile object 10 is moved within an area AR0 of the facility W. The area AR0 is, for example, the floor surface of the facility W. Hereinafter, one direction along the area AR0 is referred to as the X direction, and a direction along the area AR0 that intersects with the X direction is referred to as the Y direction. In this embodiment, the Y direction is a direction perpendicular to the X direction. The X and Y directions may also be referred to as directions along a horizontal plane. Furthermore, a direction perpendicular to the X and Y directions, more specifically, a direction extending vertically upward, is referred to as the Z direction. Furthermore, in this embodiment, unless otherwise specified, "position" refers to a position (coordinates) in a coordinate system on a two-dimensional plane on the area AR (the coordinate system of the area AR). Furthermore, unless otherwise specified, "attitude" of the moving body 10 refers to the orientation of the moving body 10 in the coordinate system of the area AR, and refers to the yaw angle (rotation angle) of the moving body 10 when viewed from the Z direction and the X direction is 0°.

[0014] (Mobile) FIG. 2 is a schematic diagram of the configuration of a moving body. The moving body 10 is a device capable of moving automatically. The moving body 10 may be any vehicle capable of moving automatically, but for example, it is a moving body that cannot move sideways in a nonholonomic system. Furthermore, in this embodiment, the moving body 10 is a forklift, more specifically, a so-called AGF (Automated Guided Forklift). As shown in FIG. 2, the moving body 10 includes a vehicle body 20, wheels 20A, straddle legs 21, a mast 22, a fork 24, a sensor 26, and a control device 28. The straddle legs 21 are a pair of shaft-shaped members provided at one end of the vehicle body 20 in the fore-and-aft direction and protruding from the vehicle body 20. The wheels 20A are provided at the tip of each straddle leg 21 and on the vehicle body 20. That is, a total of three wheels 20A are provided, but the positions and number of the wheels 20A may be arbitrary. The mast 22 is movably attached to the straddle leg 21 and moves in the fore-and-aft direction of the vehicle body 20. The mast 22 extends in an up-and-down direction (here, direction Z) perpendicular to the fore-and-aft direction. The fork 24 is movably attached to the mast 22 in direction Z. The fork 24 may also be movable in the lateral direction of the vehicle body 20 (a direction intersecting the up-and-down and fore-and-aft directions) relative to the mast 22. The fork 24 has a pair of claws 24A, 24B. The claws 24A, 24B extend from the mast 22 toward the front of the vehicle body 20. The claws 24A and 24B are arranged apart from each other in the lateral direction of the mast 22. Hereinafter, in the fore-and-aft direction, the direction on the side of the vehicle 10 where the fork 24 is provided is referred to as the forward direction, and the direction on the side where the fork 24 is not provided is referred to as the rearward direction.

[0015] The sensor 26 detects at least one of the position and attitude of an object present around the vehicle body 20. It can also be said that the sensor 26 detects the position of the object relative to the mobile body 10 and the attitude of the object relative to the mobile body 10. In this embodiment, the sensors 26 are provided on the side of each mast 22 and on the rear side of the vehicle body 20. However, the locations at which the sensors 26 are provided are not limited thereto, and the sensors 26 may be provided in any positions, and the number of sensors provided may also be arbitrary. For example, a safety sensor provided on the mobile body 10 may be used as the sensor 26. By using the safety sensor, there is no need to provide a new sensor.

[0016] The sensor 26 is, for example, a sensor that emits laser light. The sensor 26 emits laser light while scanning in one direction (here, the horizontal direction), and detects the position and orientation of an object from the reflected light of the emitted laser light. In other words, the sensor 26 can also be said to be a so-called 2D-LiDAR (Light Detection And Ranging). However, the sensor 26 is not limited to the above and may be a sensor that detects an object by any method, and may be, for example, a so-called 3D-LiDAR that scans in multiple directions, or a camera.

[0017] The control device 28 controls the movement of the moving body 10. The control device 28 will be described later.

[0018] (Information processing device) FIG. 3 is a schematic block diagram of an information processing device. The information processing device 12 is provided in a facility W and is a device that calculates at least information related to the movement of the mobile object 10, i.e., a so-called ground system. However, the installation location of the information processing device 12 is arbitrary and is not limited to a so-called ground system. The information processing device 12 is a computer and, as shown in FIG. 3, includes a communication unit 30, a storage unit 32, and a control unit 34. The communication unit 30 is a module used by the control unit 34 to communicate with external devices such as the mobile object 10, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 30 is wireless communication, but the communication method may be arbitrary. The storage unit 32 is a memory that stores various information such as the calculation contents and programs of the control unit 34, and includes, for example, at least one of a random access memory (RAM), a main storage device such as a read-only memory (ROM), and an external storage device such as an HDD (hard disk drive).

[0019] The control unit 34 is a calculation device and includes a calculation circuit such as a CPU (Central Processing Unit). The control unit 34 includes an upper limit speed setting unit 40 and a route setting unit 42. The control unit 34 implements the upper limit speed setting unit 40 and the route setting unit 42 and performs their processing by reading and executing a program (software) from the storage unit 32. The control unit 34 may implement these processes using a single CPU, or may be provided with multiple CPUs and execute the processes using the multiple CPUs. At least a portion of the upper limit speed setting unit 40 and the route setting unit 42 may be implemented using hardware circuits. The program for the control unit 34 stored in the storage unit 32 may be stored in a recording medium readable by the information processing device 12.

[0020] (Upper limit speed setting section) The upper speed limit setting unit 40 sets an upper speed limit, which is the upper limit of the moving speed of the moving object 10 within the facility W. In other words, it can be said that the moving object 10 moves at a moving speed equal to or less than the upper speed limit. Here, within the facility W, multiple routes along which the moving object 10 can move are set in advance, and the moving object 10 moves along a route R selected from the multiple routes. In this embodiment, the upper speed limit setting unit 40 sets an upper speed limit for each route per unit length (unit route). More specifically, as shown in FIG. 1 , waypoints WP are set for each position (coordinate) in the area AR, and a route R is set to connect the waypoints WP. In other words, the route connecting the waypoints WP selected as the route through which the moving object 10 will pass becomes the route R of the moving object 10. In this case, for example, a route connecting adjacent waypoints WP can be said to be a unit route. However, a unit route is not limited to a route connecting a pair of adjacent waypoints WP, but may be a route connecting three or more waypoints WP. Furthermore, the lengths of the unit routes do not need to be the same, and each unit route may be set arbitrarily.

[0021] The upper limit speed setting unit 40 sets the upper limit speed so that the object P will not be located within a safety area AR that would be set if the moving body 10 were to move at the upper limit speed. The safety area AR is an area set around the moving body 10 (for example, in the direction of travel of the moving body 10) that is set as an area where the object P should not be located. The object P refers to an object that the moving body 10 should not interfere with. Examples of the object P include structures whose positions are fixed within the facility W, such as walls and pillars within the facility W, objects whose positions are movable within the facility W, such as other moving bodies 10 and people, and boundaries between areas where the moving body 10 should not enter and areas where it can enter. Note that the boundaries between areas where the moving body 10 should not enter and areas where it can enter are also fixed in position and may be white lines or the like set on both sides of the area where the moving body 10 can move. The positions of objects P whose positions are fixed, such as structures and boundaries, are known before the moving body 10 moves. On the other hand, the position of the object P, such as another moving body or a person, whose position moves, is not known.

[0022] (safety area) The safety area AR will be described in detail. FIG. 4 is a schematic diagram for explaining the safety area. The safety area AR is set so that it expands in the horizontal direction intersecting the traveling direction of the moving body 10 as the traveling speed of the moving body 10 increases. Furthermore, it is preferable that the safety area AR is set so that it expands in the traveling direction of the moving body 10 as the traveling speed of the moving body 10 increases. In other words, the relationship between the traveling speed of the moving body 10 and the horizontal length of the safety area AR can be said to be set so that the horizontal length of the safety area AR increases as the traveling speed increases, and the relationship between the traveling speed of the moving body 10 and the length of the traveling direction of the safety area AR can be said to be set so that the vertical length of the safety area AR increases as the traveling speed increases. FIG. 4 shows an example of the safety area AR for each traveling speed when the traveling direction of the moving body 10 is the Y direction, where the traveling speed of (B) is higher than that of (A), and the traveling speed of (C) is higher than that of (B). Therefore, in the example of FIG. 4, the horizontal (here, X direction) and forward (here, Y direction) lengths of the safety area AR are longer in (B) than in (A), and longer in (C) than in (B).

[0023] The safety area AR is set based on the movement conditions of the moving body 10. The safety area AR may be set by any method based on the movement conditions of the moving body 10, such that the lateral length of the safety area AR increases as the movement speed increases. The movement conditions refer to the conditions under which the moving body 10 moves, and in this embodiment, for example, may be a steering angle command for the moving body 10. That is, in this embodiment, the safety area AR is preferably set based on a reference value of the steering angle command for the moving body 10. The steering angle command refers to a command value for the steering angle of the moving body 10, or in other words, a command value that determines the future attitude of the moving body 10. In this case, the safety area AR is set to include an expected arrival position if it is assumed that the reference value of the steering angle command continues to be input to the moving body 10. The expected arrival position refers to a position that the moving body 10 is expected to reach when stopped if the reference value of the steering angle command continues to be input to the moving body 10. For example, in the example of FIG. 4 , an area surrounded by an expected destination position A1 on the X-direction side, an expected destination position A2 on the Y-direction side, and the current position of the mobile body 10 is set as the safety area AR. The expected destination position A1 is the expected destination position when a reference value for the steering angle command is set on the X-direction side, and the expected destination position A2 is the expected destination position when a reference value for the steering angle command is set on the opposite side of the X-direction. The reference value for the steering angle command may be set arbitrarily, and may be, for example, the worst value of the steering angle command. The worst value of the steering angle command may refer to the maximum value of the steering angle command that can be input to the mobile body 10.

[0024] Furthermore, in this embodiment, it is more preferable that the safety area AR be set based on a reference value of a steering angle command for the mobile body 10 and a reference value of a torque command for the mobile body 10. The torque command refers to a command value for the driving torque of the mobile body 10, and since the speed of the mobile body 10 depends on the driving torque, the torque command can be said to be a command value that determines the future speed of the mobile body 10. In this case, the safety area AR is set to include an expected arrival position when it is assumed that the reference value of the steering angle command continues to be input to the mobile body 10 and the reference value of the torque command is input to the mobile body 10. In this case, the expected arrival position refers to a position that the mobile body 10 is expected to reach when it stops when the reference value of the steering angle command continues to be input to the mobile body 10 and the reference value of the torque command is input to the mobile body 10. For example, in the example of FIG. 4 , an area surrounded by an expected arrival position A1 on the X-direction side, an expected arrival position A2 on the Y-direction side, and the current position of the mobile body 10 is set as the safety area AR. The reference value of the torque command may be set arbitrarily, for example, to the worst value of the torque command, which may be the value that causes the delay in the timing at which the moving body 10 starts to decelerate within the expected range.

[0025] More specifically, in this embodiment, it is preferable that the safety area AR is set based on a movement model of the moving body 10, with the reference value of the steering angle command, the reference value of the driving torque, and the current speed of the moving body 10 being set as input values ​​(movement conditions) of the movement model. Here, if the movement model x of the moving body 10 is an equivalent two-wheel model, more specifically, if it is an equivalent two-wheel model having two rear wheels that are not driven or steered and one front wheel that is driven and steered, the movement model x is expressed by the following equation (1).

[0026]

number

[0027] In equation (1), X is the position (coordinate) of the moving body 10 in the X direction, Y is the position (coordinate) of the moving body 10 in the Y direction, and θ z is the attitude (yaw angle) of the moving body 10, and v xis the velocity of the moving body 10 in the X direction, and v y is the velocity of the moving body 10 in the Y direction, and ω z is the angular velocity of the moving body 10 (velocity in the yaw angle direction), and δ a is the steering angle command value, and T m is a torque command value. T indicates transposition. In other words, the movement model x indicates the position, posture, velocity, angular velocity, steering angle command value, and torque command value of the moving object 10.

[0028] In this embodiment, a differential value x' of the moving model x is calculated based on the reference value of the steering angle command, the reference value of the driving torque, and the current velocity and angular velocity of the moving body 10, and the differential value x' is integrated to calculate the moving model x at the timing when the moving body 10 stops. That is, the differential value x' is calculated sequentially at each timing from the current timing until the moving body 10 stops, to calculate the moving model x at the timing when the moving body 10 stops. Then, X and Y of the moving model x at the timing when the moving body 10 stops are set as the expected arrival position, and a safety area AR is set to include the expected arrival position.

[0029] Specifically, the differential value x' is expressed as in the following equation (2).

[0030]

number

[0031] v in equation (2) x , v y , θ z , ω z , δ a、 T m indicates the velocity in the X direction, the moving velocity in the Y direction, the attitude, the angular velocity, the steering angle command value, and the torque command value at the immediately preceding timing. The other symbols in equation (2) are as follows: m: mass of moving object 10 C a :Air resistance constant μ f :Rolling resistance coefficient l f : Distance from the center of gravity of the moving body 10 to the front wheel l r : Distance from the center of gravity of the moving body 10 to the rear wheel I z : Moment of inertia in the turning direction a: Half the width of the moving body 10 c: Half the total length of the moving body 10 K f : Front wheel cornering power K r : Rear wheel cornering power r D :Front wheel diameter r L :Rear wheel diameter R G : Gear ratio J g : Gear inertia τ m :Motor time constant T up : Maximum motor torque τ a : Steering system dead time θ max : Maximum steering angle g:Gravity acceleration

[0032] In addition, β in Eq. (2) f , β r are expressed by the following equations (3) and (4).

[0033]

number

number

[0034] (upper limit speed) When setting the upper limit speed, the upper limit speed setting unit 40 sets the upper limit speed so that an object P whose position is known will not be located within the safety area AR that is set when the moving body 10 is moving at the upper limit speed. In the example of the present embodiment, the upper limit speed setting unit 40 calculates the safety area AR for each speed of the moving body 10 by varying the current speed of the moving body 10 while setting the steering angle command value, drive torque value, and values ​​used to calculate the movement model x (i.e., the numerical values ​​of the symbols in Equation (2)), which are movement conditions (input values) in the movement model of the moving body 10, to predetermined reference values. Then, the upper limit speed setting unit 40 reads the position of the object P (structure or boundary) whose position is fixed, based on map information. Assuming that the moving body 10 is located on a unit path (on a waypoint WP or between waypoints WP), the upper limit speed setting unit 40 determines whether the object P, whose position has been read out, will interfere with each safety area AR for each speed of the moving body 10 (whether the object P is located within the safety area AR). The upper limit speed setting unit 40 sets the speed of the moving body 10 when the object P does not interfere with the safety area AR as the upper limit speed. More specifically, the upper limit speed setting unit 40 preferably sets the maximum value of the velocities of the moving body 10 when the object P does not interfere with the safety area AR as the upper limit speed. The upper limit speed setting unit 40 sets the upper limit speed for each unit path in a similar manner. It can be said that the upper limit speed setting unit 40 sets the upper limit speed for each unit path so that the greater the distance from the object P (structure or boundary) whose position is fixed, the higher the upper limit speed.

[0035] Although the upper limit speed setting unit 40 sets the upper limit speed in this manner, the method for setting the upper limit speed is not limited to the above and may be any method, and furthermore, setting the upper limit speed is not essential.

[0036] (Route setting section) The route setting unit 42 sets a route R along which the moving body 10 will travel. The route setting unit 42 transmits information about the set route R to the moving body 10 via the communication unit 30. The route setting unit 42 may, for example, set waypoints WP along which the moving body 10 will pass and transmit position information about the route R connecting the waypoints WP as route R information to the moving body 10, or may transmit position information about the waypoints WP as route R information to the moving body 10. The route setting unit 42 may set the route R along which the moving body 10 will travel (here, for example, waypoints WP along which the moving body 10 will pass) using any method. For example, the route setting unit 42 acquires information about the current position of the moving body 10 from the moving body 10 and acquires information about a destination position of the moving body 10 that is set based on, for example, the work content of the moving body 10. Then, the route setting unit 42 may set the route (waypoint WP) from the current position to the destination position as route R.

[0037] In this embodiment, the route setting unit 42 also transmits information on the upper limit speed for a unit route including the route R along which the moving body 10 moves to the moving body 10 via the communication unit 30. In other words, it is preferable that the route setting unit 42 transmits the route R of the moving body 10 and the upper limit speed for the route R to the moving body 10.

[0038] (Control device for mobile objects) Next, the control device 28 of the mobile object 10 will be described. FIG. 5 is a schematic block diagram of the control device of the mobile object. The control device 28 controls the mobile object 10 to move the mobile object 10. The control device 28 is a computer, and as shown in FIG. 5, includes a communication unit 50, a storage unit 52, and a control unit 54. The communication unit 50 is a module used by the control unit 54 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 50 is wireless communication, but any communication method may be used. The storage unit 52 is a memory that stores various information such as the calculation contents and programs of the control unit 54, and includes, for example, at least one of a RAM, a main storage device such as a ROM, and an external storage device such as an HDD.

[0039] The control unit 54 is a calculation device and includes a calculation circuit such as a CPU. The control unit 54 includes a path acquisition unit 60, an upper limit speed acquisition unit 62, a movement control unit 64, a safety area acquisition unit 66, and a detection control unit 68. The control unit 54 reads and executes a program (software) from the storage unit 52, thereby realizing the path acquisition unit 60, the upper limit speed acquisition unit 62, the movement control unit 64, the safety area acquisition unit 66, and the detection control unit 68 and performing their processing. The control unit 54 may perform these processes using a single CPU, or may be provided with multiple CPUs and perform the processes using the multiple CPUs. At least some of the path acquisition unit 60, the upper limit speed acquisition unit 62, the movement control unit 64, the safety area acquisition unit 66, and the detection control unit 68 may be realized by hardware circuits. The program for the control unit 54 stored in the storage unit 52 may be stored in a recording medium readable by the control device 28.

[0040] (Route acquisition section) The route acquisition unit 60 acquires information about the route R. The route acquisition unit 60 acquires the information about the route R from the information processing device 14. However, the route acquisition unit 60 is not limited to acquiring the route R from the information processing device 14, and may set the route R by itself. In this case, for example, the route acquisition unit 60 may acquire position information of the waypoint WP and information about the destination position from the information processing device 14, and set the route from the current self-position to the destination position via the waypoint WP as the route R.

[0041] (Upper limit speed acquisition part) The upper limit speed acquisition unit 62 acquires information on the upper limit speed on the route R. The route acquisition unit 60 acquires information on the upper limit speed on the route R from the information processing device 14.

[0042] (Movement control unit) The movement control unit 64 controls the movement of the moving body 10 by controlling the movement mechanisms such as the drive unit and steering of the moving body 10. The movement control unit 64 moves the moving body 10 according to the route R acquired by the route acquisition unit 60. The movement control unit 64 sequentially grasps the position information of the moving body 10, thereby moving the moving body 10 so as to pass through the route R. Any method can be used to acquire the position information of the moving body 10. For example, in this embodiment, a detection object (not shown) is provided in the facility W, and the movement control unit 64 acquires information on the position and orientation of the moving body 10 based on the detection of the detection object. Specifically, the moving body 10 irradiates a laser beam toward the detection object and receives the laser beam reflected by the detection object to detect its own position and orientation in the facility W. However, the method of acquiring information on the position and orientation of the moving body 10 is not limited to using the detection object, and for example, SLAM (Simultaneous Localization and Mapping) may be used.

[0043] (Safety area acquisition department) The safety area acquisition unit 66 acquires information about the safety area AR. Because the shape and size of the safety area AR change depending on the movement conditions, such as the speed of the moving object 10, the safety area acquisition unit 66 sequentially sets the safety area AR while the moving object 10 is moving. The safety area acquisition unit 66 calculates the safety area AR based on the current movement conditions of the moving object 10 using a method similar to the calculation method used by the upper limit speed setting unit 40 described above. In this case, for movement conditions that are set in advance among the current movement conditions of the moving object 10 (for example, vehicle-specific conditions whose values ​​do not change, such as the weight of the moving object 10), a preset value is used, and for conditions that are not set in advance and whose values ​​change (for example, the speed of the moving object 10), a sensor provided on the moving object 10 may be used to detect them. However, the safety area acquisition unit 66 is not limited to sequentially calculating the safety area AR using a method similar to the calculation method used by the upper limit speed setting unit 40 described above. In this case, for example, a correspondence relationship between the movement conditions (e.g., the speed of the moving body 10) and the size and shape of the safety area AR is set in advance, and the safety area acquisition unit 66 may acquire the safety area AR of the size and shape that corresponds to the current movement conditions of the moving body 10 in the preset correspondence relationship as the safety area AR to be applied.

[0044] (Detection control unit) The detection control unit 68 detects an object P around the moving body 10. In this embodiment, the detection control unit 68 causes the sensor 26 to detect the object P. For example, if the sensor 26 is configured to emit laser light, the detection control unit 74 causes the sensor 26 to emit laser light toward the periphery of the moving body 10 while the moving body 10 is moving along the path R. The object P reflects the laser light from the sensor 26, and the sensor 26 receives the reflected light from the object P. The detection control unit 68 calculates the position of the object P based on the detection result of the reflected light received by the sensor 26.

[0045] However, the method of detecting the object P by the detection control unit 68 is not limited to using the sensor 26. For example, for an object P whose position is known (a structure or a boundary), the position can be known in advance from map information, and therefore the detection control unit 68 may calculate the position of the object P whose position is known based on the map information. For an object P whose position is not known (another moving body 10, a person, etc.), it is preferable to detect it using the sensor 26.

[0046] (Control of moving objects) A control flow for moving the moving body 10 by the control device 28 of the moving body 10 will be described. FIG. 6 is a flowchart illustrating a control flow for moving the moving body. As shown in FIG. 6, the control device 28 acquires a route R for the moving body 10 and an upper limit speed on the route R using the route acquisition unit 60 and the upper limit speed acquisition unit 62 (step S10). The control device 28 causes the movement control unit 64 to move the moving body 10 along the route R while executing calculation of the safety area AR using the safety area acquisition unit 66, detection of the position of the object P using the detection control unit 68, and detection of the moving body's own position using the movement control unit 64 (step S12). In this embodiment, the movement control unit 64 moves the moving body 10 along the route R at a speed equal to or less than the upper limit speed acquired by the upper limit speed acquisition unit 62. As described above, in this embodiment, the upper limit speed is set for each unit route. Therefore, if the route R includes multiple unit routes, the movement control unit 64 may move the moving body 10 at a speed equal to or less than the upper limit speed of the unit route along which the moving body 10 is currently traveling.

[0047] The movement control unit 64 determines whether the object P is located within the safety area AR while moving the moving object 10 along the route R (step S14). Specifically, the movement control unit 64 determines whether the object P detected by the detection control unit 68 is located within the current safety area AR set for the moving object 10's current position. As described above, the detection control unit 68 may detect the position of the object P using the sensor 26 or may detect the position of the object P from map information. If the object P is located within the safety area AR (step S14; Yes), the movement control unit 64 stops the movement of the moving object 10 (step S16). After stopping the movement of the moving object 10, the process proceeds to step S18. If the processing is not to be terminated (step S18; No), the process returns to step S12 and resumes movement so that the object P is not located within the safety area AR. On the other hand, if the object P is not located within the safety area AR (step S14; No), the process also proceeds to step S18. If the processing is not to be terminated, the process returns to step S12 and continues movement. If the process is to be ended in step S18 (step S18; Yes), the process ends.

[0048] As described above, in this embodiment, the safety area AR is set so that the lateral length of the safety area AR increases as the speed of the moving object 10 increases. By setting the safety area AR to be wider in the lateral direction depending on the speed in this manner, even if the moving object 10 unintentionally moves laterally before stopping due to, for example, steering uncertainty, it is possible to appropriately suppress interference between the moving object 10 and an object P present in the lateral direction. Furthermore, by setting the safety area AR based on the reference values ​​of the steering angle command and the torque command, it is possible to appropriately set a wide safety area AR in the lateral direction, thereby more appropriately suppressing interference with an object P present in the lateral direction. Furthermore, by setting the upper limit speed based on the safety area AR, the upper limit speed is not set uniformly, and for example, the upper limit speed can be increased for a route away from an object P whose position is known, thereby improving work efficiency.

[0049] (Another example of route settings) Next, another example of setting the path of the moving object 10 will be described. In this example, when setting the path of the moving object 10, the path setting unit 42 of the information processing device 14 identifies the passage (area) within the facility W through which the moving object 10 is scheduled to move, based on the current position and destination position of the moving object 10. If the passage has two or more lanes allowing two-way traffic and no other moving object is scheduled to move through the passage at the same time, the path of the moving object 10 in that passage is set as a path away from an object P whose position, such as a wall or boundary, is known. By setting the path away from the object P, the distance between the moving object 10 and the object P increases, allowing the speed of the moving object 10 to be increased. In other words, even if the safety area AR expands due to an increase in speed, the distance to the object P is far enough away that the object P will not enter the safety area AR, allowing the moving object 10 to move at high speed. This will be described in more detail below.

[0050] 7 and 8 are schematic diagrams illustrating another example of setting a path for a moving object. In the following description, as shown in FIG. 7, a case will be taken as an example in which a first path R1 and a second path R2 are set on a path AR1 along which the moving object 10 is scheduled to move. The path AR1 is a path extending in the Y direction, and fixed-position objects P (walls in this example) are provided on the X-direction side and the opposite side of the X-direction. The first path R1 is a path heading in the Y direction (first direction). That is, for example, a plurality of waypoints WP1 aligned in the Y direction are set in advance on the path AR1, and the path connecting the waypoints WP1 and heading in the Y direction can be said to be the first path R1. The second path R2 is a path aligned on the opposite side of the first path R1 in the X direction (a lateral direction intersecting the traveling direction of the first path R1). That is, for example, on the passage AR1, a plurality of waypoints WP2 are set in advance, lined up in the Y direction, on the opposite side of the X direction from waypoint WP1, and the route connecting the waypoints WP2 and heading in the opposite direction of the X direction can be said to be the second route R2. In this embodiment, the second route R2 is a route heading in the opposite direction of the Y direction, in other words, it is the oncoming lane of the first route R1. However, the second route R2 is not limited to a route heading in the opposite direction of the Y direction, but may also be a route heading in the Y direction. Furthermore, the passage AR1 is not limited to having two routes lined up in the horizontal direction (a row of two waypoints WP lined up in the horizontal direction), and may have three or more routes lined up in the horizontal direction (a row of three or more waypoints WP lined up in the horizontal direction).

[0051] Here, an example will be taken in which the route setting unit 42 sets a route for the first moving body 10A. The route setting unit 42 sets, as route information for the first moving body 10A, a route along which the first moving body 10A will travel (waypoints WP to be passed through) and a planned time period during which the first moving body 10A will travel along that route. Since the route setting unit 42 sets route information for each moving body 10, it can be said that the route setting unit 42 knows the route information for each moving body 10, and in this example, it knows the route information for the second moving body 10B in advance. When setting the route information for the first moving body 10A, the route setting unit 42 determines, based on the route information of the other moving body 10 (second moving body 10B in this example), whether the other moving body 10 (second moving body 10B in this example) is scheduled to travel along the passage AR1 during the same time period as the planned time period during which the first moving body 10A will travel along the passage AR1. Here, the term "same time period" does not necessarily mean that the time periods overlap completely, but may mean that the time periods overlap at least partially. That is, in this example, the route setting unit 42 determines whether the scheduled time period for the passage AR1 of the first moving body 10A and the scheduled time period for the passage AR1 of the second moving body 10B overlap.

[0052] When another moving body 10 (in this example, a second moving body 10B) is scheduled to move along the passage AR1 during the same time period as when the first moving body 10A is scheduled to move along the passage AR1, the route setting unit 42 sets a first route R1 and a second route R2 as routes between the first moving body 10A and the second moving body 10B, as shown in Fig. 7. That is, for example, when the first moving body 10A is scheduled to move along the passage AR1 in the Y direction and the second moving body 10B is scheduled to move along the passage AR2 in the opposite direction to the Y direction, the route setting unit 42 sets the route of the first moving body 10A as the first route R1 and the route of the second moving body 10B as the second route R2. The route setting unit 42 transmits information to the first moving body 10A that indicates that movement along the first route R1 (waypoint WP1) is permitted during the scheduled time period, and transmits information to the second moving body 10B that indicates that movement along the second route R2 (waypoint WP2) is permitted during the scheduled time period. The first moving body 10A receives this information and moves along the first route R1 during the scheduled time period, and the second moving body 10B receives this information and moves along the second route R2 during the scheduled time period.

[0053] On the other hand, if another moving body 10 (in this example, the second moving body 10B) is not scheduled to travel along the passage AR1 during the same time period as the first moving body 10A is scheduled to travel along the passage AR1, the path setting unit 42 sets a central path R1a as the path for the first moving body 10A, as shown in FIG. 8. The central path R1a is a path located on the opposite side of the first path R1 in the X direction (the side of the second path R2). In other words, the distance from the central path R1a to the object P on the X direction side is longer than the distance from the first path R1 to the object P on the X direction side. Furthermore, the central path R1a is a path located between the first path R1 and the second path R2 in the X direction. In other words, a plurality of waypoints WP1a aligned in the Y direction are set between waypoints WP1 and WP2 in the X direction, and the path connecting the waypoints WP1a can be said to be the central path R1a. For example, if the first moving body 10A is scheduled to move along the passage AR1 in the Y direction, the route setting unit 42 transmits information to the first moving body 10A indicating that movement along the central route R1a (waypoint WP1a) is permitted during the scheduled time period. The first moving body 10A receives this information and moves along the central route R1a in the Y direction during the scheduled time period. Note that the central route R1a (waypoint WP1a) may or may not be set in advance, similar to the first route R1 (waypoint WP1) and the second route R2 (waypoint WP2). If the central route R1a is not set in advance, the route setting unit 42 sets the central route R1a between the first route R1 and the second route R2 when setting the route for the first moving body 10A.

[0054] It is preferable that the first moving body 10A travels along the central path R1a so that the speed at which it travels along the central path R1a is higher than the speed it would travel along the first path R1. That is, because the central path R1a is farther from the object P on the X-direction side than the first path R1, even if the safety area AR is widened by increasing the speed, the first moving body 10A can travel along the central path R1a without the safety area AR interfering with the object P on the X-direction side. The travel speed along the central path R1a may be set arbitrarily. For example, the upper limit speed setting unit 40 of the information processing device 14 may set an upper limit speed for the central path R1a, and the first moving body 10A may travel along the central path R1a at a speed equal to or lower than the upper limit speed for the central path R1a. In this case, because the central path R1a is farther from the object P on the X-direction side than the first path R1, it can be said that the upper limit speed for the central path R1a is higher than the upper limit speed for the first path R1.

[0055] The route setting unit 42 sets information to the effect that the passage AR1 is to be occupied by the first moving body 10A during the scheduled time period in which the first moving body 10A moves along the central route R1a. Having the first moving body 10A occupy the passage AR1 means that moving bodies 10 other than the first moving body 10A are prohibited from moving along the passage AR1 during that scheduled time period. That is, for example, this may mean that moving bodies 10 other than the first moving body 10A are prohibited from using the second route R2 (waypoint WP2) during this scheduled time period.

[0056] The process flow of the route setting described above will be explained based on a flowchart. FIG. 9 is a flowchart illustrating the process flow of route setting in another example. As shown in FIG. 9, the route setting unit 42 determines whether another moving body 10 is scheduled to move along the passage AR1 along which the first moving body 10A is scheduled to move in the same scheduled time period (step S20). If another moving body 10 is scheduled to move along the passage AR1 in the same scheduled time period (step S20; Yes), the route setting unit 42 causes the first moving body 10A to occupy the passage AR1 during the scheduled time period and transmits information about the central route R1a to the first moving body 10A (step S22). After acquiring the information about the central route R1a, the first moving body 10A moves along the central route R1a during the scheduled time period. If another moving body 10 (here, the second moving body 10B) is scheduled to travel along one passage AR1 during the same scheduled time period (step S20; No), the route setting unit 42 transmits information about the first route R1 to the first moving body 10A and information about the second route R2 to the second moving body 10B (step S24). After acquiring the information about the first route R1, the first moving body 10A travels along the first route R1 during the scheduled time period. After acquiring the information about the second route R2, the second moving body 10B travels along the second route R2 during the scheduled time period.

[0057] In this way, when no other moving body 10 is scheduled to move along the passage AR1 during the same time period, the first moving body 10A is moved along the central route R1a, thereby increasing the moving speed while preventing the object P from interfering with the safety area AR, thereby improving work efficiency while maintaining safety.

[0058] In the above description, when the first moving body 10A and the second moving body 10B are scheduled to travel during the same time period, the first route R1 and the second route R2 for face-to-face movement are used instead of the center route R1a. However, this is not limited to this. For example, when a moving body 10 that is to be prioritized for travel is selected, the prioritized moving body 10 may be caused to use the center route R1a. That is, when the first moving body 10A and the second moving body 10B are scheduled to travel along the passage AR1 during the same time period and priority information indicating that the movement of the first moving body 10A is prioritized is acquired, the route setting unit 42 may set the center route AR1a as the route for the first moving body 10A. FIGS. 10 and 11A are schematic diagrams illustrating other examples of setting routes for moving bodies. In this case, for example, as shown in Fig. 10, the path setting unit 42 may cause the first moving body 10A to occupy the passage AR1 and may issue a command to the second moving body 10B to be located outside the passage AR1 during the scheduled time period. Alternatively, for example, as shown in Fig. 11A, the path setting unit 42 may cause the second moving body 10B to stop at a position on the opposite side of the X direction from the second path R2 within the passage AR1 during the scheduled time period, or may cause the second moving body 10B to move slowly along a path within the passage AR1 that is located on the opposite side of the X direction from the second path R2. The slow-moving speed of the second moving body 10B (the upper limit speed on the path along which the second moving body 10B moves slowly) is set lower than the speed of the second moving body 10B on the second path R2 (the upper limit speed on the second path R2). In this case, it is preferable to set a position where the second moving body 10B stops or moves slowly so that the second moving body 10B is not located within the safety area AR of the first moving body 10A moving on the central route AR1a, and the first moving body 10A is not located within the safety area AR of the second moving body 10B.

[0059] (Another example of setting the upper speed limit) In the first embodiment, the information processing device 14 sets the upper limit speed using the upper limit speed setting unit 40. However, this is not limited thereto, and the moving object 10 may set the upper limit speed. That is, the moving object 10 may have the upper limit speed setting unit 40. In this case, for example, the upper limit speed setting unit 40 of the information processing device 14 sets a provisional upper limit speed by applying a vehicle-independent reference value to a preset moving condition (e.g., a vehicle-specific condition whose value does not change, such as the weight of the moving object 10) among the moving conditions of the moving object 10 used when calculating the safety area AR. Then, before starting to move along the set route R, the upper limit speed setting unit 40 of the moving object 10 calculates the upper limit speed by applying a value corresponding to its own vehicle as a preset moving condition. The moving object 10 updates the provisional upper limit speed calculated by the information processing device 14 with the upper limit speed calculated by itself, and moves at a speed equal to or less than the upper limit speed, using the upper limit speed calculated by itself as the upper limit speed for the route R. Here, the information processing device 14 calculates the tentative upper limit speed. However, when the moving body 10 calculates the upper limit speed in this way, it is not essential that the information processing device 14 calculate the tentative upper limit speed.

[0060] Furthermore, for example, the moving body 10 may calculate the upper limit speed while moving along the route R. In this case, while moving along the route R, the moving body 10 may successively detect the position of the object P using the sensor 26, calculate the maximum speed at which the object P is not located within the safety area AR as the upper limit speed, and move along the route R at a speed equal to or less than the calculated upper limit speed.

[0061] (Another example of safe zone settings) In the above description, the safety area AR was set to include, for example, the expected arrival position A1 (first expected arrival position) and the expected arrival position A2 (second expected arrival position) when the maximum value of the steering angle command is continuously input to the moving body 10. Below, other examples of the method for setting the safety area AR will be described. In the following, an example is taken in which the information processing device 12 sets the safety area AR, but the entity that sets the safety area AR is not limited to the information processing device 12 and may be any entity. For example, the safety area AR may be set by the moving body 10.

[0062] (Another example of setting the safety zone 1) Fig. 11B is a schematic diagram illustrating another example of the safety area. In the example of Fig. 11B, when setting the safety area AR, the information processing device 12 acquires, as movement conditions for the moving body 10, a maximum value of a steering angle command that can be input to the moving body and a maximum value of a steering angular velocity that can be input to the moving body. The maximum value of the steering angle command refers to the steering angle when the moving body 10 is steered to the maximum extent possible. Furthermore, the maximum value of the steering angular velocity refers to the maximum steering angle at which the moving body 10 can be steered in a unit time (one step of a control cycle).

[0063] Then, based on the maximum value of the steering angle command and the maximum value of the steering angular velocity, the information processing device 12 acquires, as a first reference value of the steering angle command, a steering angle command for each time period that causes the moving body 10 to turn most quickly to one side in the lateral direction. The lateral direction here refers to a direction that intersects (preferably a direction perpendicular to) the current traveling direction of the moving body 10, so in the example of Fig. 11B, the current traveling direction is the Y direction and one side of the lateral direction is the X direction. That is, based on the maximum value of the steering angle command and the steering angular velocity, the information processing device 12 acquires, as a first reference value of the steering angle command, a steering angle command for each time period that causes the moving body 10 to turn 90 degrees most quickly in the X direction. For example, if the maximum value of the steering angle command is 85 degrees and the maximum value of the steering angular velocity is 20 degrees, the first reference values ​​of the steering angle command for each time (per unit time) until the moving body 10 turns to the X direction earliest may be set to 20 degrees, 40 degrees, 60 degrees, 80 degrees, 85 degrees, 85 degrees, 65 degrees, 45 degrees, 25 degrees, 5 degrees, and 0 degrees on the X direction side, respectively. Note that the first reference value of the steering angle command after the moving body 10 turns to the X direction may be set to 0 degrees. Also, the first reference value may be a value until the velocity of the moving body 10 becomes 0.

[0064] Similarly, the information processing device 12 acquires, as a second reference value of the steering angle command, a steering angle command for each time period that causes the moving object 10 to turn most quickly to the other side in the lateral direction, based on the maximum value of the steering angle command and the maximum value of the steering angular velocity. In the example of Fig. 11B, the other side in the lateral direction refers to the direction opposite to the X direction. That is, the information processing device 12 acquires, as a second reference value of the steering angle command, a steering angle command for each time period that causes the moving object 10 to turn 90 degrees most quickly in the direction opposite to the X direction, based on the maximum value of the steering angle command and the steering angular velocity. For example, if the maximum value of the steering angle command is 85 degrees and the maximum value of the steering angular velocity is 20 degrees, the first reference values ​​of the steering angle command for each time (per unit time) until the moving body 10 earliest turns in the direction opposite to the X direction may be 20 degrees, 40 degrees, 60 degrees, 80 degrees, 85 degrees, 85 degrees, 65 degrees, 45 degrees, 25 degrees, 5 degrees, and 0 degrees on the side opposite to the X direction. The second reference value of the steering angle command after the moving body 10 turns in the direction opposite to the X direction may be 0 degrees. The first reference value may also be a value until the velocity of the moving body 10 becomes 0.

[0065] Then, the information processing device 12 sets the safety area AR so as to include an expected arrival position A1 (first expected arrival position) when a first reference value of the steering angle command is input to the moving body 10, and an expected arrival position A2 (second expected arrival position) when a second reference value of the steering angle command is input to the moving body 10. Furthermore, the information processing device 12 may set an area surrounded by the expected arrival position A1, the expected arrival position A2, and the current position of the moving body 10 as the safety area AR. The expected arrival position A1 is a position that the moving body 10 is expected to reach when the first reference value of the steering angle command is input to the moving body 10 at each time until the moving body 10 stops. Similarly, the expected arrival position A2 is a position that the moving body 10 is expected to reach when the second reference value of the steering angle command is input to the moving body 10 at each time until the moving body 10 stops.

[0066] Here, the distance traveled by the moving object 10 per unit time until it turns 90 degrees depends on the speed of the moving object 10. Therefore, as shown in (A) to (C) of Fig. 11B, in this example as well, the safety area AR is set so that the higher the speed of the moving object 10, the wider the safety area AR is set in the horizontal direction. Note that in this example as well, the safety area AR may be set by setting the expected arrival positions A1 and A2 based on the reference value of the torque command, as in the first embodiment described above.

[0067] As described above, the management method for the moving body 10 according to this example includes a step of acquiring movement conditions for the moving body 10 that moves automatically, and a step of setting a safety area AR based on the movement conditions. In the step of setting the safety area AR, the safety area AR is set so that the higher the speed of the moving body 10, the wider the safety area AR is in a lateral direction intersecting the direction of travel. Furthermore, in the step of acquiring the movement conditions, a steering angle command for each time period that causes the moving body 10 to turn laterally most quickly is acquired as a first reference value of the steering angle command based on a maximum value of the steering angle command and a maximum value of the steering angular velocity that can be input to the moving body 10, and a steering angle command for each time period that causes the moving body 10 to turn laterally most quickly is acquired as a second reference value of the steering angle command. Then, in the step of setting the safety area AR, the safety area AR is set so as to include an expected arrival position AR1 when the first reference value is input to the moving body 10 and an expected arrival position A2 when the second reference value is input to the moving body 10. Therefore, according to this example, even if the moving object 10 swings to the maximum extent in both lateral directions, it is possible to include positions that the moving object may reach in both directions within the safety area AR. Therefore, according to this example, it is possible to more appropriately consider the uncertainty of the steering angle command and appropriately set the safety area AR, and it is possible to preferably suppress interference with objects present on the lateral side.

[0068] (Another example of safe zone setting 2) FIG. 11C is a schematic diagram illustrating another example of the safety area. In the example of FIG. 11C, when setting the safety area AR, the information processing device 12 acquires information on measurement positions, which are the lateral positions of the moving body 10 when the steering angle command of the moving body 10 is constant, as a movement condition of the moving body 10. That is, in this example, the steering angle command input to the moving body 10 is constant (0 degrees), and the moving body 10 is decelerated and the positions of one side and the other side of the moving body 10 in the lateral direction until it stops are measured in advance as measurement positions. Here, the measurement positions may be a difference value between the lateral position of the moving body 10 when it protrudes most laterally and the lateral position of the moving body 10 immediately before it starts to decelerate, when the steering angle command is constant until the moving body 10 stops. The information processing device 12 acquires the measurement positions measured in advance in this manner.

[0069] The information processing device 12 sets the expected arrival position A1 based on the measured position on one lateral side (the X direction side in this example) of the moving body 10. The method of setting the expected arrival position A1 based on the measured position is arbitrary, but for example, the information processing device 12 sets the expected arrival position A1 by setting a position that is away from the current position of the moving body 10 in the X direction by the measured position as the position in the X direction of the expected arrival position A1, and by setting the position in the Y direction when the moving body 10 stops as the position in the Y direction of the expected arrival position A1.

[0070] Similarly, the information processing device 12 sets the expected arrival position A2 based on the measured position on the other lateral side (opposite the X direction in this example) of the moving body 10. The method of setting the expected arrival position A2 based on the measured position is arbitrary, but for example, the information processing device 12 sets the expected arrival position A2 by setting a position that is away from the current position of the moving body 10 in the direction opposite to the X direction by the measured position as the position in the X direction of the expected arrival position A2, and by setting the position in the Y direction when the moving body 10 stops as the position in the Y direction of the expected arrival position A2.

[0071] Then, the information processing device 12 sets a safety area AR so as to include the expected arrival position A1 and the expected arrival position A2. For example, as shown in Fig. 11C, the information processing device 12 may set a rectangular area surrounded by position A1A, expected arrival position A1, expected arrival position A2, and position A2A as the safety area AR. Position A1A is a position whose position in the Y direction coincides with the current position of the moving object 10 in the Y direction (the position immediately before deceleration starts) and whose position in the X direction coincides with the expected arrival position A1. Position A1B is a position whose position in the Y direction coincides with the current position of the moving object 10 in the Y direction (the position immediately before deceleration starts) and whose position in the X direction coincides with the expected arrival position A2.

[0072] In this example, it is preferable to measure a measurement position for each speed of the moving object immediately before deceleration. That is, it is preferable to measure the speed of the moving object immediately before deceleration in association with the measurement position. Then, the information processing device 12 selects a measurement position associated with the actual speed of the moving object 10 from the measurement positions for each speed, and sets the expected arrival position A1 and the expected arrival position A2 based on the selected measurement position. Since the measurement positions are spread outward as the speed of the moving object immediately before deceleration increases, in this example as well, as shown in (A) to (C) of FIG. 11C, the safety area AR is set to expand laterally as the speed of the moving object 10 increases. In this example as well, the expected arrival positions A1 and A2 may be set based on the reference value of the torque command to set the safety area AR, as in the first embodiment described above.

[0073] As described above, the management method for the moving body 10 according to this example includes a step of acquiring movement conditions for the moving body 10 that moves automatically, and a step of setting a safety area AR based on the movement conditions. In the step of setting the safety area AR, the safety area AR is set so that the higher the speed of the moving body 10, the wider the safety area AR is set in a lateral direction intersecting the direction of travel. Furthermore, in the step of acquiring the movement conditions, information on measured positions, which are the lateral positions of the moving body 10 measured in advance when a steering angle command for the moving body 10 is constant, is acquired. Then, in the step of setting the safety area AR, the safety area AR is set to include the expected arrival positions AR1 and A2 set based on the measured positions. Therefore, according to this example, it is possible to include positions that the moving body 10 may reach in both directions, taking into account cases where the moving body 10 unintentionally sways laterally due to steering backlash or the like. Therefore, according to this example, the safety area AR can be appropriately set by appropriately considering the uncertainty of the steering angle command, and interference with objects located laterally can be suitably suppressed.

[0074] (Another example of safe zone setting 3) FIG. 11D is a schematic diagram illustrating another example of a safety area. In the example of FIG. 11D, a learning model (program) is trained by machine learning to learn the correspondence between the speed of a moving object and a measurement position. That is, in this example, measurement positions on one side and the other side in the lateral direction are measured for each speed of the moving object immediately before deceleration. The speed and measurement positions of the moving object are then input to the learning model as training data, and machine learning is performed on the learning model. As a result, the learning model learns the correspondence between the speed of the moving object and the measurement position by machine learning. The machine-learned learning model can calculate the measurement position when the speed of the moving object 10 is input as input data. Any model can be applied as the learning model, and for example, a CNN (Convolutional Neural Network) model or an RNN (Recursive Neural Network) model may be used.

[0075] The information processing device 12 inputs the actual speed of the moving object 10 into a machine-learned learning model, thereby calculating a measurement position on one lateral side and a measurement position on the other lateral side. Then, the information processing device 12 sets an expected arrival position A1 based on the measurement position on one lateral side of the moving object 10. The method for setting the expected arrival position A1 based on the measurement position is arbitrary, but the same method as in Example 2 above may be used. Similarly, the information processing device 12 sets an expected arrival position A2 based on the measurement position on the other lateral side of the moving object 10. The method for setting the expected arrival position A2 based on the measurement position is arbitrary, but the same method as in Example 2 above may be used.

[0076] Then, the information processing device 12 sets the safety area AR so as to include the expected arrival position A1 and the expected arrival position A2. Furthermore, the information processing device 12 may set the area surrounded by the expected arrival position A1, the expected arrival position A2, and the current position of the moving object 10 as the safety area AR.

[0077] In this example, a learning model that learns the correspondence between speed and measurement position by machine learning is used, and therefore, as shown in (A) to (C) of Fig. 11D, the safety area AR is set to expand laterally as the speed of the moving object 10 increases. In this example, similar to the first embodiment described above, the safety area AR may also be set by setting the expected arrival positions A1 and A2 based on the reference value of the torque command. The safety area AR can be set appropriately, and interference with objects existing laterally can be suitably suppressed.

[0078] As described above, in this example, in the step of acquiring travel conditions, the expected arrival position A1 and the expected arrival position A2 are calculated by inputting the speed of the moving body 10 into a learning model that has machine-learned the correspondence between the speed of the moving body and the measurement position. Therefore, according to this example, it is possible to include positions that the moving body may reach in both directions within the safety area AR, taking into consideration the case where the moving body 10 unintentionally sways to both sides in the lateral direction due to steering rattle or the like. Therefore, according to this example, it is possible to appropriately set the safety area AR by appropriately considering the uncertainty of the steering angle command, and to appropriately suppress interference with objects present on the lateral side.

[0079] (Second embodiment) Next, a second embodiment will be described. The second embodiment differs from the first embodiment in that the moving object 10 switches the route R. Descriptions of parts of the second embodiment that are common to the first embodiment will be omitted.

[0080] In the second embodiment, the detection control unit 68 of the moving body 10 detects whether another moving body is present within a range of a first distance L1 in the moving direction of the moving body 10, and detects whether an object P (such as a structure or a boundary) with a fixed position is present within a range of a second distance L2 in the lateral direction. If there is no other moving body within the range of the first distance L1 in the moving direction and no object P with a fixed position is present within the range of the second distance L2 in the lateral direction, the movement control unit 64 of the moving body 10 switches the path of the moving body 10 to the lateral direction and moves the moving body 10 along the path in the lateral direction. Note that the detection control unit 68 detects whether there are other moving bodies or objects P with fixed positions using the sensor 26, but since the position of the object P with a fixed position is known, it may be detected based on map information and the moving body's own position. Furthermore, the first distance L1 and the second distance L2 may be set arbitrarily, but are set to be longer than the distance from the moving body's own position to the outer edge of the safety area AR. The route switching will be described in more detail below.

[0081] 12 to 14 are schematic diagrams illustrating the setting of a route for a moving body in the second embodiment. In the following description, as shown in FIG. 12, a first route R1 and a second route R2 are set on a passage AR1, and a first moving body 10A is moving along the first route R1 set by the information processing device 14. The detection control unit 68 of the first moving body 10A detects whether another moving body 10 exists within a range of a first distance L1 on the Y direction side (traveling direction side) while moving along the first route R1. That is, the detection control unit 68 of the first moving body 10A detects whether another moving body 10 exists on the Y direction side of the first moving body 10A within a range from the current position of the first moving body 10A to a position separated by the first distance L1 on the Y direction side. 12, when another moving body 10 exists within a range of a first distance L1 on the Y-direction side of the first moving body 10A, the movement control unit 64 of the first moving body 10A does not switch routes and continues movement on the first route R1. That is, in the example of Fig. 12, a second moving body 10B moving on a second route R2 in the opposite direction to the Y-direction exists within a range of the first distance L1 on the Y-direction side of the first moving body 10A, so the movement control unit 64 of the first moving body 10A does not switch routes and continues movement on the first route R1.

[0082] Furthermore, while the first moving body 10A is moving along the first path R1, the detection control unit 68 of the first moving body 10A detects whether a fixed-position object P is present within a range of a second distance L2 on the opposite side of the X direction (lateral direction side). That is, the detection control unit 68 of the first moving body 10A detects whether a target P is present on the opposite side of the first moving body 10A in the X direction within a range of the second distance L2 from the current position of the first moving body 10A. As shown in FIG. 13 , if there is no other moving body 10 within a range of the first distance L1 on the Y direction side of the first moving body 10A and there is no target P within a range of the second distance L2 on the opposite side of the X direction, the movement control unit 64 of the first moving body 10A switches from the first path R1 to a central path R1a on the opposite side of the X direction and moves the first moving body 10A along the central path R1a. In this case, it is preferable that the first moving body 10A moves along the central path R1a so that the speed at which it moves along the central path R1a is higher than the speed at which it moves along the first path R1. The moving speed along the central path R1a may be set arbitrarily. For example, the upper limit speed setting unit 40 of the information processing device 14 may set the upper limit speed along the central path R1a, or the first moving body 10A may set the upper limit speed along the central path R1a. In this case, the first moving body 10A may move along the central path R1a at a speed equal to or lower than the upper limit speed along the central path R1a.

[0083] On the other hand, as shown in FIG. 14, if there are no other moving bodies 10 within a first distance L1 on the Y-direction side of the first moving body 10A and an object P is present within a second distance L2 on the opposite side of the X-direction, the first moving body 10A determines whether the object P on the opposite side of the X-direction is within a third distance L3, which is shorter than the second distance L2, from the first moving body 10A. The third distance L3 may be set arbitrarily, but is shorter than the second distance L2 and longer than the distance from the self-position of the moving body 10 to the outer edge of the safety area AR. If the object P on the opposite side of the X-direction is within the third distance L3 from the first moving body 10A, i.e., if the distance to the object P is closer than the third distance L3, the movement control unit 64 of the first moving body 10A continues movement along the first route R1 without switching routes. On the other hand, if the object P on the opposite side of the X direction is not within the range of the third distance L3 from the first moving body 10A, i.e., if the distance to the object P is farther than the third distance L3, the movement control unit 64 of the first moving body 10A switches from the first route R1 to route R1b, which is a predetermined distance away in the opposite direction of the X direction, and moves the first moving body 10A along route R1b. Route R1b is located on the opposite side of the X direction from the first route R1 and is located between the first route R1 and the central route R1a in the X direction. In other words, multiple waypoints WP1b are set in the Y direction between waypoints WP1 and WP1a in the X direction, and the route connecting the waypoints WP1b can be called route R1b. Note that route R1b (waypoint WP1b) may or may not be set in advance, similar to the first route R1 (waypoint WP1) and the second route R2 (waypoint WP2). If the route R1b is not set in advance, the information processing device 14 may set the route R1b while the first moving object 10A is moving along the first route R1, or the first moving object 10A may set the route R1b. The distance (predetermined distance) between the first route R1 and the route R1b may be set arbitrarily.

[0084] It is preferable that the first moving body 10A moves along the route R1b at a speed higher than when moving along the first route R1. The moving speed along the route R1b may be set arbitrarily. For example, the upper limit speed setting unit 40 of the information processing device 14 may set the upper limit speed along the route R1b, or the first moving body 10A may set the upper limit speed along the route R1b. In this case, the first moving body 10A may move along the route R1b at a speed equal to or lower than the upper limit speed along the route R1b.

[0085] The above-described path switching process flow will be described with reference to a flowchart. FIG. 15 is a flowchart illustrating the path switching process flow in the second embodiment. As shown in FIG. 15, in the second embodiment, the detection control unit 68 of the first moving body 10A detects whether another moving body 10 is present within a range of a first distance L1 on the Y direction side (traveling direction side) while moving along the first path R1 (step S30). If no other moving body 10 is present (step S30: Yes), the detection control unit 68 detects whether a fixed-position object P is present within a range of a second distance L2 on the opposite side of the X direction (lateral direction side) (step S32). If no object P is present within the range of the second distance L2 on the opposite side of the X direction (step S32: Yes), the movement control unit 64 of the first moving body 10A switches from the first path R1 to a central path R1a, increases the speed, and moves the first moving body 10A along the central path R1a (step S34).

[0086] On the other hand, if an object P is present within a range of a second distance L2 on the opposite side of the X direction (step S32; No), but an object P is not present within a range of a third distance L3 on the opposite side of the X direction (step S36; Yes), the movement control unit 64 of the first moving body 10A switches from the first route R1 to a route R1b on the opposite side of the X direction (towards the center) by a predetermined distance, increases the speed, and moves the first moving body 10A along the route R1b (step S38).

[0087] Furthermore, if an object P exists within a range of a second distance L2 on the opposite side of the X direction (step S32; No), and if an object P exists within a range of a third distance L3 on the opposite side of the X direction (step S36; No), the movement control unit 64 of the first moving body 10A does not switch routes and continues movement on the current route (first route R1) (step S40). Similarly, if another moving body 10 exists within a range of the first distance L1 on the Y direction side (traveling direction side) (step S30; No), the movement control unit 64 of the first moving body 10A does not switch routes and continues movement on the current route (first route R1) (step S40). After executing step S34, S38, or S40, the process proceeds to step S42. If the process is not to be ended (step S42; No), the process returns to step S30 and continues. If the process is to be ended (step S42; Yes), the process ends.

[0088] As described above, in the second embodiment, when there are no other moving bodies within the range of the first distance L1 in the traveling direction and there is no object P within the range of the second distance L2 in the lateral direction, the movement control unit 64 of the first moving body 10A switches the path of the first moving body 10A to the lateral side. In this way, by switching the path of the first moving body 10A closer to the center when there is ample distance to the object P, it is possible to increase the movement speed while suppressing interference of the object P with the safety area AR, and it is possible to improve work efficiency while maintaining safety.

[0089] FIG. 16 is a schematic diagram of a switching route. When the moving body 10 switches routes, it is preferable that the position of the moving body 10 immediately before switching and the position of the moving body 10 immediately after switching are curved. That is, if the route connecting the position of the moving body 10 immediately before switching and the position of the moving body 10 immediately after switching is defined as the switching route, it is preferable that the switching route be curved when viewed from the Z direction. For example, as shown in FIG. 16, a case will be taken as an example where switching from the first route R1 to the central route R1a is performed. In this case, if the position of the moving body 10 on the first route R1 immediately before switching is defined as waypoint WP11, it is preferable that the switching route Rc1 be set so that the position of the moving body 10 on the central route R1a immediately after switching becomes waypoint WP1a1. The waypoint WP1a1 is located on the opposite side of the waypoint WP11 in the X direction and on the Y direction side (traveling direction side). It is preferable that the switching route Rc1 be set in a curved shape (for example, a spline shape) connecting the waypoints WP11 and WP1a1. However, the switching route is not limited to being set in a curved shape like switching route Rc1, and may be set in a straight line like switching route Rc2. In this case, for example, switching route Rc2 may be set so that the position of the moving object 10 on the central route R1a immediately after switching becomes waypoint WP1a2. Waypoint WP1a2 is on the opposite side of waypoint WP11 in the X direction and is at the same position as waypoint WP11 in the Y direction.

[0090] (effect) As described above, the management method for the moving body 10 according to the present disclosure includes the steps of acquiring movement conditions for the automatically moving moving body 10 and setting a safety area AR, which is an area in the traveling direction of the moving body 10 where the object P should not be located, based on the movement conditions. In the step of setting the safety area AR, the safety area AR is set so that the higher the speed of the moving body 10, the wider the safety area AR is in the lateral direction intersecting the traveling direction. By setting the safety area AR wider in the lateral direction according to the speed in this manner, it is possible to appropriately suppress interference between the moving body 10 and the object P present in the lateral direction, for example, even if the moving body 10 unintentionally moves lateral direction before stopping due to steering uncertainty.

[0091] In the step of acquiring the movement conditions, a reference value of a steering angle command for the moving body 10 is acquired, and in the step of setting the safety area AR, the safety area AR is set so as to include an expected arrival position that the moving body is expected to reach when stopped when the reference value of the steering angle command is input. By setting the safety area AR based on the reference value of the steering angle command in this way, a wide safety area AR can be appropriately set in the lateral direction, thereby more appropriately suppressing interference with an object P located in the lateral direction.

[0092] In the step of acquiring the movement conditions, a reference value of a torque command for stopping the moving body 10 is acquired, and in the step of setting the safety area AR, the safety area AR is set so as to include an expected arrival position that the moving body is expected to reach when stopped when the reference value of the steering angle command and the reference value of the torque command are input. By setting the safety area AR based on the reference values ​​of the steering angle command and the torque command in this way, a wide safety area AR can be appropriately set in the lateral direction, and therefore interference with an object P existing in the lateral direction can be more appropriately suppressed.

[0093] The management method for the moving body 10 according to the present disclosure further includes a step of setting an upper limit speed of the moving body 10, and in the step of setting the upper limit speed, the upper limit speed is set so that the object P is not located within the safety area AR when the moving body 10 moves at the upper limit speed. By setting the upper limit speed based on the safety area AR in this way, for example, the upper limit speed can be increased for a route away from the object P whose position is known, thereby improving work efficiency while suppressing interference with the object P.

[0094] A management method for a moving body 10 according to the present disclosure includes the steps of: when a first moving body 10A is scheduled to move in a first direction along an aisle AR1, which includes a first route R1 heading in the Y direction (first direction) and a second route R2 aligned laterally (opposite the X direction) with respect to the first route R1; determining whether a second moving body 10B is scheduled to move along the aisle AR1 during the same time period; and, when the second moving body 10B is not scheduled to move along the aisle AR1 during the same time period, setting a central route R1a, which is located closer to the second route R2 than the first route R1, as the route for the first moving body 10A. In this way, by having the first moving body 10A move along the central route R1a when another moving body 10 is not scheduled to move along the aisle AR1 during the same time period, it is possible to increase the moving speed while suppressing interference of an object P with the safety area AR, thereby improving work efficiency while maintaining safety.

[0095] The management method for moving bodies 10 according to the present disclosure further includes a step of, when a second moving body 10B is scheduled to travel along passage AR1 in the same time period, setting the first route R1 as the route for the first moving body 10A and the second route R2 as the route for the second moving body 10B. In this way, when another moving body 10 is scheduled to travel along passage AR1 in the same time period, each moving body 10 can be moved appropriately by moving each moving body 10 along a route for facing each other.

[0096] Furthermore, in the management method for moving bodies 10 according to the present disclosure, when a second moving body 10B is scheduled to travel along the passage AR1 in the same time period and priority information indicating that the movement of the first moving body 10A is to be prioritized is acquired, the central route R1a is set as the route for the first moving body 10A. Even when multiple moving bodies 10 are scheduled to travel along the passage AR1 in the same time period, the moving body 10 that should be prioritized can be moved appropriately by moving the moving body 10 that should be prioritized along the central route R1a.

[0097] The control method for the moving body 10 according to the present disclosure includes the steps of acquiring information about the safety area AR and moving the moving body 10 while detecting whether an object P is located within the safety area AR. According to this control method, even if the moving body 10 unintentionally moves laterally before stopping due to steering uncertainty, interference between the moving body 10 and the object P located laterally can be appropriately suppressed.

[0098] The control method for the moving body 10 according to the present disclosure further includes the steps of detecting whether another moving body is present within a range of a first distance L1 in the direction of travel of the moving body 10, detecting whether an object P with a fixed position is present within a range of a second distance L2 laterally of the moving body 10, and switching the path of movement of the moving body 10 to the lateral side when no other moving body is present within the range of the first distance L1 and no object P is present within the range of the second distance L2. According to this control method, by switching the path toward the center when there is a sufficient distance to the object P, it is possible to increase the moving speed while suppressing interference of the object P with the safety area AR, thereby improving work efficiency while maintaining safety.

[0099] The moving body 10 according to the present disclosure includes a safety area acquisition unit 66 that acquires information about a safety area AR, which is an area in the moving direction of the moving body 10 where an object P should not be located, set based on the moving conditions of the moving body 10, and a movement control unit 64 that moves the moving body 10 while detecting whether the object P is located within the safety area AR, and the safety area AR is set so that it widens in a lateral direction intersecting the moving direction as the speed of the moving body 10 increases. According to the moving body 10, even if the moving body 10 unintentionally moves laterally before stopping due to steering uncertainty, interference with an object P located in the lateral direction can be appropriately suppressed.

[0100] Although the embodiments of the present disclosure have been described above, the embodiments are not limited to the contents of these embodiments. Furthermore, the above-described components include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the above-described components can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the spirit of the above-described embodiments. [Explanation of symbols]

[0101] 10 Mobile 10A First Mobile Unit 10B 2nd mobile object 12 Information processing equipment 40 Upper limit speed setting section 42 Route setting section 60 Route acquisition unit 62 Upper limit speed acquisition section 64 Movement control unit 66 Safety area acquisition part 68 Detection control section AR safe area R pathway

Claims

1. A step of acquiring movement conditions of a moving object that moves automatically; setting a safety area, which is an area in the moving direction of the moving body where an object should not be located, based on the movement condition; Including, In the step of setting the safety area, the safety area is set so that the higher the speed of the moving object, the wider the safety area is in a lateral direction intersecting the traveling direction; In the step of acquiring the movement conditions, a steering angle command for each time period at which the moving body turns most quickly to one side in the lateral direction is acquired as a first reference value of the steering angle command, based on a maximum value of a steering angle command and a maximum value of a steering angular velocity that can be input to the moving body, and a steering angle command for each time period at which the moving body turns most quickly to the other side in the lateral direction is acquired as a second reference value of the steering angle command; In the step of setting the safety region, the safety region is set so as to include a first expected arrival position when the first reference value is input to the moving body and a second expected arrival position when the second reference value is input to the moving body. How to manage moving objects.

2. A step of acquiring movement conditions of a moving object that moves automatically; setting a safety area, which is an area in the moving direction of the moving body where an object should not be located, based on the movement condition; Including, In the step of setting the safety area, the safety area is set so that the higher the speed of the moving object, the wider the safety area is in a lateral direction intersecting the traveling direction; In the step of acquiring the movement conditions, information on a measured position, which is a position of the moving body in the lateral direction when a steering angle command of the moving body is constant, is acquired, In the step of setting the safety area, the safety area is set so as to include a first expected arrival position that is a position on one side of the moving body in the lateral direction and that is set based on the measured position, and a second expected arrival position that is a position on the other side of the moving body in the lateral direction and that is set based on the measured position. How to manage moving objects.

3. 3. The method for managing a moving body according to claim 2, wherein in the step of acquiring the movement conditions, the first expected arrival position and the second expected arrival position are calculated by inputting the speed of the moving body into a learning model that has machine-learned the correspondence between the speed of the moving body and the measurement position.

4. In the step of acquiring the movement condition, a reference value of a torque command for stopping the moving body is acquired, 4. The mobile body management method according to claim 1, wherein in the step of setting the safety area, the first expected arrival position and the second expected arrival position are set based also on a reference value of the torque command.

5. further comprising a step of setting an upper limit speed of the moving object; 4. The method for managing a moving body according to claim 1, wherein in the step of setting the upper limit speed, the upper limit speed is set so that the object is not located within the safety area when the moving body moves at the upper limit speed.

6. a step of determining whether a second moving object is scheduled to move along a passage in the same time period, the passage including a first route heading in a first direction and a second route aligned laterally with the first route, when the first moving object is scheduled to move along the passage in the first direction; 4. A method for managing a moving body according to claim 1, further comprising the step of: when the second moving body is not scheduled to travel along the passage in the same time period, setting a central route located closer to the second route than the first route as the route of the first moving body.

7. 7. The mobile body management method according to claim 6, further comprising a step of setting the first route as the route of the first mobile body and the second route as the route of the second mobile body when the second mobile body is scheduled to travel along the passage during the same time period.

8. 7. The mobile body management method according to claim 6, wherein when the second mobile body is scheduled to move along the passage in the same time period and priority information indicating that the movement of the first mobile body is to be given priority is acquired, the central route is set as the route of the first mobile body.

9. A step of acquiring information about the safety area set by the mobile object management method according to any one of claims 1 to 3; and moving the moving body while detecting whether the object is located within the safety area. A method for controlling a moving object.

10. detecting whether another moving object is present within a first distance range in the traveling direction of the moving object; detecting whether the object, whose position is fixed, exists within a second distance range on a lateral side of the moving body; 10. The method for controlling a moving body according to claim 9, further comprising: when no other moving body is present within the first distance range and the target object is not present within the second distance range, switching the path of movement of the moving body to the lateral direction.

11. A mobile object that moves automatically, a safety area acquisition unit that acquires information about a safety area, which is an area in the moving direction of the moving body where an object should not be located, set based on a movement condition of the moving body; a movement control unit that moves the moving body while detecting whether the object is located within the safety area; Including, The safety area is the higher the speed of the moving body, the wider the range of travel in a lateral direction intersecting the traveling direction, and the range of travel is set to include a first expected arrival position when a first reference value is input to the moving body and a second expected arrival position when a second reference value is input to the moving body; the first reference value is a steering angle command for each time period that is set based on a maximum value of a steering angle command and a maximum value of a steering angular velocity that can be input to the moving body, and that causes the moving body to turn most quickly to one side in the lateral direction; the second reference value is a steering angle command for each time period that is set based on a maximum value of a steering angle command and a maximum value of a steering angular velocity that can be input to the moving body, and that causes the moving body to turn toward the other side in the lateral direction most quickly. Mobile object.

12. A mobile object that moves automatically, a safety area acquisition unit that acquires information about a safety area, which is an area in the moving direction of the moving body where an object should not be located, set based on a movement condition of the moving body; a movement control unit that moves the moving body while detecting whether the object is located within the safety area; Including, The safety area is the higher the speed of the moving body, the wider the range of the estimated arrival position in a lateral direction intersecting the traveling direction, and the wider the range of the estimated arrival position is set to include a first estimated arrival position that is a position on one side of the moving body in the lateral direction and a second estimated arrival position that is a position on the other side of the moving body in the lateral direction, the first expected arrival position and the second expected arrival position are set based on a measured position that is a position of the moving body in the lateral direction when a steering angle command of the moving body is constant, which is measured in advance. Mobile object.

13. A step of acquiring movement conditions of a moving object that moves automatically; setting a safety area, which is an area in the moving direction of the moving body where an object should not be located, based on the movement condition; A program that causes a computer to execute the In the step of setting the safety area, the safety area is set so that the higher the speed of the moving object, the wider the safety area is in a lateral direction intersecting the traveling direction; In the step of acquiring the movement conditions, a steering angle command for each time period at which the moving body turns most quickly to one side in the lateral direction is acquired as a first reference value of the steering angle command, based on a maximum value of a steering angle command and a maximum value of a steering angular velocity that can be input to the moving body, and a steering angle command for each time period at which the moving body turns most quickly to the other side in the lateral direction is acquired as a second reference value of the steering angle command; In the step of setting the safety region, the safety region is set so as to include a first expected arrival position when the first reference value is input to the moving body and a second expected arrival position when the second reference value is input to the moving body. program.

14. A step of acquiring movement conditions of a moving object that moves automatically; setting a safety area, which is an area in the moving direction of the moving body where an object should not be located, based on the movement condition; A program that causes a computer to execute the In the step of setting the safety area, the safety area is set so that the higher the speed of the moving object, the wider the safety area is in a lateral direction intersecting the traveling direction; In the step of acquiring the movement conditions, information on a measured position, which is a position of the moving body in the lateral direction when a steering angle command of the moving body is constant, is acquired, In the step of setting the safety area, the safety area is set so as to include a first expected arrival position that is a position on one side of the moving body in the lateral direction and that is set based on the measured position, and a second expected arrival position that is a position on the other side of the moving body in the lateral direction and that is set based on the measured position. program.

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