MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND STORAGE MEDIUM

Abstract

A device for controlling a mobile body capable of moving both on a roadway and in a predetermined area different from a roadway, the device comprising: a road type recognition unit that recognizes, on the basis of output from an external sensing device that senses conditions external to the mobile body, whether the mobile body is moving on a roadway or moving in the predetermined area; and a control unit that restricts speed to a first speed when the mobile body is moving on a roadway and restricts speed to a second speed when the mobile body is moving in the predetermined area, the second speed being lower than the first speed, wherein the road type recognition unit adds points to a roadway score every time the road type recognition unit recognizes each of a plurality of first events indicating that the mobile body is moving on a roadway on the basis of output from the external sensing device, and recognizes that the mobile body is moving on a roadway when the roadway score is equal to or greater than a first threshold value.

Description

[Technical Field]

[0001] The present invention relates to a control device for a mobile object, a control method for a mobile object, and a storage medium. [Background technology]

[0002] Conventionally, practical applications have been advanced for mobile objects that can move on both sidewalks and roadways, and for such mobile objects, it is necessary to set different upper speed limits for the sidewalk and roadway. In this regard, several documents have been disclosed that examine how to recognize whether a mobile object is moving on a sidewalk or a roadway (Patent Documents 1 to 4). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-197387 [Patent Document 2] Japanese Patent Publication No. 2020-168953 [Patent Document 3] Japanese Patent Publication No. 2020-086995 [Patent Document 4] Japanese Patent Application Publication No. 2019-190975 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional technology, it has sometimes been impossible to properly recognize whether a moving object is moving on a roadway or in a predetermined area that is different from the roadway.

[0005] The present invention has been made in consideration of these circumstances, and one of its objects is to provide a control device for a mobile body, a control method for a mobile body, and a storage medium that can properly recognize whether a mobile body is moving on a roadway or in a specified area different from the roadway. [Means for solving the problem]

[0006] The control device for a moving body, the control method for a moving body, and the storage medium according to the present invention employ the following configurations. (1): A control device for a mobile body according to one embodiment of the present invention is a control device for a mobile body that can move both on a roadway and in a specified area different from the roadway, and is equipped with a road type recognition unit that recognizes whether the mobile body is moving on a roadway or in the specified area based on the output of an external environment detection device that detects the external conditions of the mobile body, and a control unit that limits the speed of the mobile body when moving on a roadway to a first speed and limits the speed of the mobile body when moving in the specified area to a second speed lower than the first speed, wherein the road type recognition unit adds points to a roadway score each time it recognizes each of a plurality of first events that indicate that the mobile body is moving on a roadway based on the output of the external environment detection device, and recognizes that the mobile body is moving on a roadway if the roadway score is equal to or greater than a first threshold.

[0007] (2): In the above aspect (1), the road type recognition unit weights the points according to the degree of certainty when recognizing each of the plurality of first events and adds them to the roadway score.

[0008] (3): In the above aspect (1), the plurality of first events include a case where a static obstacle other than a vehicle does not exist inside the outer edge of the area in which the moving body exists.

[0009] (4) In the above aspect (1), the plurality of first events include a vehicle moving in an area where the moving object is present.

[0010] (5): In the above aspect (1), the plurality of first events include the presence of a road marking on the road surface in the area where the moving object is present.

[0011] (6): In the above aspect (1), the plurality of first events include the presence of a crosswalk in an area where the moving object is present.

[0012] (7): In the above aspect (1), the plurality of first events include the area in which the moving object exists being on the lower side of a step.

[0013] (8): In the above aspect (1), when the road type recognition unit recognizes, based on the output of the external environment detection device, any one of one or more second events indicating that the moving body is moving in the specified area, it recognizes that the moving body is moving in the specified area regardless of the roadway score.

[0014] (9): In the above aspect (1), the road type recognition unit recognizes, based on the output of the external environment detection device, one or more second events indicating that the moving body is moving in the specified area, and if the roadway score is less than a second threshold value that is greater than the first threshold value, recognizes that the moving body is moving in the specified area.

[0015] (10): In the above aspect (9), the road type recognition unit recognizes any of the one or more second events based on the output of the external environment detection device, and performs exception processing when the roadway score is equal to or greater than a second threshold value that is greater than the first threshold value.

[0016] (11): In the above embodiment (8) or (9), the one or more second events include an image of a second surface of the guardrail facing the sidewalk being captured by a camera included in the detection device.

[0017] (12): In the above aspect (8) or (9), the one or more second events include the presence of tactile paving blocks on the road surface on which the moving object is moving.

[0018] (13): In the above aspect (8) or (9), the one or more second events include the presence of a static obstacle other than a vehicle within the area in which the moving body is present.

[0019] (14): In the above embodiment (8) or (9), the one or more second events are This includes the area where the moving object is located being on the upper side of the step.

[0020] (15): Another aspect of the present invention provides a method for controlling a moving body, in which a computer controlling a moving body capable of moving both on a roadway and in a predetermined area different from the roadway recognizes, based on the output of an external environment detection device that detects the external conditions of the moving body, whether the moving body is moving on the roadway or in the predetermined area, and limits the speed of the moving body when moving on the roadway to a first speed and limits the speed of the moving body when moving in the predetermined area to a second speed lower than the first speed, and the pre-recognition includes, based on the output of the external environment detection device, adding points to a roadway score each time a plurality of first events indicating that the moving body is moving on the roadway are recognized, and recognizing that the moving body is moving on the roadway if the roadway score is equal to or greater than a first threshold.

[0021] (16): Another aspect of the present invention relates to a storage medium that stores a program that causes a computer that controls a mobile object capable of moving both on a roadway and in a specified area other than the roadway to recognize whether the mobile object is moving on the roadway or in the specified area based on the output of an external environment detection device that detects the external conditions of the mobile object, and limits the speed of the mobile object when moving on the roadway to a first speed and limits the speed of the mobile object when moving in the specified area to a second speed lower than the first speed, wherein the pre-recognition includes adding points to a roadway score each time a plurality of first events indicating that the mobile object is moving on the roadway are recognized based on the output of the external environment detection device, and recognizing that the mobile object is moving on the roadway if the roadway score is equal to or greater than a first threshold. [Effects of the Invention]

[0022] According to aspects (1) to (16), it is possible to appropriately recognize whether the moving object is moving on a roadway or in a predetermined area different from the roadway. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a moving object and a control device according to an embodiment. [Figure 2] FIG. [Figure 3] FIG. 10 is a diagram illustrating a plurality of first events. [Figure 4] FIG. 10 is a diagram illustrating a plurality of second events. [Figure 5] 10 is a diagram illustrating a second surface 207b of a guardrail 207 facing the sidewalk. [Figure 6] 5 is a flowchart showing an example of the flow of processing executed by a road type recognition unit 120 in the first embodiment. [Figure 7] 10 is a flowchart showing an example of the flow of processing executed by a road type recognition unit 120 in the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0024] Hereinafter, with reference to the drawings, embodiments of a mobile body control device, a mobile body control method, and a program of the present invention will be described. A mobile body moves both on roadways and in a predetermined area different from the roadway. A mobile body is sometimes referred to as micromobility. An electric kick scooter is a type of micromobility. A mobile body may be a vehicle that can carry a passenger, or may be an autonomous mobile body that can travel autonomously without a driver. The latter type of autonomous mobile body is used, for example, to transport luggage, etc. An example of a predetermined area is a sidewalk. Furthermore, a predetermined area may be part or all of a sidewalk, bicycle lane, public open space, etc., or may include all of a sidewalk, sidewalk, bicycle lane, public open space, etc. In the following description, the predetermined area is assumed to be a sidewalk. In the following description, the term "sidewalk" can be appropriately replaced with "predetermined area."

[0025] 1 is a diagram showing an example of the configuration of a moving object 1 and a control device 100 according to an embodiment. The moving object 1 is equipped with, for example, an external environment detection device 10, a moving object sensor 12, an operator 14, an internal camera 16, a positioning device 18, a mode selector switch 22, a movement mechanism 30, a drive unit 40, an external notification device 50, a storage device 70, and a control device 100. Note that some of these components that are not essential for realizing the functions of the present invention may be omitted.

[0026] The external environment detection device 10 is a device of various types whose detection range is in the traveling direction of the moving object 1. The external environment detection device 10 includes an external camera, a radar device, a LIDAR (Light Detection and Ranging), a sensor fusion device, etc. The external environment detection device 10 outputs information indicating the detection result (images, object positions, etc.) to the control device 100.

[0027] The mobile body sensor 12 includes, for example, a speed sensor, an acceleration sensor, a yaw rate (angular velocity) sensor, a direction sensor, and an operation amount detection sensor attached to the operator 14. The operator 14 includes, for example, an operator for instructing acceleration / deceleration (e.g., an accelerator pedal or a brake pedal), and an operator for instructing steering (e.g., a steering wheel). In this case, the mobile body sensor 12 may include an accelerator opening sensor, a brake depression amount sensor, a steering torque sensor, etc. The mobile body 1 may also be provided with an operator of a type other than those described above as the operator 14 (e.g., a non-annular rotary operator, a joystick, a button, etc.).

[0028] Internal camera 16 captures an image of at least the head of an occupant of vehicle 1 from the front. Internal camera 16 is a digital camera that uses an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). Internal camera 16 outputs the captured image to control device 100.

[0029] The positioning device 18 is a device that measures the position of the mobile object 1. The positioning device 18 is, for example, a Global Navigation Satellite System (GNSS) receiver, and identifies the position of the mobile object 1 based on signals received from GNSS satellites and outputs the position information. Note that the position information of the mobile object 1 may be estimated from the position of a Wi-Fi base station to which a communication device (described later) is connected.

[0030] The mode selector switch 22 is a switch operated by the occupant. The mode selector switch 22 may be a mechanical switch or a GUI (Graphical User Interface) switch set on a touch panel. The mode selector switch 22 accepts an operation to switch the driving mode between, for example, Mode A: an assist mode in which one of steering operation and acceleration / deceleration control is performed by the occupant and the other is performed automatically; Mode A-1: ​​in which steering operation is performed by the occupant and acceleration / deceleration control is performed automatically; Mode A-2: in which acceleration / deceleration operation is performed by the occupant and steering control is performed automatically; Mode B: a manual driving mode in which steering operation and acceleration / deceleration operation are performed by the occupant; and Mode C: an automatic driving mode in which operation control and acceleration / deceleration control are performed automatically.

[0031] The locomotion mechanism 30 is a mechanism for moving the mobile object 1 on a road. The locomotion mechanism 30 is, for example, a group of wheels including steering wheels and drive wheels. The locomotion mechanism 30 may also be legs for multi-legged walking.

[0032] The drive unit 40 outputs force to the movement mechanism 30 to move the moving body 1. For example, the drive unit 40 includes a motor that drives the drive wheels, a battery that stores power to be supplied to the motor, a steering device that adjusts the steering angle of the steering wheels, etc. The drive unit 40 may also include an internal combustion engine or a fuel cell as a driving force output means or a power generation means. The drive unit 40 may also include a brake device that utilizes frictional force or air resistance.

[0033] The external notification device 50 is, for example, a lamp, a display device, a speaker, or the like, provided on an outer panel of the mobile object 1, and configured to notify information to the outside of the mobile object 1. The external notification device 50 operates differently depending on whether the mobile object 1 is traveling on a sidewalk or a roadway. For example, the external notification device 50 is controlled to emit a lamp when the mobile object 1 is traveling on a sidewalk and not emit a lamp when the mobile object 1 is traveling on a roadway. The light color of this lamp is preferably a color specified by law. The external notification device 50 may be controlled to emit a green lamp when the mobile object 1 is traveling on a sidewalk and emit a blue lamp when the mobile object 1 is traveling on a roadway. If the external notification device 50 is a display device, the external notification device 50 displays a message in text or graphics indicating that the mobile object 1 is traveling on a sidewalk when the mobile object 1 is traveling on a sidewalk.

[0034] FIG. 2 is a perspective view of the moving body 1 as seen from above. In the figure, FW denotes steering wheels, RW denotes drive wheels, SD denotes a steering device, MT denotes a motor, and BT denotes a battery. The steering device SD, motor MT, and battery BT are included in a drive device 40. AP denotes an accelerator pedal, BP denotes a brake pedal, WH denotes a steering wheel, SP denotes a speaker, and MC denotes a microphone. The moving body 1 shown in the figure is a single-seater moving body, and an occupant P is seated in the driver's seat DS and wearing a seat belt SB. Arrow D1 indicates the direction of travel (velocity vector) of the moving body 1. The external environment detection device 10 is located near the front end of the moving body 1, the internal camera 16 is located in a position where it can capture an image of the occupant P's head from in front of the occupant P, and the mode selector switch 22 is located in the boss portion of the steering wheel WH. An external notification device 50 serving as a display device is also located near the front end of the moving body 1.

[0035] Returning to FIG. 1, the storage device 70 is a non-transitory storage device such as a hard disk drive (HDD), flash memory, or random access memory (RAM). The storage device 70 stores map information 72, a program 74 executed by the control device 100, and the like. In the figure, the storage device 70 is shown outside the frame of the control device 100, but the storage device 70 may be included in the control device 100. The storage device 70 may also be provided on a server (not shown).

[0036] First Embodiment [Control device] The control device 100 includes, for example, a road type recognition unit 120, an object recognition unit 130, and a control unit 140. These components are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software) 74. Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in the storage device 70 in advance, or may be stored in a removable storage medium (non-transitory storage medium) such as a DVD or CD-ROM, and installed in the storage device 70 by inserting the storage medium into a drive device.

[0037] The road type recognition unit 120 recognizes whether the moving object 1 is moving on a roadway or a sidewalk. The road type recognition unit 120 recognizes whether the moving object 1 is moving on a roadway or a sidewalk, for example, by analyzing an image captured by an external camera of the external environment detection device 10. Note that the output of a radar device, a LIDAR, a sensor fusion device, etc. may be used supplementarily.

[0038] The road type recognition unit 120 adds points to the roadway score Sr each time it recognizes a plurality of first events indicating that the moving object 1 is traveling on a roadway in an image captured by the external camera. If the roadway score Sr is equal to or greater than a first threshold, it recognizes that the moving object 1 is traveling on a roadway. At this time, the road type recognition unit 120 weights the points according to the confidence level when recognizing each of the plurality of first events and adds them to the roadway score Sr. Points corresponding to each of the first events are designated P1 to Pn (n is a natural number equal to the number of events assumed as first events). The points P1 to Pn may have the same value or may have different values ​​depending on the type of first event. Furthermore, weights according to the confidence level of the recognition process are designated α1 to αn. The confidence level of the recognition process is incidentally output during the process of recognizing the first events (including, for example, a discrimination process using a trained model by machine learning). The roadway score Sr is expressed by Equation (1).

[0039] Sr=α1×P1+α1+P2+…+αn×Pn…(1) (If the corresponding first event k is not recognized, Pk = 0 (k = 1 to n))

[0040] However, if the road type recognition unit 120 recognizes any of a plurality of second events in an image captured by an external camera that indicate that the moving body 1 is moving on a sidewalk, it recognizes that the moving body 1 is moving on a sidewalk regardless of the roadway score Sr.

[0041] A more detailed explanation will be given below. First, the road type recognition unit 120 classifies each pixel in an image frame into a class by semantic segmentation, assigns a label to it, and assumes a plurality of virtually separated regions and their boundary lines. The road type recognition unit 120 performs processing by classifying at least the regions of the image captured by the external camera into a region where the moving object 1 exists (hereinafter referred to as the own region) and a region adjacent to the own region where the moving object 1 does not exist (hereinafter referred to as the adjacent region).

[0042] FIG. 3 is a diagram illustrating a plurality of first events. For the sake of explanation, FIGS. 3 and 4 are bird's-eye views viewed from above, but the processing by the road type recognition unit 120 may be performed on an image plane. As illustrated, the first events include, for example, two or more of the following: (A) the absence of static obstacles 204 other than a vehicle 203 in the own area 200 (i.e., inside the outer edge of the area in which the moving object 1 exists); (B) the vehicle 203 moving in the own area 200; (C) the presence of road markings 205 on the road surface of the own area 200; (D) the presence of a crosswalk 206 in the own area 200; and (E) the own area 200 being on the lower side of a step 202. Examples of static obstacles include billboards, mailboxes, utility poles, trash cans, and other objects that are not classified as moving objects or traffic participants. Generally, static obstacles are rarely placed on a roadway, so the road type recognition unit 120 increases the value of the roadway score when there is no static obstacle 204 in the own area 200. Furthermore, since the area in which the vehicle 203 is moving is highly likely to be a roadway, the road type recognition unit 120 increases the value of the roadway score when the vehicle 203 is moving in the own area 200. Furthermore, since road markings 205 are generally drawn on roadways, the road type recognition unit 120 increases the value of the roadway score when there is a road marking 205 in the own area 200. Furthermore, since a crosswalk 206 is generally drawn on a roadway, the road type recognition unit 120 increases the value of the roadway score when there is a crosswalk 206 in the own area 200. Furthermore, since a sidewalk is generally located on the upper side of a step relative to the roadway, the road type recognition unit 120 increases the value of the roadway score when the own area 200 is located on the lower side of a step 202.

[0043] FIG. 4 is a diagram illustrating multiple second events. In FIG. 4, the relationship between the own area 200 and the adjacent area 201 is reversed depending on the position of the moving object 1. As illustrated, the second events include, for example, one or more of the following: (a) the second surface 207b of the two surfaces of the guardrail 207, which faces the sidewalk, is captured by an external camera; (b) the presence of tactile paving blocks 208 on the road surface of the own area 200; (c) the presence of a static obstacle 204 other than the vehicle 203 in the own area 200; and (d) the own area 200 being on the upper side of the step 202. The guardrail 207 has a first surface 207a facing the roadway and a second surface 207b facing the sidewalk, and is installed on the road to match these orientations. When the second surface 207b is captured by the external camera, it is highly likely that the moving object 1 is moving on the sidewalk. Furthermore, tactile paving blocks are generally installed only on sidewalks. The static obstacle 204 and the step 202 are as explained in the first event.

[0044] 5 is a diagram illustrating the second surface 207b facing the sidewalk of the guardrail 207. As shown in the figure, the second surface 207b has characteristics in comparison with the first surface, such as the support 207c being located closer to the viewer and being curved from the top end downward in the order of concave → convex → concave. By having a trained model learn this, for example, it becomes possible to distinguish it by image analysis.

[0045] In this way, by using the first event as a factor for increasing the roadway score Sr and recognizing that the moving object 1 is traveling on the roadway when the roadway score Sr is equal to or greater than the first threshold Th1 and the second event is not recognized, it is possible to appropriately recognize whether the moving object 1 is traveling on the roadway or in a predetermined area other than the roadway. As will be described later, when the moving object 1 is traveling on the roadway, it is permitted to move at a higher speed than when traveling on a sidewalk. Therefore, in consideration of safety, it is preferable that the conditions for recognizing that the moving object 1 is traveling on the roadway be set more conservatively than the conditions for recognizing that the moving object 1 is traveling on a sidewalk. In this regard, according to the embodiment, the first event is not used as a condition for immediately recognizing that the roadway is a roadway, but is used as a condition for increasing points, and the second event is used as a condition for immediately recognizing that the roadway is a sidewalk, thereby ensuring the validity of the recognition result.

[0046] The road type recognition unit 120 may compare the position information of the mobile object 1 with the map information 72 to recognize whether the mobile object 1 is moving on a roadway or a sidewalk. In this case, the map information must be accurate enough to distinguish between a sidewalk and a roadway from the position coordinates. Furthermore, if the "predetermined area" is not limited to sidewalks, the road type recognition unit 120 performs similar processing for shoulders, bicycle lanes, public open spaces, etc.

[0047] 6 is a flowchart showing an example of the flow of processing executed by the road type recognition unit 120 of the first embodiment. First, the road type recognition unit 120 acquires information for recognition, such as an image from an external camera (step S300).

[0048] Next, the road type recognition unit 120 performs the processes of steps S302 and S304 for each first event k (k = 1 to n). The argument k is identification information of the first event. The road type recognition unit 120 determines whether the first event k has been recognized (step S302), and if the first event k has been recognized, adds the product of the coefficient αk and the point Pk to the roadway score Sr (step S304).

[0049] Next, the road type recognition unit 120 determines whether or not the second event j (j=1 to m) has been recognized for each second event j (step S306). The argument j is identification information of the second event, and m is a natural number.

[0050] If a positive determination result is obtained even once among the determination processing of step S306 which is performed a maximum of m times, the road type recognition unit 120 recognizes that the moving object 1 is moving on a sidewalk (step S312).

[0051] If all of the determination results in step S306 are negative, the road type recognition unit 120 determines whether the roadway score Sr is equal to or greater than the first threshold value Th1 (step S308). If it is determined that the roadway score Sr is equal to or greater than the first threshold value Th1, the road type recognition unit 120 recognizes that the moving object 1 is traveling on a roadway (step S310). If the roadway score Sr is less than the first threshold value Th1, strictly speaking, it has not been determined with sufficient certainty whether the moving object 1 is traveling on a roadway or a sidewalk. However, for safety reasons, the road type recognition unit 120 recognizes that the moving object 1 is traveling on a sidewalk (step S312).

[0052] The object recognition unit 130 recognizes objects present around the mobile object 1 based on the output of the external environment detection device 10. The objects include some or all of the following obstacles: moving objects such as vehicles, bicycles, and pedestrians; road boundary structures such as road markings, steps, guardrails, road shoulders, and median strips; road structures such as road signs and billboards; and objects lying (fallen) on the road. The object recognition unit 130 acquires information such as the presence, position, and type of other moving objects by inputting images captured by an external camera of the external environment detection device 10 into a trained model that is trained to output information such as the presence, position, and type of an object when an image captured by the external camera is input. The type of other moving objects can also be estimated based on the size in the image or the intensity of reflected waves received by the radar device of the external environment detection device 10. The object recognition unit 130 also acquires the speed of other moving objects detected by the radar device using, for example, Doppler shift.

[0053] The control unit 140 controls the drive unit 40 according to the set driving mode, for example. The moving object 1 may execute only some of the driving modes described below, but in all cases, the control unit 140 sets different speed limits for when the moving object 1 moves on a roadway and when it moves on a sidewalk. In this case, the mode selector switch 22 may be omitted.

[0054] In mode A-1, the control unit 140 refers to the information about the travel path and the object based on the output of the object recognition unit 130, and controls the motor MT of the drive unit 40 so that when the moving body 1 moves on a roadway, the distance to an object ahead of the moving body 1 is maintained at a certain level or more, and when the distance to the object ahead of the moving body 1 is sufficiently long, the moving body 1 moves at a first speed V1 (for example, a speed of at least 10 km / h and less than several tens of km / h). When the moving body 1 moves on a sidewalk, the control unit 140 controls the motor MT of the drive unit 40 so that the distance to an object ahead of the moving body 1 is maintained at a certain level or more, and when the distance to the object ahead of the moving body 1 is sufficiently long, the moving body 1 moves at a second speed V2 (for example, a speed of less than 10 km / h). This function is similar to the adaptive cruise control (ACC) function of a vehicle in which the first speed V1 or the second speed V2 is set as a set speed, and the technology used in ACC can be utilized. In mode A-1, the control unit 140 controls the steering device SD to change the steering angle of the steered wheels based on the amount of operation of the operator 14, such as a steering wheel. This function is similar to that of a power steering device, and the technology used in power steering devices can be used. Note that, instead of electronically controlling steering, the mobile object 1 may have a steering device in which the operator 14 and a steering mechanism are mechanically connected.

[0055] In mode A-2, the control unit 140 references information about the traveling path and objects based on the output of the object recognition unit 130, generates a target trajectory that allows the moving object 1 to avoid objects on the traveling path, and controls the steering device SD of the drive unit 40 so that the moving object 1 moves along the target trajectory. Regarding acceleration and deceleration, the control unit 140 controls the motor MT of the drive unit 40 based on the speed of the moving object 1 and the amount of operation of the accelerator pedal or the brake pedal. When the moving object 1 is traveling on a roadway, the control unit 140 controls the motor MT of the drive unit 40 with a first speed V1 as the upper limit speed (in mode A-2, this means that the moving object 1 will not accelerate even if a further acceleration command is given once the upper limit speed has been reached), and controls the drive unit 40 with a second speed V2 as the upper limit speed when the moving object 1 is traveling on a sidewalk.

[0056] In mode B, the control unit 140 controls the motor MT of the drive unit 40 based on the speed of the moving object 1 and the amount of operation of the accelerator pedal or the brake pedal. When the moving object 1 is moving on a roadway, the control unit 140 controls the motor MT of the drive unit 40 with the first speed V1 as the upper limit speed (in mode B, this means that the moving object 1 will not accelerate even if a further acceleration command is given once the upper limit speed has been reached), and when the moving object 1 is moving on a sidewalk, the control unit 140 controls the motor MT of the drive unit 40 with the second speed V2 as the upper limit speed. Steering is the same as in mode A-1.

[0057] In mode C, the control unit 140 references information about the path and objects based on the output of the object recognition unit 130, generates a target trajectory along which the moving body 1 can move while avoiding objects within the path, and controls the drive unit 40 so that the moving body 1 moves along the target trajectory. Even in mode C, the control unit 140 controls the drive unit 40 with a first speed V1 as the upper limit speed when the moving body 1 is moving on a roadway, and controls the drive unit 40 with a second speed V2 as the upper limit speed when the moving body 1 is moving on a sidewalk.

[0058] According to the first embodiment described above, it is possible to appropriately recognize whether a moving object is moving on a roadway or in a predetermined area different from the roadway. Second Embodiment The following describes the second embodiment. In the first embodiment, when one second event is recognized, the moving object 1 is recognized as moving on the sidewalk. However, in the second embodiment, when the second event is recognized and the road score Sr is greater than or equal to the second threshold Th2 (Th1 < Th2), exception handling is performed.

[0059] The case where the second event is recognized and the road score Sr is greater than or equal to the second threshold Th2 means that although the road score Sr has reached a large value and it is determined that the probability that the moving object 1 is moving on the road is high, one or more second events are recognized. In such a case, the second event may be recognized due to the recognition of the second event being a misrecognition, or by chance a static obstacle being placed on the road, or the road having an irregular structure with the road being on the upper side of a step.

[0060] Therefore, in such a case, the road type recognition unit 120 of the second embodiment does not immediately determine that the moving object 1 is moving on the sidewalk, but performs the following exception handling.

[0061] For example, the exception handling is as follows: (1) If the previous recognition result is "the moving object 1 is moving on the road", the recognition result is continued for a certain period of time. If the previous recognition result is "the moving object 1 is moving on the sidewalk", it is recognized that the moving object 1 is moving on the sidewalk. Note that if the state of "the second event is recognized and the road score Sr is greater than or equal to the second threshold Th2" still continues after a certain period of time, the road type recognition unit 120 may recognize that the moving object 1 is moving on the sidewalk.

[0062] Also, the exception handling may be: (2) Output information asking the passenger P of the moving object 1 in some form whether the moving object 1 is moving on the road or on the sidewalk, and recognize whether the moving object 1 is moving on the road or on the sidewalk based on the answer of the passenger P. At this time, the answer of the passenger P may be given, for example, via a road type input switch (not shown) provided on the moving object 1 or by voice.

[0063] 7 is a flowchart showing an example of the flow of processing executed by the road type recognition unit 120 of the second embodiment. The processing contents of steps S300 to S312 in this flowchart are the same as the processing in the flowchart shown in FIG. 6, so repeated explanation will be omitted.

[0064] If it is determined in the determination process of step S306 that the second event j has been recognized, the road type recognition unit 120 determines whether the roadway score Sr is equal to or greater than the second threshold (step S314). If it is determined that the roadway score Sr is less than the second threshold, the road type recognition unit 120 recognizes that the moving object 1 is moving on a sidewalk (step S312). On the other hand, if it is determined that the roadway score Sr is equal to or greater than the second threshold, the road type recognition unit 120 performs the exception processing described above (step S316).

[0065] According to the second embodiment described above, when one or more second events are recognized even though it is determined that there is a high probability that the moving object 1 is moving on a roadway, the validity of the recognition result can be further improved by performing exceptional processing to not immediately recognize that the moving object 1 is moving on a sidewalk. Note that in the second embodiment as well, a sidewalk score Ss is calculated according to the number of times the second event is recognized, and if the sidewalk score Ss is large, exceptional processing may not be performed even if the roadway score Sr is equal to or greater than the second threshold value Th2.

[0066] The above-described embodiment can be expressed as follows. a storage medium for storing computer-readable instructions; a processor connected to the storage medium; The processor executes the computer-readable instructions to: Based on the output of an external environment detection device that detects the external situation of a mobile body that can move on both a roadway and a predetermined area different from the roadway, the mobile body recognizes whether the mobile body is moving on a roadway or in the predetermined area; limiting the speed of the moving body when it moves on a roadway to a first speed, and limiting the speed of the moving body when it moves in the predetermined area to a second speed lower than the first speed; The pre-recognition includes adding points to a roadway score each time a plurality of first events indicating that the moving object is moving on a roadway are recognized based on the output of the external environment detection device, and recognizing that the moving object is moving on a roadway when the roadway score is equal to or greater than a first threshold. Control device for a moving object.

[0067] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0068] 10. External sensing devices 12 Mobile Sensor 14 Controls 16 Internal Camera 18 Positioning equipment 22 Mode switch 30 Moving mechanism 40 Drive unit 50 External alarm device 70 Storage device 100 control device 120 Road type recognition unit 130 Object recognition section 140 Control Unit

Claims

1. A control device for a mobile body that can move on both a roadway and a predetermined area different from the roadway, a road type recognition unit that recognizes whether the moving object is moving on a roadway or in the predetermined area based on an output of an external environment detection device that detects an external situation of the moving object; a control unit that limits the speed of the moving body when it moves on a roadway to a first speed and limits the speed of the moving body when it moves in the predetermined area to a second speed that is lower than the first speed; Equipped with the road type recognition unit adds points to a roadway score each time it recognizes each of a plurality of first events indicating that the moving object is traveling on a roadway based on the output of the external environment detection device, and recognizes that the moving object is traveling on a roadway when the roadway score is equal to or greater than a first threshold; Based on the output of the external environment detection device, recognize one or more second events indicating that the moving object is moving in the specified area, and recognize that the moving object is moving in the specified area if the roadway score is less than a second threshold value that is greater than the first threshold value. Control device for a moving object.

2. the road type recognition unit weights the points according to the confidence level when recognizing each of the plurality of first events and adds the weighted points to the roadway score; The control device for a moving body according to claim 1.

3. the plurality of first events include a situation in which a static obstacle other than a vehicle does not exist inside an outer edge of an area in which the moving object exists; The control device for a moving body according to claim 1.

4. the plurality of first events include a vehicle moving in an area where the moving object is present; The control device for a moving body according to claim 1.

5. the plurality of first events include the presence of a road marking on a road surface in an area where the moving object is present; The control device for a moving body according to claim 1.

6. the plurality of first events include a presence of a pedestrian crossing in an area where the moving object is present; The control device for a moving body according to claim 1.

7. the plurality of first events include a situation in which an area in which the moving object exists is on a lower step side of a step; The control device for a moving body according to claim 1.

8. the road type recognition unit recognizes any of the one or more second events based on the output of the external environment detection device, and performs exception processing when the roadway score is equal to or greater than a second threshold value that is greater than the first threshold value. The control device for a moving body according to claim 1.

9. The one or more second events include an image of a second surface of the guardrail directed toward the sidewalk being captured by a camera included in the external environment detection device. The control device for a moving body according to claim 1.

10. The one or more second events include the presence of a tactile paving block on a road surface on which the moving object is moving. The control device for a moving body according to claim 1.

11. the one or more second events include a static obstacle other than a vehicle being present in an area where the moving object is present; The control device for a moving body according to claim 1.

12. the one or more second events include a region in which the moving object exists being on an upper step side of a step; The control device for a moving body according to claim 1.

13. A computer that controls a mobile object that can move on both a roadway and a predetermined area different from the roadway, Based on an output from an external environment detection device that detects an external situation of the moving object, the moving object recognizes whether it is moving on a roadway or in the predetermined area; limiting the speed of the moving body when it moves on a roadway to a first speed, and limiting the speed of the moving body when it moves in the predetermined area to a second speed lower than the first speed; The recognizing step includes adding points to a roadway score each time a plurality of first events indicating that the moving body is moving on a roadway are recognized based on the output of the external environment detection device, recognizing that the moving body is moving on a roadway when the roadway score is equal to or greater than a first threshold, recognizing any of one or more second events indicating that the moving body is moving in the specified area based on the output of the external environment detection device, and recognizing that the moving body is moving in the specified area when the roadway score is less than a second threshold that is greater than the first threshold. A method for controlling a moving object.

14. A computer that controls a mobile object that can move on both a roadway and a predetermined area different from the roadway, Based on an output from an external environment detection device that detects an external situation of the moving object, the moving object is made to recognize whether it is moving on a roadway or in the predetermined area; a program that limits the speed of the moving body when it moves on a roadway to a first speed, and limits the speed of the moving body when it moves in the predetermined area to a second speed that is lower than the first speed, The recognizing step includes adding points to a roadway score each time a plurality of first events indicating that the moving body is moving on a roadway are recognized based on the output of the external environment detection device, recognizing that the moving body is moving on a roadway when the roadway score is equal to or greater than a first threshold, recognizing any of one or more second events indicating that the moving body is moving in the specified area based on the output of the external environment detection device, and recognizing that the moving body is moving in the specified area when the roadway score is less than a second threshold that is greater than the first threshold. A storage medium that stores a program.

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