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

Abstract

To perform appropriate control of a movable body movable both to a roadway and a predetermined area different from the roadway when the movable body approaches the predetermined area from the roadway.SOLUTION: A control device for a movable body comprises: an acquisition unit that acquires information indicating the behavior of the movable body; a road type recognition unit that recognizes if the movable body moves on the roadway or moves in the predetermined area; a connection part recognition unit that recognizes the presence of a connection part between the roadway and the predetermined area on a side of a travel direction of the movable body; and a control unit that controls the speed of the movable body, and that controls the speed when the movable body moves on the roadway to a first speed and the speed when the movable body moves in the predetermined area to a second speed lower than the first speed. When the movable body moves on the roadway, the connection part is recognized within a predetermined range from the movable body, and the behavior of the movable body exhibits that the movable body is in a swaying state, the control unit conducts an inquiry about the intention to approach the predetermined area by using an interface device in order to control the deceleration of the movable body.SELECTED DRAWING: Figure 1

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 program. [Background technology]

[0002] BACKGROUND ART An invention of a single-seater electric vehicle that can travel on sidewalks has been disclosed in the past (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-189536 Summary of the Invention [Problem to be solved by the invention]

[0004] The conventional technology does not assume that a mobile object can move on both a roadway and a predetermined area other than the roadway. Therefore, there are cases where it is not possible to perform appropriate control when entering the predetermined area from the roadway.

[0005] The present invention has been made taking these circumstances into consideration, and one of its objectives is to provide a control device for a mobile body, a control method for a mobile body, and a program that are capable of performing appropriate control when a mobile body that can move both on a roadway and a specified area different from the roadway enters a specified area 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 program according to the present invention employ the following configuration. (1): A control device for a moving body according to one embodiment of the present invention is a control device for a moving body capable of moving both on a roadway and in a predetermined area different from the roadway, and comprises: an acquisition unit that acquires information indicating the behavior of the moving body; a road type recognition unit that recognizes whether the moving body is moving on the roadway or in the predetermined area; a connection recognition unit that recognizes the presence of a connection between the roadway and the predetermined area in the direction of travel of the moving body; and a control unit that at least partially controls the speed of the moving body, controlling the speed of the moving body when moving on the roadway to a first speed and controlling the speed of the moving body when moving in the predetermined area to a second speed lower than the first speed. When the moving body is moving on the roadway, the connection unit is recognized within a predetermined range from the moving body, and the behavior of the moving body is such that the moving body is in a staggering state, the control unit uses an interface device to ask a question regarding an intention to enter the predetermined area in order to control the deceleration of the moving body.

[0007] (2): In the above aspect (1), the acquisition unit acquires the amount of movement, speed, or acceleration of the moving body in the road width direction as information indicating the behavior of the moving body, and the control unit uses an interface device to ask about the intention to enter the specified area in order to control the deceleration of the moving body when the moving body is moving on a roadway, the communication unit is recognized within a specified range from the moving body, and the behavior of the moving body is such that the number of times the direction of the amount of movement, speed, or acceleration in the road width direction has reversed during a reference period is equal to or greater than a first threshold.

[0008] (3): In the above aspect (1), the acquisition unit acquires the position of the moving body in the road width direction as information indicating the behavior of the moving body, and the control unit, when the moving body is moving on a roadway, the communication unit is recognized within a predetermined range from the moving body, and the behavior of the moving body is such that the time or distance proportion of movement of the moving body through a reference area close to the predetermined area on the roadway during a reference period is equal to or greater than a second threshold, uses an interface device to ask about the intention to enter the predetermined area in order to control the deceleration of the moving body.

[0009] (4): In the above aspect (1), the acquisition unit acquires the acceleration of the moving body in the longitudinal direction of the road as information indicating the behavior of the moving body, and the control unit uses an interface device to ask about the intention to enter the specified area in order to control the deceleration of the moving body when the moving body is moving on a roadway, the communication unit is recognized within a specified range from the moving body, and the behavior of the moving body is such that the number of times the acceleration in the longitudinal direction of the road has reversed during a reference period is equal to or greater than a third threshold.

[0010] (5): In the above aspect (1), the acquisition unit acquires the yaw rate of the moving body as information indicating the behavior of the moving body, and the control unit, when the moving body is moving on a roadway, the communication unit is recognized within a predetermined range from the moving body, and the behavior of the moving body is such that the number of times a yaw rate greater than or equal to a reference value occurs during a reference period is equal to or greater than a fourth threshold, uses an interface device to ask about the intention to enter the predetermined area in order to control the deceleration of the moving body.

[0011] (6): In any of the above aspects (1) to (5), the question posed using the interface device includes a voice question.

[0012] (7): In any of the above aspects (1) to (6), the control unit brings the speed of the moving body closer to the second speed if an affirmative response is received to the question, and does not bring the speed of the moving body closer to the second speed if an affirmative response is not received.

[0013] (8): In any of the above aspects (1) to (7), the road type recognition unit recognizes whether the moving 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 moving body.

[0014] (9): In any of the above aspects (1) to (8), the road type recognition unit recognizes whether the mobile body is moving on a roadway or in the specified area based on the operation of a switch provided inside the mobile body.

[0015] (10): In any of the above aspects (1) to (9), when the road type recognition unit recognizes that the moving body is moving in the specified area, it causes an external notification device to notify the outside of the moving body that it is moving in the specified area.

[0016] (11): 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 acquires information indicating the behavior of the moving body, recognizes whether the moving body is moving on the roadway or in the predetermined area, recognizes the presence of a connection between the roadway and the predetermined area in the direction of travel of the moving body, at least partially controls the speed of the moving body, controls the speed of the moving body when moving on the roadway to a first speed, controls the speed of the moving body when moving in the predetermined area to a second speed lower than the first speed, and when the moving body is moving on the roadway, the connection is recognized within a predetermined range from the moving body, and the behavior of the moving body is such that the moving body is swaying, uses an interface device to ask a question regarding an intention to enter the predetermined area in order to control the deceleration of the moving body.

[0017] (12): A program according to another aspect of the present invention causes a computer that controls a moving body that can move on both a roadway and a predetermined area different from the roadway to acquire information indicating the behavior of the moving body, recognize whether the moving body is moving on the roadway or in the predetermined area, recognize the presence of a connecting portion between the roadway and the predetermined area in the moving body's direction of travel, and at least partially control the speed of the moving body, The speed of the moving body when moving on a roadway is controlled to a first speed, and the speed of the moving body when moving in the specified area is controlled to a second speed lower than the first speed, and when the moving body is moving on a roadway, the communication unit is recognized within a specified range from the moving body, and the behavior of the moving body satisfies the conditions for determining whether the moving body is in a staggering state, an interface device is used to ask a question regarding an intention to enter the specified area in order to control the deceleration of the moving body. [Effects of the Invention]

[0018] According to aspects (1) to (12), it is possible to perform appropriate control when a mobile object that can move on both a roadway and a predetermined area different from the roadway enters the predetermined area from the roadway. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a diagram illustrating an example of the configuration of a moving object 1 and a control device 100 according to an embodiment. [Figure 2] FIG. 2 is a perspective view of the moving body 1 seen from above. [Figure 3] 1 is a diagram for explaining elements that may be included in the behavior of a moving object 1. FIG. [Figure 4] 10A and 10B are diagrams illustrating examples of shapes of communication portions. [Figure 5] 10A and 10B are diagrams illustrating examples of shapes of communication portions. [Figure 6] 10A and 10B are diagrams illustrating examples of shapes of communication portions. [Figure 7] FIG. 10 is a diagram for explaining condition (B). [Figure 8] FIG. 10 is a diagram illustrating an example of a situation in which specific speed control is performed. [Figure 9] 3 is a flowchart showing an example of a flow of processing executed by the control device 100 of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, with reference to the drawings, an embodiment of a mobile body control device, a mobile body control method, and a program of the present invention will be described. The mobile body moves both on a roadway and a predetermined area different from the roadway. The predetermined area is, for example, a sidewalk. The predetermined area may be part or all of a sidewalk, a bicycle lane, a public open space, etc., or may include all of a sidewalk, a sidewalk, a bicycle lane, a public open space, etc. In the following description, the predetermined area is assumed to be a sidewalk. In the following description, the term "sidewalk" can be read as "predetermined area" as appropriate.

[0021] First Embodiment 1 is a diagram showing an example of the configuration of a mobile object 1 and a control device 100 according to an embodiment. The mobile object 1 is equipped with, for example, an external environment detection device 10, a mobile object sensor 12, an operator 14, an internal camera 16, a positioning device 18, an interaction device 20, a mode selector switch 22, a movement mechanism 30, a drive device 40, an external notification device 50, a storage device 70, and the control device 100. Note that some of these components that are not essential for realizing the functions of the present invention may be omitted.

[0022] 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.

[0023] 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.).

[0024] 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.

[0025] 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.

[0026] The dialogue device 20 includes, for example, a speaker, a microphone, a touch panel, a communication device, and the like. The dialogue device 20 appropriately processes the voice of the occupant picked up by the microphone, transmits the voice to a server device via a network using a communication device, and provides information by voice from a speaker based on the information returned from the server device. The dialogue device 20 may also be called an agent device, a concierge device, an assistance device, or the like. The server device has a voice recognition function, a natural language processing function, a semantic interpretation function, a reply content determination function, and the like. The dialogue device 20 may also transmit location information to the server device, and the server device may return information about a corresponding facility in response to the location information and a guidance request issued by the occupant (e.g., "Is there a good ramen restaurant around here?"). In this case, the dialogue device 20 may provide voice guidance such as "It's just up ahead, turn left." The dialogue device 20 may also have a function to accept natural speech from the occupant and return an appropriate reply. The dialogue device 20 also has a function of conducting simple dialogue without going through a server device, such as by asking a question from the device side and receiving a reply, and may ask a question to the occupant in response to a request from the control device 100. The dialogue device 20 is an example of an interface device.

[0027] 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: a speed assist mode in which the occupant performs steering operation and acceleration / deceleration control is performed automatically, Mode B: a manual driving mode in which the occupant performs steering operation and acceleration / deceleration operation, and Mode C: an automatic driving mode in which operation control and acceleration / deceleration control are performed automatically.

[0028] 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.

[0029] 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.

[0030] The external notification device 50 is, for example, a lamp, a display device, a speaker, or the like, provided on the 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 emitted color of this lamp is preferably a color specified by law. If the external notification device 50 is a display device, the external notification device 50 displays text or graphics indicating that the mobile object 1 is traveling on a sidewalk when the mobile object 1 is traveling on a sidewalk.

[0031] 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. 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 one-seater moving body, and an occupant P is seated in the driver's seat DS and wearing a seat belt SB. Arrow D1 denotes 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 head of the occupant P 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.

[0032] 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 illustrated outside the frame of the control device 100, but the storage device 70 may be included in the control device 100.

[0033] [Control device] The control device 100 includes, for example, an acquisition unit 110, a road type recognition unit 120, a connection unit recognition unit 130, and a control unit 140. For example, the control device 100 is realized by a hardware processor such as a CPU (Central Processing Unit) executing a program (software) 74. Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in the storage device 70 in advance, or may be stored in a removable storage medium (non-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.

[0034] The acquisition unit 110 acquires information indicating the behavior of the moving object 1. Examples of information indicating the behavior of the moving object 1 include the position, movement amount, speed, or acceleration of the moving object 1 in the road width direction, acceleration in the road length direction, or yaw rate. FIG. 3 is a diagram for explaining elements that may be included in the behavior of the moving object 1. The position Y of the moving object 1 in the road width direction is represented, for example, by the distance between either the left or right edge of the road and a representative point M1 of the moving object 1 (e.g., the center of the front end or the center of gravity). In the diagram, Yl is the distance between the left edge of the road (in the diagram, the white line CL1 indicating the left edge of the roadway RW) and the representative point M1 of the moving object 1, and Yr is the distance between the right edge of the road (in the diagram, the dashed line CL2 dividing the lane in which the moving object 1 is located from the oncoming lane) and the representative point M1 of the moving object 1. In the following description, the distance Yl between the left edge of the road and the representative point M1 of the moving object 1 is acquired as the position Y of the moving object 1 in the road width direction. The left and right edges of the road are not limited to the positions of the road dividing lines, but the shoulders, guardrails, median strips, etc. may also be recognized as the left and right edges of the road.

[0035] The acquisition unit 110 acquires, for example, the distance of the road dividing line CL1 to the representative point M1 of the moving object 1 input from the external environment detection device 10 as the position of the moving object 1 in the road width direction. The movement amount ΔY of the moving object 1 in the road width direction is information indicating the direction and distance in the road width direction that the moving object 1 has moved in an observation period Δt (which may be different from a reference period ΔT described below and is, for example, a value shorter than the reference period Δt). The acquisition unit 110 may calculate the movement amount ΔY of the moving object 1 in the road width direction based on a change in the position Y of the moving object 1 in the road width direction during the observation period, or may calculate the movement amount of the moving object 1 in the road width direction by integrating the speed VY of the moving object 1 in the road width direction. The acquisition unit 110 also acquires the speed, acceleration, or yaw rate in each direction based on the detection values ​​of the moving object sensor 12.

[0036] The road type recognition unit 120 recognizes whether the moving object 1 is traveling on a roadway or a sidewalk. The road type recognition unit 120 recognizes whether the moving object 1 is traveling on a roadway or a sidewalk, for example, by analyzing an image captured by an external camera of the external environment detection device 10. An example of image analysis is semantic segmentation. The road type recognition unit 120 classifies each pixel in an image frame into a class (roadway, sidewalk, boundary, obstacle, etc.) and assigns a label to it. The road type recognition unit 120 recognizes that the moving object 1 is traveling on a roadway if there are many pixels labeled as a roadway in the area corresponding to the front of the moving object 1 in the image, and recognizes that the moving object 1 is traveling on a sidewalk if there are many pixels labeled as a sidewalk in the area corresponding to the front of the moving object 1 in the image. However, the road type recognition unit 120 may recognize that the moving object 1 is traveling on a roadway if a vehicle is recognized in the area corresponding to the front of the moving object 1 in the image, and may recognize that the moving object 1 is traveling on a sidewalk if a pedestrian is recognized in the area corresponding to the front of the moving object 1 in the image. The road type recognition unit 120 may also recognize that the moving object 1 is moving on a roadway if the width of the road surface area in the area in front of the moving object 1 in the image is large, and may recognize that the moving object 1 is moving on a sidewalk if the width of the road surface area in the area in front of the moving object 1 in the image is small. The road type recognition unit 120 may also compare the position information of the moving object 1 with the map information 72 to recognize whether the moving 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. 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.

[0037] The junction recognition unit 130 recognizes the presence of a junction between the sidewalk and the roadway in the traveling direction of the moving object. A junction is a portion located at the boundary between the sidewalk and the roadway, and is a portion where the burden of passing through is less than that of other portions of the boundary. For example, if a step is provided at the boundary between the sidewalk and the roadway, the portion where the step is reduced (including being flush with the sidewalk and the roadway) corresponds to the junction. FIGS. 4 to 6 are diagrams illustrating examples of the shape of the junction. As shown in FIG. 4, the junction CP is, for example, a portion where the block BK at the boundary is lowered together with the sidewalk SW. In the figure, RW indicates the roadway. As shown in FIG. 5, the junction CP may be a portion where a step-eliminating plate PT is placed to fill the step between the roadway RW and the sidewalk SW. As shown in FIG. 6, the junction CP may be a portion where a block BK forming the step between the roadway RW and the sidewalk SW is missing. In addition to these exemplary forms, various other junction CP forms are conceivable. The junction CP may be located not only in the middle of a road but also at an intersection, etc. The contact part recognition unit 130 recognizes the presence of the contact part CP, for example, by inputting an image captured by an external camera into a trained model that has been trained to output information indicating the position of the contact part CP when an image is input. The contact part recognition unit 130 may recognize the presence of the contact part CP based on the shape of a step obtained as a result of scanning diagonally downward with LIDAR.

[0038] The control unit 140 controls the drive device 40 according to, for example, the set operation mode.

[0039] In mode A, when the mobile object 1 travels on a roadway, the control unit 140 controls the drive unit 40 so that the distance between the mobile object 1 and an object ahead of the mobile object 1 is maintained at a certain level or more, and when the distance between the object ahead of the mobile object 1 and the object is sufficiently long, the control unit 140 controls the drive unit 40 so that the mobile object 1 travels 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 mobile object 1 travels on a sidewalk, the control unit 140 controls the drive unit 40 so that the distance between the object ahead of the mobile object 1 is maintained at a certain level or more, and when the distance between the object ahead of the mobile object 1 and the object is sufficiently long, the control unit 140 controls the drive unit 40 so that the distance between the object ahead of the mobile object 1 and the object is sufficiently long, the control unit 140 travels at a second speed V2 (for example, a speed of less than 10 km / h). This function is similar to an 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 techniques used in ACC can be utilized. In addition, in mode A, the control unit 140 controls the steering angle of the steering wheels based on the amount of operation of an operator 14, such as a steering wheel. Such a function is similar to that of a power steering device, and the technology used in power steering devices can be utilized. Note that the vehicle 1 may have a steering device in which the operator 14 and a steering mechanism are mechanically connected, without electronically controlling steering.

[0040] In mode B, the control unit 140 controls 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 drive unit 40 with a 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 drive unit 40 with a second speed V2 as the upper limit speed. Steering is the same as in mode A.

[0041] In mode C, the control unit 140 detects the running path and obstacles based on the output of the external environment detection device 10, generates a target trajectory along which the moving object 1 can move while avoiding the obstacles in the running path, and controls the driving unit 40 so that the moving object 1 moves along the target trajectory. In mode C, the control unit 140 also controls the driving unit 40 with a first speed V1 as the upper limit speed when the moving object 1 is moving on a roadway, and controls the driving unit 40 with a second speed V2 as the upper limit speed when the moving object 1 is moving on a sidewalk. Mode C is not central to the present invention, so further detailed description will be omitted.

[0042] [Control according to the existence of contact points] Hereinafter, the control by the control unit 140 in accordance with the presence of the connecting unit will be described, starting with mode A. In mode A, when the moving object 1 is moving on a roadway, the connecting unit is recognized within a predetermined range from the moving object 1, and the behavior of the moving object 1 satisfies a predetermined condition, the control unit 140 causes the speed of the moving object 1 to approach the second speed V2 from the first speed V1. "Causing the speed of the moving object 1 to approach the second speed V2 from the first speed V1" means slowing down the moving object 1, except when the moving object 1 is moving at a low speed or stopped due to the presence of an obstacle. In this case, the control unit 140 may use the dialogue device 20 to ask the moving object 1 about its intention to enter the sidewalk, and if an affirmative response is received, cause the speed of the moving object 1 to approach the second speed V2, and if an affirmative response is not received, cause the speed of the moving object 1 not to approach the second speed V2. Hereinafter, regardless of whether a question is asked or not, "when the moving body 1 is moving on the roadway, the connecting section is recognized within a predetermined range from the moving body 1, and the behavior of the moving body 1 satisfies predetermined conditions, the speed of the moving body 1 is brought closer to the second speed V2 from the first speed V1" will be referred to as "specific speed control."

[0043] The predetermined conditions are conditions for determining whether the moving object 1 is in a staggering state. The predetermined conditions include some or all of the conditions listed below, combined using AND or OR conditions. That is, the control unit 140 may determine that the predetermined conditions are satisfied when one of the following conditions (A) to (D) is satisfied, or may determine that the predetermined conditions are satisfied when multiple conditions are satisfied simultaneously.

[0044] (Condition (A)) The predetermined condition may include, for example, whether the number of times the direction of the movement amount ΔY, the speed VY, or the acceleration αY in the road width direction reverses during the reference period ΔT is equal to or greater than a first threshold value Th1. "Reverse" refers to a change in direction. In determining whether this predetermined condition is met, the number of times the movement amount ΔY, the speed VY, or the acceleration αY reverses direction slightly near zero may not be counted as an error factor. If this condition is met, multiple lateral movements in the opposite direction have occurred within a short period of time. This suggests that traffic on the roadway is congested, making smooth movement difficult, or that the occupant P is fatigued and the accuracy of the steering operation has decreased. Therefore, it is highly likely that the occupant P will want to enter the sidewalk and continue moving.

[0045] (Condition (B)) The predetermined condition is, for example, that the time or distance proportion β of movement through a reference area on the roadway that is close to the sidewalk during the reference period ΔT is equal to or greater than a second threshold value Th. FIG. 7 is a diagram for explaining condition (B). In the diagram, Al is the reference area. In the example shown in this diagram, proportion β is calculated as a distance proportion. When the moving object 1 moves through such an area, there is an increased possibility that the moving object 1 will experience further subtle behavior such as vibrations due to unevenness in the shoulder of the road. For this reason, it is considered that there is a high possibility that the occupant P will feel the desire to enter the sidewalk and continue moving.

[0046] (Condition (C)) The predetermined condition includes, for example, the number of times that the acceleration in the longitudinal direction of the road is reversed (i.e., the number of times that acceleration and deceleration occur) during the reference period ΔT being equal to or greater than a third threshold value Th3. If such a condition is satisfied, it is estimated that the traffic on the roadway is congested, making smooth movement difficult, or that the occupant P is fatigued and the accuracy of the steering operation is reduced. For this reason, it is considered that the occupant P is likely to feel the desire to enter the sidewalk and continue moving.

[0047] (Condition (D)) The predetermined condition includes, for example, the number of times that a yaw rate equal to or greater than a reference value occurs in a reference period being equal to or greater than a fourth threshold. If such a condition is met, it is estimated that the vehicle has made many sharp turns in a short period of time, causing traffic congestion on the roadway and making smooth movement difficult, or that the occupant P is fatigued and the accuracy of steering operation has decreased. Therefore, it is considered that the occupant P is likely to want to enter the sidewalk and continue moving.

[0048] FIG. 8 is a diagram showing an example of a situation in which specific speed control is performed. In the diagram, X is the distance between the moving object 1 and the junction part CP. Distance X is defined, for example, as the distance from the foremost position of the junction part CP to the front end of the moving object 1, but is not limited to this and may be defined arbitrarily, such as from the center of the junction part CP to the center of gravity of the moving object 1. When distance X is equal to or less than a predetermined distance (an example of the junction part CP being within a predetermined range from the moving object 1) and the behavior of the moving object 1 satisfies a predetermined condition, specific speed control is performed. In the diagram, TJ is the past trajectory of the moving object 1, indicating that wobbling is occurring.

[0049] In mode B, when the moving object 1 is moving on a roadway, the communication unit is recognized within a predetermined range from the moving object 1, and the behavior of the moving object 1 satisfies a predetermined condition (this may be further confirmed by asking a question), the control unit 140 gradually switches the upper speed limit of the moving object 1 from the first speed V1 to the second speed V2. Alternatively, when the above conditions are satisfied in mode B, the control unit 140 may simply suggest, using the dialogue device 20, that the moving object 1 approach the second speed V2 by manually operating the accelerator pedal AP or the brake pedal BP. For example, the control unit 140 causes the dialogue device 20 to output a voice message such as, "If you plan to enter the sidewalk, please slow down." The definition of the predetermined state is the same as in mode A.

[0050] 9 is a flowchart showing an example of the flow of processing executed by the control device 100 of the embodiment. The processing of this flowchart is premised on mode A. The processing of this flowchart is executed repeatedly at a predetermined cycle, for example.

[0051] First, the road type recognition unit 120 determines whether the moving object 1 is moving on a roadway (whether the moving object 1 is moving on a sidewalk) (step S200). If it is determined that the moving object 1 is moving on a roadway, the control unit 140 performs control as in the case where the moving object 1 is moving on a roadway, as described above (step S202). Next, the control unit 140 determines whether a contact unit CP exists within a predetermined range in the traveling direction of the moving object 1, based on the recognition result of the contact unit recognition unit 130 (step S206). If it is determined that a contact unit CP exists within a predetermined range in the traveling direction of the moving object 1, the control unit 140 determines whether the behavior of the moving object 1 satisfies a predetermined condition, based on information provided by the acquisition unit 110 (step S208). If it is determined that the behavior of the moving object 1 satisfies the predetermined condition, the control unit 140 executes specific speed control (step S210).

[0052] If a negative determination result is obtained in step S206 or S208, the processing of one routine of this flowchart ends. Also, if it is determined in step S200 that the moving object 1 is moving on a sidewalk, the control unit 140 performs control for when the moving object 1 is moving on a sidewalk (step S204).

[0053] According to the first embodiment described above, appropriate control can be performed when a moving body capable of traveling on both roadways and sidewalks enters a sidewalk from a roadway. When the behavior of the moving body 1 satisfies a predetermined condition, it is estimated that, as described above, traffic on the roadway is congested, making smooth movement difficult, or that the occupant P is fatigued and the steering operation accuracy is reduced. Therefore, when the behavior of the moving body 1 satisfies a predetermined condition, it is estimated that the occupant will operate the steering wheel WH at the approaching junction CP to cause the moving body 1 to enter the sidewalk. However, because there is a difference between the first speed V1, which is the upper limit or target speed on the roadway, and the second speed V2, which is the upper limit or target speed on the sidewalk, if the moving body 1 traveling at the first speed V1 suddenly enters the sidewalk, a situation may arise in which the moving body 1 is forced to suddenly decelerate. Furthermore, when a turn to enter the sidewalk is initiated while traveling at the relatively high first speed V1, there is a concern that large lateral acceleration may occur. In other words, it may be too late to decelerate after steering has actually begun.

[0054] In contrast, when the moving object 1 is moving on a roadway, the connecting part CP is recognized by the moving object 1 within a predetermined range in the moving direction, and the behavior of the moving object 1 satisfies a predetermined condition, the control device 100 of the embodiment brings the speed of the moving object 1 closer to the second speed V2, thereby preventing the above-mentioned sudden deceleration and sharp turns from occurring. As a result, appropriate control can be performed when entering the sidewalk from the roadway.

[0055] Second Embodiment The second embodiment will be described below. The control device 100 of the second embodiment differs from the first embodiment in the function of the road type recognition unit 120. The road type recognition unit 120 of the second embodiment recognizes whether the mobile object 1 is traveling on a roadway or a sidewalk, for example, in response to an occupant's operation of a road type input switch (not shown) provided on the mobile object. The road type input switch is provided, for example, on a boss portion of the steering wheel WH. The road type input switch has a mechanism that can be operated up and down and maintains the operated position, and indicates a roadway when operated upward and a sidewalk when operated downward. The road type input switch may be in the form of a button or a GUI switch that switches to a sidewalk when operated while the control device 100 recognizes that the mobile object 1 is traveling on a roadway, and switches to a roadway when operated while the control device 100 recognizes that the mobile object 1 is traveling on a sidewalk. This configuration makes it possible to omit the function of automatically recognizing whether the mobile object 1 is traveling on a roadway or a sidewalk, thereby reducing processing load and costs. However, since there is a possibility of an erroneous operation by the occupant, it is desirable that the external notification device 50 notify the information to the outside in the second embodiment.

[0056] <Other> In each of the above embodiments, the control unit 140 may execute only one of the control modes, Mode A and Mode B. That is, the moving object 1 may execute the speed assist mode but not the manual mode, or may execute the manual mode but not the speed assist mode. The control unit 140 may also execute the control modes of both Mode A and Mode B, but may perform the specific speed control only when either Mode A or Mode B is being executed. In either case, whether to execute the control mode C may be determined arbitrarily.

[0057] The above-described embodiment can be expressed as follows. a storage device storing a program; a hardware processor; The hardware processor executes the program stored in the storage device, acquiring information indicating the behavior of the moving object; Recognizing whether the moving object is moving on a roadway or in the predetermined area; Recognizing the presence of a connecting portion between the roadway in the traveling direction of the moving object and the predetermined area; at least partially controlling the velocity of the moving object; controlling the speed of the moving body when it moves on a roadway to a first speed; controlling a speed at which the moving body moves within the predetermined area to a second speed that is lower than the first speed; When the mobile body is moving on a roadway, the communication unit is recognized within a predetermined range from the mobile body, and the behavior of the mobile body is such that the mobile body is in a swaying state, an inquiry is made regarding an intention to enter the predetermined area using an interface device in order to control deceleration of the mobile body. Control device for a moving object.

[0058] 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]

[0059] 10. External sensing devices 12 Mobile Sensor 14 Controls 16 Internal Camera 18 Positioning equipment 20 Interactive Device 22 Mode switch 30 Moving mechanism 40 Drive unit 50 External alarm device 70 Storage device 100 control device 110 Acquisition Department 120 Road type recognition unit 130 Liaison Department Recognition Department 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, an acquisition unit that acquires information indicating the behavior of the moving object; a road type recognition unit that recognizes whether the moving object is moving on a roadway or in the predetermined area; a connecting portion recognition unit that recognizes the presence of a connecting portion between a roadway in the traveling direction of the moving object and the predetermined area; a control unit that at least partially controls the speed of the moving body, the control unit controlling the speed of the moving body when moving on a roadway to a first speed and the speed of the moving body when moving in the predetermined area to a second speed lower than the first speed; Equipped with When the moving object is moving on a roadway, the communication unit is recognized within a predetermined range from the moving object, and the behavior of the moving object is such that the moving object is in a swaying state, the control unit uses an interface device to inquire about an intention to enter the predetermined area in order to control the speed of the moving object to the second speed. Control device for a moving object.

2. the acquisition unit acquires a movement amount, a speed, or an acceleration of the moving object in a road width direction as information indicating a behavior of the moving object; When the moving object is moving on a roadway, the communication unit is recognized within a predetermined range from the moving object, and the behavior of the moving object is a behavior in which the number of times the direction of the movement amount, speed, or acceleration in the road width direction has reversed is equal to or greater than a first threshold during a reference period, the control unit uses an interface device to ask about an intention to enter the predetermined area in order to control the speed of the moving object to the second speed. The control device for a moving body according to claim 1.

3. the acquisition unit acquires a position of the moving object in a road width direction as information indicating a behavior of the moving object; When the moving object is moving on a roadway, the communication unit is recognized within a predetermined range from the moving object, and the behavior of the moving object is such that a time or distance rate of movement of the moving object through a reference area on the roadway that is close to the predetermined area is equal to or greater than a second threshold value during a reference period, the control unit uses an interface device to ask about an intention to enter the predetermined area in order to control the speed of the moving object to the second speed. The control device for a moving body according to claim 1.

4. the acquisition unit acquires acceleration of the moving object in a longitudinal direction of a road as information indicating a behavior of the moving object; When the moving object is moving on a roadway, the communication unit is recognized within a predetermined range from the moving object, and the behavior of the moving object is such that the number of times that acceleration in the road longitudinal direction is reversed during a reference period is equal to or greater than a third threshold, the control unit uses an interface device to ask about an intention to enter the predetermined area in order to control the speed of the moving object to the second speed. The control device for a moving body according to claim 1.

5. the acquisition unit acquires a yaw rate of the moving body as information indicating a behavior of the moving body; When the moving body is moving on a roadway, the communication unit is recognized within a predetermined range from the moving body, and the behavior of the moving body is such that the number of times a yaw rate equal to or greater than a reference value occurs within a reference period is equal to or greater than a fourth threshold, the control unit uses an interface device to ask about an intention to enter the predetermined area in order to control the speed of the moving body to the second speed. The control device for a moving body according to claim 1.

6. the query using the interface device includes a voice query; The control device for a moving body according to any one of claims 1 to 5.

7. the control unit, when an affirmative response is received to the question, causes the speed of the moving object to approach the second speed, and, when an affirmative response is not received, does not cause the speed of the moving object to approach the second speed. The control device for a moving body according to any one of claims 1 to 6.

8. the road type recognition unit 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 a situation outside the moving object. The control device for a moving body according to any one of claims 1 to 7.

9. the road type recognition unit recognizes whether the mobile object is moving on a roadway or in the predetermined area based on an operation of a switch provided inside the mobile object. The control device for a moving body according to any one of claims 1 to 8.

10. when the road type recognition unit recognizes that the moving object is moving in the predetermined area, the road type recognition unit causes an external notification device to notify an outside of the moving object that the moving object is moving in the predetermined area; The control device for a moving body according to any one of claims 1 to 9.

11. A computer that controls a mobile object that can move on both a roadway and a predetermined area different from the roadway, acquiring information indicating the behavior of the moving object; Recognizing whether the moving object is moving on a roadway or in the predetermined area; Recognizing the presence of a connecting portion between the roadway in the traveling direction of the moving object and the predetermined area; at least partially controlling the velocity of the moving object; controlling the speed of the moving body when it moves on a roadway to a first speed; controlling the speed of the moving body when it moves in the predetermined area to a second speed which is lower than the first speed; When the moving body is moving on a roadway, the communication unit is recognized within a predetermined range from the moving body, and the behavior of the moving body is such that the moving body is in a swaying state, an inquiry is made regarding an intention to enter the predetermined area using an interface device in order to control the speed of the moving body to the second speed. A method for controlling a moving object.

12. A computer that controls a mobile object that can move on both a roadway and a predetermined area different from the roadway, acquiring information indicating the behavior of the moving object; Recognizing whether the moving object is moving on a roadway or in the predetermined area; The vehicle is made to recognize the presence of a connecting portion between the roadway in the traveling direction of the vehicle and the predetermined area, at least partially controlling the speed of the moving object; controlling the speed of the moving object when it moves on a roadway to a first speed; controlling the speed of the moving body when it moves within the predetermined area to a second speed which is lower than the first speed; When the moving body is moving on a roadway, the communication unit is recognized within a predetermined range from the moving body, and the behavior of the moving body satisfies a condition for determining whether the moving body is in a staggering state, an interface device is used to ask a question regarding an intention to enter the predetermined area in order to control the speed of the moving body to the second speed. program.

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