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

Abstract

The present invention is a moving body control device, the moving body being capable of moving both on a roadway and in a prescribed region which is different from the roadway. The moving body control device comprises: a road type recognition unit that recognizes whether the moving body is moving on the roadway or in the prescribed region on the basis of output from an external environment detection device that detects the condition of the outside environment of the moving body; and a control unit that limits the speed of the moving body to a first speed when the moving body is moving on the roadway, and limits the speed to a second speed, which is slower than the first speed, when the moving body is moving in the prescribed region. The control unit controls the first speed on the basis of the width of the track on which the moving body is moving.

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 application of mobile objects that can move on both sidewalks and roadways has been promoted, and for such mobile objects, it is necessary to set different upper speed limits for sidewalks and roadways. In this regard, a document has been disclosed that describes a method for controlling the speed of an electric wheelchair, in which an upper speed limit is set according to the width of the road, and further, when it is detected that the wheelchair is traveling on the edge of a road without a sidewalk, the upper speed limit is lowered (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-100490 Summary of the Invention [Problem to be solved by the invention]

[0004] Electric wheelchairs are designed to move exclusively on sidewalks, and conventional technology has not always been able to adequately control the speed of a mobile body that can move on roads and designated areas that are different from roads.

[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 are capable of appropriately controlling the speed of a mobile body that can move on a roadway and a specified area different from the roadway. [Means for solving the problem]

[0006] The mobile object control device, mobile object control method, and 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 capable of moving both on a roadway and in a predetermined area different from the roadway, and includes: a road type recognition unit that recognizes whether the mobile body is moving on a roadway or in the predetermined 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 the roadway to a first speed and limits the speed of the mobile body when moving in the predetermined area to a second speed lower than the first speed, and the control unit adjusts the first speed based on the width of the track on which the mobile body moves.

[0007] (2): In the above aspect (1), the road type recognition unit recognizes whether the moving body is moving on a roadway or in the specified area based on a roadway score calculated based on the output of the external environment detection device, which indicates the probability that the moving body is moving on a roadway, and the control unit adjusts the first speed based on the roadway score.

[0008] (3) In the above aspect (2), the control unit sets the first speed higher as the roadway score increases.

[0009] (4): In the above aspect (2) or (3), the control unit compares the adjustment amount of the first speed based on the width of the lane with the adjustment amount of the first speed based on the roadway score, and if the adjustment amount of the first speed based on the width of the lane is greater than the adjustment amount of the first speed based on the roadway score, adjusts the first speed based on the width of the lane, and if the adjustment amount of the first speed based on the width of the lane is equal to or less than the adjustment amount of the first speed based on the roadway score, adjusts the first speed based on the roadway score.

[0010] (5): 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 whether the moving body is moving on the roadway or in the predetermined area based on the output of an external environment detection device that detects the external conditions of the moving body, 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 limiting the speed of the moving body when moving on the roadway to the first speed includes adjusting the first speed based on the width of the track along which the moving body moves.

[0011] (6): Another aspect of the present invention is a storage medium that stores a program that causes a computer that controls a mobile object that can move both on a roadway and in a specified area different from 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 that causes the computer to limit the speed of the mobile object when moving on the roadway to a first speed and the speed of the mobile object when moving in the specified area to a second speed that is lower than the first speed, wherein limiting the speed of the mobile object when moving on the roadway to the first speed includes adjusting the first speed based on the width of the track on which the mobile object moves. [Effects of the Invention]

[0012] According to the above aspects (1) to (6), it is possible to appropriately control the speed of a mobile object that can move on a roadway and a predetermined area different from the roadway. [Brief explanation of the drawings]

[0013] [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] 10 is a flowchart showing an example of the flow of processing executed by a road type recognition unit 120 of the embodiment. [Figure 7] FIG. 10 is a diagram showing an example of the relationship between the width W of the road and the correction value ΔV1-1. [Figure 8] FIG. 10 is a diagram showing an example of the relationship between the roadway score Sc and the correction value ΔV1-2. [Figure 9] FIG. 4 is a diagram showing an example of a flow of processing executed by a control unit 140 of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] 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."

[0015] 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.

[0016] 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.

[0017] 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.).

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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 illustrated 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).

[0026] [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.

[0027] 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.

[0028] 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).

[0029] Sr=α1×P1+α1+P2+…+αn×Pn…(1) (If the corresponding first event k is not recognized, Pk = 0 (k = 1 to n))

[0030] 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.

[0031] 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).

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 6 is a flowchart showing an example of the flow of processing executed by the road type recognition unit 120 according to the embodiment. First, the road type recognition unit 120 acquires information for recognition, such as an image from an external camera (step S300).

[0038] 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).

[0039] 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.

[0040] 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).

[0041] 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).

[0042] 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.

[0043] 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.

[0044] In mode A-1, the control unit 140 references the path and object information 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. The first speed V1 is, for example, a speed greater than or equal to 10 km / h and less than several tens of km / h, and is adjusted based on the width of the path along which the moving body 1 moves, as described below. 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 less than 10 km / h). This function is similar to the ACC (Adaptive Cruise Control) function of a vehicle in which the first speed V1 or the second speed V2 is set as the set speed, and the technology used in ACC can be used. Also, 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 the function 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] [Speed ​​adjustment] The adjustment process of the first speed V1 executed by the control unit 140 will be described below. The control unit 140 adjusts the first speed V1 based on the width of the lane on which the moving object 1 is traveling, etc. The lane refers to the area enclosed by lane boundaries such as road dividing lines, steps, guardrails, road shoulders, and median strips. When the moving object 1 is traveling on a road with multiple lanes, the lane may refer to one lane, or may refer to a one-way road including multiple lanes.

[0049] The control unit 140 determines the first speed V1 by, for example, subtracting a correction value ΔV1-1 from the upper limit value V1max of the first speed V1. FIG. 7 is a diagram illustrating an example of the relationship between the lane width W and the correction value ΔV1-1. This information is stored in the storage device 70 as part of a program that defines the control unit 140 or as table information referenced by the program. The control unit 140 increases the correction value ΔV1-1 as the lane width W decreases (becomes narrower). Note that the illustrated numerical values ​​are merely a simple example and do not define the invention. Instead of determining the first speed V1 by subtracting the correction value ΔV1-1 from the upper limit value V1max of the first speed V1, the first speed V1 may be determined by multiplying the upper limit value V1max of the first speed V1 by a coefficient γ-1 less than 1. In this case, "increasing the correction value ΔV1-1" may be interpreted as "decreasing the coefficient γ-1."

[0050] By adjusting the first speed V1 in this way, it is possible to appropriately control the speed of a mobile object that can move on roadways and sidewalks. A small width W of the road indicates that there is a high probability that the roadway and sidewalk are separated only by road dividing lines, that the sidewalk is narrow, or that the legal speed limit is relatively low. In such cases, it is preferable to move by appropriately limiting the first speed V1.

[0051] The control unit 140 may also adjust the first speed V1 based on the roadway score Sc calculated by the road type recognition unit 120. For example, the control unit 140 sets the first speed V1 higher as the roadway score increases. In this case, the control unit 140 determines the first speed V1 by further adjusting the first speed V1 by subtracting a correction value ΔV1-2, which increases as the roadway score decreases, from the adjusted first speed V1. FIG. 8 is a diagram showing an example of the relationship between the roadway score Sc and the correction value ΔV1-2. Here, it is assumed that the roadway score is calculated in the range of 0 to 100 and the threshold value Th is 60. This information is stored in the storage device 70 as part of a program that defines the control unit 140 or as table information referenced by the program. Note that the numerical values ​​shown are merely a simple example and do not define the invention.

[0052] By adjusting the first speed V1 in this way, it is possible to appropriately control the speed of a moving object that can move on both roadways and sidewalks. A low roadway score Sc indicates that the probability that the moving object 1 is moving on a roadway is relatively low, even if it is within a range where it is recognized as moving on the roadway. In such cases, it is preferable to move by appropriately limiting the first speed V1.

[0053] In the above, the first speed V1 is determined by reducing the value based on various events, using the upper limit value V1max of the first speed V1 as the reference, but depending on the conditions, processing may be performed to increase the first speed V1.

[0054] 9 is a diagram showing an example of the flow of processing executed by the control unit 140 of the embodiment. The processing of this flowchart is executed when the road type recognition unit 120 recognizes that the moving object 1 is moving on a roadway. First, the control unit 140 acquires the width W of the road from the road type recognition unit 120 or the object recognition unit 130 (step S200), and determines a correction value ΔV1-1 according to the width W of the road (step S202).

[0055] Next, the control unit 140 acquires the lane score Sc from the road type recognition unit (step S204), and determines a correction value ΔV1-2 according to the lane score Sc (step S206).

[0056] Then, the control unit 140 determines the first speed V1 by subtracting the correction value ΔV1-1 and the correction value ΔV1-2 from the upper limit value V1max of the first speed V1 (step S208).

[0057] Note that the control unit 140 may selectively perform either the correction based on the width W of the runway or the correction based on the lane score Sc. In this case, the control unit 140 may perform the correction that makes the upper limit value V1max of the first speed V1 smaller. That is, the control unit 140 compares the correction value ΔV1-1, which is the adjustment amount of the first speed V1 based on the width W of the runway, with the correction value ΔV1-2, which is the adjustment amount of the first speed based on the lane score Sc. When the correction value ΔV1-1 is larger than the correction value ΔV1-2, the control unit 140 determines the first speed V1 by subtracting only the correction value ΔV1-1 from the upper limit value V1max of the first speed V1. When the correction value ΔV1-1 is less than or equal to the correction value ΔV1-2, the control unit 140 may determine the first speed V1 by subtracting only the correction value ΔV1-2 from the upper limit value V1max of the first speed V1. Thereby, the moving body 1 can travel at an appropriate speed without excessively reducing the speed.

[0058] According to the embodiment described above, it is possible to appropriately perform speed control in a moving body that can move between a lane and a predetermined area different from the lane.

[0059] <Modification Example> Hereinafter, a modification example of the embodiment will be described. In the above embodiment, when one second event is recognized, the moving body 1 is recognized as moving on the sidewalk. However, when the second event is recognized and the lane score Sr is greater than or equal to the second threshold Th2 (Th1 < Th2), exception processing may be performed.

[0060] A case where a second event is recognized and the roadway score Sr is equal to or greater than the second threshold Th2 means that one or more second events are recognized even though the roadway score Sr has reached a large value and it is determined that there is a high probability that the moving object 1 is moving on the roadway. In such a case, the second event may have been recognized erroneously, or because a static obstacle was accidentally placed on the roadway, or because the roadway was located above a step due to an irregular road structure.

[0061] Therefore, in such a case, the road type recognition unit 120 may not immediately determine that the moving object 1 is moving on a sidewalk, but may perform the following exceptional processing.

[0062] For example, the exception processing is as follows: (1) if the immediately preceding recognition result is "moving object 1 is moving on a roadway," the recognition result is maintained for a certain period of time, and if the immediately preceding recognition result is "moving object 1 is moving on a sidewalk," the road type recognition unit 120 recognizes that moving object 1 is moving on a sidewalk. Note that if the state "the second event is recognized and the roadway score Sr is equal to or greater than the second threshold value Th2" continues after the certain period of time has elapsed, the road type recognition unit 120 may recognize that moving object 1 is moving on a sidewalk.

[0063] The exception processing may also be (2) outputting information to the occupant P of the moving body 1 in some way asking whether the moving body 1 is moving on a roadway or a sidewalk, and recognizing whether the moving body 1 is moving on a roadway or a sidewalk based on the answer of the occupant P. In this case, the answer of the occupant P may be given, for example, via a road type input switch (not shown) provided on the moving body 1, or by voice.

[0064] 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; limiting the speed of the moving object when it travels on the roadway to a first speed includes adjusting the first speed based on a width of a track on which the moving object travels. Control device for a moving object.

[0065] 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]

[0066] 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 control unit adjusts the first speed based on a width of a path along which the moving object moves, the road type recognition unit recognizes whether the moving object is moving on a roadway or in the predetermined area based on a roadway score that is calculated based on an output of the external environment detection device and indicates a probability that the moving object is moving on a roadway; The control unit adjusts the first speed based on the roadway score. Control device for a moving object.

2. The control unit sets the first speed higher as the roadway score is higher. The control device for a moving body according to claim 1.

3. The control unit comparing the first speed adjustment amount based on the width of the road with the first speed adjustment amount based on the roadway score; If the adjustment amount of the first speed based on the width of the road is greater than the adjustment amount of the first speed based on the roadway score, adjust the first speed based on the width of the road; If the adjustment amount of the first speed based on the width of the road is equal to or less than the adjustment amount of the first speed based on the roadway score, adjust the first speed based on the roadway score. The control device for a moving body according to claim 1 or 2.

4. A method for controlling a mobile object using a computer that controls a mobile object that can move on both a roadway and a predetermined area different from the roadway, comprising: Recognizing whether the moving object is moving on a roadway or in the predetermined area based on an output from an external environment detection device that detects an external situation of the moving object; 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; adjusting the first speed based on a width of a path along which the moving object travels; Recognizing whether the moving object is moving on a roadway or in the predetermined area based on a roadway score that indicates the probability that the moving object is moving on a roadway, the roadway score being calculated based on the output of the external environment detection device; adjusting the first speed based on the roadway score; A method for controlling a moving object, comprising:

5. A program to be executed by a computer that controls a mobile object that can move on both a roadway and a predetermined area different from the roadway, Recognizing whether the moving object is moving on a roadway or in the predetermined area based on an output from an external environment detection device that detects an external situation of the moving object; 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; adjusting the first speed based on a width of a path along which the moving object travels; Recognizing whether the moving object is moving on a roadway or in the predetermined area based on a roadway score that indicates the probability that the moving object is moving on a roadway, the roadway score being calculated based on the output of the external environment detection device; adjusting the first speed based on the roadway score; A storage medium storing a program including the above.

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