Emergency evacuation device, mobile control system, and emergency evacuation method

Abstract

To provide an emergency evacuation device, a mobile body control system, and an emergency evacuation method for securing safety of an own vehicle without disturbing traveling of another traffic participant when an abnormality occurs in a detector for recognizing a peripheral environment of the own vehicle.SOLUTION: An emergency evacuation device includes: an emergency stop request section for detecting an abnormality based on obstacle information acquired from an obstacle information acquisition section and a road side information acquisition section and an occupant physical state acquired from an occupant state information acquisition section, so as to output an emergency stop request; a movement permission determination section for determining a movement permission of a mobile body based on the emergency stop request; and a mobile body control section for controlling a movement of the mobile body based on information of the movement permission and the cancellation of the movement permission for determining whether or not the movement permission of the mobile body is to be canceled based on a control state of the mobile body acquired from a mobile body state information acquisition section. When it is the movement permission but it is not the cancellation of the movement permission, the mobile body can be moved within a fixed limit range.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present application relates to an emergency evacuation device, a mobile object control system, and an emergency evacuation method. [Background technology]

[0002] In recent years, there has been active development of autonomous driving technology for automobiles, and in addition to providing driving assistance to users, technologies that can drive autonomously without user intervention are attracting attention.When autonomous driving occurs, if an event occurs that makes it impossible to drive safely, such as a failure of one of the sensors that detects the vehicle's surrounding environment, the vehicle is required to stop in a situation where it does not interfere with other traffic participants and the risk of an accident is low.

[0003] For example, in Patent Document 1, when an abnormality is detected in an external environment recognition device that recognizes the surrounding environment of the vehicle, a process is executed to stop the vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-24741 Summary of the Invention [Problem to be solved by the invention]

[0005] In Patent Document 1, if an abnormality occurs in the external recognition system for recognizing the surrounding environment of the vehicle, a trajectory for the vehicle to stop is generated based on a Minimum Risk Maneuver (MRM). However, there is a possibility that the vehicle may stop in an area where roads intersect, such as an intersection. If the vehicle stops in an intersection, it may obstruct the progress of other traffic participants or may result in a collision between the vehicle and other traffic participants. This is because an intersection is an area where roads intersect, and the vehicle has a significant impact on other traffic participants. Furthermore, even if the vehicle stops on the shoulder of a road outside the intersection, it may obstruct the passage of other traffic participants attempting to pass through a road connected to the shoulder or a parking entrance / exit. These are issues that arise when considering the advancement of automated driving.

[0006] The present application discloses technology for solving the above-mentioned problems, and aims to provide an emergency evacuation device, a mobile control system, and an emergency evacuation method for ensuring the safety of a vehicle without impeding the progress of other traffic participants when an abnormality occurs in a detector (sensor) that recognizes the surrounding environment of the vehicle. [Means for solving the problem]

[0007] The emergency evacuation device disclosed in the present application comprises: Obstacle information around the moving object acquired by the obstacle information acquisition unit; Obstacle information around the roadside acquired by the roadside information acquisition unit; Physiological condition information of the occupant of the vehicle acquired by an occupant condition information acquisition unit Information, Transfer Moving object state information, which is the control state of the moving object acquired by the moving object state information acquisition unit. 、 Road information around the moving object acquired by a road information acquisition unit, and The position information of the moving body acquired by the self-position acquisition unit is Entered emergency Evacuation 1. An apparatus comprising: The obstacle information acquired by the obstacle information acquisition unit The aforementioned Obstacle information around the moving object, acquired by the roadside information acquisition unit The aforementionedan emergency stop request unit that outputs an emergency stop request when an abnormality is detected in at least one of the information about obstacles around the roadside and the physiological state information of the occupant; a movement permission determination unit that determines whether or not to permit movement of the moving object based on the emergency stop request output from the emergency stop request unit; a movement permission canceling unit that determines whether or not to cancel the movement permission of the moving object based on the moving object state information and the movement permission output from the movement permission determining unit; a moving body control unit that controls movement of the moving body based on the movement permission output from the movement permission determination unit and the movement permission cancellation output from the movement permission cancellation unit, The movement permission determination unit When an emergency stop request is output from the emergency stop request unit, When the moving body stops in an area that obstructs the progress of other traffic participants, outputting a movement permission for the moving body; The moving body control unit When the output from the movement permission determination unit is movement permission and the output from the movement permission cancellation unit is not cancellation, Outside the area Controlling it to move, When the output from the movement permission determination unit is not movement permission or the output from the movement permission cancel unit is cancellation, the moving body is controlled to stop. [Effects of the Invention]

[0008] According to the present invention, it is possible to execute an emergency evacuation to ensure the safety of one's own vehicle without impeding the progress of other traffic participants. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a functional block diagram showing the configuration of an emergency evacuation device and a mobile object control system according to a first embodiment. [Figure 2] 2 is a diagram showing the configuration of a detector for each piece of information used in the mobile object control system according to the first embodiment. FIG. [Figure 3] 3 is a diagram showing an example of an obstacle detection range of an obstacle information detection unit mounted on a vehicle; FIG. [Figure 4] 4 is a flowchart showing the operation of the emergency evacuation device according to the first embodiment. [Figure 5] 3 is a functional block diagram showing the configuration of a moving body control unit of the emergency evacuation device according to the first embodiment. FIG. [Figure 6] FIG. 10 is a functional block diagram showing the configuration of an emergency evacuation device and a mobile object control system according to a second embodiment. [Figure 7] 10 is a diagram showing the configuration of a detector for each piece of information used in the mobile object control system according to the second embodiment. FIG. [Figure 8] FIG. 10 is a diagram for explaining the operation of the emergency evacuation device according to the second embodiment. [Figure 9A] 10 is a flowchart showing the operation of the emergency evacuation device according to the second embodiment. [Figure 9B] 10 is a flowchart showing the operation of the emergency evacuation device according to the second embodiment. [Figure 10] 1 is a diagram illustrating an example of a hardware configuration of a mobile object control system according to first and second embodiments. [Figure 11] FIG. 2 is a diagram illustrating another example of the hardware configuration of the mobile object control system according to the first and second embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the emergency evacuation device, mobile body control system, and emergency evacuation method disclosed in the present application will be described with reference to the drawings. In the following embodiments, an automobile is taken as an example of a mobile body to which the emergency evacuation device and mobile body control system are applied, and an example of generating an emergency evacuation plan for the vehicle is shown. The mobile body is assumed to be capable of automated driving equivalent to Level 3 or Level 4 defined by the Society of Automotive Engineers (SAE International), for example. The mobile body is assumed to have acquired a driving route to a destination in advance and to be driving along that route. In addition, the same reference numerals in each drawing indicate the same or corresponding parts. Therefore, detailed descriptions thereof may be omitted to avoid duplication.

[0011] The drawings are schematic, and for the sake of convenience, components may be omitted or simplified as appropriate. Furthermore, the relative sizes and positions of components shown in different drawings are not necessarily accurately depicted and may be changed as appropriate. Hatching may also be used in drawings such as plan views that are not cross-sectional views to facilitate understanding of the embodiments.

[0012] Embodiment 1 The emergency evacuation device, the mobile object control system, and the emergency evacuation method according to the first embodiment will be described below with reference to the drawings. <Device configuration> FIG. 1 is a functional block diagram showing the configuration of an emergency evacuation device and a mobile object control system according to a first embodiment, and FIG. 2 is a diagram with added functional blocks showing the configuration of each information detection unit used in the mobile object control system of FIG. 1. In FIGS. 1 and 2, mobile object control system 1000 includes emergency evacuation device 100. Emergency evacuation device 100 is a device for emergency evacuation of its own vehicle, and includes emergency stop request unit 120, movement permission determination unit 140 that determines whether or not to permit movement of the mobile object, movement permission cancellation unit 160 that cancels the movement permission of the mobile object, and mobile object control unit 180 for driving the mobile object. Mobile object control system 1000 includes information acquisition unit 200 that acquires information necessary for emergency evacuation of its own vehicle in emergency evacuation device 100. The information acquisition unit 200 includes an obstacle information acquisition unit 10 that acquires information about obstacles around the vehicle, a roadside information acquisition unit 20 that acquires information from a roadside unit RU, an occupant status information acquisition unit 30 that acquires the status of an occupant driving the vehicle, which is a moving body, and a mobile body status information acquisition unit 40 that acquires information about the vehicle, which is a moving body, from each sensor mounted on the vehicle.

[0013] 1 and 2, the obstacle information acquisition unit 10, the roadside information acquisition unit 20, the occupant status information acquisition unit 30, and the mobile object status information acquisition unit 40 may be included in the emergency evacuation device 100.

[0014] The obstacle information acquisition unit 10 acquires information about obstacles present around the vehicle detected by the obstacle information detection unit 12 .

[0015] The obstacle information detection unit 12 detects obstacle information. The obstacles are, for example, traffic participants such as other vehicles, pedestrians, bicycles, and motorcycles present around the vehicle. The obstacle information detection unit 12 is, for example, at least one of a camera, radar, LiDAR (Light Detection And Ranging), and sonar sensor (ultrasonic sensor) provided on the vehicle. The obstacle information detection unit 12 may output to the obstacle information acquisition unit 10 obstacle information associated with the type of traffic participant categorized as other vehicles, pedestrians, bicycles, motorcycles, and the like.

[0016] The camera is installed in a position where it can capture images of the front, sides, and rear of the vehicle, and from the captured images it obtains information about the vehicle's environment, such as information about the lane and obstacles in front of the vehicle.

[0017] The radar emits radar light ahead of the vehicle and detects the reflected waves to measure the relative distance and relative speed of an obstacle present ahead of the vehicle, and outputs the measurement results.

[0018] LiDAR detects the position of an object by shining a laser around the vehicle and detecting the time difference between the time it takes for the laser to reflect off an object and return.

[0019] A sonar sensor detects the position and distance of an object by emitting ultrasonic waves to the area around the vehicle and detecting the time difference between the time it takes for the waves to reflect off an object and return.

[0020] FIG. 3 shows an example in which multiple obstacle information detection units 12 described above are combined and arranged on a vehicle, illustrating the detection ranges of each obstacle information detection unit 12. In FIG. 3, seven obstacle information detection units 12, from obstacle information detection unit 12a to obstacle information detection unit 12g, are mounted on the host vehicle OV, with three obstacle information detection units 12a, 12b, and 12g located in the front, two obstacle information detection units 12c and 12f located on the sides, and two obstacle information detection units 12d and 12e located in the rear. The detection ranges of each obstacle information detection unit 12 are indicated by fan-shaped dashed lines, and the host vehicle OV can detect obstacles in detection ranges SN1, SN2, and SN7 in the front, detection ranges SN3 and SN6 on the sides, and detection ranges SN4 and SN5 in the rear. It is desirable to be able to set the obstacle detection range so as to encompass the entire periphery of the host vehicle OV.

[0021] For example, an obstacle information detector (hereinafter referred to as a roadside unit) provided on a roadside strip includes at least one of a camera, radar, LiDAR, and sonar sensor. Information about the roadside surroundings detected by the roadside unit RU is acquired by the roadside information acquisition unit 20 via wireless communication as obstacle information. Note that the roadside unit may be provided not only on the roadside strip, but also on the road, such as the roadway, road shoulder, or sidewalk, or may be provided on a building or utility pole near the road. Information about the roadside surroundings may also be acquired from a remote control system or the like.

[0022] The occupant state detection unit 32 detects the physiological state of the occupant. The physiological state of the occupant includes, for example, the occupant's line of sight, blinking, changes in facial direction, brain waves, heart rate, breath components, and sweat amount. The occupant state detection unit 32 is, for example, at least one of a camera, an electroencephalograph, a heart rate monitor, a breath sensor, and a sweat sensor provided in the vehicle. The occupant state detection unit 32 outputs the occupant's physiological state and abnormal physical condition to the occupant state information acquisition unit 30.

[0023] The mobile object state detection unit 42 detects the control state of the mobile object. The control state of the mobile object is, for example, the steering angle, steering speed, speed, travel distance, etc. of the mobile object. The mobile object state detection unit 42 is, for example, at least one of a steering angle sensor, a speedometer, a wheel speed sensor, and a GNSS (Global Navigation Satellite System) sensor provided on the host vehicle. The mobile object state detection unit 42 outputs the control state of the mobile object to the mobile object state information acquisition unit 40.

[0024] 1, the obstacle information acquisition unit 10 and the roadside information acquisition unit 20 may be included in the emergency evacuation device 100 as described above, but they are not necessarily included in the emergency evacuation device 100. Furthermore, the mobile object control unit 180 is not necessarily included in the emergency evacuation device 100. As an example, in remote control of the host vehicle by traffic control, the components consisting of the emergency stop request unit 120, the movement permission determination unit 140, and the movement permission cancellation unit 160 may be provided separately from the components consisting of the obstacle information acquisition unit 10, the roadside information acquisition unit 20, the occupant state information acquisition unit 30, the mobile object state information acquisition unit 40, and the mobile object control unit 180. Specifically, the obstacle information acquisition unit 10, roadside information acquisition unit 20, occupant state information acquisition unit 30, mobile body state information acquisition unit 40, and mobile body control unit 180 are provided in the vehicle, and the emergency stop request unit 120, movement permission determination unit 140, and movement permission cancellation unit 160 are provided on the control side as the emergency evacuation device 100. However, the present invention is not limited to this, and may be reversed, for example.

[0025] <Functions of the emergency evacuation device 100> The emergency stop request unit 120 detects an abnormality based on obstacle information around the vehicle acquired from the obstacle information acquisition unit 10, obstacle information around the roadside acquired from the roadside information acquisition unit 20, and information on the physiological state of the occupant acquired from the occupant state information acquisition unit 30. If an abnormality is detected, the emergency stop request unit 120 outputs an emergency stop request.

[0026] Here, an example of a method for detecting an abnormality will be described. First, an example of an abnormality in the obstacle information acquired from the roadside information acquisition unit 20 will be described. An abnormality in the obstacle information acquired from the roadside information acquisition unit 20 is a communication disruption, and the presence or absence of this communication disruption can be determined by providing the roadside unit RU with a signal that counts up at regular intervals. This is because, when an event in which the count up at regular intervals does not occur is detected, this can be said to mean that communication from the roadside unit RU to the roadside information acquisition unit 20 has been disrupted. As described above, the emergency stop request unit 120 determines a communication disruption based on the obstacle information acquired from the roadside information acquisition unit 20 and performs abnormality detection.

[0027] Next, an example of an abnormality in the obstacle information acquired from the obstacle information detection unit 12 provided in the vehicle will be described. Abnormalities in the obstacle information acquired from the obstacle information detection unit 12 include communication disruption and a reduction in the detection range. Similar to the case where communication from the roadside unit RU to the roadside information acquisition unit 20 is disrupted, communication disruption can be determined and an abnormality can be detected by using a signal that counts up at regular intervals. The presence or absence of a decrease in the detection range can be determined by checking whether snow or the like has adhered near the sensor, which is the obstacle information detection unit 12, and whether the measured distance has continued to be detected as being equal to or less than a predetermined threshold for a predetermined period of time. That is, if snow or the like has adhered so as to cover part of the sensor, the detection range will be smaller than normal, making it possible to detect an abnormality. Also, if part of the camera's imaging element is damaged, and some of the pixels in the camera image have no color or no color change for a predetermined period of time, the detection range will decrease, making it possible to detect an abnormality.

[0028] Next, an example of an abnormality in the physiological state of an occupant acquired from the occupant condition information acquisition unit 30 provided in the vehicle will be described. An abnormality in the physiological state of an occupant acquired from the occupant condition information acquisition unit 30 exists in the form of a communication interruption. The communication interruption can be detected by using a signal that counts up at regular intervals, similar to the communication interruption from the roadside unit RU to the roadside information acquisition unit 20. Furthermore, abnormalities and deterioration of the physiological state of an occupant can also occur, rather than being an abnormality of the device, such as a communication interruption in the occupant condition information acquisition unit 30. These abnormalities can be detected based on the occupant's physiological state, such as changes in the occupant's gaze, blinking, and facial direction, brain waves, heart rate, exhaled breath components, and sweat rate, and on preset indices indicating abnormalities and deterioration of the occupant's physiological state.

[0029] The movement permission determination unit 140 determines whether the traffic participant should permit the movement of the vehicle, which is a moving body, based on the emergency stop request output from the emergency stop request unit 120. If the movement permission is granted, the driver of the moving body is permitted to move the moving body, i.e., the vehicle, at will to reduce obstruction to the passage of other traffic participants. This allows manual intervention even when the moving body makes an emergency stop during autonomous driving in an inappropriate location that obstructs the passage of traffic participants. Note that the person who moves the permitted vehicle is not limited to the driver or passenger of the moving body. For example, it may also be a third party related to other traffic participants, such as other vehicles, pedestrians, bicycles, or motorcycles, present around the vehicle. When the vehicle is unmanned and being dispatched, even if the driver and passenger of the vehicle are unable to move, the vehicle may be moved to reduce obstruction to the passage of other traffic participants, such as emergency vehicles.

[0030] The movement permission release unit 160 determines whether or not to release the manual movement permission of the moving body based on the control state of the moving body acquired from the moving body state information acquisition unit 40 and the movement permission state output from the movement permission determination unit 140. If the permission is released, the moving body cannot move.

[0031] Specifically, when at least one of the following conditions is met: the steering angle or steering speed of the moving body is greater than a predetermined value; the speed of the moving body is greater than a predetermined value; and the moving distance of the moving body after the movement permission is greater than a predetermined value, the movement permission cancellation condition is satisfied and the movement permission of the moving body is cancelled. That is, even for a moving body that has been permitted to move, the steering angle, steering speed, moving body speed, and moving distance are limited to or less than the predetermined values. Therefore, even if the moving body that has been permitted to move is not the driver or passenger of the moving body, but a third party who does not normally use the moving body, the moving body can be moved appropriately and safely. Furthermore, because the speed and moving distance of the moving body are limited, the moving body cannot be moved far from a position that avoids an area that would obstruct the passage of traffic participants, such as at an intersection. This prevents the moving body from being stolen, even if a malicious third party moves the moving body that has been permitted to move.

[0032] The mobile body control unit 180 controls the mobile body so that the own vehicle, which is a mobile body, can be manually moved freely within a certain restricted range based on the movement permission state output from the movement permission determination unit 140 and the movement permission cancellation state output from the movement permission cancellation unit 160.

[0033] <Operations of the Mobile Object Control System 1000 and the Emergency Evacuation Device 100> Next, the operation of the mobile object control system 1000 and the emergency evacuation device 100 according to the first embodiment will be described using the flowchart in Fig. 4. The processing of the flowchart shown in Fig. 4 is repeatedly executed while the host vehicle, which is a mobile object, is traveling. Each step in Fig. 4 will be described in association with each functional unit shown in the functional block diagrams of Figs. 1 and 2.

[0034] First, in step S101, the obstacle information acquisition unit 10 acquires obstacle information output from the obstacle information detection unit 12 about obstacles present around the vehicle, which is a moving object. In step S102, the roadside information acquisition unit 20 acquires obstacle information around the roadside output from the roadside unit RU.

[0035] In step S103, the occupant condition information acquisition unit 30 acquires the occupant condition information including the physiological condition of the occupant output from the occupant condition detection unit 32. In step S104, the mobile object state information acquisition unit 40 acquires the state and control state of the mobile object output from the mobile object state detection unit .

[0036] In step S105, the emergency stop request unit 120 performs abnormality detection to determine whether an abnormality has occurred in any of the obstacle information output from the obstacle information acquisition unit 10, the obstacle information output from the roadside information acquisition unit 20, and the occupant physiological state output from the occupant state information acquisition unit 30, and outputs an emergency stop request if an abnormality is detected in at least one of the information. If an abnormality is detected and an emergency stop request is to be output (Yes in step S105), the process proceeds to step S106. If no abnormality is detected, an emergency stop request is not output (No in step S105), and the host vehicle continues following the route it is currently traveling (automated traveling).

[0037] In step S106, the movement permission determination unit 140 determines whether or not the host vehicle, which is a moving body, may be manually moved, based on the emergency stop request output from the emergency stop request unit 120. If an emergency stop request has been output from the emergency stop request unit 120, the movement of the host vehicle, which is a moving body, is permitted, and the process proceeds to step S107.

[0038] When the process proceeds to step S107, the movement permission release unit 160 determines whether or not to release the manual movement permission for the host vehicle, which is a moving body, based on the control state of the moving body output from the moving body state information acquisition unit 40 and the movement permission state output from the movement permission determination unit 140. The determination is made based on the movement permission release condition described above. If the movement permission release condition is not met (No in step S107), the process proceeds to step S108. If the movement permission release condition is met (Yes in step S107), the process proceeds to step S109.

[0039] When proceeding to step S108, the mobile body control unit 180 controls the mobile body manually, i.e., so that the occupant who is the driver of the mobile body or a third party related to another traffic participant can move the mobile body, which is the own vehicle, at will within a certain limited range.

[0040] When the process proceeds to step S109, the mobile object control unit 180 controls the mobile object, i.e., the own vehicle, to immediately stop. In this step S109, it is possible to manually avoid inappropriate and unsafe movement of the mobile object. Furthermore, it is also possible to avoid theft of the own vehicle.

[0041] <Control Processing in the Mobile Object Control Unit 180> Next, we will explain the control of the moving object by the moving object control unit 180. Fig. 5 shows the configuration of the moving object control unit 180 in Fig. 1, and is a functional block diagram of the moving object control unit 180. As shown in Fig. 5, the moving object control unit 180 includes a driving mode control unit 181, a braking unit 182, a steering unit 183, and a moving object speed control unit 184.

[0042] The travel mode control unit 181 sets the travel mode of the moving body to the restricted manual travel mode when the movement is permitted based on the output of the movement permission determination unit 140 and the output of the movement permission release unit 160, and sets the travel mode of the moving body to the emergency stop mode when the movement is not permitted. As a result, even if an emergency stop request is output from the emergency stop request unit 120, if the movement permission determination unit 140 gives permission for movement (movement is possible), the mode is the restricted manual travel mode, and the occupant who is the driver of the moving body can move the moving body freely within a certain restricted range.

[0043] The braking unit 182 releases the braking means when the state is one in which movement is permitted based on the output of the movement permission determination unit 140 and the output of the movement permission release unit 160, and activates the braking means when the state is not one in which movement is permitted. As a result, even if an emergency stop request is output from the emergency stop request unit 120, if movement is permitted (movement is possible) from the movement permission determination unit 140, the occupant or the like who is the driver of the moving body can move freely by pushing or pulling the moving body whose braking means has been released.

[0044] Furthermore, braking unit 182 may be configured to control the braking means in cooperation with manual operation by a driver or passenger, etc. For example, braking unit 182 may activate the braking means when the movement is permitted, and then release the braking means when the driver or passenger, etc. manually releases the braking means thereafter. Furthermore, if the driver or passenger, etc. manually activates the braking means at least once again after braking unit 182 has released the braking means, braking unit 182 continues the operation of the braking means.

[0045] By controlling the braking means in cooperation with the braking unit 182 and manual operation by the driver or occupant, for example, on an uphill road, the braking means can be activated to prevent the mobile body from moving downhill on its own, while the occupant can move the mobile body as desired to avoid obstructing traffic. That is, if an emergency stop request is output and then a movement permission is output, and the vehicle is approaching an uphill road, if the braking unit 182 releases the braking means, the vehicle will move along the slope. However, even if a movement permission is output, the vehicle can be prevented from moving by releasing the braking means in cooperation with the occupant's release operation of the braking means. Furthermore, by operating the braking means after an honest third party has avoided obstructing traffic, the mobile body can be prevented from being stolen by a malicious third party.

[0046] It should be noted that the moving object control unit 180 may be provided with at least one of the driving mode control unit 181 and the braking unit 182.

[0047] When the state is one in which movement is permitted based on the output of the movement permission determination unit 140 and the output of the movement permission release unit 160, the steering unit 183 limits the steering angle or steering speed of the steering means to be smaller than a predetermined value. Furthermore, the greater the movement distance after movement is permitted, the smaller the steering angle or steering speed is limited.

[0048] When the movement is permitted based on the output of the movement permission determination unit 140 and the output of the movement permission release unit 160, the moving object speed control unit 184 limits the upper limit speed of the moving object speed control means to a value smaller than a predetermined value. Furthermore, the upper limit speed is limited to be smaller as the movement distance after movement is permitted increases.

[0049] By controlling the steering unit 183 and the mobile body speed control unit 184, the mobile body can be prevented from being stolen while allowing the driver or passenger of the mobile body to move the mobile body to a minimum extent so as not to obstruct the passage of other traffic participants. It should be noted that the moving object control unit 180 may be provided with at least one of the steering unit 183 and the moving object speed control unit 184.

[0050] As described above, according to the first embodiment, the emergency evacuation device includes an emergency stop request unit, a movement permission determination unit, a movement permission release unit, and a mobile body control unit. The emergency stop request unit detects whether an abnormality has occurred in any of the obstacle information acquired from the obstacle information acquisition unit, the obstacle information acquired from the roadside information acquisition unit, or the occupant's physiological state acquired from the occupant status information acquisition unit. If an abnormality is detected, the emergency stop request unit outputs an emergency stop request. The movement permission determination unit determines, based on the emergency stop request, whether the occupant, who is the driver of the mobile body, is allowed to move the host vehicle, which is the mobile body. If movement permission is granted, the movement permission release unit determines, based on the control state of the mobile body acquired from the mobile body status information acquisition unit, whether to release the manual movement permission for the host vehicle, which is the mobile body. The movement permission and the release of the movement permission are output to the mobile body control unit. This allows the occupant, who is the driver of the mobile body, to manually control the mobile body so that the host vehicle, which is the mobile body, can move freely within a certain limited range. This allows the mobile body to move without impeding the progress of other traffic participants and while ensuring the safety of the host vehicle, even if an abnormality occurs.

[0051] Embodiment 2 The emergency evacuation device, the mobile object control system, and the emergency evacuation method according to the second embodiment will be described below with reference to the drawings. The mobile object control system according to the second embodiment is configured such that the information acquisition unit further includes a road information acquisition unit and a self-position acquisition unit, and redundant explanations of the configuration that is the same as that of the first embodiment will be omitted.

[0052] Fig. 6 is a functional block diagram showing the configuration of an emergency evacuation device and a mobile object control system according to embodiment 2, and Fig. 7 is a diagram with added functional blocks showing the configuration of a detector for each piece of information used in the mobile object control system of Fig. 6. In Fig. 6 and Fig. 7, a mobile object control system 1000 includes an emergency evacuation device 100.

[0053] 6 and 7, the emergency evacuation device further includes a road information acquisition unit 50 and a self-position acquisition unit 60 in addition to the configuration of the information acquisition unit 200 shown in embodiment 1. The movement permission determination unit 140 of the emergency evacuation device 100 determines whether or not to permit the moving object to move, based on the road information acquired by the road information acquisition unit 50 and the self-position acquired from the self-position acquisition unit 60.

[0054] The road information acquisition unit 50 acquires information about roads around the vehicle, which is a moving object, from a road information detection unit (not shown). The road information acquisition unit 50 is equipped with a map information acquisition unit that has previously acquired map data of the planned route of the vehicle, and acquires road information around the vehicle based on the vehicle position information detected by the vehicle position detection unit 62.

[0055] Here, the map data includes road information such as the center line of the lane in which the vehicle is traveling, lane width information, stop line information at intersections, information on the number of branches at intersections such as T-junctions and crossroads, stop line information at intersections, and information on the start position of diverging roads. Furthermore, the road information included in the map data may be acquired from the surrounding structure detection results obtained from at least one of a camera, radar, LiDAR, and sonar sensor, which is the obstacle information detection unit 12 provided in the vehicle.

[0056] In order to identify the position of the vehicle, the vehicle is equipped with a GNSS sensor as a self-position detection unit 62. A GNSS antenna is connected to the GNSS sensor, and the GNSS sensor receives positioning signals from positioning satellites orbiting in a satellite orbit. The GNSS antenna analyzes the received positioning signals and outputs information about the phase center of the GNSS antenna (latitude, longitude, altitude, direction, etc.) to the self-position acquisition unit 60.

[0057] In addition, the self-position, which is the position information of the vehicle itself, may be obtained not only by using a GNSS sensor, but also by SLAM (Simulataneous Localization and Mapping: simultaneous execution of self-position estimation and environmental map creation) technology using the detection results of surrounding structures obtained from at least one of a camera, radar, LiDAR, and sonar sensor.

[0058] The movement permission determination unit 140 determines whether the driver or passenger of the moving body may move the moving body, i.e., whether to permit the movement, based on the emergency stop request output from the emergency stop request unit 120, the road information acquired from the road information acquisition unit 50, and the self-position information acquired from the self-position acquisition unit 60. Specifically, when the moving body stops from its current position due to an emergency stop request, it determines whether the moving body will enter and stop in an area that will have a large impact on other traffic participants.

[0059] Next, a method for determining whether or not the vehicle will stop in an area that has a large impact on other traffic participants and calculating the stopping position in the movement permission determination unit 140 to determine movement permission will be described.

[0060] Possible methods for calculating the stopping position include calculating the current position as the stopping position as is, or calculating the stopping position using the deceleration that the vehicle can achieve when stopping from its current vehicle speed.

[0061] Whether or not the calculated stopping position of the vehicle is within an area that will have a large impact on other traffic participants is determined based on road information acquired by the road information acquisition unit 50. An area that will have a large impact on other traffic participants refers to a location where stopping at that location will hinder the progress of other traffic participants, and specifically, is an "area where roads intersect," such as the area inside the stop line at an intersection or the start of a merging point on an expressway. Hereinafter, "an area that will have a large impact on other traffic participants" will be read as "an area that will hinder the progress of other traffic participants."

[0062] Next, an example of a method for determining whether the host vehicle will stop in an area that will hinder the progress of other traffic participants will be described with reference to FIG. 8. FIG. 8 is a diagram for explaining the operation of the emergency evacuation device 100 according to the second embodiment. FIG. 8 shows a state in which the host vehicle OV, which keeps to the left, is approaching an intersection, and the rectangular area indicated by dashed lines connecting the stop lines SL1, SL2, SL3, and SL4 of the lanes that make up the intersection is the intersection area CNF. Here, the area inside the stop lines SL1, SL2, SL3, and SL4 of the intersection, i.e., the area within area CNF, is considered to be an area that will hinder the progress of other traffic participants. A roadside unit RU installed on the roadside can detect obstacles within an area RUA indicated by a dotted sector.

[0063] First, the road information acquisition unit 50 inputs position information of the stop lines SL1, SL2, SL3, and SL4 that form an intersection into the movement permission determination unit 140. By connecting the position information of these stop lines SL1, SL2, SL3, and SL4, an area CNF expressed by a rectangle CNF can be generated. Then, if the stopping position of the host vehicle OV is within the area CNF, it is determined that the host vehicle OV will stop in an area that will obstruct the progress of other traffic participants.

[0064] Next, the stopping position of the host vehicle OV is calculated. Since center line information of the lane on which the host vehicle is traveling is acquired from the road information acquisition unit 50, if that information is taken as a straight path STR, which is a target route that the host vehicle should follow, the stopping position of the host vehicle OV is expressed as a stopping position SP on the straight path STR in Fig. 8. The stopping position SP of the host vehicle OV is calculated using the deceleration of the host vehicle OV on the straight path STR.

[0065] In Figure 8, the position of the center of gravity of the host vehicle OV when stopped is represented by position SP, and if that position is within the intersection area CNF, it is determined that the host vehicle OV will enter an area that will hinder the progress of other traffic participants when stopped. The stop position SP may be any position that allows identification of the host vehicle OV, such as the leading or trailing edge of the host vehicle OV. Whether the host vehicle OV is within the area CNF may also be determined by generating a rectangle (simulating the external shape of the host vehicle) from the position (stop position) taking into account the size of the host vehicle OV, and if part of the rectangle is within the intersection area CNF, determining that the host vehicle OV will enter an area that will obstruct the progress of other traffic participants when stopped.

[0066] In the above description, a method has been shown in which the area CNF is generated as an intersection area based on the position information of the stop line at the intersection input from the road information acquisition unit 50 as an area that may obstruct the progress of other traffic participants. However, this is not limiting. The area CNF may be input directly to the movement permission determination unit 140 as an area that may obstruct the progress of other traffic participants based on intersection information, etc., held by the road information acquisition unit 50. Furthermore, by using divergence start position information held by the road information acquisition unit 50, an area including the divergence start position can be used as the area CNF, and an area CNF that is not limited to an intersection area can be set.

[0067] <Operations of the Mobile Object Control System 1000 and the Emergency Evacuation Device 100> Next, the operation of the mobile object control system 1000 and the emergency evacuation device 100 according to the second embodiment will be described using the flowcharts of Figures 9A and 9B. The processing of the flowcharts of Figures 9A and 9B is repeatedly executed while the host vehicle is traveling. Each step in Figures 9A and 9B will be described in association with each functional unit shown in Figures 6 and 7. Furthermore, the processing of steps S201 to S204, step S207, and steps S209 to S211 are the same as the processing of steps S101 to S104, step S105, and steps S107 to S109 in Figure 4 of the first embodiment, and therefore their description will be omitted or simplified.

[0068] In steps S201 to S204, the mobile object control system 1000 acquires various information, namely, obstacle information around the mobile object, obstacle information around the roadside, occupant status information, and mobile object status information.

[0069] In step S205, the road information acquisition unit 50 acquires road information output from a road information detection unit (not shown) or road information from a map information acquisition unit. In step S206, the self-position acquisition unit 60 acquires the self-position, which is the position information of the moving object, from the self-position detection unit 62.

[0070] In step S207, the emergency stop request unit 120 detects whether an abnormality has occurred in any of the obstacle information around the moving object output from the obstacle information acquisition unit 10, the obstacle information around the roadside output from the roadside information acquisition unit 20, or the occupant physiological state output from the occupant state information acquisition unit 30, and outputs an emergency stop request if an abnormality is detected in at least one of them. If an abnormality is detected and an emergency stop request is to be output (Yes in step S207), the process proceeds to step S208. If no abnormality is detected, an emergency stop request is not output (No in step S207), and the host vehicle continues following the route it is currently traveling (automated traveling).

[0071] In step S208, it is determined whether the driver of the moving body, such as a passenger, may move the moving body, i.e., whether movement is permitted, based on the emergency stop request output from the emergency stop request unit 120, the road information acquired from the road information acquisition unit 50, and the self-position information acquired from the self-position acquisition unit 60. To determine whether movement is permitted, the movement permission determination unit 140 calculates a stopping position to determine whether the vehicle will stop in an area that will hinder the progress of other traffic participants. If the calculated stopping position is within the area CNF that will hinder the progress of other traffic participants, movement permission for the moving body is output (Yes in step S208), and the process proceeds to step S209. If the calculated stopping position is not within the area CNF, movement permission is not output (No in step S208), and the process proceeds to step S211.

[0072] When the process proceeds to step S209, the movement permission release unit 160 determines whether or not the occupant or the like who is the driver of the moving body should release the movement permission of the own vehicle, which is a moving body, based on the control state of the moving body output from the moving body state information acquisition unit 40 and the movement permission state output from the movement permission determination unit 140. The determination is made based on the movement permission release conditions described in the first embodiment. When the movement permission release conditions are not met (No in step S209), the process proceeds to step S210. When the movement permission release conditions are met (Yes in step S209), the process proceeds to step S211.

[0073] When the process proceeds to step S210, the moving body control unit 180 controls the moving body so that the occupant or the like who is the driver of the moving body can move the own vehicle, which is the moving body, as desired within a certain limited range.

[0074] When the process proceeds to step S211, the moving object control unit 180 controls the own vehicle, which is a moving object, to immediately stop. In step S211, it is possible to manually avoid inappropriate and unsafe movement of the moving object.

[0075] <Control Processing in the Mobile Object Control Unit 180> Next, the control of the moving body by the moving body control unit 180 will be described. As shown in Figs. 6 and 7, the configuration of the moving body control unit 180 according to the second embodiment is the same as the configuration of the moving body control unit 180 according to the first embodiment shown in Fig. 5. Therefore, based on the output signals from the movement permission determination unit 140 and the movement permission release unit 160, the drive system of the moving body is controlled depending on whether or not movement is permitted. Note that, as in the first embodiment, the moving body control unit 180 only needs to include at least one of the traveling mode control unit 181 and the braking unit 182. Furthermore, the moving body control unit 180 only needs to include at least one of the steering unit 183 and the moving body speed control unit 184.

[0076] The driving mode control unit 181 sets the driving mode of the moving body to restricted manual driving mode when the output of the movement permission determination unit 140 and the output of the movement permission release unit 160 indicate that movement is permitted. When the movement is not permitted, the driving mode of the moving body is set to emergency stop mode. As a result, even if an emergency stop request is output from the emergency stop request unit 120, if movement is permitted (movement is permitted) from the movement permission determination unit 140, the driving mode is restricted manual driving mode, so that the driver or passenger of the moving body can freely move the moving body within a certain restricted range. Therefore, in addition to the effect of embodiment 1, it becomes possible to stop the moving body by avoiding the area CNF, which is an area that obstructs the progress of other traffic participants.

[0077] The braking unit 182 releases the braking means when the movement is permitted based on the output of the movement permission determination unit 140 and the output of the movement permission release unit 160, and activates the braking means when the movement is not permitted. As a result, even if an emergency stop request is output from the emergency stop request unit 120, if the movement is permitted (movement is possible) from the movement permission determination unit 140, the occupant who is the driver of the moving body can move freely by pushing or pulling the moving body whose braking means has been released. Therefore, in addition to the effect of the first embodiment, it becomes possible to stop the moving body by avoiding the area CNF, which is an area that obstructs the progress of other traffic participants.

[0078] Furthermore, the braking unit 182 may be configured to control the braking means in cooperation with manual operation by the driver or passenger, etc. In this case, the same effects as those of the first embodiment are achieved.

[0079] When the state is one in which movement is permitted based on the output of the movement permission determination unit 140 and the output of the movement permission release unit 160, the steering unit 183 limits the steering angle or steering speed of the steering means to be smaller than a predetermined value. Furthermore, the greater the movement distance after movement is permitted, the smaller the steering angle or steering speed is limited.

[0080] When the movement is permitted based on the output of the movement permission determination unit 140 and the output of the movement permission release unit 160, the moving object speed control unit 184 limits the upper limit speed of the moving object speed control means to a value smaller than a predetermined value. Furthermore, the upper limit speed is limited to be smaller as the movement distance after movement is permitted increases.

[0081] By controlling the steering unit 183 and the mobile body speed control unit 184, the driver of the mobile body can move the mobile body to a minimum extent so as not to obstruct the passage of other traffic participants, while also being able to stop the mobile body by avoiding the area CNF, which is an area that would obstruct the progress of other traffic participants.

[0082] As described above, according to the second embodiment, the same effects as those of the first embodiment can be achieved. That is, even if an abnormality occurs, a passenger or the like who is the driver of the moving body can control the moving body so that the moving body can move freely within a certain limited range, so that the progress of other traffic participants is not impeded and the safety of the moving body can be ensured. Furthermore, the movement permission determination unit calculates the stopping position to determine whether the vehicle will stop in an area that will hinder the progress of other traffic participants when an abnormality occurs, and if the calculated stopping position is in an area that will hinder the progress of other traffic participants, it outputs movement permission for the moving body, so that the vehicle can stop while avoiding areas that will hinder the progress of other traffic participants. As described in the first embodiment, in the second embodiment, the person who moves the moving body is not limited to a passenger who is a driver of the moving body.

[0083] Each functional unit of the emergency evacuation device 100 in the above-described first and second embodiments may be realized as a hardware configuration of a mobile object control system 1000 illustrated in Fig. 10, that is, a mobile object control system 1000 configured with an arithmetic processing circuit 1001, a storage device 1002 including a ROM (Read Only Memory) storing a program for executing the functions of each functional unit and a RAM (Random Access Memory) for saving data of the execution results of each functional unit, which are the results of calculations performed by the program, and an input / output circuit 1003. The input / output circuit 1003 receives as inputs output results relating to obstacle information from an obstacle information detection unit 12 which is an obstacle detection sensor provided on the vehicle, self-position information detected by a self-position detection unit 62, and output results relating to obstacle information from a roadside unit RU, and the like, and outputs control signals for the speed and handling of the vehicle from the input / output circuit 1003 to a drive system device 2000 which is each actuator for driving the vehicle, such as a brake (braking means) and a handle (steering means).

[0084] A processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor) is applied to the arithmetic processing circuit 1001. Dedicated hardware may also be applied to the arithmetic processing circuit 1001. When the arithmetic processing circuit 1001 is dedicated hardware, the arithmetic processing circuit 1001 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination of these.

[0085] Furthermore, the emergency evacuation device 100 and the mobile object control system 1000 may have their respective functional units realized by individual arithmetic processing circuits, or may have all of them realized by a single arithmetic processing circuit. Furthermore, each functional unit of the emergency evacuation device 100 and the mobile control system 1000 can realize the above-mentioned functions by hardware, software, etc., or a combination of these, with some functions being realized by dedicated hardware processing circuits and other functions being realized by software.

[0086] 11 shows another example of the hardware configuration of a mobile object control system 1000. A communication circuit 1004 is further provided in addition to the configuration of FIG. The communication circuit 1004 includes a wide-area communication unit and a short-range communication unit as a communication module. The wide-area communication unit conforms to a predetermined wide-area wireless communication standard, such as LTE (Long Term Evolution), 4G, or 5G (5th Generation; fifth generation mobile communication system). The short-range communication unit uses, for example, DSRC (Dedicated Short Range Communications), and although not described in the above embodiment, can be used for communication with other vehicles to obtain information about other vehicles around the vehicle. A certain communication speed is guaranteed for these communications.

[0087] Since the roadside unit RU is installed outside the mobile object or outside its control area, the obstacle information from the roadside unit RU is received through communication with the mobile object control system 1000. Here, the communication uses, for example, LTE or 5G.

[0088] Each sensor of the obstacle information detection unit 12, each sensor of the occupant state detection unit 32, and each sensor of the mobile body state detection unit 42 are mounted on the mobile body, and information is output from each sensor to the information acquisition unit 200 via a communication line, and the sensors are connected using, for example, a CAN (Control Area Network: registered trademark) or the like.

[0089] Furthermore, even when a part of the mobile object control system 1000 is outside the vehicle, such as a control center, and an emergency stop is activated, signals are sent and received via the communication circuit 1004.

[0090] <Other embodiments> In the above description, an automobile is used as an example of a mobile body to which the emergency evacuation device 100 and the mobile body control system 1000 are applied. However, the application is not limited to automobiles and can be applied to various other mobile bodies. The emergency evacuation device 100 can be used as a device for planning the behavior of a mobile body, such as an in-building mobile robot that inspects the interior of a building, a line inspection robot, or a personal mobility vehicle. When the mobile body is other than an automobile, the road information detection unit can also acquire, as road information, the drivable area of ​​the route the mobile body is traveling on. The obstacle information acquired by the roadside unit can be, for example, information from an obstacle information detection unit installed inside a building, on a line, or within the range in which the personal mobility vehicle operates.

[0091] The sensors of the obstacle information detection unit 12, the occupant state detection unit 32, and the mobile body state detection unit 42 are mounted on the mobile body, and therefore may be configured to be included in the mobile body control system 1000.

[0092] In the above embodiments, the dimensions, shapes, relative positional relationships, and implementation conditions of each component may be described, but these are merely examples in all aspects and are not intended to be limiting to those described in the present specification. They may be applied to the embodiments alone or in various combinations. Therefore, countless modifications and equivalents not shown as examples are contemplated within the scope of the technology disclosed in the present specification, including, for example, modifying, adding, or omitting at least one component, and further, extracting at least one component from at least one embodiment and combining it with a component from another embodiment.

[0093] Furthermore, unless a contradiction arises, any component described in the above embodiments as being provided with "one" component may be provided with "one or more." Furthermore, each component in the embodiments described above is a conceptual unit, and the scope of the technology disclosed in this specification includes cases where one component is made up of multiple structures, cases where one component corresponds to a part of a structure, and even cases where multiple components are provided in one structure.

[0094] Furthermore, each of the components in the embodiments described above includes structures having other structures or shapes as long as they perform the same function. Furthermore, the descriptions in this specification are incorporated by reference for all purposes relating to the present technology, and none of them is admitted to be prior art.

[0095] Furthermore, each of the components described in the above-described embodiments can be considered as software or firmware, or as corresponding hardware, and in both concepts, each component is referred to as a "unit" or a "processing circuit," etc.

[0096] Various aspects of the present disclosure are summarized below as appendices.

[0097] (Appendix 1) Obstacle information around the moving object acquired by the obstacle information acquisition unit; Obstacle information around the roadside acquired by the roadside information acquisition unit; physiological state information of the occupant of the vehicle acquired by an occupant state information acquisition unit; and An emergency control system in which mobile unit status information, which is the control status of the mobile unit acquired by a mobile unit status information acquisition unit, is input. Evacuation 1. An apparatus comprising: an emergency stop request unit that outputs an emergency stop request when an abnormality is detected in at least one of the obstacle information around the moving object acquired by the obstacle information acquisition unit, the obstacle information around the roadside acquired by the roadside information acquisition unit, and the physiological state information of the occupant; a movement permission determination unit that determines whether or not to permit movement of the moving object based on the emergency stop request output from the emergency stop request unit; a movement permission canceling unit that determines whether or not to cancel the movement permission of the moving object based on the moving object state information and the movement permission output from the movement permission determining unit; a moving body control unit that controls movement of the moving body based on the movement permission output from the movement permission determination unit and the movement permission cancellation output from the movement permission cancellation unit, The movement permission determination unit When an emergency stop request is output from the emergency stop request unit, a movement permission for the moving body is output; The moving body control unit When the output from the movement permission determination unit is movement permission and the output from the movement permission cancellation unit is not cancellation, control is performed so that the moving body moves; An emergency evacuation device that controls the moving body to stop when the output from the movement permission determination unit is not movement permission or the output from the movement permission cancellation unit is cancellation. (Appendix 2) Obstacle information around the moving object acquired by the obstacle information acquisition unit; Obstacle information around the roadside acquired by the roadside information acquisition unit; physiological state information of an occupant of the vehicle acquired by an occupant state information acquisition unit; Mobile object state information, which is a control state of the mobile object, acquired by a mobile object state information acquisition unit; Road information around the moving object acquired by a road information acquisition unit, and Emergency information on the location of the mobile unit acquired by the self-location acquisition unit is input. Evacuation 1. An apparatus comprising: an emergency stop request unit that outputs an emergency stop request when an abnormality is detected in at least one of the obstacle information around the moving object acquired by the obstacle information acquisition unit, the obstacle information around the roadside acquired by the roadside information acquisition unit, and the physiological state information of the occupant; a movement permission determination unit that determines whether to permit movement of the moving object based on the emergency stop request output from the emergency stop request unit, the road information, and position information of the moving object; a movement permission canceling unit that determines whether or not to cancel the movement permission of the moving object based on the moving object state information and the movement permission output from the movement permission determining unit; a moving body control unit that controls movement of the moving body based on the movement permission output from the movement permission determination unit and the movement permission cancellation output from the movement permission cancellation unit, The movement permission determination unit When an emergency stop request is output from the emergency stop request unit, if the moving body stops in an area that would hinder the progress of other traffic participants when stopping, output a movement permission for the moving body; The moving body control unit When the output from the movement permission determination unit is movement permission and the output from the movement permission cancellation unit is not cancellation, control is performed so that the moving body moves outside the area; An emergency evacuation device that controls the moving body to stop when the output from the movement permission determination unit is not movement permission or the output from the movement permission cancellation unit is cancellation. (Appendix 3) the moving body state information acquisition unit acquires at least one of a steering amount, a speed, and a moving distance of the moving body as the control state; The movement permission canceling unit An emergency evacuation device as described in Appendix 1 or 2, which cancels permission to move the moving body when at least one of the following states is established: the steering amount is greater than a preset value, the speed is greater than a preset value, and the movement distance after the moving body has moved is greater than a preset value. (Appendix 4) the moving body control unit includes at least one of a traveling mode control unit that sets a traveling mode of the moving body and a braking unit that releases braking means of the moving body, In the case where the driving mode control unit is provided, the driving mode control unit If the output from the movement permission determination unit is movement permission and the output from the movement permission release unit is not release, the driving mode is set to a limited manual driving mode; If the output from the movement permission determination unit is not movement permission or the output from the movement permission cancellation unit is cancellation, the traveling mode is set to an emergency stop mode; In the case where the braking unit is provided, the braking unit release the braking means when the output from the movement permission determination unit is movement permission and the output from the movement permission release unit is not release; 4. The emergency evacuation device according to any one of claims 1 to 3, wherein the braking means is activated when the output from the movement permission determination unit is not movement permission or the output from the movement permission cancellation unit is cancellation. (Appendix 5) the moving body control unit includes at least one of a traveling mode control unit that sets a traveling mode of the moving body and a braking unit that releases braking means of the moving body, In the case where the driving mode control unit is provided, the driving mode control unit If the output from the movement permission determination unit is movement permission and the output from the movement permission release unit is not release, the driving mode is set to a limited manual driving mode; If the output from the movement permission determination unit is not movement permission or the output from the movement permission cancellation unit is cancellation, the traveling mode is set to an emergency stop mode; In the case where the braking unit is provided, the braking unit An emergency evacuation device as described in any one of appendix 1 to 3, wherein the braking means is activated when the output from the movement permission determination unit is movement permission and the output from the movement permission release unit is not release, and the braking means is released when the braking means is manually released. (Appendix 6) the moving body control unit includes the braking unit, An emergency evacuation device as described in Appendix 5, wherein the braking unit continues to operate the braking means if the braking means is manually operated to activate the braking means at least once after the braking means is manually released. (Appendix 7) the moving body control unit includes at least one of a steering unit that controls a steering means and a moving body speed control unit that controls a moving body speed control means, When the steering unit is provided, When the output from the movement permission determination unit is movement permission and the output from the movement permission cancellation unit is not cancellation, the steering unit limits the steering angle or steering speed of the steering means to be smaller than a preset value, In the case where the moving object speed control unit is provided, When the output from the movement permission determination unit is movement permission and the output from the movement permission cancellation unit is not cancellation, 7. The emergency evacuation device according to any one of claims 1 to 6, wherein the moving object speed control unit limits the upper limit speed of the moving object speed control means to be lower than a preset value. (Appendix 8) When the moving body control unit includes the steering unit, the steering unit limits the steering angle or the steering speed to a small value based on a moving distance after the moving body has moved, When the moving object control unit includes the moving object speed control unit, 8. The emergency evacuation device according to claim 7, wherein the moving body speed control unit limits the upper limit speed to a low value based on the moving distance after the moving body has moved. (Appendix 9) An emergency evacuation device as described in Appendix 2, comprising the obstacle information acquisition unit, the roadside information acquisition unit, the occupant status information acquisition unit, the moving body status information acquisition unit, the road information acquisition unit, and the self-position acquisition unit. (Appendix 10) A mobile object control system that controls a mobile object using an information acquisition unit having the obstacle information acquisition unit, the roadside information acquisition unit, the occupant status information acquisition unit, the mobile object status information acquisition unit, the road information acquisition unit, and a self-position acquisition unit, and the emergency evacuation device described in Appendix 2. (Appendix 11) An emergency evacuation method performed using an emergency evacuation device, acquiring obstacle information around the moving object; acquiring obstacle information around the roadside; acquiring a physiological state of an occupant of the vehicle; acquiring a control state of the moving object; acquiring road information around the mobile object; acquiring location information of the moving object; outputting an emergency stop request when an abnormality is detected in at least one of the acquired obstacle information around the moving body, the obstacle information around the roadside, and the physiological state information of the occupant; a movement permission determination step of determining whether or not to permit movement of the moving object based on the output emergency stop request, the road information, and the position information of the moving object; a movement permission canceling step of determining whether or not to cancel the movement permission of the moving body based on the control state of the moving body and the determination result determined in the movement permission determining step; and a step of controlling the movement of the moving object based on the determination content determined in the movement permission determination step and the determination content determined in the movement permission cancellation step, In the movement permission determination step, If an emergency stop request is output, when the moving body stops in an area that would hinder the progress of other traffic participants when stopping, output a movement permission for the moving body; In the step of controlling the movement of the moving object, When the determination in the movement permission determination step is that the movement is permitted and the determination in the movement permission cancellation step is that the movement is not cancelled, control is performed so that the moving body moves outside the area; When the determination in the movement permission determination step is that movement is not permitted or when the determination in the movement permission cancellation step is that movement permission is cancelled, the emergency evacuation method controls the moving body to stop. (Appendix 12) In the step of acquiring a control state of the moving body, at least one of a steering amount, a speed, and a moving distance of the moving body is acquired as the control state of the moving body; In the movement permission canceling step, An emergency evacuation method as described in Appendix 11, wherein a decision is made to cancel permission for movement of the moving body when at least one of the following states is met: the steering amount is greater than a preset value; the speed is greater than a preset value; and the movement distance after movement of the moving body is greater than a preset value. [Explanation of symbols]

[0098] 10: Obstacle information acquisition unit, 12, 12a, 12b, 12c, 12d, 12e, 12f, 12g: Obstacle information detection unit, 20: Roadside information acquisition unit, 30: Occupant state information acquisition unit, 32: Occupant state detection unit, 40: Mobile body state information acquisition unit, 42: Mobile body state detection unit, 50: Road information acquisition unit, 60: Self-position acquisition unit, 62: Self-position detection unit, 100: Emergency evacuation device, 120: Emergency stop request unit, 140: Movement permission determination unit, 160: Movement permission cancellation unit, 180: Mobile body control unit, 181: Travel mode control unit, 182: Braking unit, 183: Steering unit, 184: Mobile body speed control unit, 200: Information acquisition unit, 1000: Mobile body control system, 1001: Arithmetic processing circuit, 1002: Memory device, 1003: Input / output circuit, 1004: Communication circuit, 2000: Drive system device, OV: Vehicle, RU: Roadside unit, RUA: Area, CNF: Area, SN1, SN2, SN3, SN4, SN5, SN6, SN7: Detection range, SL1, SL2, SL3, SL4: Stop line, SP: Stop position, STR Straight route.

Claims

1. Obstacle information around the moving object acquired by the obstacle information acquisition unit; Obstacle information around the roadside acquired by the roadside information acquisition unit; physiological state information of an occupant of the vehicle acquired by an occupant state information acquisition unit; Mobile object state information, which is a control state of the mobile object, acquired by a mobile object state information acquisition unit; Road information around the moving object acquired by a road information acquisition unit, and An emergency evacuation device to which position information of the moving body acquired by a self-position acquisition unit is input, an emergency stop request unit that outputs an emergency stop request when an abnormality is detected in at least one of the obstacle information around the moving object acquired by the obstacle information acquisition unit, the obstacle information around the roadside acquired by the roadside information acquisition unit, and the physiological state information of the occupant; a movement permission determination unit that determines whether to permit movement of the moving object based on the emergency stop request output from the emergency stop request unit, the road information, and position information of the moving object; a movement permission canceling unit that determines whether or not to cancel the movement permission of the moving object based on the moving object state information and the movement permission output from the movement permission determining unit; a moving body control unit that controls movement of the moving body based on the movement permission output from the movement permission determination unit and the movement permission cancellation output from the movement permission cancellation unit, The movement permission determination unit When an emergency stop request is output from the emergency stop request unit, if the moving body stops in an area that would hinder the progress of other traffic participants when stopping, output a movement permission for the moving body; The moving body control unit When the output from the movement permission determination unit is movement permission and the output from the movement permission cancellation unit is not cancellation, control is performed so that the moving body moves outside the area; An emergency evacuation device that controls the moving body to stop when the output from the movement permission determination unit is not movement permission or the output from the movement permission cancellation unit is cancellation.

2. the moving body state information acquisition unit acquires at least one of a steering amount, a speed, and a moving distance of the moving body as the control state; The movement permission canceling unit 2. The emergency evacuation device according to claim 1, wherein permission to move the moving body is cancelled when at least one of the following conditions is met: the steering amount is greater than a preset value; the speed is greater than a preset value; and the movement distance after the moving body has moved is greater than a preset value.

3. the moving body control unit includes at least one of a traveling mode control unit that sets a traveling mode of the moving body and a braking unit that releases braking means of the moving body, In the case where the driving mode control unit is provided, the driving mode control unit If the output from the movement permission determination unit is movement permission and the output from the movement permission release unit is not release, the driving mode is set to a limited manual driving mode; If the output from the movement permission determination unit is not movement permission or the output from the movement permission cancellation unit is cancellation, the traveling mode is set to an emergency stop mode; In the case where the braking unit is provided, the braking unit release the braking means when the output from the movement permission determination unit is movement permission and the output from the movement permission release unit is not release; 2. The emergency evacuation device according to claim 1, wherein the braking means is actuated when the output from the movement permission determining unit is not movement permission or when the output from the movement permission canceling unit is cancellation.

4. the moving body control unit includes at least one of a traveling mode control unit that sets a traveling mode of the moving body and a braking unit that releases braking means of the moving body, In the case where the driving mode control unit is provided, the driving mode control unit If the output from the movement permission determination unit is movement permission and the output from the movement permission release unit is not release, the driving mode is set to a limited manual driving mode; If the output from the movement permission determination unit is not movement permission or the output from the movement permission cancellation unit is cancellation, the traveling mode is set to an emergency stop mode; In the case where the braking unit is provided, the braking unit 2. The emergency evacuation device according to claim 1, wherein the braking means is activated when the output from the movement permission determination unit is movement permission and the output from the movement permission release unit is not release, and the braking means is released when the braking means is manually released.

5. the moving body control unit includes the braking unit, 5. The emergency evacuation device according to claim 4, wherein the braking unit continues to activate the braking means when the braking means is manually activated at least once after the braking means has been manually released.

6. the moving body control unit includes at least one of a steering unit that controls a steering means and a moving body speed control unit that controls a moving body speed control means, When the steering unit is provided, When the output from the movement permission determination unit is movement permission and the output from the movement permission cancellation unit is not cancellation, the steering unit limits the steering angle or steering speed of the steering means to be smaller than a preset value, In the case where the moving object speed control unit is provided, When the output from the movement permission determination unit is movement permission and the output from the movement permission cancellation unit is not cancellation, 2. The emergency evacuation device according to claim 1, wherein the moving body speed control section limits the upper limit speed of the moving body speed control means to be lower than a preset value.

7. When the moving body control unit includes the steering unit, the steering unit limits the steering angle or the steering speed to a small value based on a moving distance after the moving body has moved, When the moving object control unit includes the moving object speed control unit, The emergency evacuation device according to claim 6 , wherein the moving body speed control unit limits the upper limit speed to a small value based on the moving distance after the moving body has moved.

8. The emergency evacuation device according to claim 1 , further comprising: the obstacle information acquisition unit, the roadside information acquisition unit, the occupant status information acquisition unit, the mobile object status information acquisition unit, the road information acquisition unit, and a self-position acquisition unit.

9. A mobile body control system that controls a mobile body using an information acquisition unit having the obstacle information acquisition unit, the roadside information acquisition unit, the occupant status information acquisition unit, the mobile body status information acquisition unit, the road information acquisition unit, and a self-position acquisition unit, and the emergency evacuation device described in claim 1.

10. An emergency evacuation method performed using an emergency evacuation device, acquiring obstacle information around the moving object; acquiring obstacle information around the roadside; acquiring a physiological state of an occupant of the vehicle; acquiring a control state of the moving object; acquiring road information around the mobile object; acquiring location information of the moving object; outputting an emergency stop request when an abnormality is detected in at least one of the acquired obstacle information around the moving body, the obstacle information around the roadside, and the physiological state information of the occupant; a movement permission determination step of determining whether or not to permit movement of the moving object based on the output emergency stop request, the road information, and the position information of the moving object; a movement permission canceling step of determining whether or not to cancel the movement permission of the moving body based on the control state of the moving body and the determination result determined in the movement permission determining step; and a step of controlling the movement of the moving object based on the determination content determined in the movement permission determination step and the determination content determined in the movement permission cancellation step, In the movement permission determination step, If an emergency stop request is output, when the moving body stops in an area that would hinder the progress of other traffic participants when stopping, output a movement permission for the moving body; In the step of controlling the movement of the moving object, When the determination in the movement permission determination step is that the movement is permitted and the determination in the movement permission cancellation step is that the movement is not cancelled, control is performed so that the moving body moves outside the area; When the determination in the movement permission determination step is that movement is not permitted or when the determination in the movement permission cancellation step is that movement permission is cancelled, the emergency evacuation method controls the moving body to stop.

11. In the step of acquiring a control state of the moving body, at least one of a steering amount, a speed, and a moving distance of the moving body is acquired as the control state of the moving body; In the movement permission canceling step, 11. The emergency evacuation method according to claim 10, wherein a determination is made to cancel permission for movement of the moving body when at least one of the following states is established: the steering amount is greater than a preset value; the speed is greater than a preset value; and the movement distance after movement of the moving body is greater than a preset value.

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