Control device, control method, and control program

Abstract

To provide a control device, a control method, and a control program that are capable of flexibly controlling the movement of a moving object correspondingly to a traveling situation.SOLUTION: A control device includes: a data acquisition unit 55 that acquires surrounding environment data for a vehicle 10; and a travel assistance unit 56 that determines a surrounding environment risk for the vehicle 10 on the basis of the surrounding environment data and provides travel assistance for the vehicle 10 on the basis of the surrounding environment risk. When the vehicle 10 travels across a first area and a second area that have mutually different attributes, the travel assistance unit 56 provides predetermined travel assistance that prompts the user of the vehicle 10 to confirm safety on the basis of a comparison of the surrounding environment risks between that of the first area and that of the second area.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a control device, a control method, and a control program. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable transport participants have been gaining momentum. To achieve this, we are focusing on research and development into autonomous driving technology to further improve traffic safety and convenience.

[0003] Conventionally, in an automated driving system that automatically drives a vehicle without the need for a user's driving operation, it is known to generate route information for, for example, public roads from a current position to a target position based on information acquired by an on-board sensor, and to drive the vehicle by generating route information for, for example, public roads. It is also known to store routes traveled to a target position by a user's driving operation, for example, in areas other than public roads, and to drive the vehicle based on the stored route history when traveling to the same target position or the same route again.

[0004] For example, Patent Document 1 describes a vehicle driving control device that includes a position detection means that detects the position of an object around the vehicle, a road condition detection means that detects road conditions, an attribute selection means that, if the object detected by the position detection means is located on a road detected by the road condition detection means, adds an attribute to the object according to the road conditions at the location of the object detected by the road condition detection means, and a driving control means that executes driving control according to the attribute added by the attribute selection means, and when the attribute selection means adds an attribute of slow pedestrian movement to the detected object, the driving control means executes control to temporarily stop the vehicle in front of a pedestrian crossing. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2022-184506 Summary of the Invention [Problem to be solved by the invention]

[0006] In conventional automated driving systems, when a vehicle passes, for example, a sidewalk located between a public road and an off-road area, the vehicle stops before the sidewalk and requests the vehicle user (driver) to confirm safety. However, depending on the driving location (e.g., overseas, such as North America), there may be no rule requiring the vehicle to stop before passing a sidewalk. Therefore, stopping every time the vehicle passes may disrupt smooth driving flow. On the other hand, when a vehicle enters a public road with heavy traffic from a road with low traffic volume, it is necessary to stop and confirm safety regardless of whether there is a sidewalk. Patent Document 1 describes stopping before a crosswalk when a pedestrian (a person moving at a slow speed) is detected as described above, but does not describe vehicle movement control on public roads or off-road areas when a pedestrian is not detected.

[0007] The present invention aims to provide a control device, a control method, and a control program that are capable of flexibly controlling the movement of a moving object according to the traveling situation, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0008] The present invention provides A control device for a moving body, a data acquisition unit that acquires surrounding environment data of the moving object; a movement support unit that determines a surrounding environment risk of the moving object based on the surrounding environment data and provides movement support for the moving object based on the surrounding environment risk; Equipped with The movement support unit is configured to It is a public road The first area and It is a privately owned road When moving across the second area, determining road types of the first area and the second area as the surrounding environment risk, and when the moving object moves from the first area to the second area, not providing predetermined travel assistance that prompts the user of the moving object to check for safety, and when the moving object moves from the second area to the first area,before Record office Provide regular mobility assistance, It is a control device.

[0009] The present invention provides A control method for a mobile object control device including: a data acquisition unit that acquires surrounding environment data of the mobile object; and a movement support unit that determines a surrounding environment risk of the mobile object based on the surrounding environment data and provides movement support for the mobile object based on the surrounding environment risk, The control device The moving body, It is a public road The first area and It is a privately owned road When moving across the second area, determining road types of the first area and the second area as the surrounding environment risk, and when the moving object moves from the first area to the second area, not providing predetermined travel assistance that prompts the user of the moving object to check for safety, and when the moving object moves from the second area to the first area, before Record office Provide regular mobility assistance, It is a control method.

[0010] The present invention provides A control program for a control device of a mobile body, the control program comprising: a data acquisition unit that acquires surrounding environment data of the mobile body; and a movement support unit that determines a surrounding environment risk of the mobile body based on the surrounding environment data and provides movement support for the mobile body based on the surrounding environment risk, The control device The moving body, It is a public road The first area and It is a privately owned road When moving across the second area, determining road types of the first area and the second area as the surrounding environment risk, and when the moving object moves from the first area to the second area, not providing predetermined travel assistance that prompts the user of the moving object to check for safety, and when the moving object moves from the second area to the first area, before Record office Provide regular mobility assistance, It is a control program that executes the process. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a control device, a control method, and a control program that are capable of flexibly controlling the movement of a moving object according to the traveling situation. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a side view showing an example of a vehicle 10 equipped with a control device of the present invention. [Figure 2] FIG. 2 is a top view of the vehicle 10 shown in FIG. [Figure 3] 2 is a block diagram showing an example of the internal configuration of a vehicle 10 shown in FIG. 1. FIG. [Figure 4] FIG. 1 is a diagram showing an example in which a vehicle 10 moves from a first area to a second area. [Figure 5] FIG. 10 is a diagram showing an example in which a vehicle 10 moves from a second area to a first area. [Figure 6] 4 is a flowchart showing an example of movement control by the control ECU 20. [Figure 7] 10 is a flowchart showing a first modified example of movement control by the control ECU 20. [Figure 8] 10 is a flowchart showing a second modified example of the movement control of the control ECU 20. [Figure 9] 10 is a flowchart showing a third modified example of the movement control of the control ECU 20. [Figure 10] 10 is a flowchart showing a fourth modified example of the movement control of the control ECU 20. [Figure 11] 10 is a flowchart showing a fifth modified example of the movement control of the control ECU 20. [Figure 12] 10 is a flowchart showing a sixth modified example of the movement control of the control ECU 20. DETAILED DESCRIPTION OF THE INVENTION

[0013] An embodiment of a control device, a control method, and a control program according to the present invention will be described below with reference to the accompanying drawings. The drawings are to be viewed in accordance with the directions of the reference numerals. For simplicity and clarity, the front-rear, left-right, and up-down directions in this specification and elsewhere are described according to the directions as seen by the driver of the vehicle 10 shown in Figures 1 and 2. In the drawings, the front of the vehicle 10 is indicated as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0014] <Vehicle 10 equipped with the control device of the present invention> Fig. 1 is a side view showing an example of a vehicle 10 equipped with a control device of the present invention. Fig. 2 is a top view of the vehicle 10 shown in Fig. 1. The vehicle 10 is an example of the "mobile body" of the present invention.

[0015] The vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable wheels. In this embodiment, the vehicle 10 is a four-wheel automobile having a pair of left and right front wheels and rear wheels. The drive source of the vehicle 10 is, for example, an electric motor. The drive source of the vehicle 10 may be an internal combustion engine such as a gasoline engine or a diesel engine, or may be a combination of an electric motor and an internal combustion engine. The drive source of the vehicle 10 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or all four wheels, including a pair of left and right front wheels and rear wheels. Both the front wheels and the rear wheels may be steerable wheels, or either one of them may be steerable wheels.

[0016] The vehicle 10 further includes side mirrors 11L and 11R. The side mirrors 11L and 11R are mirrors (rearview mirrors) provided on the outside of the front doors of the vehicle 10 to enable the driver to check what is behind and to the rear sides. The side mirrors 11L and 11R are fixed to the body of the vehicle 10 by a rotation shaft that extends vertically, and can be opened and closed by rotating around this rotation shaft.

[0017] The vehicle 10 is further equipped with a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The front camera 12Fr is an imaging device (e.g., a digital camera) provided at the front of the vehicle 10 and captures images in the front direction of the vehicle 10. The rear camera 12Rr is a digital camera provided at the rear of the vehicle 10 and captures images in the rear direction of the vehicle 10. The left side camera 12L is a digital camera provided on the left side mirror 11L of the vehicle 10 and captures images in the left direction of the vehicle 10. The right side camera 12R is a digital camera provided on the right side mirror 11R of the vehicle 10 and captures images in the right direction of the vehicle 10.

[0018] <Internal configuration of vehicle 10> Fig. 3 is a block diagram showing an example of the internal configuration of vehicle 10 shown in Fig. 1. As shown in Fig. 3, vehicle 10 has a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication IF 24. Vehicle 10 also has a driving force control system 26 and a braking force control system 28.

[0019] The sensor group 16 acquires various detection values ​​used for control by the control ECU 20. The sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left side sonar group 32c, and a right side sonar group 32d. The sensor group 16 also includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0020] The front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R capture images of the periphery of the vehicle 10 to obtain surrounding environment data (e.g., surrounding images) for recognizing the environment around the vehicle 10. The surrounding images of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R are referred to as the front image, rear image, left side image, and right side image, respectively. An image composed of the left side image and the right side image may also be referred to as a lateral image. An image of the vehicle 10 and its surroundings generated by combining the images captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R is referred to as an overhead image of the vehicle 10.

[0021] The front sonar group 32a, rear sonar group 32b, left side sonar group 32c, and right side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sound from other objects. The front sonar group 32a includes, for example, four sonars. The sonars that make up the front sonar group 32a are provided diagonally forward left, front left, front right, and diagonally forward right of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars that make up the rear sonar group 32b are provided diagonally rear left, rear left, rear right, and diagonally rear right of the vehicle 10, respectively. The left side sonar group 32c includes, for example, two sonars. The sonars that make up the left side sonar group 32c are provided respectively on the front left side and rear left side of the vehicle 10. The right side sonar group 32d includes, for example, two sonars. The sonars that make up the right side sonar group 32d are provided at the front and rear of the right side of the vehicle 10, respectively.

[0022] The wheel sensors 34a, 34b detect the rotation angles of the wheels of the vehicle 10. The wheel sensors 34a, 34b may be configured as angle sensors or displacement sensors. The wheel sensors 34a, 34b output a detection pulse each time the wheel rotates a predetermined angle. The detection pulses output from the wheel sensors 34a, 34b are used to calculate the wheel rotation angle and wheel rotation speed. The travel distance of the vehicle 10 is calculated based on the wheel rotation angle. The wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

[0023] The vehicle speed sensor 36 detects the speed of the body of the vehicle 10, that is, the vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission.

[0024] The operation detection unit 38 detects the operation content performed by the user using the operation input unit 14, and outputs the detected operation content to the control ECU 20. The operation input unit 14 includes various user interfaces, such as a side mirror switch that switches the open / closed state of the side mirrors 11L, 11R, and a shift lever (selector lever or selector).

[0025] The navigation device 18 detects the current position of the vehicle 10 using, for example, a GPS (Global Positioning System), and provides the user with route guidance to the destination. The navigation device 18 has a storage device (not shown) that has a map information database. The navigation device 18 also has a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for the control ECU 20. The speaker 44 outputs various types of guidance information to the user of the vehicle 10 by voice.

[0026] The touch panel 42 is configured to allow various commands to be input to the control ECU 20. For example, a user can input commands related to movement assistance for the vehicle 10 via the touch panel 42. The movement assistance includes parking assistance and exit assistance for the vehicle 10. The touch panel 42 is also configured to display various screens related to the control content of the control ECU 20. For example, the touch panel 42 displays a screen related to movement assistance for the vehicle 10. Specifically, the touch panel 42 displays a parking assistance button for requesting parking assistance for the vehicle 10 and an exit assistance button for requesting exit assistance. The parking assistance buttons include an automatic parking button for requesting parking using automatic steering by the control ECU 20 and an assisted parking button for requesting assistance when parking via a user's operation. The exit assistance buttons include an automatic exit button for requesting exit using automatic steering by the control ECU 20 and an assisted exit button for requesting assistance when leaving via a user's operation. Note that components other than the touch panel 42, such as an information terminal such as a smartphone or a tablet, may be used as the input device or the display device.

[0027] Note that "parking" is synonymous with "parking," for example. For example, "parking" refers to stopping with passengers getting in and out, and does not include temporary stops at traffic signals, etc. Also, a "parking position" refers to a target position at which a moving body (vehicle 10) is stopped, i.e., a parking position.

[0028] The control ECU 20 has an input / output unit 50, a calculation unit 52, and a memory unit 54. The calculation unit 52 is configured by, for example, a CPU (Central Processing Unit). The calculation unit 52 performs various controls by controlling each unit based on a program stored in the memory unit 54. The calculation unit 52 also inputs and outputs signals to and from each unit connected to the control ECU 20 via the input / output unit 50. The control ECU 20 is an example of a "control device" in the present invention.

[0029] The storage unit 54 also stores information related to the automatic movement of the vehicle 10. For example, the storage unit 54 stores a route history when the vehicle 1 moves to a target position. The "route history" is the route history when the vehicle 1 moves to a target position while being driven by the user. The route history includes information such as route data indicating the travel route, target position data indicating the target position, and surrounding environment data indicating the characteristics of the surrounding environment of the travel route and the target position.

[0030] The calculation unit 52 has a data acquisition unit 55 that acquires surrounding environment data of the vehicle 10, a movement assistance unit 56 that provides movement assistance for the vehicle 10, and a notification unit 57 that notifies information related to movement assistance for the vehicle 10.

[0031] The data acquisition unit 55 acquires image data of the surroundings of the vehicle 10 captured by each of the on-board cameras, such as the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R. The surrounding environment data acquired by the data acquisition unit 55 may be, in addition to the image data captured by the on-board cameras, navigation map data stored in a map information database of the navigation device 18, for example.

[0032] The movement assistance unit 56 determines the surrounding environment risk of the vehicle 10 based on the surrounding environment data acquired by the data acquisition unit 55, and provides movement assistance for moving the vehicle 10 based on the determined surrounding environment risk. The movement assistance includes control of automatic movement in which the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 are automatically operated, and control of assisted movement when the user (driver) operates the accelerator pedal, brake pedal, and operation input unit 14 to manually drive the vehicle 10.

[0033] For example, when the vehicle 10 travels across a first area and a second area with different attributes on its travel route to a destination, the travel assistance unit 56 provides predetermined travel assistance to prompt the user (e.g., the driver) of the vehicle 10 to confirm safety based on a comparison of the environmental risks of the first area and the second area. "When traveling across the first area and the second area" includes when the vehicle 10 travels from the first area to the second area and when the vehicle 10 travels from the second area to the first area. The "first area" includes, for example, public roads, areas with map data, and areas not registered in the memory of the storage unit 54 as route history. The "second area" includes, for example, private roads, areas without map data, and areas registered in the memory of the storage unit 54 as route history. Furthermore, the areas may be divided according to the freshness (update date and time) of the map information. For example, an area with newer map information may be designated as the first area, and an area with older map information may be designated as the second area. "Surrounding environment risk" refers to, for example, whether the area in which vehicle 10 is traveling is a public road or private property (including private roads), whether map data for navigation is available, and whether the route history is registered in memory.

[0034] When the vehicle 10 moves from the first area to the second area, the travel assistance unit 56 does not provide predetermined travel assistance if the environmental risk of the second area is lower than the environmental risk of the first area, and provides predetermined travel assistance if the environmental risk of the second area is higher than the environmental risk of the first area. "Not providing predetermined travel assistance" does not mean that any travel assistance that prompts the user to check for safety is not provided, but rather that predetermined travel assistance is not provided, and for example, specific travel assistance that prompts the user to check for safety is provided or not provided depending on the environmental risk.

[0035] The travel assistance unit 56 determines the road types of the first and second areas as the surrounding environment risk, and if it determines that the first area is a public road and the second area is private land, it does not provide the specified travel assistance when the vehicle 10 moves from the first area to the second area, and provides the specified travel assistance when the vehicle 10 moves from the second area to the first area.

[0036] The travel assistance unit 56 determines whether or not there is map data for navigation in the first area and the second area as a surrounding environment risk, and if it determines that there is map data for the first area but not for the second area, it does not provide the specified travel assistance when the vehicle 10 moves from the first area to the second area, and provides the specified travel assistance when the vehicle 10 moves from the second area to the first area.

[0037] The travel assistance unit 56 determines whether there is memory registration data in the first area and the second area as a surrounding environment risk, and if it determines that there is no memory registration data in the first area but there is memory registration data in the second area, it does not provide the specified travel assistance when the vehicle 10 moves from the first area to the second area, and provides the specified travel assistance when the vehicle 10 moves from the second area to the first area.

[0038] When the vehicle 10 moves from the first area to the second area, the travel assistance unit 56 determines the number of traffic participants in the first area and the second area as a surrounding environment risk, and does not provide predetermined travel assistance if there are fewer traffic participants in the second area than in the first area, and provides predetermined travel assistance if there are more traffic participants in the second area than in the first area. For example, when the vehicle 10 moves across the first and second areas, the travel assistance unit 56 switches whether or not to temporarily stop the vehicle 10 depending on the result of comparing the number of traffic participants before and after the crossing.

[0039] Furthermore, when the vehicle 10 moves from the first area to the second area, the travel assistance unit 56 determines the direction of entry of the vehicle 10 into the first area and the second area as a surrounding environment risk, and does not provide predetermined travel assistance if the vehicle 10 is moving forward from the first area to the second area, and provides predetermined travel assistance if the vehicle 10 is moving backward from the first area to the second area. The traveling direction of the vehicle 10 can be determined based on the shift range, for example. The travel assistance unit 56 determines that the surrounding environment risk is higher in a backward approach direction of the vehicle 10 than in a forward approach direction, and provides predetermined travel assistance if the vehicle 10 is moving backward.

[0040] The travel assistance unit 56 provides predetermined travel assistance depending on the state of the traffic participants in at least one of the first and second areas. The "state of the traffic participants" refers to, for example, the relative position of the traffic participants with respect to the vehicle 10 (whether close or far from the vehicle 10) or the number of traffic participants around the vehicle 10. Even when, for example, the first area is a public road and the second area is a private road and the vehicle 10 is moving from the public road (first area) to the private road (second area), the travel assistance unit 56 may, for example, temporarily stop the vehicle 10 if it is likely that the vehicle 10 will come into contact with a traffic participant depending on the state of the traffic participants.

[0041] As a predetermined travel assistance, the travel assistance unit 56 performs travel control to temporarily halt the vehicle 10 before the vehicle 10 moves across the first area and the second area. The travel assistance unit 56 sets the deceleration of the vehicle 10 when temporarily halting the vehicle 10 in accordance with the risk of the surrounding environment. For example, the higher the risk of the surrounding environment, the higher the deceleration the travel assistance unit 56 increases when temporarily halting the vehicle 10. The travel assistance unit 56 also sets the stopping position of the vehicle 10 when temporarily halting the vehicle 10 in accordance with the risk of the surrounding environment. For example, the higher the risk of the surrounding environment, the travel assistance unit 56 sets the stopping position when temporarily halting the vehicle 10 closer. Setting the stopping position also includes setting a deceleration position (for example, a deceleration start position).

[0042] As a predetermined travel assistance, the travel assistance unit 56 issues a notification to the user of the vehicle 10 via the notification unit 57 to prompt the user to stop before the vehicle 10 moves across the first area and the second area. The travel assistance unit 56 sets the intensity of the notification prompting the user to stop depending on the risk of the surrounding environment. For example, the travel assistance unit 56 increases the intensity of the notification prompting the user to stop as the risk of the surrounding environment increases.

[0043] The notification unit 57 issues a notification to prompt the user of the vehicle 10 to stop the vehicle 10, for example, before the vehicle 10 moves across the first area and the second area.

[0044] The EPS system 22 includes a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU 108. The steering angle sensor 100 detects the steering angle θst of a steering wheel 110. The torque sensor 102 detects the torque TQ applied to the steering wheel 110.

[0045] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 connected to a steering wheel 110, thereby enabling assistance to the occupant in operating the steering wheel 110 and automatic steering during parking assistance. A resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for overall control of the EPS system 22. The EPS ECU 108 is equipped with an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0046] The communication IF 24 enables wireless communication with other communication devices 120. The other communication devices 120 include base stations, communication devices of other vehicles, and information terminals such as smartphones or tablets that can be carried by the user of the vehicle 10. For example, the communication IF 24 includes a UWB (Ultra Wide Band: registered trademark) interface that can perform UWB communication with the communication device 120.

[0047] The driving force control system 26 includes a driving ECU 130. The driving force control system 26 controls the driving force of the vehicle 10. The driving ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like based on a user's operation of an accelerator pedal (not shown).

[0048] The braking force control system 28 includes a braking ECU 132. The braking force control system 28 controls the braking force of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like based on a user's operation of a brake pedal (not shown).

[0049] <Movement of the vehicle 10 between the first and second areas> Next, with reference to FIGS. 4 and 5, a movement example in which the vehicle 10 moves across a first area and a second area with different attributes will be described.

[0050] FIG. 4 is a diagram showing an example of vehicle 10 moving from a first area to a second area. As shown in FIG. 4, vehicle 10, with a user in it, is about to turn left on public road 200, on which it has been traveling, as indicated by the solid arrow, and enter private property 210. In this example, the first area is "public road 200." The second area is "private property 210." Having entered private property 210, vehicle 10 is about to enter garage 212, which is the target location, by passing through driveway 211 within private property 210. It is assumed that there is, for example, a pedestrian 221 on sidewalk 220 of public road 200.

[0051] Fig. 5 is a diagram showing an example of vehicle 10 moving from the second area to the first area. As shown in Fig. 5, vehicle 10 with a user in it is about to enter public road 200, which is the first area, from driveway 211 on private property 210, which is the second area, as indicated by the solid arrow.

[0052] 4 and 5, the first area is the public road 200 and the second area is the private property 210, but this is not limiting. For example, the area of ​​the public road 200 in FIGS. 4 and 5 may be set as the first area as an "area with map data," and the area of ​​the private property 210 may be set as the second area as an "area without map data." Furthermore, the area of ​​the public road 200 may be set as the first area as an "area without memory registration," and the area of ​​the private property 210 may be set as the second area as an "area with memory registration."

[0053] <Example of control by the control ECU 20> Next, the movement control of the control ECU 20 when the vehicle 10 is moving will be described with reference to Fig. 6 to Fig. 12. Fig. 6 is a flowchart showing an example of the movement control of the control ECU 20.

[0054] The control ECU 20 determines whether the vehicle 10 is moving across a boundary of an area (step S11). The boundary of an area is, for example, the boundary between the public road 200 and the private land 210, as described with reference to Figures 4 and 5. Moving across the boundary includes moving from the public road 200 to the private land 210 and moving from the private land 210 to the public road 200.

[0055] In step S11, if the vehicle 10 does not cross a boundary between regions (step S11: No), the control ECU 20 repeats the determination process of step S11. In step S11, if the vehicle 10 crosses a boundary between regions (step S11: Yes), the control ECU 20 acquires the type of each region that the vehicle 10 will cross (step S12). The type of each region refers to the type of road on which the vehicle 10 travels, such as a public road 200 or private land 210, as shown in, for example, FIGS. 4 and 5. The determination of whether the road is a public road 200 or private land 210 may be made based on whether it exists as road data on a map, or may be made based on image data (surrounding environment data) captured by an on-board camera.

[0056] Next, the control ECU 20 determines whether the movement of the vehicle 10 across the boundary of the area is a movement from an area with low environmental risk to an area with high environmental risk, based on the type acquired in step S12 (step S13).

[0057] In step S13, if the vehicle is moving from an area with low environmental risk to an area with high environmental risk (step S13: Yes), the control ECU 20 causes the vehicle 10 to temporarily stop before the boundary between the areas (step S14). For example, as shown in Figures 4 and 5, if the first area is a public road 200 and the second area is private property 210, the vehicle 10 is caused to temporarily stop before moving across the boundary between the two areas from the private property 210 to the public road 200 (see Figure 5), that is, before leaving the driveway 211 of the private property 210 and entering the public road 200.

[0058] The control ECU 20 causes the vehicle 10 to temporarily stop in front of the boundary of the area, and then causes the vehicle 10 to start moving again and move across the boundary of the area (step S15). For example, as shown by the solid arrow in Figure 5, the control ECU 20 causes the vehicle 10 to enter the public road 200 across the boundary between the private property 210 and the public road 200.

[0059] On the other hand, if in step S13 the vehicle is not moving from an area with low environmental risk to an area with high environmental risk (step S13: No), the control ECU 20 moves the vehicle 10 across the boundary of the area without temporarily stopping the vehicle 10 in front of the boundary of the area (step S15).

[0060] In this way, when the vehicle 10 moves across the public road 200, which is the first area, and the private land 210, which is the second area, the control ECU 20 of this embodiment performs movement control such that when the vehicle 10 moves from the private land 210, which has a low environmental risk, to the public road 200, which has a high environmental risk, the vehicle 10 stops temporarily in front of the boundary between these areas, and when the vehicle moves from the public road 200, which has a high environmental risk, to the private land 210, which has a low environmental risk, the vehicle 10 does not stop temporarily in front of the boundary between these areas. This allows for flexible movement control of the vehicle 10 to be performed according to the driving conditions of the area in which the vehicle 10 is traveling.

[0061] [First Modification] Fig. 7 is a flowchart showing a first modified example of movement control by the control ECU 20. As in the example of movement control described in Fig. 6, the control ECU 20 first determines whether the vehicle 10 is moving across a boundary between regions (step S11).

[0062] In step S11, if the vehicle is moving across a boundary between regions (step S11: Yes), the control ECU 20 determines whether or not there is map data for navigation for each region that the vehicle will move across (step S21).

[0063] Next, based on the determination result of step S21, the control ECU 20 determines whether the movement of the vehicle 10 across the boundary between areas is movement from an area without map data to an area with map data (step S22).

[0064] In step S22, if the vehicle is moving from an area without map data to an area with map data (step S22: Yes), the control ECU 20 causes the vehicle 10 to temporarily stop before the boundary between the areas (step S14). For example, in Figures 4 and 5, if the public road 200 in the first area is an area with map data and the private property 210 in the second area is an area without map data, the vehicle 10 is temporarily stopped before moving across the boundary between the two areas from the private property 210 with no map data to the public road 200 with map data (see Figure 5). Note that the area without map data also includes a newly constructed road whose map data has not been updated.

[0065] On the other hand, if it is determined in step S22 that the vehicle 10 is not moving from an area without map data to an area with map data (step S22: No), the control ECU 20 proceeds to step S15 without temporarily stopping the vehicle 10 in front of the boundary of the area. The processing in step S15 is the same as the processing in step S15 of the movement control described in FIG.

[0066] In this way, when the vehicle 10 moves across a first area where map data is available and a second area where map data is not available, the control ECU 20 of the first modified example performs movement control such that when the vehicle 10 moves from an area where no map data is available and the surrounding environment risk is low to an area where map data is available and the surrounding environment risk is high, the control ECU 20 stops the vehicle 10 in front of the boundary between these areas, and when the vehicle 10 moves from an area where map data is available and the surrounding environment risk is high to an area where map data is available and the surrounding environment risk is low, the control ECU 20 does not stop the vehicle 10 in front of the boundary between these areas. This allows for flexible movement control of the vehicle 10 to be performed according to the driving conditions of the area in which the vehicle 10 is traveling.

[0067] [Second Modification] Fig. 8 is a flowchart showing a second modified example of the movement control of the control ECU 20. As in the example of movement control described in Fig. 6, the control ECU 20 first determines whether the vehicle 10 is moving across a boundary of an area (step S11).

[0068] In step S11, if the movement will cross a boundary between regions (step S11: Yes), the control ECU 20 determines whether or not there is data registered in the memory of each region that will be crossed (step S31).

[0069] Next, based on the determination result of step S31, the control ECU 20 determines whether the movement of the vehicle 10 across the boundary of the area is from an area with memory registered data to an area without memory registered data (step S32).

[0070] In step S32, if the movement is from an area with memory-registered data to an area without memory-registered data (step S32: Yes), the control ECU 20 causes the vehicle 10 to temporarily stop before the boundary between the areas (step S14). For example, in Figures 4 and 5, if the public road 200 in the first area is an area without memory-registered data and the private property 210 in the second area is an area with memory-registered data, the vehicle 10 is caused to temporarily stop before moving across the boundary between the two areas from the private property 210 with memory-registered data to the public road 200 with no memory-registered data (see Figure 5).

[0071] On the other hand, if it is determined in step S32 that the movement is not from an area with registered memory data to an area without registered memory data (step S32: No), the control ECU 20 proceeds to step S15 without temporarily stopping the vehicle 10 in front of the boundary of the area. The processing in step S15 is the same as the processing in step S15 of the movement control described in FIG.

[0072] In this way, when the vehicle 10 moves across a first area where there is no memory registered data and a second area where there is memory registered data, the control ECU 20 of the second modified example performs movement control such that when the vehicle 10 moves from an area where there is memory registered data where the surrounding environment risk of the vehicle 10 is low to an area where there is no memory registered data where the surrounding environment risk is high, the control ECU 20 stops the vehicle 10 in front of the boundary between these areas, and when the vehicle 10 moves from an area where there is no memory registered data where the surrounding environment risk is high to an area where there is memory registered data where the surrounding environment risk is low, the control ECU 20 does not stop the vehicle 10 in front of the boundary between these areas. This allows for flexible movement control of the vehicle 10 to be performed according to the driving conditions of the area in which the vehicle 10 is traveling.

[0073] [Third Modification] Fig. 9 is a flowchart showing a third modified example of the movement control of the control ECU 20. As in the example of movement control described in Fig. 6, the control ECU 20 first determines whether the vehicle 10 is moving across a boundary of an area (step S11).

[0074] In step S11, if the movement crosses the boundary of the area (step S11: Yes), the control ECU 20 determines the number of traffic participants of each area who cross the boundary (step S41).

[0075] Next, based on the determination result of step S41, the control ECU 20 determines whether the movement of the vehicle 10 across the boundary of the area is movement from an area with few traffic participants to an area with many traffic participants (step S42).

[0076] In step S42, if the movement is from an area with few traffic participants to an area with many traffic participants (step S42: Yes), the control ECU 20 causes the vehicle 10 to temporarily stop before the boundary between the areas (step S14). For example, in Figures 4 and 5, if the public road 200 in the first area is an area with many traffic participants and the private property 210 in the second area is an area with few traffic participants, the vehicle 10 is caused to temporarily stop before moving across the boundary between the two areas from the private property 210 with few traffic participants to the public road 200 with many traffic participants (see Figure 5).

[0077] On the other hand, in step S42, if the movement is not from an area with few traffic participants to an area with many traffic participants (step S42: No), the control ECU 20 proceeds to step S15 without temporarily stopping the vehicle 10 in front of the boundary of the area. The processing of step S15 is the same as the processing of step S15 of the movement control described in FIG.

[0078] In this way, when the vehicle 10 moves across the first and second areas, the control ECU 20 of the third modified example performs movement control such that when the vehicle 10 moves from an area with few traffic participants and low environmental risk to an area with many traffic participants and high environmental risk, the vehicle 10 stops temporarily in front of the boundary between those areas, and when the vehicle 10 moves from an area with many traffic participants and high environmental risk to an area with few traffic participants and low environmental risk, the vehicle 10 does not stop temporarily in front of the boundary between those areas. This allows for flexible movement control of the vehicle 10 to be performed according to the driving conditions of the area in which the vehicle 10 is traveling.

[0079] [Fourth Modification] Fig. 10 is a flowchart showing a fourth modified example of the movement control of the control ECU 20. As shown in Fig. 10, the processes from step S11 to step S13 are the same as the processes from step S11 to step S13 of the movement control described in Fig. 6.

[0080] In step S13, if the vehicle is moving from an area where the surrounding environment risk is low to an area where the surrounding environment risk is high (step S13: Yes), the control ECU 20 sets the deceleration when stopping the vehicle 10 according to the surrounding environment risk (step S51). For example, the control ECU 20 increases the deceleration when stopping the vehicle 10 as the surrounding environment risk increases.

[0081] Next, the control ECU 20 causes the vehicle 10 to temporarily stop in front of the boundary of the area while decelerating at the deceleration set in step S51 (step S14). For example, as shown in Figures 4 and 5, if the first area is the public road 200 and the second area is private property 210, the control ECU 20 causes the vehicle 10 to temporarily stop at the set deceleration before moving across the boundary between the two areas from the private property 210 to the public road 200 (see Figure 5), that is, before leaving the driveway 211 of the private property 210 and entering the public road 200.

[0082] The process of step S15 and the process in the case where step S13: No is the same as the process of step S15 of the movement control described with reference to FIG. 6 and the process in the case where step S13: No is the same.

[0083] In this way, when the vehicle 10 moves across the public road 200, which is the first area, and the private property 210, which is the second area, the control ECU 20 of the fourth modified example performs movement control such that when the vehicle 10 moves from the private property 210, which has a low environmental risk, to the public road 200, which has a high environmental risk, the control ECU 20 stops the vehicle 10 in front of the boundary between these areas at a deceleration rate set in accordance with the high environmental risk, and when the vehicle 10 moves from the public road 200, which has a high environmental risk, to the private property 210, which has a low environmental risk, the control ECU 20 does not stop the vehicle 10 in front of the boundary between these areas. This allows for more flexible movement control of the vehicle 10 in accordance with the driving conditions of the area in which the vehicle 10 is traveling.

[0084] [Fifth Modification] Fig. 11 is a flowchart showing a fifth modified example of the movement control of the control ECU 20. As shown in Fig. 11, the processes from step S11 to step S13 are the same as the processes from step S11 to step S13 of the movement control described in Fig. 6.

[0085] In step S13, if the vehicle is moving from an area with low environmental risk to an area with high environmental risk (step S13: Yes), the control ECU 20 sets a stop position where the vehicle 10 is to stop in accordance with the environmental risk (step S61). For example, the higher the environmental risk, the closer the stop position where the vehicle 10 is to stop is set by the control ECU 20.

[0086] Next, the control ECU 20 temporarily stops the vehicle 10 in front of the boundary of the area at the stop position set in step S61 (step S14). For example, as shown in Figures 4 and 5, if the first area is the public road 200 and the second area is the private property 210, the vehicle 10 is temporarily stopped at the set stop position before moving from the private property 210 to the public road 200 across the boundary between the two areas (see Figure 5), that is, before leaving the driveway 211 of the private property 210 and entering the public road 200.

[0087] The process of step S15 and the process in the case where step S13: No is the same as the process of step S15 of the movement control described with reference to FIG. 6 and the process in the case where step S13: No is the same.

[0088] In the fifth modified example, only the stopping position of the vehicle 10 is set, but the present invention is not limited to this. For example, in combination with the deceleration of the vehicle 10 set in the fourth modified example of Fig. 10, the control ECU 20 may set the deceleration and the stopping position when stopping the vehicle 10 in accordance with the surrounding environmental risk.

[0089] In this way, when the vehicle 10 moves across the public road 200, which is the first area, and the private property 210, which is the second area, the control ECU 20 of the fifth modified example performs movement control such that when the vehicle 10 moves from the private property 210, which has a low environmental risk, to the public road 200, which has a high environmental risk, the vehicle 10 stops temporarily in front of the boundary between these areas at a stopping position set in accordance with the high environmental risk, and when the vehicle moves from the public road 200, which has a high environmental risk, to the private property 210, which has a low environmental risk, the vehicle 10 does not stop temporarily in front of the boundary between these areas. This allows for more flexible movement control of the vehicle 10 according to the driving conditions of the area in which the vehicle 10 is traveling.

[0090] [Sixth Modification] Fig. 12 is a flowchart showing a sixth modified example of the movement control of the control ECU 20. As shown in Fig. 12, the processes from step S11 to step S13 are the same as the processes from step S11 to step S13 of the movement control described in Fig. 6.

[0091] In step S13, if the vehicle 10 is moving from an area with low environmental risk to an area with high environmental risk (step S13: Yes), the control ECU 20 issues a notification urging the vehicle 10 to stop temporarily before the boundary between the areas (step S71). For example, as shown in Figures 4 and 5, if the first area is a public road 200 and the second area is private property 210, the control ECU 20 issues a notification urging the vehicle 10 to stop temporarily before moving from the private property 210 to the public road 200, straddling the boundary between the two areas (see Figure 5), that is, before leaving the driveway 211 of the private property 210 and entering the public road 200.

[0092] On the other hand, in step S13, if the vehicle is not moving from an area with low environmental risk to an area with high environmental risk (step S13: No), the control ECU 20 does not issue a notification urging the vehicle 10 to stop temporarily in front of the boundary of the area.

[0093] In the sixth modified example, the movement of the vehicle 10 is not automatic movement but assisted movement when the vehicle 10 is driven by the user.

[0094] In this way, when the vehicle 10 moves across the public road 200, which is the first area, and the private land 210, which is the second area, the control ECU 20 of the sixth modified example notifies the driver to stop the vehicle 10 before the boundary between the areas when the vehicle 10 moves from the private land 210, which has a low environmental risk, to the public road 200, which has a high environmental risk, but does not notify the driver to stop the vehicle 10 before the boundary between the areas when the vehicle 10 moves from the public road 200, which has a high environmental risk, to the private land 210, which has a low environmental risk. This allows for flexible movement control of the vehicle 10 according to the driving conditions of the vehicle 10.

[0095] The control method described in the above-described embodiment can be realized by executing a prepared control program on a computer. The control program is recorded on a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored on a non-transitory storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the control program may be included in the control device, or may be included in an electronic device such as a smartphone, tablet, or personal computer that can communicate with the control device, or may be included in a server device that can communicate with these control devices and electronic devices.

[0096] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications, improvements, etc. are possible as appropriate.

[0097] In the above embodiment, an example has been described in which the moving body is a vehicle (four-wheeled automobile), but this is not limiting. For example, the moving body may be a motorcycle, a Segway, or other vehicle. Furthermore, the concept of the present invention is not limited to vehicles, and may also be applied to robots, ships, aircraft, and the like that are equipped with a drive source and can move using the power of the drive source.

[0098] This specification also describes at least the following: Note that the components in parentheses correspond to those in the above-described embodiment, but are not limited to these.

[0099] (1) A control device (control ECU 20) for a moving body (vehicle 10), a data acquisition unit (data acquisition unit 55) that acquires surrounding environment data of the moving object; a movement support unit (movement support unit 56) that determines a surrounding environment risk of the moving object based on the surrounding environment data and provides movement support for the moving object based on the surrounding environment risk; Equipped with When the moving object moves across a first area and a second area having different attributes, the movement support unit performs predetermined movement support to prompt a user of the moving object to confirm safety based on a comparison between a surrounding environmental risk of the first area and a surrounding environmental risk of the second area. Control device.

[0100] According to (1), when moving across a first area and a second area with different attributes, predetermined mobility assistance is provided based on a comparison of the surrounding environmental risks of both areas, so that the movement of the mobile body can be flexibly controlled according to the driving conditions of the mobile body.

[0101] (2) The control device according to (1), The movement support unit When the moving body moves from the first area to the second area, When the environmental risk of the second area is lower than the environmental risk of the first area, the predetermined travel assistance is not performed; When the environmental risk of the second area is higher than the environmental risk of the first area, the predetermined mobility assistance is performed. Control device.

[0102] According to (2), when moving from a first area where the surrounding environment risk is high to a second area where the surrounding environment risk is low, predetermined movement assistance is not provided, and when moving from the first area where the surrounding environment risk is low to the second area where the surrounding environment risk is high, predetermined movement assistance is provided, thereby enabling flexible movement control of the moving body according to the driving conditions.

[0103] (3) The control device according to (1) or (2), The movement support unit determining road types of the first area and the second area as the surrounding environment risk; If it is determined that the first area is a public road and the second area is private property, When the moving object moves from the first area to the second area, the predetermined movement assistance is not performed; When the moving object moves from the second area to the first area, the predetermined movement assistance is performed. Control device.

[0104] According to (3), by not providing specified mobility assistance when moving from a public road to private property, and by providing specified mobility assistance when moving from private property to a public road, the movement of the moving body can be flexibly controlled according to the driving conditions.

[0105] (4) The control device according to any one of (1) to (3), The movement support unit determining whether or not there is map data for navigation in the first area and the second area as the surrounding environment risk; When it is determined that the map data of the first area exists and the map data of the second area does not exist, When the moving object moves from the first area to the second area, the predetermined movement assistance is not performed; When the moving object moves from the second area to the first area, the predetermined movement assistance is performed. Control device.

[0106] According to (4), when moving from an area where map data exists to an area where map data does not exist, predetermined movement assistance is not provided, and when moving from an area where map data does not exist to an area where map data exists, predetermined movement assistance is provided, thereby enabling flexible movement control of the moving body according to the driving conditions.

[0107] (5) The control device according to any one of (1) to (4), The movement support unit determining whether or not there is memory registration data in the first area and the second area as the surrounding environment risk; If it is determined that there is no memory registration data in the first area and there is memory registration data in the second area, When the moving object moves from the first area to the second area, the predetermined movement assistance is not performed; When the moving object moves from the second area to the first area, the predetermined movement assistance is performed. Control device.

[0108] According to (5), when moving from an area where there is no memory registered data to an area where there is memory registered data, the specified movement assistance is not provided, and when moving from an area where there is memory registered data to an area where there is no memory registered data, the movement of the moving body can be flexibly controlled according to the driving conditions.

[0109] (6) The control device according to any one of (1) to (5), The movement support unit When the moving body moves from the first area to the second area, determining the amount of traffic participants in the first area and the second area as the surrounding environment risk; When the number of traffic participants in the second area is smaller than the number of traffic participants in the first area, the predetermined travel assistance is not performed; When the number of traffic participants in the second area is greater than the number of traffic participants in the first area, the predetermined travel assistance is performed. Control device.

[0110] According to (6), when moving from a first area with many traffic participants to a second area with few traffic participants, predetermined movement assistance is not provided, and when moving from a first area with few traffic participants to a second area with many traffic participants, predetermined movement assistance is provided, thereby enabling flexible movement control of the moving body according to the driving conditions.

[0111] (7) The control device according to any one of (1) to (6), the travel assistance unit performs the predetermined travel assistance in accordance with the state of a traffic participant in at least one of the first area and the second area; Control device.

[0112] As in (7), by providing predetermined travel assistance in accordance with the state of traffic participants in at least one of the first and second areas, it is possible to flexibly control the travel of the moving body in accordance with the traveling conditions.

[0113] (8) The control device according to any one of (1) to (7), the movement support unit performs, as the predetermined movement support, movement control to temporarily stop the moving object before the moving object moves across the first area and the second area; Control device.

[0114] As in (8), a preferred form of predetermined travel assistance that prompts the user of the moving body to check for safety is travel control that temporarily stops the moving body.

[0115] (9) The control device according to (8), The movement support unit sets a deceleration of the moving body when the moving body is temporarily stopped in accordance with the surrounding environment risk. Control device.

[0116] As in (9), it is preferable that the deceleration when the moving body is brought to a temporary halt be set in accordance with the risk of the surrounding environment.

[0117] (10) The control device according to (8) or (9), The movement support unit sets a stopping position when the moving body is temporarily stopped in accordance with the surrounding environmental risk. Control device.

[0118] As in (10), it is preferable that the stopping position when the moving body is temporarily stopped be set in accordance with the risk of the surrounding environment.

[0119] (11) The control device according to any one of (1) to (10), the travel assistance unit, as the predetermined travel assistance, notifies a user of the moving body to urge the user to stop before the moving body moves across the first area and the second area; Control device.

[0120] According to (11), by notifying the user to stop temporarily depending on the risk of the surrounding environment before the moving body moves across the first and second areas, the movement of the vehicle 10 can be flexibly controlled depending on the driving conditions.

[0121] (12) The control device according to (11), The movement support unit sets the intensity of the notification according to the surrounding environment risk. Control device.

[0122] As in (12), it is preferable to set the strength of the notification urging the user to pause depending on the risk of the surrounding environment.

[0123] (13) A control method for a mobile body control device including: a data acquisition unit that acquires surrounding environment data of the mobile body; and a movement support unit that determines a surrounding environment risk of the mobile body based on the surrounding environment data and performs movement support for the mobile body based on the surrounding environment risk, The control device When the mobile object moves across a first area and a second area having different attributes, predetermined travel assistance is provided to prompt the user of the mobile object to confirm safety based on a comparison of the environmental risks of the first area and the second area. Control method.

[0124] According to (13), when moving across a first area and a second area with different attributes, predetermined mobility assistance is provided based on a comparison of the surrounding environmental risks of both areas, so that the movement of the mobile body can be flexibly controlled according to the driving conditions of the mobile body.

[0125] (14) A control program for a control device of a mobile body, the control program including: a data acquisition unit that acquires surrounding environment data of the mobile body; and a movement support unit that determines a surrounding environment risk of the mobile body based on the surrounding environment data and provides movement support for the mobile body based on the surrounding environment risk, the control program including: The control device When the mobile object moves across a first area and a second area having different attributes, predetermined travel assistance is provided to prompt the user of the mobile object to confirm safety based on a comparison of the environmental risks of the first area and the second area. A control program that executes processing.

[0126] According to (14), when moving across a first area and a second area with different attributes, predetermined mobility assistance is provided based on a comparison of the surrounding environmental risks of both areas, so that the movement of the mobile body can be flexibly controlled according to the driving conditions of the mobile body. [Explanation of symbols]

[0127] 10 Vehicles (moving objects) 20 Control ECU (control device) 55 Data Acquisition Section 56 Mobility Support Department

Claims

1. A control device for a moving body, a data acquisition unit that acquires surrounding environment data of the moving object; a movement support unit that determines a surrounding environment risk of the moving object based on the surrounding environment data and provides movement support for the moving object based on the surrounding environment risk; Equipped with the travel assistance unit, when the moving body moves across a first area which is a public road and a second area which is a road on private land, determines road types of the first area and the second area as the surrounding environment risk, and when the moving body moves from the first area to the second area, does not provide predetermined travel assistance that prompts the user of the moving body to check for safety, and when the moving body moves from the second area to the first area, provides the predetermined travel assistance. Control device.

2. The control device according to claim 1, The movement support unit When the moving body moves from the first area to the second area, When the environmental risk of the second area is lower than the environmental risk of the first area, the predetermined travel assistance is not performed; When the environmental risk of the second area is higher than the environmental risk of the first area, the predetermined mobility assistance is performed. Control device.

3. The control device according to claim 1, The movement support unit determining, as the surrounding environment risk, an approach direction when the moving object moves across the first area and the second area; When the direction of entry of the moving object from the first area to the second area is backward, the predetermined movement assistance is performed. Control device.

4. The control device according to claim 1, The movement support unit determining the first area and the second area based on the presence or absence of map data for navigation; determining an area where the map data exists as the first area; determining the area where no map data exists as the second area; Control device.

5. The control device according to claim 1, a storage unit that stores, as memory registration data, route information when the moving body has moved to a predetermined target position in the past; The movement support unit determining whether the first area or the second area is a region based on the presence or absence of the memory registration data; determining the area where the memory registration data is not present as the first area; determining an area where the memory registration data exists as the second area; Control device.

6. The control device according to claim 1, The movement support unit When the moving body moves from the first area to the second area, determining the amount of traffic participants in the first area and the second area as the surrounding environment risk; When the number of traffic participants in the second area is smaller than the number of traffic participants in the first area, the predetermined travel assistance is not performed; When the number of traffic participants in the second area is greater than the number of traffic participants in the first area, the predetermined travel assistance is performed. Control device.

7. The control device according to claim 2, the travel assistance unit performs the predetermined travel assistance in accordance with a state of a traffic participant in at least one of the first area and the second area; Control device.

8. The control device according to claim 1, the movement support unit performs, as the predetermined movement support, movement control to temporarily stop the moving object before the moving object moves across the first area and the second area; Control device.

9. The control device according to claim 8, The movement support unit sets a deceleration of the moving body when the moving body is temporarily stopped in accordance with the surrounding environment risk. Control device.

10. The control device according to claim 8, The movement support unit sets a stopping position when the moving body is temporarily stopped in accordance with the surrounding environmental risk. Control device.

11. The control device according to any one of claims 1 to 10, the travel assistance unit, as the predetermined travel assistance, notifies a user of the moving body to prompt the user to stop before the moving body moves across the first area and the second area; Control device.

12. The control device according to claim 11, The movement support unit sets the intensity of the notification according to the surrounding environment risk. Control device.

13. A control method for a mobile object control device including: a data acquisition unit that acquires surrounding environment data of the mobile object; and a movement support unit that determines a surrounding environment risk of the mobile object based on the surrounding environment data and provides movement support for the mobile object based on the surrounding environment risk, The control device When the moving object moves across a first area which is a public road and a second area which is a road on private land, the road types of the first area and the second area are determined as the surrounding environment risk, and when the moving object moves from the first area to the second area, a predetermined travel assistance that prompts the user of the moving object to check for safety is not provided, and when the moving object moves from the second area to the first area, the predetermined travel assistance is provided. Control method.

14. A control program for a control device of a mobile body, the control program comprising: a data acquisition unit that acquires surrounding environment data of the mobile body; and a movement support unit that determines a surrounding environment risk of the mobile body based on the surrounding environment data and provides movement support for the mobile body based on the surrounding environment risk, The control device When the moving object moves across a first area which is a public road and a second area which is a road on private land, the road types of the first area and the second area are determined as the surrounding environment risk, and when the moving object moves from the first area to the second area, a predetermined travel assistance that prompts the user of the moving object to check for safety is not provided, and when the moving object moves from the second area to the first area, the predetermined travel assistance is provided. A control program that executes processing.

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