Mobility device, control program and control method thereof

Abstract

To solve the problem that it is difficult to flexibly switch functions according to needs and situations of the functions of a mobility device in conventional mobility devices.SOLUTION: A mobility device of one embodiment comprises: an input / output unit 10 which inputs and outputs needs information; an own device information management unit 12 which manages own device information showing a current operation state of an own device; a mode management device 13 which manages whether a current state is a valid state or an invalid state for every mode of a plurality of operation modes the operations of which are defined by using at least one of a plurality of functions loaded on the own device to achieve different purposes; a mode selection unit 11 which determines an operation mode usable in the own device by referring to the own device information and usable operation modes to select the operation mode for executing adaptable service among pieces of service shown by the needs information to be given via the input / output unit; and an execution unit 14 which controls the functions in the own device so that the operation mode selected by the mode selection unit is realized.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a mobility device, a control program and a control method thereof, and more particularly to a mobility device that operates while communicating with an external device provided externally, and a control program and a control method thereof. [Background technology]

[0002] In recent years, many urban infrastructures have been proposed that use not only driving mobility devices but also autonomous mobility devices such as robots, self-driving cars, and drones. The challenge for such urban infrastructures is how to utilize autonomous mobility devices. Patent Document 1 discloses an example of a method for controlling autonomous mobility devices.

[0003] The vehicle management device described in Patent Document 1 is a vehicle management device that includes a reception unit that receives a ride request from a user, in which at least one of a departure time and an arrival time can be specified; a driving plan creation unit that creates a driving plan for a vehicle to be dispatched to the user based on the ride request; and a ride-pool search unit that searches for other users who can ride-pool in the vehicle.If the ride-pool search unit specifies a departure time but not an arrival time in the ride request, the ride-pool search unit searches for other users who can ride-pool in the vehicle based on the user's driving plan and the driving plans of the other users.If the ride-pool search unit finds other users who can ride-pool in the vehicle through the search, the driving plan creation unit changes the user's driving plan to a driving plan that includes the other user. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2021-149533 Summary of the Invention [Problem to be solved by the invention]

[0005] However, while it has become possible in recent years to incorporate a wide range of functions into mobility devices, the technology described in Patent Document 1 has the problem of not being able to flexibly switch operating modes depending on needs and the functional status of the mobility device. [Means for solving the problem]

[0006] A mobility device according to one embodiment includes an input / output unit that inputs and outputs needs information, a host information management unit that manages host information indicating the current operating state of the host device, a mode management unit that manages whether the current state is enabled or disabled for each of a plurality of operating modes in which operation is defined using at least one of a plurality of functions installed in the host device to achieve different purposes, a mode selection unit that determines the operating modes available for the host device by referring to the host information and the available operating modes, and selects the operating mode for executing a compatible service from among the services indicated in the needs information provided via the input / output unit, and an execution unit that controls functions within the host device so that the operating mode selected by the mode selection unit is realized.

[0007] A mobility control program according to one embodiment performs the following operations in a calculation unit within a mobility device: input / output processing for inputting and outputting needs information; host information management processing for storing host information indicating the current operating state of the host device in a memory; mode management processing for managing the enabling and disabling of multiple operating modes whose operation is defined using at least one of multiple functions installed in the host device to achieve different purposes; mode selection processing for referring to the host information and the currently enabled operating mode, and referring to the host information and the available operating modes to determine the operating modes available to the host device, and selecting the operating mode for executing a compatible service from among the services indicated by the needs information provided by the input / output processing; and execution processing for controlling functions within the host device so that the operating mode selected in the mode selection processing is realized.

[0008] A mobility control method according to one embodiment performs the following operations by computation within a mobility device: input / output processing for inputting and outputting needs information; host information management processing for storing host information indicating the current operating state of the host device in a memory; mode management processing for managing the enablement and disablement of multiple operating modes whose operation is defined using at least one of multiple functions installed in the host device to achieve different purposes; mode selection processing for determining the operating modes available for the host device by referring to the host information and the available operating modes and selecting the operating mode for executing a compatible service from among the services indicated by the needs information provided by the input / output processing; and execution processing for controlling functions within the host device so that the operating mode selected in the mode selection processing is realized. [Effects of the Invention]

[0009] According to one embodiment of the mobility device, its control program, and control method, the mobility device is operated by dynamically switching between multiple operating modes defined by a combination of multiple functions and having different functions, allowing the mobility device to appropriately change functions and switch destinations, thereby enabling flexible service provision. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 2 is a block diagram of a mobility device according to a first embodiment. [Figure 2] 2 illustrates an example of an operation mode implemented in the mobility device according to the first embodiment. [Figure 3] FIG. 2 is a block diagram illustrating an example of a hardware configuration of a mobility device according to a first embodiment. [Figure 4] FIG. 2 is a block diagram illustrating a first operation example of the mobility device according to the first embodiment. [Figure 5] 10 is a flowchart illustrating a first operation example of the mobility device according to the first embodiment. [Figure 6] FIG. 10 is a block diagram illustrating a second operation example of the mobility device according to the first embodiment. [Figure 7] 10 is a flowchart illustrating a second operation example of the mobility device according to the first embodiment. [Figure 8] FIG. 10 is a block diagram illustrating a third operation example of the mobility device according to the first embodiment. [Figure 9] 10 is a flowchart illustrating a third operation example of the mobility device according to the first embodiment. [Figure 10] FIG. 10 is a block diagram of a mobility device according to a second embodiment. [Figure 11] 10 is a flowchart illustrating an example of the operation of a mobility device according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Embodiment 1 Hereinafter, embodiments of the present invention will be described with reference to the drawings. The mobility device described below has, as its basic functions, a seat for passengers and a platform for carrying objects, and travels to a destination while monitoring the surroundings using sensors. By changing the processing method, information acquired by the sensors can be used for security and monitoring the status of the mobility service area. Furthermore, if the mobility device is an electric vehicle, it can be used as disaster infrastructure to provide power to residents within the mobility service area during a disaster or other emergency. Therefore, the mobility device 1 according to the first embodiment flexibly changes the mobility device's functions for transporting people and objects and its destination depending on the situation by issuing an instruction to change the operation mode of the mobility device using a wireless signal, an operation interface attached to the device, or the like, and changing the combination of enabled functions.

[0012] 1 shows a block diagram of a mobility device 1 according to the first embodiment. As shown in FIG. 1, the mobility device 1 according to the first embodiment includes an input / output unit 10, a mode selection unit 11, a host information management unit 12, a mode management unit 13, an execution unit 14, and a sensor 15.

[0013] The input / output unit 10 inputs and outputs needs information. For example, the input / output unit 10 performs wireless signal communication with a device that is a source of needs information. More specifically, the input / output unit 10 inputs and outputs wireless communication signals with base stations of a mobile phone communication network, receives broadcast waves, and inputs and outputs wireless communication signals used in communication between mobility devices. Note that an input / output interface provided by a user can also be used as the input / output unit 10. In this case, the function of transmitting and receiving wireless signals and the input / output interface provided to the user may coexist.

[0014] The mode selection unit 11 determines the operational modes available for the device itself by referring to the device information and available operational modes, and selects an operational mode for executing a compatible service from among the services indicated in the needs information provided via the input / output unit 10. More specifically, the mode selection unit 11 selects an operational mode by integrating the device information and available operational modes. The mode selection unit 11 extracts the device's location, route information, remaining battery power, remaining fuel amount, and other information, as well as functions installed in the device, from the device information and available operational modes, and selects an operational mode that can satisfy the functions and objective values ​​indicated in the needs information from the extracted information. The mode selection unit 11 performs mode selection taking into account the needs information and the operational modes available for the device itself through a determination process such as artificial intelligence or pattern matching. The mode selection unit 11 also notifies the execution unit 14 and the mode management unit 13 of the selected operational mode and instructs them to control the mobility device 1 to operate in the selected operational mode.

[0015] The host information management unit 12 manages host information indicating the current operating status of the host. Here, the host information includes, for example, functions used by the host, unused functions of the host, the current position of the host, route plan information which is one of the movement plans, battery capacity, and used or free capacity of the storage device. The host information may also include information other than these. Furthermore, each time a new operating mode is selected by the mode selection unit 11, the host information management unit 12 reflects the changed status in the host information.

[0016] The mode management unit 13 manages whether the current state is enabled or disabled for each of a plurality of operation modes, whose operation is defined using at least one of a plurality of functions installed in the device to achieve different purposes. Here, when the mode selection unit 11 selects a mode, the mode management unit 13 notifies the mode selection unit 11 whether each operation mode is enabled or disabled. Furthermore, when the mode selection unit 11 selects a new operation mode, the mode management unit 13 rewrites the record of the newly selected operation mode from disabled to enabled.

[0017] The execution unit 14 controls the functions within the device so as to realize the operation mode selected by the mode selection unit. Specifically, the execution unit 14 controls the mobility device 1 in a manner specified in the operation mode, using information obtained from the sensor 15.

[0018] The sensor 15 acquires information about the environment around the mobility device 1 using an optical camera, an infrared camera, a LiDAR, a high frequency sensor, a GPS, or the like, and may be a single sensor or a combination of multiple types of sensors. The sensor 15 is not just a sensor device, but also performs information processing such as object detection based on the information acquired from the sensor device.

[0019] Here, examples of operation modes installed in the mobility device 1 will be described. Therefore, Fig. 2 shows examples of operation modes installed in the mobility device according to the first embodiment. Although seven operation modes are shown in Fig. 2, the operation modes installed in the mobility device 1 are not limited to these. Furthermore, the table shown in Fig. 2 shows characteristic functions in each operation mode as functions to be used, but common functions such as route navigation for autonomous movement using the sensor 15 and a movement function for moving the mobility device 1 itself are used in each operation mode.

[0020] The people transport mode is a mode in which the mobility device 1 transports people between a starting point and a destination specified by the passenger, and is a mode in which the mobility device 1 is used as a taxi, for example. In this people transport mode, the function used is a seat. The shared car mode is a mode in which the mobility device 1 travels along a specified route while picking up and dropping off people, and is a mode in which the mobility device 1 is used as a bus, for example. The goods transport mode is a mode in which luggage loaded at a specified luggage loading location is delivered to the destination on a specified date and time. In this goods transport mode, the function used is a loading platform.

[0021] Public vehicle mode is a mode that provides public services, such as collecting environmental information within an area, such as garbage, vegetation, and snow. In public vehicle mode, the functions used are camera image capture and object detection. In public vehicle mode, the objects detected are garbage, vegetation, and snow. Object detection, including other modes, can utilize various methods, such as object detection using artificial intelligence and pattern matching, which detects objects by comparing them with reference images stored in a database in advance. Fire and police mode is a mode that provides services such as checking traffic signs and monitoring driving etiquette. In fire and police mode, the functions used are camera image capture and object detection. In fire and police mode, the objects detected are traffic signs and driving etiquette. Security mode is a mode that provides anomaly monitoring services in a specified patrol area and patrol services to detect suspicious individuals and objects. In security mode, the functions used are camera image capture and object detection. In security mode, the objects detected are suspicious objects and suspicious individuals.

[0022] The disaster mode is a mode that provides disaster services by supplying power to evacuation shelters set up in the event of a disaster. In disaster mode, the power source used and the remaining battery power that stores the power required for the device to operate are used.

[0023] In the above example, it is assumed that the mobility device 1 is structurally equipped with a seat and a luggage carrier, but in such a case, the mobility device 1 according to the first embodiment can provide other services by utilizing the camera and battery required even when operating in the people transport mode, shared car mode, and goods transport mode. In this way, by controlling the mobility device 1 so that even a portion of a certain function that is essential for the mobility device 1 can provide other services, the utilization efficiency of the functions installed in the mobility device 1 is improved.

[0024] Here, an example of a hardware configuration for realizing the mobility device 1 will be described. FIG. 3 shows a block diagram illustrating an example of the hardware configuration of the mobility device 1 according to the first embodiment. Note that FIG. 3 does not show configurations that change due to differences in the form of the mobility device, such as a driving device (for example, configurations that change due to differences in form, such as between a vehicle and a drone). As shown in FIG. 3, the mobility device 1 can be realized by a computer 100. This computer 100 is configured so that a calculation unit 101, a memory 102, a communication interface 103, and a sensor 104 can communicate with each other via a bus.

[0025] The calculation unit 101 executes a mobility control program, causing the computer 100 to perform input / output processing (processing performed by the input / output unit 10), mode selection processing (processing performed by the mode selection unit 11), host information management processing (processing performed by the host information management unit 12), mode management processing (processing performed by the mode management unit 13), and execution processing (processing performed by the execution unit 14). The memory 102 is used as a location where the host information management unit 12 stores host information and as a storage location for information generated by the processing of the execution unit 14. The communication interface 103 includes an antenna used when the input / output unit 10 inputs and outputs needs information, a decoder that decodes signals, and the like. The sensor 104 is a sensor device that constitutes the sensor 15. The sensor 104 may include a processing unit that performs a conversion process to convert signals obtained from the sensor device into a format usable by the calculation unit 101, and an object detection process from information obtained from the sensor device.

[0026] Next, a method for controlling the operation mode of the mobility device 1 according to the first embodiment will be described. The mobility device 1 can change or add an operation mode based on needs information obtained from the outside, and there are three possible ways in which the needs information can be provided. Therefore, the method for controlling the operation mode of the mobility device 1 will be described below by showing first to third operation examples according to the differences in how the needs information is provided. Furthermore, the operation mode shown in each operation example is just an example, and the operation mode can be switched arbitrarily.

[0027] FIG. 4 is a block diagram illustrating a first operation example of the mobility device according to the first embodiment. As shown in FIG. 4, the first operation example illustrates an operation when only one request is input as needs information. In the example shown in FIG. 4, disaster information transmitted by broadcast waves is received as needs information. Also, in the example shown in FIG. 4, the mobility device 1 is operating in a shared car mode before receiving the disaster information.

[0028] FIG. 5 shows a flowchart illustrating a first operation example of the mobility device according to the first embodiment. As shown in FIG. 5, when the mobility device 1 receives disaster information via the input / output unit 10 (step S11), the mobility device 1 transmits the received disaster information as needs information to the mode selection unit 11 (step S12). The mode selection unit 11 then performs an operation mode selection process in step S13. In step S13, the mode selection unit 11 analyzes the scale of the disaster indicated in the disaster information. The mode selection unit 11 also acquires information about the mobility device itself from the host information management unit 12 and information about currently enabled and disabled operation modes from the mode management unit 13. The mode selection unit 11 then determines to switch the mobility device itself from the shared car mode to the disaster mode based on the analysis results of the various information. For example, if the disaster information indicates that the scale of the disaster at destination A is large and it is difficult to reach destination A in the shared car mode, the mode selection unit 11 selects shelter B from the pre-set candidate shelter locations and sets shelter B as the destination in the disaster mode. Furthermore, the mobility device 1 transports passengers who were riding in the shared car mode to the evacuation shelter B. Furthermore, in the disaster mode, if it is determined that the remaining battery charge is sufficient for power supply (for example, the remaining battery charge is high), the mobility device 1 sets its operation to be used as a power supply device at the evacuation shelter B.

[0029] As explained above, in the first operation example, the mobility device 1 determines the most suitable combination of services to be provided by taking into consideration the functions required for a service requested by one piece of needs information, the functions used in the currently enabled operation mode, the currently disabled functions, the route plan, and the remaining battery level, and then selects the operation mode in which the determined service can be provided. This allows the mobility device 1 to flexibly change the operation mode according to its own situation and needs.

[0030] FIG. 6 shows a block diagram illustrating a second operation example of the mobility device according to the first embodiment. As shown in FIG. 6, the second operation example shows an operation when multiple requests are input at once as needs information. In the example shown in FIG. 6, needs information (e.g., one logistics request and two ride-sharing requests) issued from a higher-level system that manages multiple mobility devices is received. Also, in the example shown in FIG. 6, the mobility device 1 is operating in an item transport mode before receiving the needs information.

[0031] FIG. 7 shows a flowchart illustrating a second operation example of the mobility device according to the first embodiment. As shown in FIG. 7, when the mobility device 1 receives needs information at the input / output unit 10 (step S21), the mobility device 1 transmits the received needs information to the mode selection unit 11 (step S22). Thereafter, the mode selection unit 11 performs an operation mode selection process at step S23. At step S23, the mode selection unit 11 analyzes functions required for the service requested by the needs information. The mode selection unit 11 also acquires host information from the host information management unit 12 and information on currently enabled and disabled operation modes from the mode management unit 13. Then, based on the analysis results of the various information, the mode selection unit 11 adds a people transport mode to an item transport mode (step S24) and determines to switch the operation mode so that the people transport mode and the item transport mode are performed in parallel.

[0032] 6 and 7, all of the requests indicated in the needs information have destination A of the currently enabled goods transport mode as the final destination, so the mode selection unit 11 analyzes a combination of requests that can reach destination A within the allowable time. In the example shown in Fig. 6, the mode selection unit 11 determines that stopping at people waiting location B will cause the time to reach destination A to exceed the allowable range, and changes the route plan to stop at two locations, people waiting location C and baggage loading location D, while adding a people transport mode and an goods transport mode that pass through these two locations as operation modes to the current goods transport mode.

[0033] In this way, if there is a request that cannot be accommodated, and the mode selection unit 11 determines that it cannot execute the service indicated by the needs information (for example, a request to share a ride with someone at waiting area B) due to the current situation (time conditions in the example shown in Figure 6), it notifies a higher-level system (for example, the device that sent the needs information) that it was unable to accommodate the service that it determined it could not accommodate (steps S25, S26).

[0034] As explained above, in the second operation example as well, the mobility device 1 determines the most suitable combination of services to provide by taking into consideration the functions required for a service requested by one piece of needs information, the functions used in the currently enabled operation mode, the currently disabled functions, the geographical situation, the time situation, etc., and selects the operation mode in which the determined service can be provided. This allows the mobility device 1 to flexibly change the operation mode according to its own situation and needs.

[0035] FIG. 8 is a block diagram illustrating a third operation example of the mobility device according to the first embodiment. As shown in FIG. 8, in the third operation example, a new operation mode is enabled based on needs information detected using the sensor 15. As a specific example, the third operation example illustrates an operation in which the needs information is that the sensor 15 has detected a route different from the existing map during security mode, and the existing map needs to be updated. Note that the needs information based on input from the sensor 15 is not limited to updating the existing map.

[0036] 9 shows a flowchart illustrating a third operation example of the mobility device according to the first embodiment. As shown in FIG. 9, when the sensor 15 detects a route that differs from an existing map (step S31), the mobility device 1 adds a map update mode as a new operation mode (step S32). At this time, the mode selection unit 11 refers to the device information to calculate the area in which the map update is to be performed and the maximum amount of data to be accumulated for the map update, and transmits the results to the mode management unit 13.

[0037] As explained above, in the third operation example as well, the mobility device 1 determines the most suitable combination of services to provide by taking into consideration the functions required for the service requested by one piece of needs information detected by the sensor 15, the functions used in the currently enabled operation mode, the currently disabled functions, the current location, etc., and selects the operation mode in which the determined service can be provided. This allows the mobility device 1 to flexibly change the operation mode according to its own situation and needs.

[0038] As explained above, the mobility device 1 according to the first embodiment has a plurality of operation modes in which operation is defined using at least one of a plurality of functions installed in the device to achieve different purposes, and the mode selection unit 11 switches the combination of operation modes to be enabled in accordance with needs information within the range of the installed functions. This allows the mobility device 1 to flexibly switch operation modes according to needs and the status of functions being used in the mobility device. Furthermore, the mobility device 1 can appropriately change functions and switch destinations, enabling flexible service provision. Furthermore, the mobility device 1 can increase the utilization efficiency of its own functions.

[0039] Embodiment 2 In the second embodiment, a mobility device 2 will be described, which is another embodiment of the mobility device 1 of the first embodiment. Fig. 10 shows a block diagram of the mobility device 2 according to the second embodiment. In the description of the second embodiment, the same components as those in the first embodiment are assigned the same reference numerals as those in the first embodiment, and the description thereof will be omitted.

[0040] As shown in Fig. 10, mobility device 2 is configured by replacing mode selection unit 11 of mobility device 1 with mode selection unit 21. In the second embodiment, a priority is set for each operation mode, and mode selection unit 21 selects operation modes to be enabled in order to provide a service requested by needs information in descending order of priority.

[0041] FIG. 11 shows a flowchart illustrating an example of operation of the mobility apparatus 2 according to the second embodiment. The example shown in FIG. 11 is obtained by adding a process for selecting an operation mode based on priority to the second operation example of the mobility apparatus 1 shown in FIG. 7. As shown in FIG. 11, when the mode selection unit 21 receives a request based on needs information (step S22), the mode selection unit 21 determines whether the priority of an operation mode that needs to be activated by the mobility apparatus 1 to satisfy the received request is higher than the priority of the currently activated operation mode (step S41). If the mode selection unit 21 determines that the priority of the operation mode to be activated is higher than the priority of the currently activated operation mode, the mode selection unit 21 adds the operation mode to be activated as a new operation mode. On the other hand, if the mode selection unit 21 determines that the priority of the operation mode to be activated is lower than the priority of the currently activated operation mode, the mode selection unit 21 does not activate the new operation mode, and notifies the upper system that the request specified by the needs information cannot be satisfied (step S26).

[0042] As explained above, the mobility device 2 according to the second embodiment determines the operation mode to be enabled in consideration of the priority set for each operation mode. This prevents the service currently provided by the mobility device 1 from being interrupted by a service with a lower priority. Furthermore, when there are multiple mobility devices, each mobility device can be provided with a function for providing a service that it is good at, so that the good service can be executed preferentially by each mobility device.

[0043] The present invention is not limited to the above-described embodiment, and can be modified as appropriate within the scope of the invention. [Explanation of symbols]

[0044] 1, 2 Mobility Device 10 Input / output section 11 Mode selection section 12. Machine Information Management Unit 13 Mode Management Unit 14 Executive Department 15 sensors 21 Mode selection section 100 computers 101 Arithmetic section 102 memory 103 Communication Interface 104 Sensors

Claims

1. an input / output unit for inputting and outputting needs information; a host information management unit that manages host information indicating the current operating status of the host; a mode management unit that manages whether a current state is enabled or disabled for each of a plurality of operation modes in which operation is defined using at least one of a plurality of functions installed in the device to achieve different purposes; a mode selection unit that refers to the device information and the available operation modes to determine the available operation modes of the device, and selects the operation mode for executing a compatible service from among the services indicated in the needs information provided via the input / output unit; an execution unit that controls functions within the device so as to realize the operation mode selected by the mode selection unit; a sensor for acquiring information about the surrounding situation of the vehicle; The mobility device notifies the execution unit and the mode management unit to enable the new operation mode based on needs information detected using the sensor.

2. The mobility device described in claim 1, wherein, when the mode selection unit determines that the device cannot execute the service indicated by the needs information, the mode selection unit notifies the device that sent the needs information that it was unable to support the service that the device determined to be incapable of supporting.

3. Priority is set for each of the operation modes, The mobility device according to claim 1 , wherein the mode selection unit selects the operational modes to be enabled in descending order of priority.

4. The mobility device according to claim 3 , wherein the mode selection unit notifies the device that has transmitted the needs information that the service is incompatible with the service that the mode selection unit determines cannot be supported by the device itself based on the priority.

5. The mobility device according to claim 1 , wherein some of the plurality of operation modes commonly use some of the plurality of functions provided in the mobility device.

6. The mobility device according to claim 1 , wherein the input / output unit receives disaster information distributed using broadcast waves as the needs information.

7. an input / output process for inputting and outputting needs information; a self-device information management process for storing self-device information indicating the current operating state of the self-device in a memory; a mode management process for managing the validity and invalidity of a plurality of operation modes in which operations are defined using at least one of a plurality of functions installed in the device to achieve different purposes; a mode selection process that refers to the device information and the available operation modes to determine the operation modes available in the device, and selects the operation mode for executing a compatible service from among the services indicated by the needs information provided by the input / output process; an execution process for controlling functions within the mobility device so as to realize the operation mode selected in the mode selection process, by a calculation unit within the mobility device; A mobility control program that notifies the execution process and the mode management process that a new operating mode will be enabled based on needs information detected using a sensor that acquires information about the surrounding situation of the device.

8. an input / output process for inputting and outputting needs information; a self-device information management process for storing self-device information indicating the current operating state of the self-device in a memory; a mode management process for managing the validity and invalidity of a plurality of operation modes in which operations are defined using at least one of a plurality of functions installed in the device to achieve different purposes; a mode selection process that refers to the device information and the available operation modes to determine the operation modes available in the device, and selects the operation mode for executing a compatible service from among the services indicated by the needs information provided by the input / output process; an execution process for controlling functions within the mobility device so as to realize the operation mode selected in the mode selection process, the execution process being performed by a calculation process within the mobility device; A mobility control method that notifies the execution process and the mode management process that a new operating mode will be enabled based on needs information detected using a sensor that acquires information about the surrounding situation of the device.

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