Mobile device, control method, and program

Abstract

Provided is a mobile body that a passenger can board, the mobile body comprising: a drive apparatus for moving the mobile body; a sense apparatus for sensing a situation at least ahead of travel of the mobile body; an operating element which is provided on an armrest of the mobile body and that can be operated at least left and right so that the passenger can indicate a travel direction for the mobile body; and a control apparatus for causing the mobile body to run in a mode in which acceleration and steering are performed automatically. In accordance with the operation performed on the operating element to indicate the travel direction, the control apparatus automatically generates a target trajectory for the mobile body to change the travel direction on the basis of the situation that has been sensed ahead of travel, and controls the drive apparatus so that the mobile body moves along the target trajectory.

Description

Technical Field

[0001] The present invention relates to a moving body, a control method, and a program.

Background Art

[0002] In recent years, efforts have been actively made to provide access to a sustainable transport system that takes into account people in vulnerable positions among traffic participants. Towards this realization, research and development focused on further improving traffic safety and convenience through research and development related to autonomous driving technology has been carried out. For example, the practical application of autonomous driving and advanced driving assistance based on the results of sensing the direction ahead of the moving body has been progressing. These technologies can include a form in which the control device of the moving body controls the traveling direction of the moving body, and a mode in which at least a rough traveling direction is determined by receiving some operation by the occupant. Also in recent years, the practical application of moving bodies called micro-mobility for single or two-person rides has been progressing (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology, there are cases where the traveling direction of the moving body cannot be changed by a simple operation.

[0005] The present invention has been made in view of such circumstances, and one of its purposes is to provide a moving body, a control method, and a program capable of changing the traveling direction of the moving body by a simple operation. And by extension, it contributes to the development of a sustainable transport system.

Means for Solving the Problems

[0006] The mobile body according to this invention employs the following configuration. (1) A mobile body according to one aspect of the present invention is a mobile body on which a passenger can ride, comprising: a drive device for moving the mobile body; a detection device for detecting the condition of at least the side of the mobile body in the direction of travel; an operator provided on the armrest of the mobile body and operable at least left and right, for the passenger to indicate the direction of travel of the mobile body; and a control device for driving the mobile body in a mode that automatically accelerates, decelerates and steers, wherein, in response to an operation to indicate the direction of travel made to the operator, the control device automatically generates a target trajectory for the mobile body to change the direction of travel based on the detected condition on the side of travel, and controls the drive device so that the mobile body moves along the target trajectory.

[0007] (2) In the embodiment of (1) above, the control device generates the target trajectory with the first direction as the destination direction of travel when the operating direction of the operator is either the left or the right first direction, and after the first direction has been determined as the destination direction of travel, the control device cancels the change of the direction of travel when the operator is operated in a direction different from the first direction.

[0008] (3) In the embodiment of (2) above, the control device generates the target trajectory with the operated first direction as the destination direction of travel when the operator is operated in either the left or right first direction for a first period of time or longer, and after the operated first direction has been determined as the destination direction of travel, the control device cancels the change of the direction of travel when the operator is operated in a direction different from the first direction for a second period of time or longer, wherein the second period is longer than the first period.

[0009] (4) In the embodiment of (2) above, the operator is operable at least further in the rear direction, the control device generates the target trajectory with the first direction as the destination direction of travel when the operator is operated in the first direction for a first period of time or longer, and the control device cancels the change of the direction of travel when the operator is operated in the rear direction for a third predetermined period of time or longer after the operated first direction has been determined as the destination direction of travel, or when the operator is operated in a direction other than the first direction and the rear direction for a second period of time or longer, the third period being shorter than the second period.

[0010] (5) In the embodiment of (1) above, the mobile body is equipped with a notification device for notifying the occupant, and the control device, upon receiving an operation to the operator, causes the notification device to output a notification indicating that the operation has been received.

[0011] (6) In the embodiment of (1) above, the control device retains the instruction to change the direction of travel even if the moving body stops or its speed decreases to below a predetermined value due to the intervention of the occupant while the moving body is moving along the target trajectory.

[0012] (7): In the embodiment of (1) above, the moving body is equipped with a notification device for notifying the occupant, and the control device causes the notification device to notify the occupant to cancel the instruction to change the direction of travel if the moving body stops due to the intervention of the occupant while the moving body is moving along the target trajectory.

[0013] (8) In the embodiment of (1) above, when the detection device detects a plurality of candidate directions for changing the direction of the moving body, the control device accepts multiple operations on the operator and determines one of the plurality of candidate directions for changing the direction of

[0014] (9): In the embodiment of (1) above, when the detection device detects a plurality of candidate directions for changing the direction of travel of the moving body, the control device detects one or more of the occupant's driving history, speech, gaze, or gestures to determine one of the plurality of candidate directions for changing the direction of travel as the destination.

[0015] (10): In the embodiment of (8) above, the moving body is equipped with a display device that displays information relating to the movement of the moving body, and the control device causes the display device to display one of the plurality of candidate routes to be changed, which has been determined as the direction of travel to be changed.

[0016] (11): A control method according to another aspect of the present invention is a control method performed by a control device for a mobile body on which an occupant can ride, comprising: a drive device for moving a mobile body on which an occupant can ride; a detection device for detecting the condition of at least the mobile body on the direction of travel side; an operator provided on the armrest of the mobile body and operable at least left and right, for the occupant to indicate the direction of travel of the mobile body; and a control device that drives the mobile body in a mode that automatically accelerates, decelerates and steers, wherein in response to an operation to indicate the direction of travel made to the operator, the control device automatically generates a target trajectory for the mobile body to change the direction of travel based on the detected condition on the direction of travel side, and controls the drive device so that the mobile body moves along the target trajectory.

[0017] (12): A program according to another aspect of the present invention is a program executed by the control device of the moving body including a drive device for moving the moving body in which a passenger can board, a detection device for detecting at least the situation on the traveling direction side of the moving body, an operator provided on the armrest of the moving body, operable at least left and right, for the passenger to indicate the traveling direction of the moving body, and a control device for running the moving body in a mode of automatically accelerating, decelerating and steering. The program automatically generates a target trajectory for the moving body to change the traveling direction based on the detected situation on the traveling direction side in response to an operation of indicating the traveling direction made to the operator, and controls the drive device so that the moving body moves along the target trajectory.

Effect of the Invention

[0018] (1) According to the aspects (1) to (12), the traveling direction of the moving body can be changed by a simple operation.

Brief Description of the Drawings

[0019] [Figure 1] It is a diagram showing an example of the configuration of the moving body 1. [Figure 2] It is a perspective view of the moving body 1 according to the first embodiment as seen from above. [Figure 3] It is a diagram of the state where the right door D_r is opened as seen from the inside of the moving body 1. [Figure 4] It is a diagram showing an example of an image IM captured by the external camera of the external detection device 10. [Figure 5] It is a diagram illustrating the target trajectory K before and after the first operator OP1 is operated. [Figure 6] It is a diagram showing an example of an operation of the first operator OP1 executed to cancel the change of the traveling direction by the moving body 1. [Figure 7] It is a diagram showing an example of a notification screen displayed by the HMI 30. [Figure 8] It is a diagram showing another example of a notification screen displayed by the HMI 30. [Figure 9] This is a diagram showing an example of a method for specifying a traveling direction via the HMI 30 at a multi-branched road. [Figure 10] This is a diagram showing an example of the flow of processing executed by the control device 100. [Figure 11] This is a diagram showing another example of the flow of processing executed by the control device 100. [Figure 12] This is a diagram showing another example of the flow of processing executed by the control device 100. [Figure 13] This is a perspective view of the moving body 1A of the second embodiment as seen from above. [Embodiment for Carrying out the Invention]

[0020] Hereinafter, with reference to the drawings, the moving body, control method, and program of the present invention will be described. The moving body is a vehicle on which a passenger can board, and may be referred to as micromobility. The moving body may be capable of traveling not only on a roadway but also on a sidewalk. In that case, different speed limit controls are performed on the roadway and the sidewalk, and when traveling on the sidewalk, that fact may be notified to the outside by some means, but the description thereof is omitted in this specification, and only the case where the moving body moves on the roadway will be described.

[0021] <First Embodiment> [Configuration] FIG. 1 is a diagram showing an example of the configuration of the moving body 1. The moving body 1 is equipped with, for example, an external detection device 10, a moving body sensor 12, an operator group 14, a positioning device 18, a mode changeover switch 22, an HMI 30, a drive device 40, a direction indicator 50, a storage device 70, and a control device 100. Note that some of these configurations that are not essential for realizing the functions of the present invention may be omitted.

[0022] The external environment detection device 10 is a variety of devices for acquiring information about the situation on at least the direction of travel of the moving object 1. The external environment detection device 10 is an example of a detection device. The external environment detection device 10 includes, for example, an external camera. The external environment detection device 10 may also include a radar device, LIDAR (Light Detection and Ranging), a sensor fusion device, etc. The external environment detection device 10 outputs information indicating the detection result (image, object position, etc.) to the control device 100.

[0023] The moving sensor 12 includes, for example, a speed sensor, an acceleration sensor, a yaw rate (angular velocity) sensor, a compass sensor, and various operation amount detection sensors attached to the operation elements included in the operation element group 14.

[0024] The positioning device 18 is a device that determines the position of the mobile object 1. The positioning device 18 is, for example, a GNSS (Global Navigation Satellite System) receiver, which determines the position of the mobile object 1 based on signals received from GNSS satellites and outputs it as position information. The position information of the mobile object 1 may be estimated from the position of the Wi-Fi base station to which the communication device described later is connected.

[0025] The mode selector switch 22 is a switch operated by the occupant. The mode selector switch 22 may be a mechanical switch or a GUI (Graphical User Interface) switch set on a touch panel. The mode selector switch 22 is a switch for instructing the switching of the driving mode. The driving modes that the mobile body 1 can perform include at least Mode A, in which acceleration and deceleration are automatically controlled and steering is controlled based on simple operation of the first operator OP1, which will be described later. In addition, the driving modes may include Mode B, in which acceleration and deceleration are automatically controlled and steering is controlled based on operation of the second operator OP2. Furthermore, the driving modes may include driving modes in which acceleration and deceleration in Modes A and B are modified to be controlled based on manual operation. In the following description, only Modes A and B will be described.

[0026] The HMI30 is installed inside the vehicle (typically meaning a closed space that houses the occupants, but if the vehicle 1 is in the form of an open car, it means the space surrounding the seats). The HMI30 includes, for example, a display device, speakers, a touch panel, and the like.

[0027] The drive unit 40 is a device for moving the mobile body 1 on a road. The drive unit 40 includes, for example, a group of wheels including steering wheels and drive wheels, a motor for driving the drive wheels, a battery for storing power supplied to the motor, and a steering device for adjusting the steering angle of the steering wheels. The drive unit 40 may also include an internal combustion engine or a fuel cell as a means of outputting driving force or generating power. The drive unit 40 may also further include a braking device that uses frictional force or air resistance.

[0028] The turn signal 50 is installed on the outer panel of the mobile body 1 and signals a change in the mobile body 1's direction to the outside of the mobile body 1 by flashing a lamp.

[0029] Figure 2 is a perspective view of the mobile body 1 according to the first embodiment, viewed from above. In the figure, FW is the steering wheel, RW is the drive wheel, SD is the steering device, MT is the motor, and BT is the battery. The steering device SD, motor MT, and battery BT are included in the drive device 40. AP is the accelerator pedal and BP is the brake pedal, both included in the control group 14. If acceleration and deceleration are always controlled automatically, at least the accelerator pedal AP may be omitted. The mobile body 1 shown is a single-seater mobile body, and the occupant P is seated in the driver's seat DS and wearing a seat belt SB. Arrow D1 is the direction of travel (velocity vector) of the mobile body 1. The external environment detection device 10 is provided near the front end of the mobile body 1, and the mode switching switch 22 is provided on the boss portion of the steering wheel WH. In addition, turn signals 50 are provided at the four corners of the mobile body 1.

[0030] [1st control] The mobile vehicle 1 is equipped with, for example, a left door D_l and a right door D_r, allowing passengers to board and alight from either side. Inside the left door D_l is a left armrest Ar_l, and inside the right door D_r is a right armrest Ar_r. The right armrest Ar_r is equipped with a first operator OP1. This configuration is for when the destination of the mobile vehicle 1 is a country or region with left-hand traffic. If the destination of the mobile vehicle 1 is a country or region with right-hand traffic, the first operator OP1 is provided on the left armrest Ar_l. This configuration assumes that when boarding or alighting from the mobile vehicle 1 in a country or region with left-hand traffic, passengers will often board or alight from the sidewalk side, i.e., the left side, when the mobile vehicle 1 is stopped at the left edge of the roadway. If the first operator OP1 is installed on the door on the side on which the occupant P gets in and out, there is a possibility that the first operator OP1 may get caught on the occupant's body or clothing during entry and exit. Therefore, the first operator OP1 is installed on the right armrest Ar_r, which is located on the right door D_r, a door that is less frequently used for entry and exit. The opposite is true in the case of right-hand traffic. In other words, the armrest on which the first operator OP1 is installed is located on the inside of the door on the opposite side of the two doors on the left and right sides of the mobile body 1 from the side on which the mobile body 1 is legally required to pass.

[0031] The first operator OP1 accepts discrete operations (operations in which only two states exist for a given instruction: on or off). The first operator OP1 can take the form of a joystick, a directional pad, or the like. In this invention, the first operator OP1 only needs to be operable in at least the left and right directions. If the first operator OP1 is a joystick, when it is operated by a predetermined amount or more to either the left or right, the operation amount detection sensor attached to the first operator OP1 outputs a signal to the control device 100 indicating that it has been "operated to either the left or right".

[0032] A second control element OP2 may be provided on the front side of the mobile body 1 where the occupant P is located. The second control element OP2 has the form of a so-called steering wheel (it is not limited to a wheel shape but may also be an irregularly shaped steering element) and is used to manually control the direction of travel (steering angle) of the mobile body 1. The second control element OP2 accepts, for example, continuous operation. A rotation angle sensor and / or torque sensor are attached to the second control element OP2 as operation amount detection sensors, and these sensors detect the amount of operation (or operating force) performed by the occupant P and output it to the control device 100.

[0033] The first control element OP1 is positioned further back than the second control element OP2 with respect to the direction of travel D1 of the mobile body 1. This is because the driving control of the mobile body 1 based on the operation of the first control element OP1 is performed in a state closer to autonomous driving (higher degree of driver assistance), and therefore the occupant P is expected to be in a relaxed posture. On the other hand, when the second control element OP2 is operated, at least the steering is performed manually, so the occupant P is expected to be in a more forward-leaning posture than in the above case. By adopting this arrangement, driving operations can be suitably accepted according to the state of the occupant P.

[0034] Furthermore, each of the left door D_l and the right door D_r is equipped with an opening / closing control. Figure 3 is a view from inside the mobile body 1 with the right door D_r in the open position. In the figure, Lb_r is the right opening / closing control. The first control OP1 is positioned so as not to overlap with the right opening / closing control Lb_r in a side view. This makes it less likely for the occupant P to unconsciously and mistakenly operate the right opening / closing control Lb_r. Also, it makes it less likely for the occupant P to unconsciously and mistakenly operate the first control OP1 when operating the right opening / closing control Lb_r.

[0035] Returning to Figure 1, the storage device 70 is a non-transient storage device such as an HDD (Hard Disk Drive), flash memory, or RAM (Random Access Memory). The storage device 70 stores map information 72, a program 74 executed by the control device 100, and the like. In the figure, the storage device 70 is shown outside the frame of the control device 100, but the storage device 70 may be included in the control device 100. Also, the storage device 70 may be provided on a server that is not shown. Note that the map information 72 does not have to exist.

[0036] [Control device] The control device 100 includes, for example, a recognition unit 120, a target trajectory generation unit 130, a drive control unit 140, and an HMI control unit 150. These components are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software) 74. Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or GPU (Graphics Processing Unit), or by the cooperation of software and hardware. The program may be stored in the storage device 70 in advance, or it may be stored on a removable storage medium (non-transient storage medium) such as a DVD or CD-ROM and installed in the storage device 70 when the storage medium is mounted on a drive device.

[0037] The recognition unit 120 recognizes the type and position of objects at least on the side in the direction of travel of the moving body 1, based on information input from the external detection device 10. Figure 4 shows an example of an image IM captured by the external camera of the external detection device 10. The recognition unit 120 recognizes the state of the road boundary 200, pedestrians 210, traffic lights 220, and other vehicles (not shown). The road boundary 200 includes road markings, shoulders, steps, guardrails, etc., and is the outer edge of the area where the moving body 1 can travel. The recognition unit 120 recognizes the position and type of these objects on the image IM by inputting the image IM into a trained model for recognizing the type of object.

[0038] The target trajectory generation unit 130 projects an object recognized on the image IM onto a virtual plane viewed from above, and generates a target trajectory on the virtual plane that the moving body 1 should travel. For example, the target trajectory generation unit 130 generates a target trajectory such that the moving body 1 generally travels in the center of the width direction of the road boundary and avoids contact with pedestrians or other vehicles if they are present. At this time, the target trajectory generation unit 130 sets a distribution of risk values, which are indicator values ​​that indicate where contact should be avoided, around the road boundary and objects, and generates a target trajectory that passes through points with small risk values. The target trajectory may be generated with a velocity element attached, and the target trajectory may be generated so that the moving body 1 automatically stops if a traffic light indicates that passage is prohibited. Note that such acceleration and deceleration control may be performed by the drive control unit 140.

[0039] The drive control unit 140 controls the drive device 40 so that the moving body 1 travels along the target trajectory. Since the details of the control of the drive control unit 140 are publicly known, a detailed explanation is omitted.

[0040] The HMI control unit 150 controls the HMI 30 to inform the occupant P of the status of the mobile body 1, etc.

[0041] [Control based on operation of the first operator] If the first operator OP1 is not operated, the target trajectory generation unit 130 generates a target trajectory so that the mobile body 1 moves along the current path (i.e., "following the road") based on the aforementioned guidelines. If the first operator OP1 is operated to the left or right, the target trajectory generation unit 130 generates a target trajectory so that the mobile body 1 automatically turns to the left or right (turns left or right). Hereinafter, it is assumed that the first operator OP1 is operated to the right. When the first operator OP1 is operated to the right, the target trajectory generation unit 130 searches for the path that intersects the path the mobile body 1 is currently traveling on and is the closest path to the mobile body 1 that allows for a right turn. A path that allows for a right turn is a path that is not too close to the mobile body 1 (for example, the distance to the mobile body 1 in the longitudinal direction of the path currently being traveled is greater than a predetermined distance). In other words, the target trajectory generation unit 130 generates a target trajectory such that the moving object 1 turns right onto the intersecting track if there is sufficient clearance for a right turn and the track currently being traveled on is intersected by that track.

[0042] Figure 5 illustrates the target trajectory K before and after the operation of the first operator OP1. As shown in the figure, when the first operator OP1 is operated, it is first confirmed that the distance X1 to the road 240 extending to the right is greater than or equal to the margin distance, and if the distance X1 is greater than or equal to the margin distance, the target trajectory K is changed to a path that enters the road 240. At this time, the target trajectory generation unit 130 and the drive control unit 140 automatically decelerate the vehicle necessary for the right turn and make the vehicle travel along the target trajectory K. Although Figure 5 illustrates the control in the case of a right turn, the target trajectory generation unit 130 may also determine that a lane change has been instructed if the first operator OP1 is operated to either the left or right and there is no road within a predetermined distance that allows for a right or left turn, and may cause the vehicle to change lanes.

[0043] Furthermore, when the direction of travel of the mobile body 1 is determined by operation of the second operator OP2, so-called manual steering is performed, and the target trajectory generation unit 130 stops operating (acceleration and deceleration control may be performed automatically). If the second operator OP2 is operated while the aforementioned mode A is being executed, the target trajectory generation unit 130 may stop operating and switch to mode B in which manual steering is performed, as this indicates that the crew member P intends to drive manually.

[0044] [Changing the direction of travel based on operation of the first control] The target trajectory generation unit 130 cancels the change in direction of travel if the first operator OP1 is operated in a direction different from the changed direction of travel after it has been determined by operating the first operator OP1 to either the left or the right. Figure 6 shows an example of the operation of the first operator OP1 performed to cancel the change in direction of travel by the moving body 1. In Figure 6, the symbols R, F, L, and B indicate the right, forward, left, and backward directions of the moving body 1, respectively. Figure 6 shows a situation where the first operator OP1 is operated in the forward direction (i.e., the F direction) after the target trajectory K for turning right has been generated by operating the first operator OP1 to the right (i.e., the R direction).

[0045] In the scenario shown in Figure 6, the target trajectory generation unit 130 cancels the change in direction of travel to the right in response to the first operator OP1 being operated from the right to the forward direction. In this case, the target trajectory generation unit 130 regenerates a target trajectory for going straight through the intersection, for example, instead of the target trajectory K for turning right at the intersection shown in Figure 5. The cancellation of the change in direction of travel is not limited to operation in the forward direction; for example, the change in direction of travel may also be canceled when the first operator OP1 is operated to the left (i.e., direction L) or backward (i.e., direction B). In that case, the target trajectory generation unit 130 may regenerate a target trajectory along the direction in which it was operated for cancellation.

[0046] Here, if the target trajectory is instantly canceled in response to the first operator OP1 being operated in a direction different from the desired direction of travel, the target trajectory will be canceled even if the operation was a erroneous operation, which may be inconvenient for the crew member P. Therefore, the target trajectory generation unit 130 sets the operation period of the first operator OP1 for canceling the change of direction of travel to be longer than the operation period of the first operator OP1 for accepting the change of direction of travel. By setting a longer period for determining the cancellation of the change of direction of travel in this way, it is possible to suppress the occurrence of cancellations of the change of direction of travel caused by erroneous operation by the crew member P.

[0047] Furthermore, the target trajectory generation unit 130 may set the period for determining whether the change in direction of travel is canceled by the crew member P operating the first operator OP1 in the rearward direction to be shorter than the period for determining whether the change in direction of travel is canceled by the crew member P operating the first operator OP1 in the forward direction. This is because, generally, when the crew member P operates the first operator OP1 in the rearward direction, it can be inferred that the crew member P is trying to cancel the change in direction of travel with a stronger motivation. More generally, the period for determining the cancellation of a change due to operating the first operator OP1 in the rearward direction may be set to be shorter than the period for determining the cancellation of a change due to operating the first operator OP1 in a direction other than the rearward direction. In this way, by changing the cancellation determination period according to the direction of operation of the first operator OP1, the mobile body 1 can be controlled with a more detailed consideration of the crew member P's situation.

[0048] [Feedback to operation of the first control] As described above, the control device 100 accepts a change in direction of travel when the first operator OP1 is operated during an operation period for accepting a change in direction of travel, and cancels the change in direction of travel when the first operator OP1 is operated during an operation period for canceling the change in direction of travel. Here, if the control device 100 notifies the crew member P that the operation has been accepted after these operation periods have elapsed, the crew member P can recognize that their operation has been reliably accepted by the mobile body 1, thereby improving convenience for the crew member P.

[0049] Therefore, the mobile unit 1 may further include a notification device that outputs a notification indicating that an operation to the first operator OP1 has been accepted after the above-mentioned operation period has elapsed. The notification device is, for example, a vibration generator built into the first operator OP1. The control device 100 generates vibrations in the vibration generator during the operation period for accepting a change in direction of travel, the operation period for operating the first operator OP1 or canceling a change in direction of travel, and when the first operator OP1 is operated. At this time, the vibrations generated during the operation period for accepting a change in direction of travel and when the first operator OP1 is operated may be different from the vibrations generated during the operation period for canceling a change in direction of travel and when the first operator OP1 is operated. This allows the crew member P to recognize that their operation to the first operator OP1 has been reliably accepted by the mobile unit 1.

[0050] Furthermore, the notification device is not limited to a vibration generator, but may be an HMI 30 such as a display installed inside the room of the mobile body 1. The control device 100 displays information on the HMI 30 indicating that the operation has been accepted during the operation period for accepting a change in direction of travel, or during the operation period for canceling a change in direction of travel, or when the first operator OP1 is operated.

[0051] Figure 7 shows an example of a notification screen displayed by the HMI 30. As an example, Figure 7 shows the screen displayed on the HMI 30 when the first operator OP1 is operated during the operation period for canceling a change in direction of travel. At this time, the control device 100 causes the HMI 30 to display information indicating that the cancellation of the change in direction of travel has been accepted. This allows the crew member P to recognize that their operation on the first operator OP1 has been reliably accepted by the mobile unit 1.

[0052] [Responding to crew intervention] When the mobile vehicle 1 travels along a target trajectory and changes direction, it is conceivable that, for various reasons (for example, if the occupant P feels that the direction of travel is different from what was intended), the occupant P may attempt to intervene in the movement of the mobile vehicle 1 by pressing the brake pedal BP. Frequently changing the target trajectory of the mobile vehicle 1 in response to such intervention by the occupant P is undesirable, especially when traveling on a roadway. Therefore, even if the mobile vehicle 1 stops due to intervention by the occupant P, the target trajectory generation unit 130 retains the received instruction to change direction and operates in a manner that prevents the target trajectory from being changed.

[0053] Furthermore, if the mobile body 1 stops due to the intervention of the occupant P when the mobile body 1 changes direction of travel, the control device 100 may notify the HMI 30 of the operation method to cancel the change of direction of travel.

[0054] Figure 8 shows another example of a notification screen displayed by the HMI 30. Figure 8 shows a scene where the mobile vehicle 1 stops due to intervention by the occupant P when it is making a right turn at an intersection. At this time, the control device 100 causes the HMI 30 to display information instructing the occupant P on how to cancel the change in direction of travel. As a result, the occupant P can recognize the correct procedure for canceling the change in direction of travel and use it to guide the mobile vehicle 1 forward.

[0055] [Determining the direction of travel at a multi-way intersection] The above describes the operation of the first operator OP1 when the mobile body 1 makes a right or left turn. However, if the road into which the mobile body 1 enters has a multi-junction structure, there may be multiple (three or more) candidate directions of travel, and the method of specifying a right or left turn using the first operator OP1 alone may not be sufficient to specify the direction of travel to the multi-junction. Therefore, when the target trajectory generation unit 130 detects a multi-junction by inputting the image IM captured by the external camera of the external environment detection device 10 into a trained model, it selects one of the multiple candidate directions of travel using the method described below and generates a target trajectory along that direction of travel.

[0056] Figure 9 shows an example of a method for specifying the direction of travel via the HMI 30 in a multi-branch road. As an example, Figure 9 shows a case where a mobile object 1 enters a multi-branch road with four candidate directions of travel. The target trajectory generation unit 130 detects the multi-branch road and its number by inputting the image IM captured by the external camera of the external environment detection device 10 into a trained model, and then, for example, causes the HMI 30 to display the multi-branch road and the candidate directions of travel. In the case of Figure 9, for example, the target trajectory generation unit 130 displays the four detected candidate directions of travel as arrows on the HMI 30, and displays the currently selected candidate direction of travel as a darker arrow on the HMI 30.

[0057] Crew member P, for example, switches between the currently selected candidate directions of travel sequentially (for example, clockwise) by operating the first operator OP1 to the right multiple times. After that, if the arrow for the desired direction of travel is selected, the crew member P confirms it as the new direction of travel by operating the first operator OP1 forward. The target trajectory generation unit 130 generates a target trajectory along the confirmed new direction of travel and makes the moving body 1 travel along the generated target trajectory. As a result, even when entering a multi-branch road with multiple candidate directions of travel, crew member P can select the new direction of travel with simple operation.

[0058] Furthermore, the method of operating the first operator OP1 for selecting the direction of travel is not limited to the method described above, but more generally, any method that allows selection by operating the first operator OP1 multiple times in a predetermined direction is acceptable. In addition, the display method for the direction of travel is not necessarily limited to arrows, but more generally, any method that allows identification of multiple candidate directions of travel and the candidate direction of travel currently selected is acceptable.

[0059] Furthermore, if, after the HMI 30 displays a candidate for the direction of travel at a branching path, no candidate for the direction of travel is selected by the crew P within a predetermined time, or within a predetermined distance from the branching path, the target trajectory generation unit 130 may stop the moving body 1 or automatically determine a candidate for the direction of travel using a predetermined method. For example, the target trajectory generation unit 130 may select the candidate for the direction of travel that has been selected the most times based on past selections by the crew P, or it may aggregate the selections of multiple other crew members and select the candidate for the direction of travel that has been selected the most times.

[0060] Furthermore, in addition to the direction in which the first operator OP1 was operated, other information may be combined to select a candidate direction of travel. For example, in a multi-junction road like the one in Figure 9, if the first operator OP1 was operated to the right, it is assumed that the occupant P is trying to select one of the two candidate directions of travel on the right. Of these two candidate directions of travel, the candidate that has been selected most frequently by the occupant P in the past may be selected. Alternatively, the system may detect the occupant P's gaze or gestures such as pointing and select a candidate direction of travel that is closer to the direction indicated by the gaze or gesture, or it may detect utterances such as "the far right" or "the second road" and select a candidate direction of travel in the direction indicated by the utterance. These methods of specifying the direction of travel using driving history, utterances, gaze, or gestures may be used as independent specification methods without using the first operator OP1.

[0061] Next, the flow of processing performed by the control device 100 will be explained with reference to Figures 10 to 12. Figure 10 is a diagram showing an example of the flow of processing performed by the control device 100. The processing shown in Figure 10 is repeatedly performed while the mobile body 1 is moving.

[0062] First, the control device 100 accepts an operation to the first operator OP1 (step S100). Next, the control device 100 determines whether the first operator OP1 has been operated in either the left or right direction for a period of time or longer (step S102). If it is determined that the first operator OP1 has not been operated in either the left or right direction for a period of time or longer, the control device 100 terminates the process of this flowchart.

[0063] On the other hand, if it is determined that the first operator OP1 has been operated in either the left or right direction for a period of time or longer, the control device 100 causes the notification device to notify it that the operation has been received (step S104). Next, the control device 100 generates a target trajectory with the direction of operation (left or right) as the destination direction of travel (step S106). Next, the control device 100 determines whether the first operator OP1 has been operated in the forward direction for a period of time or longer, or in the backward direction for a period of time or longer (step S108).

[0064] If the control device 100 determines that the first operator OP1 has been operated forward for two periods or more, or has not been operated backward for three periods or more, the control device 100 causes the mobile body 1 to travel along the generated target trajectory (step S110). On the other hand, if the control device 100 determines that the first operator OP1 has been operated forward for two periods or more, or has been operated backward for three periods or more, the control device 100 causes the notification device to notify it of the cancellation of the received operation (step S112). Next, the control device 100 cancels the generated target trajectory (step S114). This completes the processing of this flowchart.

[0065] In the above explanation and flowchart, it is assumed that the second period for forward operations and the third period for backward operations are different periods. However, to simplify the process, a common period may be used as a threshold for both forward and backward operations to make the determination.

[0066] Figure 11 shows another example of the processing flow performed by the control device 100. The processing shown in Figure 11 is performed repeatedly while the mobile body 1 is traveling along the target trajectory, after a target trajectory is generated with either the left or right direction as the destination direction of travel in response to the operation of the first operator OP1 by the crew member P.

[0067] First, the control device 100 determines whether the mobile body 1 has stopped due to the intervention of the occupant while the mobile body 1 is traveling along a target trajectory where either the left or right direction is the direction of travel to be changed (step S200). If it is determined that the mobile body 1 has not stopped due to the intervention of the occupant, the control device 100 terminates the processing of this flowchart. Note that the determination may be made in the same way as when the mobile body 1 has come to a complete stop (speed becomes 0), as well as in the case of a sudden deceleration or when the speed decreases to below a predetermined value of extremely low speed.

[0068] On the other hand, if it is determined that the mobile body 1 has stopped due to the intervention of the occupant, the control device 100 instructs the notification device to notify it of the method of cancellation operation (step S202). Next, the control device 100 determines whether or not it has received a cancellation operation from the occupant P (step S204). If it is determined that it has received a cancellation operation from the occupant P, the control device 100 cancels the target trajectory that the mobile body 1 is currently traveling on (step S206). On the other hand, if it is determined that it has not received a cancellation operation from the occupant P, the control device 100 continues to travel the mobile body 1 while maintaining the target trajectory that the mobile body 1 is currently traveling on (step S208). This completes the processing of this flowchart.

[0069] Figure 12 shows another example of the processing flow performed by the control device 100. The processing shown in Figure 12 is repeatedly performed while the mobile body 1 is in motion.

[0070] First, the control device 100 determines whether or not a multi-branch road has been detected in the direction of travel of the moving body 1 by the external camera of the external environment detection device 10 (step S300). If it is determined that no multi-branch road has been detected in the direction of travel of the moving body 1, the control device 100 terminates the processing of this flowchart.

[0071] On the other hand, if it is determined that a multi-branch road has been detected in the direction of travel of the mobile body 1, the control device 100 displays multiple candidate directions of travel on the multi-branch road on the HMI 30 (step S302). Next, the control device 100 determines whether or not it has received a selection of a candidate direction of travel from the occupant P via the HMI 30 (step S304). If it is determined that a selection of a candidate direction of travel has been received from the occupant P via the HMI 30, the control device 100 generates a target trajectory along the received direction of travel and makes the mobile body 1 travel along the target trajectory (step S306). On the other hand, if it is determined that a selection of a candidate direction of travel has not been received from the occupant P via the HMI 30, the control device 100 stops the mobile body 1 (step S308). This completes the processing of this flowchart.

[0072] According to the first embodiment described above, when the occupant of the mobile body operates the first operator OP1 in a predetermined direction, the control device determines the direction of travel of the mobile body, generates a target trajectory along the determined direction of travel, and automatically drives the mobile body along the generated target trajectory. This makes it possible to change the direction of travel of the mobile body with simple operation.

[0073] <Second Embodiment> The second embodiment will now be described. In the first embodiment, a single seat configuration was described, but in the second embodiment, the mobile body has two seats arranged in a direction intersecting the direction of travel of the mobile body, and the armrest on which the first operator OP1 is provided is provided between the two seats.

[0074] Figure 13 is a perspective view of the mobile body 1A of the second embodiment, viewed from above. In this figure, some of the non-essential reference numerals shown in Figure 2 have been omitted. The mobile body 1A has two seats S1 and S2, with a central armrest Ar_c between them. The first operator OP1 is provided on the central armrest Ar_c. In the figure, the central armrest Ar_c is shown as a single unit shared by occupants P1 and P2, but the central armrest Ar_c may be separated into a part for occupant P1 and a part for occupant P2, in which case the first operator OP1 is provided on the part of the central armrest Ar_c for occupant P1.

[0075] The second embodiment described above can achieve the same effects as the first embodiment. Furthermore, since the first operator OP1 is positioned so as not to interfere with the boarding and alighting of the occupants, it can be made so as not to hinder the boarding and alighting of the occupants.

[0076] Although embodiments for carrying out the present invention have been described above using examples, the present invention is not limited in any way to these embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention. [Explanation of Symbols]

[0077] 10. External detection devices 40 Drive unit 100 Control device 120 Recognition part 130 Target trajectory generation section 140 Drive control unit OP1 1st controller OP2 Second Operator Ar_l Left Armrest Ar_r Right Armrest Ar_c Center Armrest D_l Left door D_r Right side door

Claims

1. A mobile vehicle capable of carrying a crew, A drive device for moving the aforementioned mobile body, A detection device for detecting the condition of at least the moving body on the direction of travel, The armrest of the moving body is provided with an operating element that is operable at least to the left and right, and is used by the occupant to indicate the direction of travel of the moving body, A control device for driving the moving body in a mode that automatically performs acceleration, deceleration, and steering, wherein, in response to an operation to indicate the direction of travel made to the operator, the control device automatically generates a target trajectory for the moving body to change its direction of travel based on the detected conditions on the direction of travel side, and controls the drive device so that the moving body moves along the target trajectory, Equipped with, The control device, in response to the operation, generates a target trajectory for the moving body to turn right or left along the road if there is a road in the direction of travel that allows for right or left turns, while generating a target trajectory for the moving body to change lanes if there is no road in the direction of travel that allows for right or left turns. A mobile object.

2. A mobile vehicle on which a crew member can board, A drive device for moving the aforementioned mobile body, A detection device for detecting the condition of at least the moving body on the direction of travel, The armrest of the moving body is provided with an operating element that is operable at least to the left and right, and is used by the occupant to indicate the direction of travel of the moving body, A control device for driving the moving body in a mode that automatically performs acceleration, deceleration, and steering, comprising: a control device that, in response to an operation to indicate the direction of travel made to the operator, automatically generates a target trajectory for the moving body to change its direction of travel based on the detected conditions on the direction of travel side, and controls the drive device so that the moving body moves along the target trajectory; The control device generates the target trajectory with the first direction of travel set as the destination direction of travel when the operating direction of the operator is either left or right. If, after the first direction has been determined as the destination direction of travel, the control device cancels the change in the direction of travel if the operator is operated in a direction different from the first direction, The control device generates the target trajectory with the first direction of travel set as the destination direction of travel when the operating direction of the operator is either left or right. If, after the first direction has been determined as the new direction of travel, the control device cancels the change in the direction of travel and generates a target trajectory for the moving body to travel in a straight line. A mobile object.

3. A mobile vehicle on which a crew member can board, A drive device for moving the aforementioned mobile body, A detection device for detecting the condition of at least the moving body on the direction of travel, The armrest of the moving body is provided with an operating element that is operable at least to the left and right, and is used by the occupant to indicate the direction of travel of the moving body, A control device for driving the moving body in a mode that automatically performs acceleration, deceleration, and steering, comprising: a control device that, in response to an operation to indicate the direction of travel made to the operator, automatically generates a target trajectory for the moving body to change its direction of travel based on the detected conditions on the direction of travel side, and controls the drive device so that the moving body moves along the target trajectory; The control device generates the target trajectory with the first direction of travel set as the destination direction of travel when the operating direction of the operator is either left or right. If, after the first direction has been determined as the destination direction of travel, the control device cancels the change in the direction of travel if the operator is operated in a direction different from the first direction, The control device generates the target trajectory with the operated first direction as the destination direction of travel when the operator is operated in either the left or right first direction for a first period of time or longer. If, after the operated first direction has been determined as the destination direction of travel, the control device cancels the change in the direction of travel if the operator is operated in a direction different from the first direction for a second period or more, The second period is longer than the first period. A mobile object.

4. A mobile vehicle on which a crew member can board, A drive device for moving the aforementioned mobile body, A detection device for detecting the condition of at least the moving body on the direction of travel, The armrest of the moving body is provided with an operating element that is operable at least to the left and right, and is used by the occupant to indicate the direction of travel of the moving body, A control device for driving the moving body in a mode that automatically performs acceleration, deceleration, and steering, comprising: a control device that, in response to an operation to indicate the direction of travel made to the operator, automatically generates a target trajectory for the moving body to change its direction of travel based on the detected conditions on the direction of travel side, and controls the drive device so that the moving body moves along the target trajectory; The control device generates the target trajectory with the first direction of travel set as the destination direction of travel when the operating direction of the operator is either left or right. If, after the first direction has been determined as the destination direction of travel, the control device cancels the change in the direction of travel if the operator is operated in a direction different from the first direction, The operator is operable at least further in the rearward direction. The control device generates the target trajectory with the first direction as the destination direction of travel when the operator is operated in the first direction for a first period of time or longer. If, after the operated first direction has been determined as the destination direction of travel, the control device is operated in the rear direction for three or more periods, or if the operator is operated in a direction other than the first direction and the rear direction for two or more periods, the control device cancels the change in the direction of travel. The third period is shorter than the second period. A mobile object.

5. The mobile body is equipped with a notification device for notifying the occupants, When the control device receives an operation to the operator, it causes the notification device to output a notification indicating that the operation has been received. The mobile body according to claim 1.

6. A mobile vehicle on which a crew member can board, A drive device for moving the aforementioned mobile body, A detection device for detecting the condition of at least the moving body on the direction of travel, The armrest of the moving body is provided with an operating element that is operable at least to the left and right, and is used by the occupant to indicate the direction of travel of the moving body, A control device for driving the moving body in a mode that automatically performs acceleration, deceleration, and steering, comprising: a control device that, in response to an operation to indicate the direction of travel made to the operator, automatically generates a target trajectory for the moving body to change its direction of travel based on the detected conditions on the direction of travel side, and controls the drive device so that the moving body moves along the target trajectory; The control device maintains the instruction to change the direction of travel even if the moving body stops or its speed decreases to below a predetermined value due to the intervention of the occupant while the moving body is moving along the target trajectory. A mobile object.

7. A mobile vehicle on which a crew member can board, A drive device for moving the aforementioned mobile body, A detection device for detecting the condition of at least the moving body on the direction of travel, The armrest of the moving body is provided with an operating element that is operable at least to the left and right, and is used by the occupant to indicate the direction of travel of the moving body, A control device for driving the moving body in a mode that automatically performs acceleration, deceleration, and steering, comprising: a control device that, in response to an operation to indicate the direction of travel made to the operator, automatically generates a target trajectory for the moving body to change its direction of travel based on the detected conditions on the direction of travel side, and controls the drive device so that the moving body moves along the target trajectory; The mobile body is equipped with a notification device for notifying the occupants, The control device, when the moving body is moving along the target trajectory and the moving body stops due to the intervention of the occupant, causes the notification device to notify the occupant to perform an operation to cancel the instruction to change the direction of travel. A mobile object.

8. A mobile vehicle on which a crew member can board, A drive device for moving the aforementioned mobile body, A detection device for detecting the condition of at least the moving body on the direction of travel, The armrest of the moving body is provided with an operating element that is operable at least to the left and right, and is used by the occupant to indicate the direction of travel of the moving body, A control device for driving the moving body in a mode that automatically performs acceleration, deceleration, and steering, comprising: a control device that, in response to an operation to indicate the direction of travel made to the operator, automatically generates a target trajectory for the moving body to change its direction of travel based on the detected conditions on the direction of travel side, and controls the drive device so that the moving body moves along the target trajectory; When the detection device detects multiple potential directions for changing the direction of the moving object, the control device accepts multiple operations on the operator and determines one of the multiple potential directions for changing the direction of the moving object as the new direction of travel. A mobile object.

9. A mobile vehicle on which a crew member can board, A drive device for moving the aforementioned mobile body, A detection device for detecting the condition of at least the moving body on the direction of travel, The armrest of the moving body is provided with an operating element that is operable at least to the left and right, and is used by the occupant to indicate the direction of travel of the moving body, A control device for driving the moving body in a mode that automatically performs acceleration, deceleration, and steering, comprising: a control device that, in response to an operation to indicate the direction of travel made to the operator, automatically generates a target trajectory for the moving body to change its direction of travel based on the detected conditions on the direction of travel side, and controls the drive device so that the moving body moves along the target trajectory; When the detection device detects multiple potential directions for changing the direction of the moving object, the control device determines one of the multiple potential directions for changing the direction of the object as the destination direction by detecting one or more of the occupant's driving history, speech, gaze, or gestures. A mobile object.

10. The mobile body is equipped with a display device that displays information related to the movement of the mobile body, The control device causes the display device to display one of the plurality of candidate routes for changing direction, which has been determined as the destination direction of travel. The mobile body according to claim 8.

11. A control method performed by a control device for a mobile body on which an occupant can ride, comprising: a drive device for moving a mobile body on which an occupant can ride; a detection device for detecting the condition of at least the mobile body on the direction of travel side; an operator provided on the armrest of the mobile body and operable at least in the forward and backward directions and left and right, for the occupant to indicate the direction of travel of the mobile body; and a control device for driving the mobile body in a mode that automatically accelerates, decelerates and steers, In response to an operation performed on the control element to indicate the direction of travel, the moving body automatically generates a target trajectory for changing the direction of travel based on the detected conditions on the direction of travel side. The drive device is controlled so that the moving body moves along the target trajectory. In response to the above operation, if there is a road that allows the mobile body to turn right or left in the direction of travel, a target trajectory is generated to cause the mobile body to turn right or left along the road; on the other hand, if there is no road that allows the mobile body to turn right or left in the direction of travel, a target trajectory is generated to cause the mobile body to change lanes. Control method.

12. A program executed by the control device of a mobile body, comprising: a drive device for moving a mobile body on which an occupant can ride; a detection device for detecting the condition of at least the mobile body on the direction of travel side; an operator provided on the armrest of the mobile body and operable at least left and right, for the occupant to indicate the direction of travel of the mobile body; and a control device for driving the mobile body in a mode that automatically accelerates, decelerates and steers, The program, in response to an operation to the operator indicating the direction of travel, automatically generates a target trajectory for the moving body to change direction based on the detected conditions on the direction of travel side, and controls the drive device so that the moving body moves along the target trajectory. In response to the above operation, if there is a road that allows the mobile body to turn right or left in the direction of travel, a target trajectory is generated to cause the mobile body to turn right or left along the road; on the other hand, if there is no road that allows the mobile body to turn right or left in the direction of travel, a target trajectory is generated to cause the mobile body to change lanes. program.

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