Control device, control method, and control program

Abstract

To provide a control device, a control method, and a control program capable of generating a more appropriate moving route.SOLUTION: A control device 100 of a vehicle 1 includes an external environment recognition unit 110 that acquires external environment recognition data of the vehicle 1, a storage unit 120 that stores a route history when the vehicle 1 moves to a target position, and a movement control unit 130 that performs movement control for moving the vehicle 1 to the target position. The movement control unit 130 switches use mode of the route history in movement control between a private land 200 (first section) where it is difficult to move without referring to the route history in a section to the target position and a general road 210 (second section) different from the private land in the section to the target position, and generates a traveling route.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] In recent years, efforts have been actively made to provide access to a sustainable transportation system that takes into account people in vulnerable positions among traffic participants. Towards this realization, research and development focusing on further improving traffic safety and convenience through research and development related to autonomous driving technology have been carried out.

[0003] Conventionally, in an autonomous driving system that automatically runs a vehicle without requiring a user's driving operation, when the vehicle reaches a target position by the user's driving operation, the route at that time is memorized, and when traveling the same target position or the same route, the vehicle is made to travel based on the memorized route history. Also, it is known to generate route information from the current position to the target position based on information acquired by in-vehicle sensors and make the vehicle travel.

[0004] For example, in Patent Document 1, when it is determined that the vehicle will enter a prohibited entry area when moving along a target route, the target route is corrected in the memorized route history so as not to enter the prohibited entry area, and the vehicle is moved to the target stop position along the corrected target route and stopped at the target stop position, and a vehicle driving support device is described.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] As described above, Patent Document 1 discloses that when a vehicle moves to a target location, the travel path to the target location is generated based on the travel history stored in the memory unit, according to the conditions during the movement. However, when driving a vehicle to a target location, there are travel areas where it is preferable to generate the travel path based on the travel history, and travel areas where it is preferable to generate the travel path without relying on the travel history. Patent Document 1 does not disclose how to generate a path according to the travel area. Therefore, there is room for improvement in the method of generating the travel path to the target location.

[0007] The present invention aims to provide a control device, a control method, and a control program capable of generating more appropriate travel routes, thereby contributing to the development of sustainable transportation systems. [Means for solving the problem]

[0008] The present invention A control device for a mobile body, An external environment recognition unit that acquires external environment recognition data of the aforementioned moving object, A storage unit that stores the path history when the moving object moves to the target position, The system comprises a movement control unit that performs movement control to move the moving body to the target position, The aforementioned movement control unit, The system generates a travel route by switching the mode of use of the route history in the movement control between a first section, which is connected to the target position and in which a first movement control is performed that refers to the route history as the movement control, and a second section, which is connected to the first section and in which a second movement control is performed that is based on external recognition data without referring to the route history as the movement control. Even while the first movement control is being executed in the first section, if an obstacle is detected based on the external environment recognition data, the system switches from the first movement control to the second movement control. It is a control device.

[0009] The present invention A method for controlling a moving object comprising: an external environment recognition unit that acquires external environment recognition data of the moving object; a storage unit that stores the path history when the moving object moves to a target position; and a movement control unit that performs movement control to move the moving object to the target position, The aforementioned movement control unit, The system generates a travel route by switching the mode of use of the route history in the movement control between a first section, which is connected to the target position and in which a first movement control is performed that refers to the route history as the movement control, and a second section, which is connected to the first section and in which a second movement control is performed that is based on external recognition data without referring to the route history as the movement control. Even while the first movement control is being executed in the first section, if an obstacle is detected based on the external environment recognition data, the system switches from the first movement control to the second movement control. This is a control method.

[0010] The present invention is a control program for a moving body including an external environment recognition unit that acquires external environment recognition data of the moving body, a storage unit that stores a path history when the moving body moves to a target position, and a movement control unit that performs movement control to move the moving body to the target position, wherein the movement control unit The system generates a travel route by switching the mode of use of the route history in the movement control between a first section, which is connected to the target position and in which a first movement control is performed that refers to the route history as the movement control, and a second section, which is connected to the first section and in which a second movement control is performed that is based on external recognition data without referring to the route history as the movement control. Even while the first movement control is being executed in the first section, if an obstacle is detected based on the external environment recognition data, the system switches from the first movement control to the second movement control. is caused to execute a process.

Effects of the Invention

[0011] According to the present invention, it is possible to provide a control device, a control method, and a control program capable of generating a more appropriate movement path.

Brief Description of the Drawings

[0012] [Figure 1] It is a block diagram showing the configuration of a vehicle 1 equipped with a control device 100 of an embodiment. [Figure 2] It is a diagram showing an example of a first section and a second section to a target position where the vehicle 1 moves. [Figure 3] It is a diagram showing an example of a switching timing between a second section and a first section where the vehicle 1 moves. [Figure 4] It is a flowchart showing an example of switching between traveling based on a path history and traveling based on external environment recognition data. [Figure 5] It is a flowchart showing a modification example of switching between traveling based on a path history and traveling based on external environment recognition data. [Figure 6] It is a flowchart showing an example of control during automatic driving based on a path history by an ADAS_ECU 131. [Figure 7] It is a flowchart showing a modification example of control during automatic driving based on a path history by an ADAS_ECU 131.

Embodiments for Carrying Out the Invention

[0013] Hereinafter, an embodiment of the control device, control method, and control program of the present invention will be described based on the attached drawings.

[0014] <Vehicle 1 equipped with the control device 100 of the embodiment> Figure 1 is a block diagram showing the configuration of a vehicle 1 equipped with the control device 100 of the embodiment. Vehicle 1 is an example of the "mobile body" of the present invention. Vehicle 1 is a vehicle capable of so-called automatic driving or assisted driving. Vehicle 1 is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using power generated by a generator connected to the internal combustion engine, or discharge power from a secondary battery or fuel cell.

[0015] Vehicle 1 is equipped with a camera 10, a radar device 12, a LiDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a driver monitor camera 50, a navigation device 60, an MPU (Map Positioning Unit) 70, a driver control unit 80, a control device 100, a driving force output device 92, a brake device 94, and a steering device 96. These devices and equipment are connected to each other by multiplex communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, etc.

[0016] Camera 10 is a digital camera that uses a solid-state image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor). Camera 10 can be mounted at any location on vehicle 1.

[0017] The radar device 12 emits radio waves such as millimeter waves around the vehicle 1 and detects radio waves reflected by objects (reflected waves) to determine at least the position (distance and direction) of the object. The radar device 12 can be mounted at any location on the vehicle 1.

[0018] The LIDAR 14 irradiates light (or electromagnetic waves with a wavelength close to light) around the vehicle 1 and measures the scattered light. The LIDAR 14 detects the distance to the target based on the time from emission to reception. The irradiated light is, for example, pulsed laser light. The LIDAR 14 can be mounted at any location on the vehicle 1.

[0019] The object recognition device 16 performs sensor fusion processing on some or all of the detection results from the camera 10, radar device 12, and LIDAR 14 to recognize the position, type, speed, etc., of an object. The object recognition device 16 outputs the recognition results to the control device 100. The object recognition device 16 may also output the detection results from the camera 10, radar device 12, and LIDAR 14 directly to the control device 100.

[0020] The communication device 20 communicates with other vehicles in the vicinity of vehicle 1, or with various server devices via a wireless base station, for example, by using a cellular network, Wi-Fi® network, Bluetooth®, DSRC (Dedicated Short Range Communication), etc.

[0021] The HMI30 displays various information to the occupants of vehicle 1 and accepts input operations from the occupants. The HMI30 includes various display devices, speakers, buzzers, touch panels, switches, keys, etc.

[0022] The vehicle sensor 40 includes a vehicle speed sensor for detecting the speed of the vehicle 1, an acceleration sensor for detecting acceleration, a yaw rate sensor for detecting angular velocity around the vertical axis, and an orientation sensor for detecting the orientation of the vehicle 1.

[0023] The driver monitor camera 50 is a digital camera that uses a solid-state image sensor such as a CCD or CMOS. The driver monitor camera 50 is mounted at any location in the vehicle 1 in a position and orientation that allows it to capture the head of the occupant (hereinafter referred to as the driver) seated in the driver's seat of the vehicle 1 from the front (in a direction that captures the face).

[0024] The navigation device 60 includes, for example, a GNSS (Global Navigation Satellite System) receiver 61, a navigation HMI 62, and a route determination unit 63. The navigation device 60 stores first map information 64 in a storage device such as an HDD (Hard Disk Drive) or flash memory.

[0025] The GNSS receiver 61 determines the position of vehicle 1 based on signals received from GNSS satellites. The position of vehicle 1 may also be determined or supplemented by an INS (Inertial Navigation System) that utilizes the output of vehicle sensors 40.

[0026] The navigation HMI62 includes a display device, speaker, touch panel, keys, etc. The navigation HMI62 may be partially or entirely shared with the aforementioned HMI30.

[0027] The route determination unit 63 determines a route (hereinafter referred to as the route on the map) from the position of vehicle 1 identified by the GNSS receiver 61 (or any input position) to the destination input by the occupant using the navigation HMI 62, by referring to the first map information 64. The first map information 64 is information in which the road shape is represented by links indicating roads and nodes connected by links. The first map information 64 may also include road curvature and POI (Point of Interest) information. The route on the map is output to the MPU 70.

[0028] The navigation device 60 may provide route guidance using the navigation HMI 62 based on the route on the map. The navigation device 60 may transmit the current location and destination to the navigation server via the communication device 20 and obtain a route equivalent to the route on the map from the navigation server.

[0029] The MPU 70 stores the second map information 72 in a storage device such as an HDD or flash memory. The second map information 72 is map information with higher accuracy than the first map information 64. The second map information 72 includes, for example, information on the center of lanes or information on lane boundaries. The second map information 72 may also include road information, traffic regulation information, address information, facility information, telephone number information, etc. The second map information 72 may be updated as needed by the communication device 20 communicating with other devices.

[0030] The driver controls 80 include, for example, a steering wheel 82 (an example of a steering device), as well as an accelerator pedal, brake pedal, shift lever, and other controls. Sensors are attached to the driver controls 80 to detect the amount of operation or whether or not an operation is performed, and the detection results are output to the control device 100, or to some or all of the driving force output device 92, brake device 94, and steering device 96. The steering wheel 82 does not necessarily have to be annular in shape, and may take the form of an irregularly shaped steering wheel, joystick, buttons, etc.

[0031] A steering grip sensor 84 is attached to the steering wheel 82. The steering grip sensor 84 is implemented using a capacitive sensor or the like, and outputs a signal to the control device 100 that can detect whether or not the driver is gripping the steering wheel 82.

[0032] The control device 100 includes an external environment recognition unit 110, a storage unit 120, and a movement control unit 130.

[0033] The external environment recognition unit 110 acquires external environment recognition data from the object recognition device 16 for recognizing the external environment of the vehicle 1, which is acquired by the camera 10, radar device 12, and LIDAR 14.

[0034] The memory unit 120 stores programs for the movement control unit 130 to control each part. For example, the memory unit 120 stores the route history when vehicle 1 moves to a target position. "Route history" refers to the route history when vehicle 1 moves to a target position through driving by the user. The target position is, for example, the garage when vehicle 1 is being parked, and a predetermined position outside the garage (exit position) when vehicle 1 is being taken out.

[0035] The motion control unit 130 includes an ADAS_ECU (Advanced Driver Assistance Systems Electronic Control Unit) 131 and an AD_ECU (Automatic Driving Electronic Control Unit) 132. The ADAS_ECU 131 is an example of the "first control unit" of the present invention. The AD_ECU 132 is an example of the "second control unit" of the present invention.

[0036] ADAS_ECU131 and AD_ECU132 are implemented, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Furthermore, some or all of these components may be implemented by hardware (including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or GPU (Graphics Processing Unit), or by the collaboration of software and hardware. The program may be pre-stored in a storage device such as the HDD or flash memory of the control device 100.

[0037] The movement control unit 130 performs movement control to move vehicle 1 to a target position. The movement control unit 130 switches the manner in which the route history is used in movement control between a first section of the route to the target position where movement is difficult without referring to the route history, and a second section of the route to the target position that is different from the first section, and generates a travel path. In other words, the movement control unit 130 switches the manner in which the route history is used in generating the travel path for movement control between the first section and the second section. "Referring to the route history" means, for example, tracing the route history to control the movement of vehicle 1 to the target position. "Difficult to move without referring to the route history" means, for example, a case where, if vehicle 1 is to be moved to the target position using only external recognition data without referring to the route history, the number of steering reversals will increase, taking into account the vehicle's turning radius. Specifically, this refers to a situation where, in order to move vehicle 1 to the target position, it is difficult to move unless the vehicle proceeds along a rightward-leaning travel path, and if vehicle 1 is moved based on external recognition data, it will proceed along a path different from the rightward-leaning travel path, resulting in an increase in the number of reversals.

[0038] "Section 1" includes, for example, a portion of private land. "Section 2" includes, for example, sections of private land other than "Section 1," or public roads. "Method of using route history" includes, for example, whether or not route history is traced, or whether or not control is primarily based on route history or primarily based on external environment recognition data. Furthermore, the method of primarily using control based on route history may include, for example, a method of using external environment recognition data as a supplementary tool. The method of primarily using control based on external environment recognition data may include, for example, a method of using route history as a supplementary tool.

[0039] Furthermore, the movement control unit 130 performs movement control to move vehicle 1 to the target position in the first section by referring to the route history, and in the second section, it performs movement control to move vehicle 1 to the target position based on external recognition data without referring to the route history. "Referring to the route history" means that external recognition data may also be used as an auxiliary, in addition to the route history. Specifically, if an obstacle that was not detected in the route history is detected from the external recognition data while vehicle 1 is being moved to the target position using the route history, this includes predicting a collision and stopping vehicle 1, or driving while avoiding the obstacle.

[0040] The first section is a section where, for example, obstacles are intricately interwoven in the vehicle's route, making it impossible to navigate effectively using only external environment recognition data; in other words, it is a section where the vehicle primarily navigates based on its route history. The second section is a section where the vehicle can navigate effectively using only external environment recognition data; in other words, it is a section where the vehicle primarily navigates based on external environment recognition data without referring to its route history, in order to flexibly respond to environmental changes while the vehicle is in motion. Environmental changes include, for example, the appearance of obstacles that were not there before, or the disappearance of obstacles that were there before.

[0041] ADAS_ECU131 controls the movement of vehicle 1 based on the route history in the first section of the route to the target location where movement would be difficult without referring to the route history. ADAS_ECU131 controls, for example, the entry and exit of vehicle 1.

[0042] AD_ECU132 controls the movement of vehicle 1 based on external environment recognition data in the second section of the route to the target position, which is different from the first section. AD_ECU132 controls the driving of vehicle 1, for example, which is different from vehicle 1 entering or leaving a depot. "Driving of vehicle 1, different from vehicle 1 entering or leaving a depot" refers to driving on a public road, for example, driving along the road and lane.

[0043] Furthermore, even while the movement control unit 130 is executing movement control based on the route history in the first section, if an obstacle is detected based on external recognition data, it switches from movement control of vehicle 1 by ADAS_ECU131 to movement control of vehicle 1 by AD_ECU132. An "obstacle" is anything that hinders the movement of vehicle 1 by movement control, and includes, for example, installed objects, other vehicles, people, etc.

[0044] Furthermore, the movement control unit 130 drives the vehicle 1 under the control of the AD_ECU 132 to acquire external environment recognition data, and sets the first and second sections based on that external environment recognition data. For example, the movement control unit 130 sets the section with a complex road shape (many obstacles in the surrounding area) as the first section from the route generated by the AD_ECU 132 based on the external environment recognition data. The set first section is stored in the storage unit 120. Alternatively, if the route generated by the AD_ECU 132 based on the external environment recognition data includes a U-turn, the movement control unit 130 sets the section before and after that point as the first section. However, if the number of U-turns included in the route generated by the AD_ECU 132 based on the external environment recognition data is less than the number of U-turns included in the route history when the user actually drove that section, the section before and after that point does not need to be set as the first section.

[0045] Furthermore, the movement control unit 130 sets the first and second sections based on the driving history of the user driving the vehicle 1. For example, when the user drives the vehicle 1, the movement control unit 130 also has the AD_ECU 132 generate a route based on external recognition data, and sets the section in which the actual route driven by the user deviates significantly from the route generated by the AD_ECU 132 as the first section. Alternatively, the movement control unit 130 sets the section in which the driving speed was lower than a predetermined speed when the user drives the vehicle 1 as the first section. The movement control unit 130 stores the set first and second sections in the storage unit 120 and uses them in subsequent movement control.

[0046] Furthermore, if an obstacle is detected while the vehicle 1 is being controlled in the first section, the movement control unit 130 performs movement control based on at least one of the type of obstacle detected and the movement state of the obstacle. For example, if the obstacle is a moving object (pedestrian, stationary vehicle, etc.), the movement control unit 1 generates a travel path with a larger passing margin between the vehicle and the obstacle than if the obstacle were a stationary object (permanently installed trash can), and controls the vehicle 1 to move. Also, if the obstacle is a moving object (pedestrian, moving vehicle, etc.) and the obstacle is approaching the travel path of the vehicle 1 (the vehicle itself), the vehicle 1 is stopped.

[0047] The driving force output device 92 outputs driving force (torque) to the drive wheels for the vehicle to move. The driving force output device 92 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and an ECU (Electronic Control Unit) that controls them. The ECU controls the above configuration according to information input from the movement control unit 130 or information input from the driver control unit 80.

[0048] The braking system 94 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the movement control unit 130 or from the driver control unit 80, so that a brake torque corresponding to the braking operation is output to each wheel.

[0049] The steering device 96 includes, for example, a steering ECU and an electric motor. The electric motor applies force to, for example, a rack and pinion mechanism to change the direction of the steering wheels. The steering ECU drives the electric motor to change the direction of the steering wheels according to information input from the movement control unit 130 or from the driver control unit 80.

[0050] <Examples of Section 1 and Section 2> Figure 2 shows an example of the first and second sections to the target location to which vehicle 1 travels. As shown in Figure 2, in this example, the target location to which vehicle 1 travels is a garage 201 located within private property 200. The first section to the target location (garage 201) is a driveway 202 located within private property 200. The second section to the target location is a public road 210, which is outside of private property 200.

[0051] As indicated by the arrow, Vehicle 1 is traveling on public road 210, entering private property 200, and attempting to park in garage 201 located within private property 200. When traveling on public road 210 (second section), Vehicle 1 is controlled by AD_ECU132 and travels along the road and lanes based on external environment recognition data acquired by camera 10, etc. Also, under control by AD_ECU132, Vehicle 1 turns left from public road 210 and travels onto driveway 202 of private property 200 based on external environment recognition data. Once inside private property 200, when traveling on driveway 202 (first section), Vehicle 1 is controlled by ADAS_ECU131 and travels towards garage 201 based on the route history stored in memory unit 120. Obstacle 204 in the middle of driveway 202 is, for example, a permanent trash can. The route history is the route taken when the user manually drove vehicle 1 along driveway 202 and parked it in garage 201.

[0052] However, vehicle 1 may travel under control by AD_ECU132 in a section of driveway 202 that is free of obstacles, for example, the first section of driveway 202 from the point where it turns left off public road 210 until it encounters obstacle 204, which is designated as the second section. Also, if vehicle 1 detects a pedestrian 203 approaching driveway 202 at the point where it turns left off public road 210 and enters driveway 202, it may travel under control by AD_ECU132 based on external environment recognition data, rather than on the route history.

[0053] <Transition between Section 2 and Section 1> Figure 3 shows an example of the timing for switching between the second and first sections of the vehicle 1's journey. As shown in Figure 3, when the vehicle 1 travels from a public road section 300, which is an example of the second section, to a private property section 310, which is an example of the first section, to a target location (for example, the location of the garage where the vehicle 1 is parked) 320 within the private property, a switching section 330 is set in the boundary area between the public road section 300 and the private property section 310 to switch the control of the vehicle 1's movement. The switching section 330 is set, for example, starting from a boundary location 331, which is the boundary between the public road and the private property.

[0054] When the section traveled by vehicle 1 changes from section 2 to section 1, the control device 100 generates a route using AD_ECU 132 based on external recognition data and generates a route using ADAS_ECU 131 based on the route history, at least in the switching section 330. When vehicle 1 travels from the public road section 300 to the private area section 310, the control device 100 performs movement control using AD_ECU 132 based on external recognition data, which was performed when traveling in the public road section 300, while preparing for movement control using ADAS_ECU 131 based on the route history. At the timing of the switching position 332, when the preparation is complete and the system is ready for handover, the control device 100 switches to movement control using ADAS_ECU 131.

[0055] In this example, the case where the travel section of vehicle 1 changes from section 2 to section 1 has been described, but it is not limited to this case; for example, the same applies when the travel section of vehicle 1 changes from section 1 to section 2. That is, the control device 100 performs movement control by ADAS_ECU131 based on the route history that was performed when traveling between private areas 310, while preparing for movement control by AD_ECU132 based on external recognition data, and switches to movement control by AD_ECU132 at the timing of the switching position when the preparation is complete and it is ready to take over.

[0056] <Example of control of control device 100> Next, with reference to Figures 4 to 7, we will describe the movement control by which the control device 100 moves the vehicle 1 to the target position. Figure 4 is a flowchart showing an example of switching between driving based on route history and driving based on external environment recognition data. The vehicle 1 is performing autonomous driving and is traveling with a garage 201 on private property 200 as its final target position, as shown in Figure 2.

[0057] The control device 100 determines whether or not vehicle 1 is currently traveling through the first section (step S11). The first section is, as described above, a section of the route to the target position that is difficult to travel without referring to the route history, and is, for example, a section stored in the storage unit 120 as route history.

[0058] In step S11, if the vehicle is traveling through the first section (step S11: Yes), the control device 100 performs automatic driving based on the route history provided by the ADAS_ECU 131 (step S12). Conversely, in step S11, if the vehicle is not traveling through the first section (step S11: No), the control device 100 determines that the vehicle is traveling through a second section different from the first section and performs automatic driving based on external environment recognition data provided by the AD_ECU 132 (step S13). The second section is a section that can be traveled through based on external environment recognition data without referring to the route history.

[0059] Next, the control device 100 determines whether or not the vehicle 1 has arrived at the target location (garage 201) (step S14).

[0060] In step S14, if the target position has not been reached (step S14: No), the control device 100 returns to step S11 and repeats each process. On the other hand, if the target position has been reached (step S14: Yes), the control device 100 terminates this process.

[0061] Furthermore, when switching between control by ADAS_ECU131 based on route history and control by AD_ECU132 based on external environment recognition data, as described above in Figure 3, the control being performed is carried out while preparations for the other control are made, and the switch is made when the preparations are complete and the system is ready for handover.

[0062] Thus, according to the control device 100 in this example, in the first section of the route to the target position where it is difficult to move without referring to the route history, the movement of vehicle 1 is controlled based on the route history by ADAS_ECU131, and in the second section which is different from the first section, the movement of vehicle 1 is controlled based on external environment recognition data by AD_ECU132. Therefore, the movement control can be switched according to the road conditions on which vehicle 1 is traveling, and an appropriate travel route can be generated.

[0063] Figure 5 is a flowchart illustrating a modified example of switching between driving based on route history and driving based on external environment recognition data. As in Figure 4, Vehicle 1 is performing autonomous driving and is traveling towards the target location (garage 201 within private property 200).

[0064] In this modified example, first, the control device 100 determines whether or not vehicle 1 is currently traveling on private property 200 (step S21). The determination of whether or not it is private property 200 can be made based on the first map information 64, the second map information 72, and the current location information of vehicle 1.

[0065] In step S21, if the vehicle is not traveling on private property 200 (step S21: No), the control device 100 determines that the vehicle is traveling on a public road and performs automatic driving based on external environment recognition data from AD_ECU 132 (step S13). In this modified example, the processing is based on the premise that the first section is located within private property, and if the vehicle is traveling on a public road, it determines that the vehicle is traveling on a second section that is different from the first section.

[0066] On the other hand, if in step S21 the vehicle is traveling on private property 200 (step S21: Yes), the control device 100 determines whether or not the vehicle 1 is traveling in the first section (step S11).

[0067] In step S11, if the vehicle is not traveling in the first section (step S11: No), the control device 100 determines that the vehicle is traveling in a second section different from the first section and performs automatic driving based on external environment recognition data from AD_ECU132 (step S13). Even if it is determined that the vehicle is traveling on private property, if the area of ​​travel is not the first section, that is, if it is a section that can be moved to based on external environment recognition data without referring to the route history, the process proceeds to step S13.

[0068] On the other hand, if the vehicle is traveling through the first section in step S11 (step S11: Yes), the control device 100 performs automatic driving based on the route history provided by the ADAS_ECU 131 (step S12).

[0069] The processes from step S12 to step S14 are the same as those described in Figure 4.

[0070] Thus, according to the control device 100 of this modified version, it is determined whether or not vehicle 1 is traveling on private property, and if it is not traveling on private property, it is determined that it is traveling on a public road, and the movement control of vehicle 1 is performed based on external environment recognition data from AD_ECU132 in the second section which is different from the first section. For this reason, when vehicle 1 is traveling in an area other than private property, it is unnecessary to determine whether or not it is traveling in the first section (repeated continuous determination), and it is only necessary to determine whether or not it is traveling in the first section when it is traveling on private property, so determination can be performed efficiently.

[0071] Figure 6 is a flowchart showing an example of control during automated driving based on route history by ADAS_ECU131. For example, it is an example of the control in step S12 in the movement control shown in Figure 4 or Figure 5.

[0072] Even when the control device 100 is performing movement control by ADAS_ECU131 based on the route history in the first section, it is simultaneously generating a route based on external environment recognition data by AD_ECU132. The control device 100 determines whether or not an obstacle has been detected based on external recognition data using the AD_ECU 132 (step S31). An obstacle is, as described above, something that hinders the movement of vehicle 1 by movement control.

[0073] If no obstacle is detected in step S31 (step S31: No), the control device 100 repeats the detection determination in step S31.

[0074] In step S31, if an obstacle is detected (step S31: Yes), the control device 100 determines whether it is predicted that vehicle 1 will collide with the detected obstacle if it continues to perform movement control by ADAS_ECU131 based on the current route history (step S32).

[0075] If the control device 100 predicts that the vehicle will collide with an obstacle in step S32 (step S32: Yes), it will stop the vehicle 1 (step S33).

[0076] In step S32, if a collision with an obstacle is not expected (step S32: No), the control device 100 performs a process to identify the type of obstacle (step S34). The types of obstacles include, for example, stationary objects such as permanently installed trash cans, or movable objects such as stationary vehicles or people.

[0077] Next, the control device 100 calculates a passing margin according to the type of obstacle identified in step S34 (step S35). If the obstacle is a movable object, a larger passing margin is calculated than if the obstacle is a stationary object.

[0078] Next, the control device 100 performs steering maneuvers to avoid obstacles based on the passing margin calculated in step S35 (step S36).

[0079] Thus, according to the control device 100 in this example, in motion control based on the route history by ADAS_ECU131, if an obstacle is detected based on external recognition data during motion control, a passing margin according to the type of obstacle is secured, and steering avoidance of the obstacle is possible. Therefore, an even more appropriate driving route can be generated according to the road conditions on which the vehicle 1 is traveling.

[0080] Figure 7 is a flowchart showing a modified example of control during automated driving based on route history by ADAS_ECU131.

[0081] As shown in Figure 7, the processes from step S31 to step S33 are the same as the processes from step S31 to step S33 described in Figure 6.

[0082] In step S32, if the control device 100 does not predict a collision with an obstacle (step S32: No), it performs a process to determine the movement state of the obstacle (step S44). The movement state of the obstacle is whether or not the object determined to be an obstacle is moving.

[0083] Next, the control device 100 calculates a passing margin according to the movement state of the obstacle identified in step S34 (step S45). "According to the movement state" means according to the direction and speed of movement. If the obstacle is approaching the vehicle 1, a larger passing margin is calculated than if it were not approaching. Also, if the obstacle is moving quickly, a larger passing margin is calculated than if it were moving slowly. In this example, the type of obstacle may also be determined, and the passing margin may be calculated including the result of that determination.

[0084] The process in step S36 is the same as the process in step S36 described in Figure 6.

[0085] Thus, according to the control device 100 in this example, in motion control based on the route history by ADAS_ECU131, if an obstacle is detected based on external recognition data during motion control, a passing margin corresponding to the movement state of the obstacle is secured, making it possible to steer to avoid the obstacle. Therefore, an even more appropriate driving path can be generated according to the road conditions on which the vehicle 1 is traveling.

[0086] The control method described in the above-mentioned embodiment can be implemented by executing a pre-prepared control program on a computer. This control program is recorded on a computer-readable storage medium and executed when read from the storage medium. This control program may also be provided in the form of a non-transient storage medium such as flash memory, or it may be provided via a network such as the Internet. The computer that executes this control program may be included in the control device, included in an electronic device such as a smartphone, tablet terminal, or personal computer that can communicate with the control device, or included in a server device that can communicate with these control devices and electronic devices.

[0087] Although embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and modifications, improvements, etc., can be made as appropriate.

[0088] For example, the above embodiment describes an example in which the moving object is a vehicle, but it is not limited to this. The concept of the present invention can be applied not only to vehicles, but also to robots, ships, aircraft, etc., that are equipped with a drive source and are movable by the power of the drive source.

[0089] Furthermore, this specification includes at least the following information. Note that the components etc. in parentheses indicate those corresponding to the embodiments described above, but are not limited thereto.

[0090] (1) A control device for a mobile body (vehicle 1), An external environment recognition unit (external environment recognition unit 110) that acquires external environment recognition data of the moving object, A storage unit (storage unit 120) that stores the path history of the moving object when it moves to the target position, The system includes a movement control unit (movement control unit 130) that performs movement control to move the moving body to the target position, The movement control unit switches the mode of use of the route history in the movement control between a first section of the section to the target position where movement is difficult without referring to the route history, and a second section of the section to the target position that is different from the first section, and generates a travel route. Control device.

[0091] According to (1), the method of using the route history in generating the travel path for controlling the movement of the mobile body can be switched between the first section and the second section of the section to the target position, so that an appropriate travel path can be generated according to the road conditions on which the mobile body is traveling.

[0092] (2) The control device described in (1), The movement control unit performs the movement control in the first section by referring to the route history, and in the second section, it performs the movement control based on external recognition data without referring to the route history. Control device.

[0093] According to (2), in the first section of the route to the target position where it is difficult to move without referring to the route history, the movement of the mobile body is controlled by referring to the route history, and in the second section which is different from the first section, the movement of the mobile body is controlled based on external environment recognition data, so that an even more appropriate travel route can be generated according to the road conditions.

[0094] (3) The control device described in (2), The aforementioned movement control unit, A first control unit (ADAS_ECU131) controls the entry and exit of the aforementioned mobile body, A second control unit (AD_ECU132) controls the movement of the mobile body, which is different from the aforementioned entry and exit procedures. It has, In the first section, the first control unit performs the movement control. In the second section, the second control unit performs the movement control. Control device.

[0095] According to (3), in the first section, the movement of the mobile body is controlled by a first control unit that controls the entry and exit of the mobile body, so that an appropriate travel route can be generated, for example, when it is difficult to move without referring to the route history during entry and exit. In the second section, the movement of the mobile body is controlled by a second control unit that controls the movement of a mobile body different from that used for entry and exit, so that a travel route can be generated based on external environment recognition data, for example, when traveling on public roads.

[0096] (4) The control device described in (3), Even while the movement control is being performed in the first section, if an obstacle is detected based on the external environment recognition data, the movement control unit switches from the movement control by the first control unit to the movement control by the second control unit. Control device.

[0097] According to (4), even while the first control unit is performing movement control based on the route history in the first section, if an obstacle is detected based on the external environment recognition data, the system switches to movement control by the second control unit based on the external environment recognition data, which is capable of flexibly responding to environmental changes, thereby generating an appropriate driving route according to the road conditions.

[0098] (5) A control device according to any one of (1) to (4), The movement control unit sets the first section and the second section based on the external environment recognition data. Control device.

[0099] According to (5), by setting the first and second sections of the route to the target location based on external environment recognition data, an even more appropriate driving route can be generated according to the road conditions.

[0100] (6) A control device according to any one of (1) to (5), The movement control unit sets the first section and the second section based on the driving history of the user driving the moving body. Control device.

[0101] According to (6), by setting a first section and a second section to the target location based on the driving history of the user driving the mobile vehicle, an even more appropriate driving route can be generated according to the road conditions.

[0102] (7) A control device according to any one of (1) to (6), If an obstacle is detected during the execution of the movement control in the first section, the movement control unit performs the movement control based on at least one of the type of obstacle and the movement state of the obstacle. Control device.

[0103] As shown in (7), by controlling the movement of the moving object in the first section based on the type of obstacle detected and the movement status of the obstacle, an even more appropriate travel path can be generated according to the road conditions.

[0104] (8) A method for controlling a moving body, comprising: an external environment recognition unit that acquires external environment recognition data of the moving body; a storage unit that stores the path history when the moving body moves to a target position; and a movement control unit that performs movement control to move the moving body to the target position, The movement control unit switches the mode of use of the route history in the movement control between a first section of the section to the target position where movement would be difficult without referring to the route history, and a second section of the section to the target position that is different from the first section, and generates a travel route. Control method.

[0105] According to (8), the manner in which the route history is used in generating the travel path for controlling the movement of the mobile body can be switched between the first section and the second section of the section to the target position, so that an appropriate travel path can be generated according to the road conditions on which the mobile body is traveling.

[0106] (9) A control program for a moving body comprising: an external environment recognition unit that acquires external environment recognition data of the moving body; a storage unit that stores the path history when the moving body moves to a target position; and a movement control unit that performs movement control to move the moving body to the target position, The movement control unit switches the mode of use of the route history in the movement control between a first section of the section to the target position where movement is difficult without referring to the route history, and a second section of the section to the target position that is different from the first section, and generates a travel route. A control program that executes a process.

[0107] According to (9), the manner in which the route history is used in generating the travel path for controlling the movement of the mobile body can be switched between the first section and the second section of the section to the target position, so that an appropriate travel path can be generated according to the road conditions on which the mobile body is traveling. [Explanation of Symbols]

[0108] 1. Vehicle (mobile object) 110 External world recognition department 120 Storage section 130 Movement Control Unit 131 ADAS_ECU (First Control Unit) 132 AD_ECU (Second Control Unit)

Claims

1. A control device for a mobile body, An external environment recognition unit that acquires external environment recognition data of the aforementioned moving object, A storage unit that stores the path history when the moving object moves to the target position, The system comprises a movement control unit that performs movement control to move the moving body to the target position, The aforementioned movement control unit, The system generates a travel route by switching the mode of use of the route history in the movement control between a first section, which is connected to the target position and in which a first movement control is performed that refers to the route history as the movement control, and a second section, which is connected to the first section and in which a second movement control is performed that is based on external recognition data without referring to the route history as the movement control. Even while the first movement control is being executed in the first section, if an obstacle is detected based on the external environment recognition data, the system switches from the first movement control to the second movement control. Control device.

2. A control device according to claim 1, The aforementioned movement control unit, A first control unit that controls the entry and exit of the mobile body, A second control unit controls the movement of the moving body, which is different from the aforementioned entry and exit procedures. It has, In the first section, the first movement control is performed by the first control unit. In the second section, the second control unit performs the second movement control. Control device.

3. A control device according to claim 1, The movement control unit sets the first section and the second section based on the external environment recognition data. Control device.

4. A control device according to claim 1, The movement control unit sets the first section and the second section based on the driving history of the user driving the moving body. Control device.

5. A control device according to any one of claims 1 to 4, If an obstacle is detected during the execution of the movement control in the first section, the movement control unit performs the movement control based on at least one of the type of obstacle and the movement state of the obstacle. Control device.

6. A method for controlling a moving body, comprising: an external environment recognition unit that acquires external environment recognition data of the moving body; a storage unit that stores the path history when the moving body moves to a target position; and a movement control unit that performs movement control to move the moving body to the target position, The aforementioned movement control unit, The system generates a travel route by switching the mode of use of the route history in the movement control between a first section, which is connected to the target position and in which a first movement control is performed that refers to the route history as the movement control, and a second section, which is connected to the first section and in which a second movement control is performed that is based on external recognition data without referring to the route history as the movement control. Even while the first movement control is being executed in the first section, if an obstacle is detected based on the external environment recognition data, the system switches from the first movement control to the second movement control. Control method.

7. A control program for a moving body comprising: an external environment recognition unit that acquires external environment recognition data of the moving body; a storage unit that stores the path history when the moving body moves to a target position; and a movement control unit that performs movement control to move the moving body to the target position, The aforementioned movement control unit, The system generates a travel route by switching the mode of use of the route history in the movement control between a first section, which is connected to the target position and in which a first movement control is performed that refers to the route history as the movement control, and a second section, which is connected to the first section and in which a second movement control is performed that is based on external recognition data without referring to the route history as the movement control. Even while the first movement control is being executed in the first section, if an obstacle is detected based on the external environment recognition data, the system switches from the first movement control to the second movement control. A control program that executes a process.

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