Control device

Abstract

A control device (100) controls a vehicle (M) configured to be movable in an automatic driving mode and a manual driving mode. The control device (100) is provided with a processor (101) that, when the vehicle (M) is moving in the automatic driving mode, recognizes a dedicated lane (320) that is present around the vehicle (M) and is a predetermined type of area, on the basis of at least one of external information obtained by an external sensor and map information stored in advance, determines whether or not an entry request to the dedicated lane (320) exists, on the basis of a positional relationship between the recognized dedicated lane (320) and the vehicle (M) and an instruction from the occupant to the vehicle (M), and switches from the automatic driving mode to the manual driving mode when the entry request to the dedicated lane (320) is determined to exist.

Description

Control device

[0001] The present invention relates to a control device for a moving body.

[0002] In recent years, efforts to provide access to sustainable transport systems that take into consideration vulnerable transport participants have been gaining momentum. As part of these efforts, for example, research and development is being conducted on driver assistance and autonomous driving technologies that can further improve road safety and convenience.

[0003] As an example of driving assistance technology, Patent Document 1 discloses a technology that recognizes lane sections to be avoided, which are prohibited lane sections in which a vehicle is prohibited from traveling, based on vehicle model information indicating the type of vehicle and prohibited lane section information indicating the location of the prohibited lane section, and controls the vehicle to avoid the lane sections to be avoided based on lane layout information indicating the layout of each lane and position information indicating the position of the vehicle.

[0004] Japanese Patent Application Publication No. 2019-182169

[0005] However, the conventional technology has room for improvement in terms of improving the convenience of occupants when a moving body enters a predetermined type of area such as the avoidance target lane in Patent Document 1.

[0006] The present invention provides a control device for a vehicle that can improve the convenience of a vehicle occupant when the vehicle enters a predetermined type of area, thereby contributing to the development of a sustainable transportation system.

[0007] The present invention provides a control device for controlling a mobile body configured to be able to move in a first movement mode and a second movement mode, and includes a processor that performs the following processing when the mobile body is moving in the first movement mode: recognizes a first area that exists around the mobile body and is a predetermined type of area based on at least one of external environment information obtained by an external environment sensor equipped on the mobile body and pre-stored map information; determines whether or not there has been a request to enter the first area based on the positional relationship between the recognized first area and the mobile body and instructions from an occupant to the mobile body; and switches from the first movement mode to the second movement mode when it is determined that there has been a request to enter the first area.

[0008] According to the present invention, it is possible to improve the convenience for the occupant when the moving body enters a predetermined type of area.

[0009] 1 is a block diagram showing the overall configuration of a vehicle system 1 equipped with a control device 100 according to an embodiment. It is a diagram showing a first control unit 120, a second control unit 160, and a driving control unit 170 of the control device 100. It shows a state in which a vehicle M travels in autonomous driving mode on a road having a general lane 310 and a dedicated lane 320. It is a diagram explaining a driving mode switching process executed by the control device 100 when the vehicle M traveling in autonomous driving mode enters the dedicated lane 320. It is a diagram explaining a driving mode switching process executed by the control device 100 when the vehicle M exits the dedicated lane 320. It is a flowchart showing a driving mode switching process executed by the control device 100 when entering and exiting the dedicated lane 320. It shows a state in which a vehicle M travels in autonomous driving mode on a road in which the dedicated lane 320 is located in the right lane L3 and in which a no-entry area 330 exists ahead of the vehicle M in the left lane L1 and the center lane L2. It is a diagram showing a state in which a vehicle M traveling in autonomous driving mode exits the dedicated lane 320. 10 is a flowchart of control executed by the control device 100 when entering and exiting a dedicated lane 320 to avoid a no-entry area 330.

[0010] A control device for a moving body according to one embodiment of the present invention will now be described with reference to the accompanying drawings.

[0011] <Overall Configuration of Vehicle System> Figure 1 is a block diagram showing the overall configuration of a vehicle system 1 equipped with a control device 100 according to one embodiment of the present invention. The vehicle M (see Figure 3, etc.) on which the vehicle system 1 is installed is, for example, a two-wheeled, three-wheeled, four-wheeled, or other 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 of these. The electric motor operates using power generated by a generator connected to the internal combustion engine, or discharged power from a secondary battery or a fuel cell.

[0012] The vehicle system 1 includes, for example, a camera 10, a radar device 12, a light detection and ranging (LIDAR) device 14, an object recognition device 16, a communication device 20, a human machine interface (HMI) device 30, vehicle sensors 40, a driver monitor camera 50, a navigation device 60, a map positioning unit (MPU) device 70, a driving operator 80, a turn signal 83, a control device 100, a driving force output device 200, a brake device 210, and a steering device 220. These devices and equipment are connected to each other by multiplexed communication lines such as a controller area network (CAN) communication line, serial communication lines, a wireless communication network, or the like.

[0013] The camera 10 is a digital camera that uses a solid-state image sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera 10 is attached to a desired location of the vehicle M in which the vehicle system 1 is installed.

[0014] The radar device 12 emits radio waves such as millimeter waves around the vehicle M and detects radio waves reflected by objects (reflected waves) to detect at least the position (distance and direction) of the objects. The radar device 12 is attached to any location on the vehicle M.

[0015] The LIDAR 14 irradiates the periphery of the vehicle M with light (or electromagnetic waves with wavelengths similar to light) and measures the scattered light. The LIDAR 14 detects the distance to an object based on the time between light emission and light reception. The irradiated light is, for example, pulsed laser light. The LIDAR 14 is attached to any location on the vehicle M.

[0016] The object recognition device 16 recognizes the position, type, speed, etc. of the object by performing sensor fusion processing on some or all of the detection results of the camera 10, the radar device 12, and the LIDAR 14. The object recognition device 16 outputs the recognition results to the control device 100. The object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the LIDAR 14 to the control device 100 as they are.

[0017] The camera 10, the radar device 12, and the LIDAR 14 are examples of external environment sensors in the present invention. Furthermore, information input from the camera 10, the radar device 12, and the LIDAR 14 to the control device 100 via the object recognition device 16, i.e., information on the recognition results of the object recognition device 16 or the detection results of the camera 10, etc., is an example of external environment information in the present invention.

[0018] The communication device 20 communicates with other vehicles in the vicinity of the vehicle M, or with various server devices via a wireless base station, for example, using a cellular network, a Wi-Fi (registered trademark) network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), etc.

[0019] The HMI 30 presents various information to the occupants of the vehicle M and accepts input operations by the occupants. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys, and the like.

[0020] The vehicle sensor 40 includes a vehicle speed sensor that detects the traveling speed of the vehicle M (so-called "vehicle speed"; hereinafter, also referred to simply as "speed"), an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity around a vertical axis, and a direction sensor that detects the direction of the vehicle M.

[0021] 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 attached to any location on the vehicle M in a position and orientation that allows it to capture an image of the head of an occupant (hereinafter also referred to as the "driver") sitting in the driver's seat of the vehicle M from the front (in an orientation that captures the face). The driver monitor camera 50 may also be attached so that it can capture images of occupants other than those in the driver's seat who are riding in the vehicle M, in addition to the driver.

[0022] The navigation device 60 includes, for example, a Global Navigation Satellite System (GNSS) 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 a hard disk drive (HDD) or a flash memory.

[0023] The GNSS receiver 61 determines the position of the vehicle M based on signals received from GNSS satellites. The position of the vehicle M may be determined or supplemented by an INS (Inertial Navigation System) that uses outputs from the vehicle sensors 40.

[0024] The navigation HMI 62 includes a display device, a speaker, a touch panel, keys, etc. The navigation HMI 62 may share some or all of the components with the HMI 30 described above.

[0025] The route determination unit 63 determines a route (hereinafter also referred to as a "map route") from, for example, the position of the vehicle M identified by the GNSS receiver 61 (or any input position) to a destination input by the occupant using the navigation HMI 62, by referring to the first map information 64. The first map information 64 is, for example, information that represents road shapes using links indicating roads and nodes connected by the links. The first map information 64 may also include information such as road curvature and POI (Point of Interest) information. The map route is output to the MPU 70.

[0026] The navigation device 60 may provide route guidance based on the route on the map using the navigation HMI 62. The navigation device 60 may transmit the current position and the destination to a navigation server via the communication device 20 and obtain a route equivalent to the route on the map from the navigation server.

[0027] The MPU 70 includes, for example, a recommended lane determination unit 71, and stores second map information 72 in a storage device such as an HDD or flash memory. The recommended lane determination unit 71 divides the route on the map provided by the navigation device 60 into a plurality of blocks (for example, every 100 meters in the vehicle's traveling direction), and determines a recommended lane for each block by referring to the second map information 72. The recommended lane determination unit 71 determines, for example, which lane from the left the vehicle should travel in. When there is a branch point on the route on the map, the recommended lane determination unit 71 determines a recommended lane so that the vehicle M can travel on a reasonable route to the branch point.

[0028] 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 lane centers or lane boundaries. The second map information 72 may also include road information, traffic regulation information, address information, facility information, telephone number information, and the like. Here, the road information may include, for example, information on the type of each road (e.g., general road or expressway) and the type of each lane on each road (e.g., general lane or dedicated lane such as a bus lane or a high-occupancy vehicle (HOV) lane). The traffic regulation information may include information on sections where construction work involving lane restrictions is being carried out (hereinafter also referred to as "construction section"). The second map information 72 may be updated as needed by the communication device 20 communicating with other devices.

[0029] The driving operators 80 include, for example, an accelerator pedal, a brake pedal, a shift lever, and other operators in addition to a turn signal lever 81 and a steering wheel 82. The driving operators 80 are fitted with sensors that detect the amount of operation or the presence or absence of operation, and the detection results are output to the control device 100 or some or all of the driving force output device 200, the brake device 210, and the steering device 220.

[0030] The winker lever 81 is an operator for turning on or off the winker 83 .

[0031] The turn signals 83 are direction indicators provided on the left side (e.g., the front left and rear left) and the right side (e.g., the front right and rear right) of the vehicle M at positions visible from outside the vehicle M. The control device 100 turns on (including flashing) or turns off the turn signals 83 in response to an operation of the turn signal lever 81.

[0032] The steering wheel 82 is an operator that accepts steering operations. The steering wheel 82 does not necessarily have to be annular, and may be in the form of an irregular steering wheel, a joystick, buttons, or the like. A steering grip sensor 84 is attached to the steering wheel 82. The steering grip sensor 84 is realized by a capacitance sensor or the like, and outputs a signal to the control device 100 that can detect whether the driver is gripping the steering wheel 82.

[0033] The control device 100 is a computer that includes a processor 101 such as a CPU (Central Processing Unit), a storage device 103 such as a flash memory, and an interface 105 that inputs and outputs data between the inside and outside of the control device 100, and performs overall control of the vehicle M. Details of the control performed by the control device 100 will be described later, so a description thereof will be omitted here.

[0034] The driving force output device 200 outputs a driving force (torque) to the drive wheels to drive the vehicle. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, etc., and an ECU (Electronic Control Unit) that controls these. The ECU controls the above components in accordance with information input from the control device 100 (for example, a second control unit 160 described below) or information input from the driving operator 80.

[0035] The brake device 210 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 in accordance with information input from the control device 100 (e.g., the second control unit 160) or information input from the driving operator 80, so that a brake torque corresponding to the braking operation is output to each wheel.

[0036] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor applies a force to, for example, a rack and pinion mechanism to change the direction of the steered wheels. The steering ECU drives the electric motor to change the direction of the steered wheels in accordance with information input from the control device 100 (for example, the second control unit 160) or information input from the driving operator 80.

[0037] <Functional Configuration of Control Device> Figure 2 is a block diagram showing an example of the functional configuration of the control device 100. As shown in Figure 2, the control device 100 includes, for example, a first control unit 120 and a second control unit 160. The first control unit 120 and the second control unit 160 are each realized, for example, by the processor 101 of the control device 100 executing a program (software). Furthermore, some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in advance in the storage device 103 of the control device 100 .

[0038] The first control unit 120 includes, for example, a recognition unit 130, a behavior plan generation unit 140, and a mode control unit 150. The first control unit 120, for example, realizes a function based on AI (Artificial Intelligence) and a function based on a pre-given model in parallel.

[0039] For example, the function of "recognizing intersections" may be realized by executing intersection recognition using deep learning etc. and recognition based on pre-set conditions (such as traffic lights and road markings that can be pattern matched) in parallel, and then scoring and comprehensively evaluating both. This ensures the reliability of autonomous driving.

[0040] The recognition unit 130 recognizes the surrounding conditions of the vehicle M based on information input from the camera 10, the radar device 12, and the LIDAR 14 via the object recognition device 16. Specifically, the recognition unit 130 recognizes the positions of objects around the vehicle M and the running conditions of the objects, such as their speed and acceleration. The position of the object is recognized as a position on an absolute coordinate system with a representative point of the vehicle M (such as the center of gravity or the center of the drive shaft) as the origin, and is used for control. The position of the object may be represented by a representative point such as the center of gravity or a corner of the object, or may be represented by an area. The "state" of the object may include the acceleration or jerk of the object, or the "behavioral state" (for example, whether the object is changing lanes or is about to change lanes).

[0041] The recognition unit 130 also recognizes, for example, the driving environment in which the vehicle M is traveling. For example, the recognition unit 130 recognizes the lane in which the vehicle M is traveling (hereinafter also referred to as the "driving lane") by comparing the pattern of road dividing lines (e.g., an arrangement of solid and dashed lines) obtained from the second map information 72 with the pattern of road dividing lines around the vehicle M recognized from the image captured by the camera 10. Note that the recognition unit 130 may recognize the driving lane by recognizing road boundaries (road boundaries) including not only road dividing lines but also road dividing lines, shoulders, curbs, medians, guardrails, etc. In this recognition, the position of the vehicle M obtained from the navigation device 60 and the processing results by the INS may be taken into consideration. The recognition unit 130 may also recognize road signs, stop lines, obstacles, red lights, toll booths, and other road phenomena.

[0042] Furthermore, when recognizing the driving lane, the recognition unit 130 recognizes the position and attitude of the vehicle M with respect to the driving lane. For example, the recognition unit 130 may recognize the deviation of the reference point of the vehicle M from the center of the lane and the angle it forms with a line connecting the centers of the lanes in the traveling direction of the vehicle M as the relative position and attitude of the vehicle M with respect to the driving lane. Alternatively, the recognition unit 130 may recognize the position of the reference point of the vehicle M with respect to either side edge of the driving lane (a road dividing line or a road boundary) as the relative position of the vehicle M with respect to the driving lane.

[0043] The mode control unit 150 controls the driving mode of the vehicle M. In this embodiment, the vehicle M is configured to be able to travel in a first driving mode in which the driver is required to perform a light task, and a second driving mode in which the driver is required to perform a heavier task than in the first driving mode. The first driving mode is an example of a first travel mode in the present invention, and the second driving mode is an example of a second travel mode in the present invention. In the following, the first driving mode will be described as an automatic driving mode, and the second driving mode will be described as a manual driving mode.

[0044] Here, the manual driving mode is a mode in which the vehicle M travels based on the driver's operation of the driving controls 80. Note that even when the vehicle M is in the manual driving mode, various driving assistance systems such as adaptive cruise control (ACC) and lane keeping assist system (LKAS) may be executed by the vehicle system 1.

[0045] The autonomous driving mode is a mode in which the vehicle M travels autonomously without the driver's operation of the driving controls 80, in other words, a mode in which the steering, acceleration, deceleration, etc. of the vehicle M are automatically controlled. In the autonomous driving mode, for example, a lane change is automatically executed based on the judgment of the vehicle system 1. A lane change means moving the vehicle M from the driving lane in which the vehicle M is traveling to an adjacent lane adjacent to the driving lane. Hereinafter, a lane change performed by controlling the steering, etc. of the vehicle M by the vehicle system 1 is also referred to as an "automotive lane change."

[0046] The mode control unit 150 controls the driving mode of the vehicle M, for example, based on the driver's operation on the HMI 30. More specifically, for example, when the vehicle M is in the manual driving mode, the mode control unit 150 switches to the automatic driving mode upon receiving an operation via the HMI 30 to switch to the automatic driving mode. On the other hand, when the vehicle M is in the automatic driving mode, the mode control unit 150 switches to the manual driving mode upon receiving an operation via the HMI 30 to switch to the manual driving mode. This allows the driver to drive the vehicle M in a mode desired by the driver.

[0047] The operation for switching the driving mode is not limited to an operation using the HMI 30, and may be, for example, an operation using the navigation HMI 62 instead of the HMI 30. In addition, in this embodiment, the driving mode can also be switched by operating the driving operator 80, as will be described in detail later.

[0048] When the vehicle M is in an autonomous driving mode, the behavior plan generation unit 140 generates a target trajectory along which the vehicle M will automatically travel in the future (without relying on the driver's operation). In principle, the behavior plan generation unit 140 generates a target trajectory that will allow the vehicle M to travel in the recommended lane determined by the recommended lane determination unit 71 and that can also respond to the surrounding conditions of the vehicle M. The target trajectory includes, for example, a speed element. For example, the target trajectory is expressed as a sequential arrangement of points (trajectory points) that the vehicle M should reach. The trajectory points are points that the vehicle M should reach every predetermined travel distance (e.g., about several meters) along a road. Separately, target speeds and target accelerations for every predetermined sampling time (e.g., about a few tenths of a second) are generated as part of the target trajectory. Alternatively, the trajectory points may be positions that the vehicle M should reach at each sampling time for each predetermined sampling time. In this case, information on the target speed and target acceleration is expressed as the interval between trajectory points.

[0049] The behavior plan generation unit 140 may set an autonomous driving event when generating the target trajectory. The autonomous driving events include a constant speed driving event, a low-speed following driving event, a lane change event, a branch event, a merging event, a takeover event, etc. The behavior plan generation unit 140 generates a target trajectory according to the activated event. For example, when a lane change event is activated, the behavior plan generation unit 140 generates a target trajectory that moves the vehicle M from the driving lane to an adjacent lane.

[0050] The second control unit 160 controls the vehicle M so that it passes through the target trajectory generated by the behavior plan generation unit 140 at the scheduled time. The second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166.

[0051] The acquisition unit 162 acquires information about the target trajectory (trajectory points) generated by the action plan generation unit 140 and stores it in memory (not shown). The speed control unit 164 controls the driving force output device 200 (see FIG. 1) or the brake device 210 (see FIG. 1) based on the speed element associated with the target trajectory stored in memory. The steering control unit 166 controls the steering device 220 (see FIG. 1) according to the degree of curvature of the target trajectory stored in memory. The processing of the speed control unit 164 and the steering control unit 166 is realized, for example, by a combination of feedforward control and feedback control.

[0052] In the control device 100, the action plan generation unit 140 and the second control unit 160 together constitute a driving control unit 170. For example, when the vehicle M is in an autonomous driving mode, the driving control unit 170 appropriately sets a lane change event based on the recognition results of the driving situation or driving environment of the vehicle M recognized by the recognition unit 130, and thereby executes an automated lane change in response to the lane change event.

[0053] Meanwhile, for example, roads on which vehicles travel may have areas where only certain vehicles are prohibited from traveling or where it is physically difficult to enter (hereinafter also referred to as "areas to be avoided"). Examples of areas to be avoided include bus lanes where only buses are prohibited from traveling, HOV lanes where vehicles with fewer than a specified number of passengers (in other words, the number of occupants) are prohibited from traveling, and construction zones where it is physically difficult for vehicles (excluding work vehicles, etc.) to enter.

[0054] Areas to be avoided are mainly divided into dedicated lanes, such as bus lanes and HOV lanes, which are lanes reserved for specific vehicles but allow vehicles to enter temporarily, and no-entry areas, such as construction zones, where it is physically difficult for vehicles to enter. No-entry areas are more strictly prohibited than dedicated lanes.

[0055] In the following, first, an example will be described in which a dedicated lane exists around the vehicle M as an area to be avoided.

[0056] For example, if the vehicle M is a standard passenger car, it is undesirable for the vehicle M traveling in the autonomous driving mode to enter a dedicated lane against the driver's will. Therefore, in principle, the control device 100 controls the vehicle M so that the vehicle M avoids entering the dedicated lane when the vehicle M is in the autonomous driving mode. This makes it possible to prevent the vehicle M traveling in the autonomous driving mode from traveling in the dedicated lane against the driver's will.

[0057] 3 shows a state in which a vehicle M travels in autonomous driving mode on a road having a general lane 310 and a dedicated lane 320. The road shown in FIG. 3 has three lanes that travel in the same direction: a left lane L1, a center lane L2, and a right lane L3, and road dividing lines C are provided at the boundaries between adjacent lanes. In the example described here, the left lane L1 and the center lane L2 are general lanes 310, and the right lane L3 is a dedicated lane 320.

[0058] When the vehicle M is traveling in the center lane L2 in the autonomous driving mode, the control device 100 controls the vehicle M to avoid entering the dedicated lane 320 by restricting the execution of an automated lane change from the center lane L2 to the dedicated lane 320. Note that the execution of an automated lane change from the center lane L2 to the left lane L1, i.e., from the general lane 310 to the general lane 310, by the control device 100 is permitted.

[0059] On the other hand, there may be cases where the driver wishes to temporarily cause the vehicle M traveling in the autonomous driving mode to enter the dedicated lane 320, for example, to stop at a nearby facility or to give way to a vehicle traveling behind the vehicle M. The manual driving mode allows the vehicle M to enter the dedicated lane 320. In such a case, the driver, for example, switches from the autonomous driving mode to the manual driving mode and manually causes the vehicle M to enter the dedicated lane 320. In this case, if an operation to switch the driving mode using the HMI 30 or the like is required in addition to an operation to cause the vehicle M to enter the dedicated lane 320 using the turn signal lever 81, the steering wheel 82, or the like (in other words, a request to enter the dedicated lane 320), the driver may have to perform an increased number of operations, which may be a burden on the driver.

[0060] 4, in this embodiment, the control device 100 switches from the autonomous driving mode to the manual driving mode when there is a request to enter the dedicated lane 320 while the vehicle M is traveling in the autonomous driving mode, specifically when there is a lane change request to change the vehicle M into the dedicated lane 320. This prevents the vehicle M traveling in the autonomous driving mode from traveling in the dedicated lane 320 against the driver's will, while also reducing the effort required by the driver when entering the vehicle M into the dedicated lane 320, thereby improving convenience for the driver.

[0061] After switching from the automatic driving mode to the manual driving mode in response to a request to enter the dedicated lane 320, the vehicle M enters the dedicated lane 320 through manual driving operations by the driver and travels on the dedicated lane 320 in the manual driving mode. At this time, as shown in FIG. 5 , the control device 100 switches from the manual driving mode to the automatic driving mode based on a request to exit the dedicated lane 320, i.e., a request to move the vehicle M to the general lane 310 (hereinafter also referred to as a request to move to the general lane 310). The request to move to the general lane 310 is, for example, an operation to move the vehicle M from the dedicated lane 320 to the general lane 310 using the turn signal lever 81, the steering wheel 82, or the like. As a result, the vehicle M can be returned to the originally set automatic driving mode and then exit the dedicated lane 320. At this time, since there is no need to switch the driving mode using the HMI 30 or the like, the driver's effort can be reduced and driver convenience can be improved.

[0062] The control performed by the control device 100 of this embodiment will be described in more detail below.

[0063] First, a description will be given of the recognition of the dedicated lane 320 by the control device 100. The recognition unit 130 of the control device 100 recognizes the dedicated lane 320 existing around the vehicle M based on, for example, information (i.e., external environment information) input from the camera 10, the radar device 12, and the LIDAR 14 via the object recognition device 16, and based on second map information 72 stored in advance.

[0064] Furthermore, when recognizing the exclusive lane 320, the recognition unit 130 may further use information on the type of vehicle M and the number of occupants. In this case, the information on the type of vehicle M is, for example, stored in advance in the control device 100. The information on the number of occupants of the vehicle M can be obtained, for example, from the detection results of seat sensors (not shown) provided in each seat of the vehicle M or from an image of the interior of the vehicle captured by the driver monitor camera 50.

[0065] For example, if the vehicle M is a standard passenger car with one occupant (i.e., only the driver), the recognition unit 130 recognizes, as an area to be avoided, a dedicated lane 320, such as a bus lane or an HOV lane, provided on the road on which the vehicle M is traveling. Whether or not each lane is a dedicated lane 320 can be determined, for example, from the road information in the second map information 72 or the recognition results of road signs provided on the road on which the vehicle M is traveling.

[0066] When recognizing the dedicated lane 320, the recognition unit 130 does not necessarily need to use both the information input from the camera 10, the radar device 12, and the LIDAR 14 via the object recognition device 16 (i.e., external world information) and the second map information 72, but may recognize the dedicated lane 320 based on at least one of these (e.g., only the external world information).

[0067] When recognizing the dedicated lane 320, the recognition unit 130 also recognizes the positional relationship between the vehicle M and the dedicated lane 320. For example, the recognition unit 130 recognizes whether the dedicated lane 320 is located to the right or left of the vehicle M.

[0068] Next, the driving mode switching process executed by the control device 100 when entering the dedicated lane 320 and when exiting the dedicated lane 320 will be described with reference to the flowchart in Fig. 6. The control device 100, for example, repeatedly executes the flowchart in Fig. 6 at a predetermined interval.

[0069] First, the control device 100 determines whether the current driving mode is the autonomous driving mode (step S100). If it is determined that the current driving mode is not the autonomous driving mode (step S100: NO), the control device 100 ends this flowchart.

[0070] If it is determined that the current driving mode is the automatic driving mode (step S100: YES), the control device 100 determines whether or not the driver has performed an operation to switch the driving mode to the manual driving mode (for example, an operation using the HMI 30) (step S102). If the driver has performed an operation to switch the driving mode to the manual driving mode (step S102: YES), the control device 100 switches the driving mode from the automatic driving mode to the manual driving mode (step S106).

[0071] If the driver does not perform an operation to switch the driving mode to manual driving mode (step S102: NO), the mode control unit 150 of the control device 100 determines whether a request to enter the dedicated lane 320 has been made based on the positional relationship between the dedicated lane 320 recognized by the recognition unit 130 and the vehicle M, and the driver's instructions to the vehicle M, when the vehicle M is traveling in automatic driving mode (step S104).

[0072] 4, when the dedicated lane 320 is located on the right side of the vehicle M, the mode control unit 150 determines that a request to enter the dedicated lane 320 has been made when, as a driver's instruction, the driver operates the turn signal lever 81 to turn on the turn signal 83 (hereinafter also referred to as the "right turn signal") provided on the right side of the vehicle M. On the other hand, when the dedicated lane is located on the left side of the vehicle M, the mode control unit 150 determines that a request to enter the dedicated lane has been made when, as a driver's instruction, the driver operates the turn signal lever 81 to turn on the turn signal 83 (hereinafter also referred to as the "left turn signal") provided on the left side of the vehicle M.

[0073] Furthermore, if the dedicated lane 320 is located to the right of the vehicle M, the mode control unit 150 may determine that a request to enter the dedicated lane 320 has been made when, as a driver's instruction, the driver operates the turn signal lever 81 to turn on the right turn signal and then turns the steering wheel 82 to the right by a predetermined amount or more. Similarly, if the dedicated lane is located to the left of the vehicle M, the mode control unit 150 may determine that a request to enter the dedicated lane 320 has been made when the driver operates the turn signal lever 81 to turn on the left turn signal and then turns the steering wheel 82 to the left by a predetermined amount or more. In this way, the timing of switching to the manual driving mode can be delayed, allowing the vehicle M to travel in the autonomous driving mode for a longer period of time.

[0074] Then, when the mode control unit 150 determines that a request to enter the dedicated lane 320 has been made (step S104: YES), it switches from the autonomous driving mode to the manual driving mode (step S106). As a result, the control device 100 can switch to the manual driving mode in response to a request to enter the dedicated lane 320. Therefore, a driver who wishes to switch to the manual driving mode when entering the dedicated lane 320 does not need to perform an operation to switch to the manual driving mode separately from the request to enter the dedicated lane 320. Therefore, the effort required by the driver to switch to the manual driving mode can be reduced, and convenience can be improved.

[0075] The driving mode switching in step S106 is performed, for example, at the timing when the driver requests to enter the dedicated lane 320, but this is not limited to this and may also be performed after the driver requests to enter the dedicated lane 320.

[0076] Specifically, the timing for switching the driving mode may be the timing when the camera 10 or the like detects that the vehicle M has entered the dedicated lane 320, or the timing when the camera 10 or the like detects that the vehicle M has completely entered the dedicated lane 320. For example, when it is determined that a request to enter the dedicated lane 320 has been made based on the driver's operation of the turn signal lever 81, the control device 100 may switch to the manual driving mode after performing an automated lane change in the automated driving mode to cause the vehicle M to completely enter the dedicated lane 320. In other words, entry into the dedicated lane 320 is not limited to being performed by a manual operation by the driver, and may also be performed by an automated lane change by the control device 100.

[0077] On the other hand, if it is determined that a request to enter the dedicated lane 320 has not been made (step S104: NO), the control device 100 ends this flowchart.

[0078] When switching from the autonomous driving mode to the manual driving mode in response to a request to enter the dedicated lane 320, the control device 100 executes a notification urging the driver to exit the dedicated lane 320 via a notification device such as the HMI 30 or the navigation HMI 62 (step S108). The notification may be, for example, displayed on a display or may be given by voice from a speaker. This notification can prevent the vehicle M that has temporarily entered the dedicated lane 320 from continuing to travel in the dedicated lane 320, and can urge the driver to perform an operation to exit the dedicated lane 320.

[0079] The notification by the control device 100 is executed, for example, at the timing when the autonomous driving mode is switched to the manual driving mode in response to a request to enter the dedicated lane 320, but is not limited to this and may be executed at the timing when the vehicle M enters the dedicated lane 320 or when the vehicle M has completed entering the dedicated lane 320. This makes it possible to delay the timing of switching to the manual driving mode compared to when the driving mode is switched at the timing when a request to enter the dedicated lane 320 is made, and allows the vehicle M to travel in the autonomous driving mode for a longer period of time.

[0080] The control device 100 may change the intensity of the notification based on the elapsed time or the traveled distance after switching to the manual driving mode in response to a request to enter the dedicated lane 320. Specifically, when a predetermined time has elapsed or a predetermined distance has been traveled since switching to the manual driving mode in response to a request to enter the dedicated lane 320, the control device 100 may increase the intensity of the notification urging the driver to exit the dedicated lane 320. The intensity of the notification may also be increased in stages.

[0081] The notification from the control device 100 may prompt the vehicle M to switch from the manual driving mode to the automatic driving mode, in addition to prompting the vehicle M to exit the dedicated lane 320. When the automatic driving mode is switched to while the vehicle M is traveling in the dedicated lane 320, the control device 100 controls the vehicle M to avoid traveling in the dedicated lane 320. Specifically, when the automatic driving mode is switched to while the vehicle M is traveling in the dedicated lane 320, the control device 100 executes an automated lane change to a general lane 310 present around the vehicle M. In other words, the notification prompting the vehicle M to switch from the manual driving mode to the automatic driving mode indirectly prompts the vehicle M to exit the dedicated lane 320.

[0082] Furthermore, the notification by the control device 100 in step S108 does not necessarily have to be executed. For example, if it is determined that the driver wants to temporarily enter the dedicated lane 320 of the vehicle M traveling in autonomous driving mode in order to stop at a nearby facility or to yield to a following vehicle traveling behind the vehicle M, the control device 100 may not issue a notification urging the driver to exit the dedicated lane 320. For example, the control device 100 may determine whether the driver wants to stop at a nearby facility based on route information on a map displayed on the navigation device 60 or conversation information of the occupants of the vehicle M. Furthermore, the control device 100 may determine whether the driver has yielded to a following vehicle based on, for example, the state of the following vehicle or an emergency vehicle. In this way, since the control device 100 does not issue a notification when the driver wants to temporarily enter the dedicated lane 320, it is possible to prevent the driver from receiving a notification that is bothersome to the driver.

[0083] Next, the control device 100 determines whether a request to move to the general lane 310 has been made based on the positional relationship between the general lane 310 and the vehicle M recognized by the recognition unit 130 and the driver's instructions to the vehicle M (step S110).

[0084] 5, when the general lane 310 is located to the left of the vehicle M, the control device 100 determines that a request to move to the general lane 310 has been made when the driver operates the turn signal lever 81 to turn on the left turn signal of the vehicle M. When a request to move to the general lane 310 has not been made (step S110: NO), the control device 100 ends this flowchart.

[0085] If a request to move to the general lane 310 has been made (step S110: YES), the control device 100 switches the driving mode from the manual driving mode to the automatic driving mode (step S112).

[0086] After switching to the autonomous driving mode, the control device 100 executes an automated lane change from the dedicated lane 320 to the general lane 310 (step S114). As a result, the vehicle M exits the dedicated lane 320.

[0087] If the recognition unit 130 recognizes that there are multiple general lanes (for example, if it recognizes that there are general lanes on the right and left sides of the dedicated lane), the control device 100 may select one of the multiple general lanes based on at least one of a predetermined destination of the vehicle M and a route to the destination (i.e., a route on the map), and may execute a lane change to the selected general lane. More specifically, for example, if there is a branch point on the route on the map, the control device 100 may select a general lane that allows the vehicle M to proceed to an appropriate branch destination, and execute a lane change to the selected general lane.

[0088] 3 to 6, the vehicle M is caused to enter the dedicated lane 320 at the driver's request, but there are also cases where the control device 100 determines that the vehicle M is caused to enter the dedicated lane 320 based on the state of the path of the vehicle M. In the following, an example will be described in which a dedicated lane and an entry-prohibited area exist around the vehicle M as an area to be avoided.

[0089] 7 shows a state in which vehicle M is traveling in autonomous driving mode on a road where the aforementioned exclusive lane 320 exists in the right lane L3 and no-entry areas 330 exist in the left lane L1 and center lane L2 on the path of vehicle M. As with FIG. 3, the road shown in FIG. 7 has three lanes with the same direction of travel.

[0090] The recognition unit 130 of the control device 100 recognizes the reserved lane 320 and the no-entry area 330 based on at least one of the external world information and the second map information 72. With regard to the no-entry area 330, the recognition unit 130 recognizes the no-entry area 330 based on, for example, traffic regulation information included in the second map information 72 and / or signs indicating construction zones included in the external world information.

[0091] If a no-entry area 330 exists on the path of the vehicle M, the control device 100 determines that it is necessary to enter a dedicated lane 320 where travel is less prohibited in order to avoid the no-entry area 330.

[0092] When it is determined that entry into the dedicated lane 320 is necessary, even if the vehicle M is traveling in the general lane 310 in the autonomous driving mode, the control device 100 executes a process to cause the vehicle M to enter the dedicated lane 320 while maintaining the autonomous driving mode. Specifically, the control device 100 executes an automated lane change from the general lane 310 to the dedicated lane 320. This allows the vehicle M to enter the dedicated lane 320 while maintaining the autonomous driving mode and avoid the no-entry area 330, thereby improving convenience for the driver.

[0093] 8 , after the vehicle M passes through the no-entry area 330, the control device 100 executes an automatic lane change to the general lane 310 around the vehicle M so as to cause the vehicle M to exit the exclusive lane 320. This allows the vehicle M to temporarily exit the exclusive lane 320.

[0094] Next, the processing executed by the control device 100 when entering the dedicated lane 320 to avoid the no-entry area 330 and when exiting the dedicated lane 320 will be described with reference to the flowchart in Fig. 9. The control device 100, for example, repeatedly executes the flowchart in Fig. 9 at a predetermined interval.

[0095] The control device 100 first determines whether the current driving mode is the autonomous driving mode (step S200). If it is determined that the current driving mode is not the autonomous driving mode (step S200: NO), the control device 100 ends this flowchart.

[0096] When it is determined that the current driving mode is the autonomous driving mode (step S200: YES), the control device 100 determines whether or not it is necessary to enter the dedicated lane 320 (step S202). Specifically, as described above, when a no-entry area 330 exists on the path of the vehicle M and a dedicated lane 320 exists around the vehicle M, the control device 100 determines that it is necessary to enter the dedicated lane 320.

[0097] When it is determined that there is no need to enter the exclusive lane 320 (step S202: NO), the control device 100 ends this flowchart.

[0098] When it is determined that it is necessary to enter the dedicated lane 320 (step S202: YES), the control device 100 temporarily turns on the travel permission flag for the dedicated lane 320 while maintaining the autonomous driving mode (step S204). When the travel permission flag for the dedicated lane 320 is on, the vehicle M is permitted to travel on the dedicated lane 320 even when the vehicle M is traveling in the autonomous driving mode. On the other hand, when the travel permission flag is off, the vehicle M is prohibited from traveling on the dedicated lane 320 when traveling in the autonomous driving mode.

[0099] When the travel permission flag is turned ON, the control device 100 executes an automobile lane change to the dedicated lane 320 and causes the vehicle M to enter the dedicated lane 320 (step S206).

[0100] When the lane change to the dedicated lane 320 is completed, the control device 100 turns off the travel permission flag for the dedicated lane 320 (step S208).

[0101] Next, the control device 100 determines whether or not it is possible to move from the dedicated lane 320 to the general lane 310 based on at least one of the external environment information and the second map information 72 (step S210). If the vehicle passes through the no-entry area 330 and there is no other vehicle that would prevent the vehicle from moving to the general lane 310, the control device 100 determines that it is possible to move from the dedicated lane 320 to the general lane 310.

[0102] When it is determined that it is not possible to move from the exclusive lane 320 to the general lane 310 (step S210: NO), the control device 100 repeatedly monitors until it is possible to move to the general lane 310.

[0103] When it is determined that the vehicle can move from the exclusive lane 320 to the general lane 310 (step S210: YES), the control device 100 executes an automated lane change to the general lane 310 (step S212).

[0104] In addition, if the recognition unit 130 recognizes that there are multiple general lanes (for example, if it recognizes that there are general lanes on the right and left sides of the dedicated lane), the control device 100 may select one of the multiple general lanes based on at least one of the predetermined destination of the vehicle M and the route to the destination (i.e., the route on the map), and perform an automated lane change from the dedicated lane to the selected general lane.

[0105] Although one embodiment of the present invention has been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to such an embodiment. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components of the above embodiment may be combined in any manner without departing from the spirit of the invention.

[0106] For example, in the embodiment described above, the control device 100 is configured to execute the process of switching from the first driving mode (autonomous driving mode) to the second driving mode (manual driving mode) when the vehicle M enters a predetermined type of lane (i.e., area) such as the dedicated lane 320. However, this is not limiting. For example, the control device 100 may execute the process of switching the driving mode when the vehicle M enters a predetermined type of facility (i.e., area) such as a parking lot or a highway entrance.

[0107] Specifically, when it is determined that an entry request (e.g., operation of the steering wheel 82) has been made to cause the vehicle M traveling in the general lane 310 in manual driving mode to enter a parking lot, the control device 100 may switch the driving mode from the manual driving mode to the automatic parking mode and automatically park the vehicle M in a predetermined parking position. In this case, the manual driving mode corresponds to the first movement mode of the present invention, and the automatic parking mode corresponds to the second movement mode of the present invention. Furthermore, when it is determined that an entry request (e.g., operation of the steering wheel 82) has been made to cause the vehicle M traveling in the general lane 310 in manual driving mode to enter an entrance to a highway, the control device 100 may switch the driving mode from the manual driving mode to the automatic driving mode. In this case, the manual driving mode corresponds to the first movement mode of the present invention, and the automatic driving mode corresponds to the second movement mode of the present invention. This configuration also reduces the driver's effort required to switch to the second movement mode, improving the convenience of the driver of the vehicle M.

[0108] Furthermore, in the above-described embodiment, the first travel mode of the present invention has been described as an automatic driving mode, and the second travel mode of the present invention has been described as a manual driving mode, but the first travel mode may be a driving assistance mode in which some driving operations are performed by the driver, and the second travel mode may be a driving assistance mode in which some driving operations are performed by the driver, although the tasks imposed on the driver are more severe than in the first travel mode.

[0109] This specification describes at least the following: In parentheses, components corresponding to those in the above-described embodiments are shown as examples, but the present invention is not limited to these.

[0110] (1) A control device (control device 100) that controls a moving body (vehicle M) configured to be able to move in a first movement mode (autonomous driving mode) and a second movement mode (manual driving mode), the control device comprising: a processor (processor 101) that performs the following processing when the moving body is moving in the first movement mode: recognizes a first area (dedicated lane 320) that exists around the moving body and is a predetermined type of area based on at least one of external environment information obtained by external environment sensors (camera 10, radar device 12, and / or LIDAR 14) equipped on the moving body and pre-stored map information (second map information 72); determines whether or not there has been a request to enter the first area based on the positional relationship between the recognized first area and the moving body and an instruction from an occupant to the moving body; and switches from the first movement mode to the second movement mode when it is determined that there has been a request to enter the first area.

[0111] According to (1), when a request to enter a first area is received while the moving body is moving in the first movement mode, the moving body can be switched from the first movement mode to the second movement mode. This eliminates the need for a passenger who wishes to switch to the second movement mode as the moving body enters the first area to perform a separate operation to switch to the second movement mode in response to the request to enter the first area. This reduces the effort required for the passenger to switch to the second movement mode, improving the convenience of the passenger when using the moving body.

[0112] (2) The control device according to (1), wherein the first movement mode and the second movement mode are movement modes in which tasks assigned to the occupant are different from each other.

[0113] According to (2), the occupant does not need to switch to the second movement mode, in which the task assigned to the occupant is different from that of the first movement mode, separately from the request to enter the first area, thereby improving convenience for the occupant.

[0114] (3) The control device according to (1) or (2), wherein the first area is an area where movement of the moving object is prohibited, the first movement mode is a movement mode that controls the moving object to avoid entering the first area, and the second movement mode is a movement mode that allows the moving object to enter the first area.

[0115] According to (3), the second movement mode allows the moving body to enter the first area, so when a request to enter the first area is made while traveling in the first movement mode and the mode is switched to the second movement mode, the moving body can enter the first area.

[0116] (4) The control device according to (3), wherein the processor further performs processing to, when switching to the second movement mode in response to a request to enter the first area, issue a notification to the occupant urging them to exit the first area or to switch to the first movement mode.

[0117] According to (4), the moving object can be prevented from continuing to move in the first area.

[0118] (5) The control device according to (3) or (4), wherein the processor further performs the following processing: when the moving body is moving in the first area in the second movement mode, based on at least one of the external world information and the map information, recognize a second area (general lane 310) that exists around the moving body and in which movement of the moving body is permitted; based on the positional relationship between the recognized second area and the moving body and an instruction from the occupant to the moving body, determine whether or not there has been a request to enter the second area; and when it is determined that there has been a request to enter the second area, switch from the second movement mode to the first movement mode.

[0119] According to (5), when a request to enter the second area from the first area is made while moving in the second movement mode within the first area, it is possible to switch from the second movement mode to the first movement mode. This eliminates the need for a passenger wishing to switch to the first movement mode to perform a separate operation to switch to the first movement mode in response to the request to enter the second area. This reduces the effort required for the passenger to switch to the first movement mode, thereby improving the passenger's convenience when using the moving body.

[0120] (6) The control device according to (3) or (4), wherein the processor further performs the following processing: when the moving body is moving in the first movement mode, if a third area (non-enterable area 330) into which it is physically difficult for the moving body to enter exists on the path of the moving body and the first area exists around the moving body, the processor causes the moving body to enter the first area while maintaining the first movement mode, and after passing through the third area, the processor causes the moving body to move into a second area (general lane 310) in which movement of the moving body is permitted.

[0121] According to (6), when it is necessary for the moving object to enter the first area to avoid the third area, the moving object can enter and exit the first area while maintaining the first movement mode, thereby eliminating the need to switch movement modes and improving convenience for the driver.

[0122] (7) The control device according to any one of (3) to (6), wherein the processor recognizes the first area based on at least one of the external world information and the map information and a type of the moving object.

[0123] According to (7), it is possible to recognize a first area in which movement of a specific mobile object is prohibited depending on the type of mobile object, such as a bus lane.

[0124] (8) A control device according to any one of (3) to (7), wherein the first area is a lane (dedicated lane 320) in which movement of the moving body is prohibited, and the processor controls the moving body to avoid entering the first area by restricting execution of lane change control that changes lanes from the lane in which the moving body is traveling to the first area when the moving body is moving in the first movement mode.

[0125] According to (8), while moving in the first movement mode, execution of lane change control into the first area is restricted, so that the moving body can be prevented from changing lanes and entering the first area.

[0126] (9) The control device according to (8), wherein the processor further performs the following processing: when the moving body is moving in the first area in the second movement mode, based on at least one of the external world information and the map information, recognize a second area (general lane 310) that exists around the moving body and in which movement of the moving body is permitted; based on the positional relationship between the recognized second area and the moving body and an instruction from the occupant to the moving body, determine whether or not there has been a lane change request to change lanes to the second area; and when it is determined that there has been a lane change request to change lanes to the second area, switch from the second movement mode to the first movement mode and execute a lane change to the second area.

[0127] According to (9), when a lane change request is made to change lanes from the first area to the second area while the moving object is moving in the second movement mode in the first area, the moving object switches from the second movement mode to the first movement mode. This eliminates the need for an occupant who desires to switch to the first movement mode to perform an operation to switch to the first movement mode separately from the lane change request. This reduces the effort required for the occupant to switch to the first movement mode, improving the convenience of the occupant when using the moving object.

[0128] (10) The control device according to any one of (1) to (9), wherein the switching from the first movement mode to the second movement mode in response to a request to enter the first area is performed at the timing when a request to enter the first area is made, when entry of the moving body into the first area is detected, or when entry into the first area is completed.

[0129] According to (10), switching to the second movement mode at the timing when a request to enter the first area is made allows for rapid switching of the movement mode. Also, by switching to the second movement mode at the timing when entry into the first area is detected or when entry into the first area is completed, the timing of switching to the second movement mode can be delayed compared to when switching is made at the timing when a request to enter the first area is made, and it becomes possible to move the moving body in the first operation mode for a longer period of time.

[0130] 10 Camera (external sensor) 12 Radar device (external sensor) 14 LIDAR (external sensor) 72 Second map information (map information) 100 Control device 101 Processor 310 General lane (second area) 320 Dedicated lane (first area) 330 No-entry area (third area) M Vehicle (moving body)

Claims

1. A control device that controls a moving body configured to be movable in a first movement mode and a second movement mode, the first movement mode is a movement mode in which the moving object is controlled to avoid entering a first area, which is an area in which movement of the moving object is prohibited; the second movement mode is a movement mode that allows the moving object to enter the first area, When the moving body is moving in the first movement mode, the control device recognizing the first area existing around the mobile body based on at least one of external environment information obtained by an external environment sensor provided in the mobile body and pre-stored map information; determining whether or not there is a request to enter the first area based on the recognized positional relationship between the first area and the moving body and an instruction from an occupant to the moving body; switching from the first movement mode to the second movement mode when it is determined that there is a request to enter the first area; Processing and When a third area into which it is physically difficult for the moving body to enter exists on the path of the moving body and the first area exists around the moving body, the moving body is caused to enter the first area while maintaining the first movement mode; After passing through the third area, the moving object is moved to a second area in which movement of the moving object is permitted. and a processor for performing the processing. Control device.

2. The control device according to claim 1, the first movement mode and the second movement mode are movement modes in which tasks assigned to the occupant are different from each other; Control device.

3. The control device according to claim 1 or 2, The processor: When the mode is switched to the second movement mode in response to a request to enter the first area, a process is further performed to notify the occupant to prompt them to exit the first area or to prompt them to switch to the first movement mode. Control device.

4. The control device according to claim 1 or 2, The processor: When the moving object is moving in the first area in the second movement mode, recognize the second area that exists around the moving object and in which movement of the moving object is permitted, based on at least one of the external environment information and the map information; determining whether or not there is a request to enter the second area based on the recognized positional relationship between the second area and the moving body and an instruction from the occupant to the moving body; switching from the second movement mode to the first movement mode when it is determined that there is a request to enter the second area; further processing, Control device.

5. The control device according to claim 1 or 2, the processor recognizes the first area based on at least one of the external environment information and the map information and a type of the moving object; Control device.

6. The control device according to claim 1 or 2, the first area is a lane in which movement of the moving object is prohibited, The processor: When the moving body is moving in the first movement mode, the execution of lane change control for changing lanes from the lane in which the moving body is traveling to the first area is restricted, thereby controlling the moving body to avoid entering the first area. Control device.

7. The control device according to claim 6, The processor: When the moving object is moving in the first area in the second movement mode, recognize the second area that exists around the moving object and in which movement of the moving object is permitted, based on at least one of the external environment information and the map information; determining whether or not there is a lane change request to change lanes into the second area based on the recognized positional relationship between the second area and the moving body and an instruction from the occupant to the moving body; when it is determined that a lane change request to the second area has been made, switching from the second movement mode to the first movement mode and executing a lane change to the second area; further processing, Control device.

8. The control device according to claim 1 or 2, The switching from the first movement mode to the second movement mode in response to the request to enter the first area is performed at a timing when the request to enter the first area is made, at a timing when the entry of the moving object into the first area is detected, or at a timing when the entry into the first area is completed. Control device.

9. A control device for controlling a moving body configured to be movable in a first movement mode, the first movement mode is a movement mode in which the moving object is controlled to avoid entering a first area, which is an area in which movement of the moving object is prohibited; When the moving body is moving in the first movement mode, the control device recognizes the first area around the moving body and a third area that is on the path of the moving body and is physically difficult for the moving body to enter, based on at least one of external environment information obtained by an external environment sensor provided in the moving body and map information stored in advance; When the third area is present on the path of the moving object and the first area is present around the moving object, the moving object is caused to enter the first area while maintaining the first movement mode; After passing through the third area, the moving object is moved to a second area in which movement of the moving object is permitted. a processor for performing processing; Control device.

10. The control device according to claim 9, the processor recognizes the first area based on at least one of the external environment information and the map information and a type of the moving object; Control device.

11. The control device according to claim 9 or 10, the first area is a lane in which movement of the moving object is prohibited, The processor: When the moving body is moving in the first movement mode, the execution of lane change control for changing lanes from the lane in which the moving body is traveling to the first area is restricted, thereby controlling the moving body to avoid entering the first area. Control device.