Moving object

Abstract

This moving object comprises: a sensor that detects an operation performed by an occupant in order to move the moving object; and a control unit having one or multiple processors and one or multiple memories connected to the processors. The processor executes processing that includes causing the moving object to travel on the basis of the sensor detection results and performing information presentation control on the basis of the sensor detection results to cause an information presentation device to present information to the occupant.

Description

Mobile

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

[0002] Conventionally, there has been an information display device that displays information about a driving situation to a driver so that the driver can understand the driving situation of the vehicle. For example, Patent Document 1 discloses an information display device that displays information about the steering angle and steering direction of a steering wheel on an instrument panel.

[0003] Japanese Patent Application Laid-Open No. 2007-62706

[0004] There are vehicles that are driven by shifting the center of gravity of the occupant, but it is difficult for the occupant driving such vehicles to recognize the amount of load shift, which is the amount of operation performed by the occupant themselves, and to predict the behavior of the vehicle.

[0005] The present invention aims to improve the predictability of the behavior of a moving object.

[0006] In order to solve the above problem, the mobile body of the present invention is a mobile body comprising: a sensor that detects an operation by an occupant to move the mobile body; and a control device having one or more processors and one or more memories connected to the processors, wherein the processor executes processing including: causing the mobile body to travel based on the detection results of the sensor; and performing information presentation control that causes an information presentation device to present information to the occupant based on the detection results of the sensor.

[0007] According to the present invention, it is possible to improve the predictability of the behavior of a moving object.

[0008] FIG. 1 is a schematic diagram of a moving body according to this embodiment. FIG. 2 is a block diagram showing an example of the configuration of a main body according to this embodiment. FIG. 3 is a diagram for explaining an example of the behavior of a moving body according to this embodiment. FIG. 4 is a diagram schematically showing the system configuration of an information presentation device according to this embodiment. FIG. 5 is a diagram schematically showing first and second examples of excitation waveforms according to this embodiment. FIG. 6 is a diagram showing the relationship between the pressure of a stimulus applied to a human and time, the relationship between the time of an electrical pulse generated when Merkel cells are stimulated, the relationship between the time of an electrical pulse generated when Meissner's corpuscles are stimulated, and the relationship between the time of an electrical pulse generated when Pacinian corpuscles are stimulated. FIG. 7 is a diagram showing the frequency sensitivity distribution of Pacinian corpuscles and Meissner's corpuscles. FIG. 8 is a diagram schematically showing an example of gain adjustment in a first gain adjustment unit. FIG. 9 is a diagram schematically showing an example of a microphone output history. FIG. 10 is a diagram showing an example of the correlation between the sound pressure and frequency of environmental sound. FIG. 11 is a diagram schematically showing an example of gain adjustment in a second gain adjustment unit. Fig. 12 is a block diagram showing an example of the configuration of a control device according to this embodiment. Fig. 13 is a block diagram showing an example of the functional configuration of a control device according to this embodiment. Fig. 14 is a diagram schematically showing the system configuration of an information presentation device in a wearable terminal. Fig. 15 is a schematic configuration diagram of a moving body according to a modified example.

[0009] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Specific dimensions, materials, numerical values, etc. shown in the embodiments are merely examples for facilitating understanding of the invention and do not limit the present invention unless otherwise specified. In this specification and drawings, elements having substantially the same functions and configurations are designated by the same reference numerals to avoid redundant explanation, and elements not directly related to the present invention are not shown.

[0010] FIG. 1 is a schematic diagram of a moving body 100 according to this embodiment. In FIG. 1, the Z direction indicates the vertical direction, the X direction indicates a predetermined horizontal direction, and the Y direction indicates a horizontal direction perpendicular to the X direction. The X direction is, for example, the forward and backward movement direction of the moving body 100. The +X direction is, for example, the forward movement direction of the moving body 100, and the −X direction is, for example, the backward movement direction of the moving body 100. The Y direction is, for example, the left-right direction of the moving body 100. The +Y direction is, for example, the left direction of the moving body 100, and the −Y direction is, for example, the right direction of the moving body 100. Furthermore, the +Z direction is, for example, the upward direction of the moving body 100, and the −Z direction is, for example, the downward direction of the moving body 100.

[0011] The vehicle 100 according to this embodiment is driven in accordance with the amount of movement of the load applied to the main body 110 due to the movement of the center of gravity of the occupant 200 aboard the vehicle 100. The vehicle 100 includes a main body 110 and wheels 120. The main body 110 has, for example, a flat plate shape. A pair of wheels 120 is provided at both ends of the main body 110 in the Y direction, and the main body 110 rotatably supports the pair of wheels 120. As shown in FIG. 3 , which will be described later, the main body 110 has a rest portion 110a on which the feet of the occupant 200 are placed. In this embodiment, the pair of wheels 120 are arranged on the same axis. In this embodiment, the vehicle 100 is a coaxial two-wheel vehicle having a pair of wheels 120 arranged on the same axis.

[0012] The vehicle 100 is a coaxial two-wheel vehicle that travels while maintaining an inverted balance, and can move forward, backward, left, and right by shifting the center of gravity of the occupant 200. For example, the vehicle 100 moves forward and backward when the occupant 200 riding on the main body 110 applies weight to the front and rear of the main body 110, causing the main body 110 to tilt forward and backward. The vehicle 100 also turns left and right when the occupant 200 applies weight to the left and right of the main body 110, causing the main body 110 to tilt left and right.

[0013] 2 is a block diagram showing an example of the configuration of the main body 110 according to this embodiment. As shown in FIG. 2, the main body 110 includes a battery 112, a motor 114, an inverter 116, a sensor 300, an information presentation device 400, and a control device 500.

[0014] The battery 112 is a secondary battery such as a nickel-metal hydride battery or a lithium-ion battery. The power stored in the battery 112 is supplied to the motor 114 via an inverter 116. The motor 114 obtains driving force from the power supplied from the battery 112 via the inverter 116. The motor 114 transmits the obtained driving force to the wheels 120. Specifically, the motor 114 independently drives and rotates a pair of wheels 120 arranged on the same axis. The motor 114 drives and rotates the wheels 120, causing the mobile object 100 to travel on a road surface.

[0015] The inverter 116 is provided between the motor 114 and the battery 112, and electrically connects the motor 114 and the battery 112. The inverter 116 converts the direct current supplied from the battery 112 into alternating current and supplies it to the motor 114. The inverter 116 is also electrically connected to the control device 500, and adjusts the power supplied to the motor 114 based on a control command from the control device 500. This adjusts the driving force of the motor 114.

[0016] The sensor 300 detects an operation by the occupant 200 to move the mobile body 100. The sensor 300 is, for example, a load sensor that detects a load applied to the main body 110. However, the sensor 300 is not limited to this, and may be an inclination sensor that detects changes in the inclination angle and angular velocity of the main body 110.

[0017] 3 is a diagram illustrating an example of the behavior of the moving body 100 according to this embodiment. As shown in FIG. 3, the sensor 300 includes a first sensor 310, a second sensor 320, a third sensor 330, and a fourth sensor 340.

[0018] The first sensor 310 is provided in the +X direction with respect to a reference point P of the main body 110. The reference point P is, for example, the center or the center of gravity of the main body 110. The first sensor 310 detects a load applied in the +X direction, which is the forward direction of the main body 110, and transmits information indicating the detected load to the control device 500.

[0019] Second sensor 320 is provided in the −X direction with respect to reference point P of main body 110. Second sensor 320 detects a load applied in the −X direction, which is the rear direction of main body 110, and transmits information indicating the detected load to control device 500.

[0020] The third sensor 330 is provided in the +Y direction with respect to the reference point P of the main body 110. The third sensor 330 detects a load applied in the +Y direction, which is the left direction of the main body 110, and transmits information indicating the detected load to the control device 500.

[0021] The fourth sensor 340 is provided in the −Y direction with respect to the reference point P of the main body 110. The fourth sensor 340 detects a load applied in the −Y direction, which is to the right of the main body 110, and transmits information indicating the detected load to the control device 500.

[0022] The control device 500 calculates the position of the center of gravity of the load applied to the main body 110 based on information indicating the load detected by the first sensor 310, the second sensor 320, the third sensor 330, and the fourth sensor 340. Here, when the occupant 200 moves his / her center of gravity to move the mobile body 100, the position of the center of gravity of the load applied to the main body 110 changes. Therefore, the operation of the occupant 200 to move his / her center of gravity can be considered to be the operation of the occupant 200 to move the mobile body 100. Furthermore, the amount of displacement of the position of the center of gravity of the load applied to the main body 110 from the reference point P can be considered to be the operation amount of the operation of the occupant 200 to move the mobile body 100. Therefore, the control device 500 sequentially calculates the position of the center of gravity of the load applied to the main body 110 and the amount of displacement of that position from the reference point P. Hereinafter, the amount of displacement of the position of the center of gravity of the load applied to the main body 110 from the reference point P will also be referred to as the load displacement amount.

[0023] For example, the control device 500 controls the inverter 116 and the motor 114 to move the mobile body 100 forward in the direction D1 when the position of the center of gravity of the load applied to the main body 110 is in the +X direction relative to the reference point P of the main body 110.

[0024] In addition, when the position of the center of gravity of the load applied to the main body 110 is in the diagonally forward right direction between the +X direction and the -Y direction with respect to the reference point P of the main body 110, the control device 500 controls the inverter 116 and the motor 114 so that the mobile body 100 moves forward while turning right in the direction D2.

[0025] In addition, when the position of the center of gravity of the load applied to the main body 110 is in the left forward direction between the +X direction and the +Y direction with respect to the reference point P of the main body 110, the control device 500 controls the inverter 116 and the motor 114 so as to make the moving body 100 turn left in the direction D3 while moving forward.

[0026] Furthermore, when the position of the center of gravity of the load applied to the main body 110 is in the −X direction relative to the reference point P of the main body 110, the control device 500 controls the inverter 116 and the motor 114 to move the mobile body 100 backward in the direction D4.

[0027] In addition, when the position of the center of gravity of the load applied to the main body 110 is in a diagonally rearward right direction between the -X direction and the -Y direction with respect to the reference point P of the main body 110, the control device 500 controls the inverter 116 and the motor 114 so as to move the mobile body 100 backward and turn left in the direction D5.

[0028] In addition, when the position of the center of gravity of the load applied to the main body 110 is in a left rearward diagonal direction between the -X direction and the +Y direction with respect to the reference point P of the main body 110, the control device 500 controls the inverter 116 and the motor 114 so as to make the moving body 100 move backward and turn right in the direction D6.

[0029] Returning to FIG. 1 , a wearable terminal 600 is attached to an occupant 200 aboard the vehicle 100. The wearable terminal 600 includes an information presentation device 700. The wearable terminal 600 is a terminal that is attached to a part of the body of the occupant 200. In this embodiment, the wearable terminal 600 includes a first wearable terminal 610, a second wearable terminal 620, and a third wearable terminal 630. The first wearable terminal 610, the second wearable terminal 620, and the third wearable terminal 630 are each provided with an information presentation device 700.

[0030] The first wearable terminal 610 is worn on the arm of the occupant 200. Specifically, the first wearable terminal 610 is worn on the wrist of the occupant 200. However, without being limited thereto, the first wearable terminal 610 may be worn on the hand of the occupant 200. The first wearable terminal 610 may also be worn on the forearm of the occupant 200. The first wearable terminal 610 may also be worn on the upper arm of the occupant 200.

[0031] The second wearable terminal 620 is worn on the foot of the occupant 200. Specifically, the second wearable terminal 620 is worn on the sole of the foot of the occupant 200. However, without being limited thereto, the second wearable terminal 620 may be worn on the top of the foot of the occupant 200. The second wearable terminal 620 may also be worn on the lower leg of the occupant 200. The second wearable terminal 620 may also be worn on the thigh of the occupant 200.

[0032] The third wearable terminal 630 is worn on the head of the occupant 200. Specifically, the third wearable terminal 630 is worn on the ear of the occupant 200. However, without being limited to this, the third wearable terminal 630 may be worn around the neck of the occupant 200. Details of the information presentation device 700 will be described later.

[0033] However, it is difficult for the occupant 200 driving the vehicle 100 to recognize the load shift amount, which is the amount of operation performed by the occupant 200 himself / herself while driving, and it is difficult for him / her to predict the behavior of the vehicle 100 .

[0034] Therefore, the mobile body 100 of this embodiment is equipped with an information presentation device 400, which performs information presentation control to present information to the occupant 200 so that the occupant 200 can predict the behavior of the mobile body 100.

[0035] 4 is a diagram schematically illustrating the system configuration of an information display device 400 according to this embodiment. As illustrated in FIG. 4 , the information display device 400 includes a waveform generation unit 410, a differential calculation unit 420, a first gain adjustment unit 430, a microphone 440, a sensing value calculation unit 450, a second gain adjustment unit 460, and an output unit 470.

[0036] The information presentation device 400 presents information to the occupant 200 aboard the moving body 100. The information presentation device 400 presents to the occupant 200 a sign of an upcoming behavior of the moving body 100, for example, by a sound or vibration output from the output unit 470. The waveform generation unit 410 generates an excitation waveform, which is the waveform of the vibration output by the output unit 470.

[0037] 5 is a diagram showing a first example and a second example of the excitation waveform according to the present embodiment, in which the horizontal axis represents time and the vertical axis represents voltage, which is the amplitude of the excitation waveform.

[0038] The excitation waveform may be, for example, a sine wave, as shown in the first example in the upper part of Fig. 5. Furthermore, the excitation waveform may be, for example, a waveform obtained by combining a plurality of sine waves with different wavelengths, as shown in the second example in the lower part of Fig. 5. However, the excitation waveform is not limited to this, and may be, for example, a rectangular wave, a triangular wave, a waveform simulating the traveling sound of the mobile object 100, or any other waveform. Furthermore, the excitation waveform may be a waveform obtained by combining a variety of waveforms.

[0039] In this embodiment, the frequency of the excitation waveform is, for example, in the range of 100 to 400 Hz. More preferably, the frequency of the excitation waveform is in the range having a dominant frequency of 150 to 300 Hz. Here, the occupant 200 riding in the vehicle 100 has Merkel cells, Meissner's corpuscles, Pacinian corpuscles, etc. as sensory receptors.

[0040] Figure 6 shows the relationship between the pressure of a stimulus applied to a human and time, the relationship between the electrical pulse generated when Merkel cells are stimulated and time, the relationship between the electrical pulse generated when Meissner's corpuscles are stimulated and time, and the relationship between the electrical pulse generated when Pacinian corpuscles are stimulated and time. In the top row of Figure 6, the horizontal axis represents time, and the vertical axis represents pressure. In all rows except the top row of Figure 6, the horizontal axis represents time, and the vertical axis represents the state of electrical pulse generation.

[0041] As shown in Figure 6, Merkel cells have a slower response than Meissner's corpuscles and Pacinian corpuscles, and are highly sensitive to low-frequency stimuli ranging from direct current to a few Hz. Meissner's corpuscles also have a faster response than Merkel cells, and are highly sensitive to stimuli with frequencies ranging from a few Hz to 200 Hz. Meissner's corpuscles emit electrical pulses when there is a rate of change in contact pressure. Pacinian corpuscles have a faster response than Merkel cells and Meissner's corpuscles, and are highly sensitive to stimuli with frequencies ranging from 70 Hz to 1000 Hz. Pacinian corpuscles emit electrical pulses at the moment of a transient change in contact pressure. Among Merkel cells, Meissner's corpuscles, and Pacinian corpuscles, Pacinian corpuscles are considered to be the most sensitive. Therefore, Pacinian corpuscles are considered to be the most sensitive receptors for humans to perceive minute vibrations as combined auditory and tactile information.

[0042] Figure 7 shows the frequency sensitivity distribution of Pacinian corpuscles and Meissner corpuscles. In Figure 7, the dashed line shows the sensitivity distribution of Meissner corpuscles, and the solid line shows the sensitivity distribution of Pacinian corpuscles. In Figure 7, the horizontal axis shows frequency, and the vertical axis shows amplitude above threshold, with smaller values ​​indicating better sensitivity.

[0043] As shown in Figure 7, Pacinian corpuscles exhibit good sensitivity in the range of 100 to 400 Hz, and even better sensitivity in the range of 150 to 300 Hz. This range is included in the range of 20 Hz to 20 kHz, which is generally considered to be the human audible range. The dominant frequency of the excitation waveform can be set to 250 Hz, for example.

[0044] The differential calculation unit 420 acquires information indicating the load from the sensor 300. Then, based on the acquired information indicating the load, the differential calculation unit 420 calculates a differential value by time-differentiating the load movement amount, which is the amount of displacement of the position of the center of gravity of the load applied to the main body 110 from a reference point P. The differential calculation unit 420 sequentially transmits the calculated differential value to the first gain adjustment unit 430.

[0045] The first gain adjustment unit 430 performs a first gain adjustment on the fundamental wave of the excitation waveform generated by the waveform generation unit 410. The first gain adjustment changes the gain G1, which is the first gain multiplied by the voltage of the excitation waveform, in accordance with the differential value of the weight movement amount. Note that the differential calculation unit 420 may sequentially transmit the weight movement amount itself to the first gain adjustment unit 430. In this case, for example, the first gain adjustment unit 430 changes the gain G1 in accordance with the weight movement amount. Specifically, the first gain adjustment unit 430 sets the gain G1 to a larger value as the weight movement amount increases.

[0046] FIG. 8 is a diagram schematically illustrating an example of gain adjustment in the first gain adjuster 430. In FIG. 8, the horizontal axis represents the absolute value of the differential value, and the vertical axis represents the gain G1 by which the voltage of the excitation waveform is multiplied. Note that the voltage of the excitation waveform is a value that depends on the amplitude of the excitation waveform. Therefore, the larger the voltage of the excitation waveform, the larger the amplitude of the excitation waveform. Also, the smaller the voltage of the excitation waveform, the smaller the amplitude of the excitation waveform.

[0047] 8, the gain G1 increases as the absolute value of the differential value increases. The rate of increase of the gain G1 is maximum in a region where the absolute value of the differential value is small, and decreases as the absolute value of the differential value increases.

[0048] The gain G1 can be calculated, for example, from the absolute value of the differential value using a logarithmic function. For example, the gain G1 is expressed by the following formula 1: Gain G1=log(absolute value of differential value×coefficient k) (Formula 1)

[0049] Here, the coefficient k is a value set during the development stage of the moving body 100 in accordance with the characteristics of the moving body 100. The characteristics of the moving body 100 include, for example, the position of the center of gravity. The first gain adjustment unit 430 sets the gain G1 based on the differential value of the load movement amount with reference to the graph shown in FIG.

[0050] The microphone 440 is provided in the main body 110 and is a sound collecting device that collects environmental sounds of the moving body 100. The output of the microphone 440 is transmitted to the sensing value calculation unit 450.

[0051] The sensing value calculation unit 450 extracts components of a predetermined frequency band from the environmental sound of the moving body 100 acquired by the microphone 440, and transmits the sound pressure of the extracted components to the second gain adjustment unit 460 as a sensing value.

[0052] 9 is a diagram schematically illustrating an example of the output history of the microphone 440. In FIG. 9, the horizontal axis represents time, and the vertical axis represents the sound pressure of the environmental sound acquired by the microphone 440.

[0053] The sensing value calculation unit 450 performs a fast Fourier transform (FFT) on the acoustic signal of the environmental sound acquired by the microphone 440 to convert it into the frequency domain. The sensing value calculation unit 450 also performs a band-pass filter process to extract components of a predetermined frequency band from the converted frequency domain. Here, the frequency band to be extracted is set so as to include the dominant frequency of the excitation waveform output by the waveform generation unit 410. The sensing value calculation unit 450 sets the average sound pressure of the extracted frequency band as the sensing value to be used for the second gain adjustment.

[0054] Fig. 10 is a diagram showing an example of the correlation between sound pressure and frequency of environmental sound. In Fig. 10, the horizontal axis represents frequency and the vertical axis represents sound pressure. The band-pass filter extracts, for example, a frequency band near 250 Hz, which is the dominant frequency of the excitation waveform in the waveform generation unit 410. The average value of the sound pressure in the extracted frequency band is provided to the second gain adjustment unit 460 as a sensing value.

[0055] The second gain adjustment unit 460 performs a second gain adjustment on the excitation waveform after the first gain adjustment. The second gain adjustment changes the gain of the excitation waveform in accordance with the sensing value of noise in order to adjust the output amplitude of the excitation waveform in accordance with changes in environmental noise while the mobile body 100 is traveling. Examples of environmental noise while the mobile body 100 is traveling include drivetrain noise, aerodynamic noise, and road noise. The second gain adjustment unit 460 performs the second gain adjustment based on the output of the sensing value calculation unit 450. Specifically, the second gain adjustment unit 460 sets a gain G2, which is a second gain, based on the sensing value output by the sensing value calculation unit 450.

[0056] FIG. 11 is a diagram schematically illustrating an example of gain adjustment by the second gain adjustment unit 460. In FIG. 11, the horizontal axis represents the sensing value, and the vertical axis represents the gain G2 multiplied by the voltage of the excitation waveform. As shown in FIG. 11, the gain G2 increases as the sensing value increases. The gain G2 is set, for example, so that the sound pressure of the sound generated by the excitation amplitude output from the output unit 470 does not dominate the sound pressure of the ambient sound. Preferably, the gain G2 is set so that the sound generated by the excitation amplitude blends in with the ambient sound of the vehicle 100 and reaches a sound pressure level that the occupant 200 can unconsciously hear. The second gain adjustment unit 460 sets the gain G2 based on the sensing value with reference to the graph shown in FIG. 11.

[0057] The output value A, which is the voltage of the vibration waveform after the first gain adjustment and the second gain adjustment, is expressed by the following equation 2: Output value A = Waveform generating unit output value × Gain G1 × Gain G2 = Waveform generating unit output value × log (absolute value of differential value × coefficient k) × Gain G2 (Equation 2)

[0058] The output unit 470 is a vibration device disposed in the main body 110 of the moving body 100. The output unit 470 uses the output value A to vibrate the area around the occupant 200, generating vibrations. The output unit 470 includes, for example, a speaker that generates sound and a vibrator that generates vibrations. The speaker is, for example, a speaker used for audio playback in an audio device. However, the speaker is not limited to this, and may be a speaker separate from the audio device. The vibrator is, for example, provided in the mounting portion 110a of the main body 110, and vibrates at least a portion of the mounting portion 110a.

[0059] FIG. 12 is a block diagram showing an example of the configuration of a control device 500 according to this embodiment. The control device 500 controls the entire mobile object 100. The control device 500 also controls the information display devices 400 and 700. As shown in FIG. 12 , the control device 500 includes an I / F 510, a storage device 520, a system bus 530, one or more processors 540, and one or more memories 550. The I / F 510 is an interface for communicating with the inverter 116, the sensor 300, and the information display devices 400 and 700. For example, the I / F 510 acquires data transmitted from the sensor 300. The I / F 510 also transmits control signals to the inverter 116 and the information display devices 400 and 700.

[0060] The storage device 520 is composed of RAM, flash memory, HDD, etc., and holds various information necessary for the processing of the processor 540 described below. The system bus 530 electrically connects the I / F 510, storage device 520, processor 540, and memory 550, and is a transmission path for transmitting data among them.

[0061] The processor 540 includes, for example, a CPU (Central Processing Unit). The memory 550 includes, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory). The ROM is a storage element that stores programs and calculation parameters used by the CPU. The RAM is a storage element that temporarily stores data such as variables and parameters used in processing executed by the CPU.

[0062] 13 is a block diagram showing an example of the functional configuration of the control device 500 according to this embodiment. For example, as shown in FIG. 13, the control device 500 includes an acquisition unit 500a, a control unit 500b, and a transmission unit 500c.

[0063] The processor 540 cooperates with the programs contained in the memory 550 and executes the programs contained in the memory 550 to realize various processes including the processes described below that are performed by the acquisition unit 500a, control unit 500b, and transmission unit 500c.

[0064] The acquisition unit 500a acquires the detection result of the sensor 300. Specifically, the acquisition unit 500a acquires, from the sensor 300, information indicating the load.

[0065] The control unit 500b causes the mobile object 100 to travel based on the detection results of the sensor 300. For example, the control unit 500b calculates the position of the center of gravity of the load acting on the main body 110 based on information indicating the load detected by the first sensor 310, the second sensor 320, the third sensor 330, and the fourth sensor 340. Then, as described above with reference to FIG. 3 , the control unit 500b controls the inverter 116 and the motor 114 based on the calculated position of the center of gravity of the load to cause the mobile object 100 to travel.

[0066] The control unit 500b performs information presentation control to cause the information presentation devices 400, 700 to present information to the occupant 200 based on the detection result of the sensor 300. For example, as described above with reference to Figures 4 to 11, the control unit 500b determines an output according to an operation performed by the occupant 200 to move the vehicle 100, and outputs the output to a speaker or a vibrator.

[0067] The transmitter 500c transmits information indicating the output value A as an output corresponding to the operation of the occupant 200 to move the vehicle 100 to the information presentation device 700 of the wearable terminal 600.

[0068] 14 is a diagram schematically illustrating the system configuration of an information presentation device 700 in the wearable terminal 600. As shown in FIG.

[0069] The receiving section 710 receives the information indicating the output value A transmitted by the transmitting section 500c.

[0070] The output unit 720 includes, for example, a speaker that generates sound and a vibrator that generates vibration. The configuration of the output unit 720 is similar to the configuration of the output unit 470, so detailed description will be omitted. The output unit 720 outputs an output based on the output value A from a speaker or a vibrator. For example, the first wearable terminal 610 is provided with a vibrator as the information presentation device 700, and when the vibrator is vibrated, the occupant 200 can feel the vibration with their arms. The second wearable terminal 620 is provided with a vibrator as the information presentation device 700, and when the vibrator is vibrated, the occupant 200 can feel the vibration with their soles. The third wearable terminal 630 is provided with a speaker as the information presentation device 700, and when sound is emitted from the speaker, the occupant 200 can feel the sound with their ears. When using the information presentation device 700 of the wearable terminal 600, the output value A should be transmitted to the wearable terminal 600 so that the response of the information presentation device 700 of the wearable terminal 600 is faster than the response of the motor 114 of the moving body 100.

[0071] As described above, the control unit 500b according to this embodiment performs information presentation control, which causes the information presentation devices 400, 700 to present information to the occupant 200, based on the detection results of the sensor 300. For example, if the output unit 470 is a speaker, the speaker can be used to emit a sound to the occupant 200 with an amplitude corresponding to the operation of the occupant 200 to move the mobile body 100. Furthermore, if the output unit 470 is a vibrator, the vibrator can be used to emit a vibration to the occupant 200 with an amplitude corresponding to the operation of the occupant 200 to move the mobile body 100. This allows the occupant 200 to predict the occurrence of behavior of the mobile body 100 that involves the generation of lateral acceleration, longitudinal acceleration, yaw rate, and pitch angle. As a result, the occupant 200's predictability of the behavior of the mobile body 100 is improved, and the occupant 200 can be prevented from feeling abruptness in the behavior of the mobile body 100.

[0072] Furthermore, in the information presentation control, the control unit 500b changes the information depending on the amount of operation performed by the occupant 200 to move the mobile unit 100. Specifically, the control unit 500b increases the vibration output from the output unit 470 as the amount of operation performed by the occupant 200 to move the mobile unit 100, i.e., the load shift amount, which is the amount of displacement of the position of the center of gravity of the load applied to the main body 110 from the reference point P, increases, thereby making it easier for the occupant 200 to recognize the information presented to the occupant 200. As a result, the occupant 200 can predict not only the behavior of the mobile unit 100 but also its magnitude. Furthermore, in the above embodiment, by using the differential value of the load shift amount, responsiveness can be improved compared to when the load shift amount itself is used.

[0073] The information presentation device 400 is mounted on the vehicle 100. This allows the vehicle 100 to emit sounds and vibrations, and the vehicle 100 itself can present information in response to the driving operation of the occupant 200.

[0074] Furthermore, the information presentation device 700 is provided in a wearable terminal 600 worn by the occupant 200. Here, the wearable terminal 600 is directly worn on a part of the body of the occupant 200. By providing the information presentation device 700 in the wearable terminal 600, information can be transmitted directly to a part of the body of the occupant 200. Specifically, the information presentation device 700 in the first wearable terminal 610 can transmit vibrations or sounds directly to the wrist of the occupant 200. Furthermore, the information presentation device 700 in the second wearable terminal 620 can transmit vibrations or sounds directly to the soles of the feet of the occupant 200. Furthermore, the third wearable terminal 630 can transmit vibrations or sounds directly to the ears of the occupant 200. Therefore, the occupant 200 can more easily recognize the presented information than if the information were transmitted to the occupant 200 indirectly.

[0075] Furthermore, when the output unit 470 is a speaker, sound vibrations can be used to present information to the occupant 200 in the information presentation control. When a speaker is used as the output unit 470, an existing speaker mounted on the vehicle 100 can be used, and information can be presented to the occupant 200 without adding a new component. Information can also be presented to those around the occupant 200 who is the driver operating the vehicle 100.

[0076] Furthermore, when the output unit 470 is a vibrator, in the information presentation control, the vibrator can be used to present vibration as information to the occupant 200. When a vibrator is used as the output unit 470, information can be presented only to the occupant 200 who is the driver operating the vehicle 100.

[0077] Furthermore, in the information presentation control, the control unit 500b controls the vibration frequency to a range of 100 to 400 Hz. This makes it possible to use Pacinian corpuscles, which are in the audible range and highly sensitive to skin sensation, and improves the recognition of the vibration by the occupant 200. This allows information to be transmitted to the occupant 200 more reliably.

[0078] While the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to such embodiments. It is clear that those skilled in the art can conceive of various modifications and alterations within the scope of the claims, and it is understood that such modifications and alterations also fall within the technical scope of the present invention.

[0079] In the above embodiment, an example has been described in which the moving body 100 has two wheels 120. However, this is not limitative, and the number of wheels 120 may be one, or three or more.

[0080] FIG. 15 is a schematic diagram of a moving body 100A according to a modified example. Components substantially identical to those of the moving body 100 according to the above embodiment are designated by the same reference numerals and will not be described again. As shown in FIG. 15 , the moving body 100A includes a main body 110 and wheels 120. The moving body 100A according to the modified example has four wheels 120. Specifically, a pair of wheels 120 are provided on the front side of the main body 110 at both ends in the Y direction and arranged on the same axis. Furthermore, another pair of wheels 120 are provided on the rear side of the main body 110 at both ends in the Y direction and arranged on the same axis. In other words, the main body 110 is provided with two pairs of wheels 120 spaced apart in the X direction. A motor 114 can independently rotate and drive each wheel 120. The modified example can also achieve the same functions and effects as the above embodiment.

[0081] In the above embodiment, an example has been described in which the control unit 500b, in the information presentation control, changes information depending on the amount of operation performed by the occupant 200 to move the mobile body 100. Specifically, an example has been described in which the control unit 500b performs information presentation control to present information based on the load movement amount, which is the amount of displacement of the position of the center of gravity of the load applied to the main body 110 from the reference point P, or the derivative value of the load movement amount. However, without being limited to this, the control unit 500b may change information in the information presentation control depending on whether or not an operation to move the mobile body 100 of the occupant 200 has been performed, rather than based on the amount of operation. Specifically, when the position of the center of gravity of the load applied to the main body 110 is different from the reference point P, the control unit 500b may, for example, emit vibrations with a constant amplitude and frequency to the occupant 200, assuming that an operation to move the mobile body 100 of the occupant 200 has been performed.

[0082] In the above embodiment, an example has been described in which the information presentation device 400 as a speaker or a vibrator is mounted on the mobile object 100. However, this is not limiting, and when the information presentation device 700 is provided on the wearable terminal 600, the mobile object 100 does not need to be mounted with the information presentation device 400 as a speaker or a vibrator.

[0083] In the above embodiment, an example has been described in which the information presentation device 700 is provided in the wearable terminal 600. However, this is not limiting, and if the information presentation device 400 as a speaker or a vibrator is mounted on the moving body 100, the wearable terminal 600 does not need to be provided with the information presentation device 700. Furthermore, the occupant 200 does not need to wear the wearable terminal 600.

[0084] In the above embodiment, an example has been described in which the frequency of the sound or vibration presented by the information presentation device 400, 700 is in the range of 100 to 400 Hz. However, the present invention is not limited to this, and the frequency of the sound or vibration presented by the information presentation device 400 may be outside the range of 100 to 400 Hz. Furthermore, vibrations in the 10 to 50 Hz band may be superimposed on the sound or vibration presented by the information presentation device 400, 700 to present information such as a performance, an alarm, or a notification.

[0085] 100 Mobile object 300 Sensor 400 Information presentation device 500 Control device

Claims

1. A mobile body comprising: a sensor that detects an operation by an occupant to move the mobile body; and a control device having one or more processors and one or more memories connected to the processors, wherein the processor executes processes including: running the mobile body based on the detection results of the sensor; and performing information presentation control that causes an information presentation device to present information to the occupant based on the detection results of the sensor.

2. The mobile body according to claim 1, wherein the processor executes a process in the information presentation control that includes changing the information in accordance with the amount of operation of the operation.

3. The moving body according to claim 1, wherein the information presentation device is mounted on the moving body.

4. The vehicle according to claim 1, wherein the information presentation device is provided in a wearable terminal worn by the occupant.

5. The moving body according to claim 3 or 4, wherein the information presentation device includes a speaker, and the processor executes processing in the information presentation control that includes presenting vibration as the information using the speaker.

6. The moving body according to claim 5, wherein the processor executes processing including controlling the frequency of the vibration to be in the range of 100 to 400 Hz in the information presentation control.

7. The moving body according to claim 3 or 4, wherein the information presentation device includes a vibrator, and the processor executes processing in the information presentation control that includes presenting vibrations as the information using the vibrator.

8. The moving body according to claim 7, wherein the processor executes processing including controlling the frequency of the vibration to be in the range of 100 to 400 Hz in the information presentation control.

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