Travel control device for mobile body, travel control system, travel control method, and storage medium

Abstract

The present invention is a travel control device for a mobile body, the travel control device comprising: a speed determination unit that determines the travel speed of the mobile body on the basis of the positional relationship between the mobile body and an object present around the mobile body; and a speed control unit that causes the mobile body to travel at the travel speed. The speed determination unit comprises: a speed region setting unit that sets a predetermined speed limit region around the mobile body; and a speed region assessment unit that assesses whether or not an object recognized on the basis of a detection result obtained by detecting the conditions around the mobile body is present in the speed limit region, and determines, as the travel speed, the fixed speed limit in the speed limit region where the object is present.

Description

A control device for the movement of a mobile body, a movement control system, a movement control method, and a storage medium.

[0001] The present invention relates to a vehicle travel control device, a vehicle travel control system, a vehicle travel control method, and a storage medium.

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into account vulnerable groups among transportation users have become increasingly active. To achieve this, we are focusing on research and development to further improve the safety and convenience of transportation through autonomous driving technology.

[0003] For this reason, efforts have been made to commercialize mobile vehicles capable of moving on both sidewalks and roadways. When such mobile vehicles are traveling on sidewalks or roadways, they may pass other mobile vehicles or pedestrians moving on the same sidewalk or roadway, or their own travel path may intersect with the travel paths of other mobile vehicles or pedestrians. In such cases, the mobile vehicle needs to pass or stop in the vicinity of other mobile vehicles or pedestrians at a safe speed.

[0004] In this regard, a technology has been disclosed for a mobile body that autonomously moves at a speed set in a predetermined spatial region and controls the speed based on the speed set in the region corresponding to its identified self-position (see, for example, Patent Document 1). Furthermore, a technology has been disclosed for an autonomous mobile body that detects obstacles around the vehicle body and sets an obstacle detection region around the vehicle body having a stopping region with a predetermined width along the direction of travel of the vehicle body and a deceleration region other than the stopping region, stopping the vehicle body if at least a part of the detected obstacle is included in the stopping region, and decelerating the vehicle body's speed if at least a part of the detected obstacle is included only in the deceleration region (see, for example, Patent Document 2).

[0005] By applying such conventional technologies to a mobile vehicle capable of moving on both sidewalks and roadways, it is believed that the mobile vehicle can safely pass or stop near other mobile vehicles or pedestrians when they are present in its vicinity.

[0006] International Publication No. 2021 / 235141, Japanese Patent Publication No. 2023-015986

[0007] By the way, in autonomous driving technology, in addition to safely driving a moving object, the challenge is to make the moving object move smoothly. However, conventional technology does not take into account the future movement path of the moving object, and the movement of the moving object is controlled based on the positional relationship between the moving object and obstacles. For example, even if the future movement path of the moving object is a path that avoids obstacles, the control is performed to slow down when passing near the obstacle, and there were cases where the vehicle could not move smoothly near the obstacle.

[0008] This invention was made based on the above-mentioned problem recognition and aims to provide a mobile vehicle travel control device, travel control system, travel control method, and storage medium that can more favorably determine the speed of a mobile vehicle when it is traveling near an obstacle. In other words, this invention aims to achieve safe and smooth travel near obstacles by considering the travel path of the mobile vehicle. And, ultimately, it will contribute to the development of a sustainable transportation system.

[0009] The mobile body travel control device, travel control system, travel control method, and storage medium according to this invention employ the following configuration: (1) A mobile body travel control device according to one aspect of this invention is a mobile body travel control device comprising: a speed determination unit that determines the travel speed of the mobile body based on the positional relationship between the mobile body and an object present around the mobile body; and a speed control unit that causes the mobile body to travel at the travel speed, wherein the speed determination unit comprises: a speed area setting unit that sets a predetermined speed limit area around the mobile body; and a speed area determination unit that determines whether or not an object recognized based on a detection result of detecting the conditions around the mobile body is present within the speed limit area, and determines the travel speed to be the speed limit set for the speed limit area in which the object is present.

[0010] (2) In the embodiment of (1) above, the speed range setting unit sets the speed limit range based on information relating to the movement of the moving body and information relating to the recognized object, wherein the information relating to the movement of the moving body includes at least the current speed of the moving body and the distance the moving body travels until the current speed becomes the speed limit, and the information relating to the object includes the position of the object, the speed of the object, and the direction of the object's movement.

[0011] (3) In the embodiment of (1) above, the speed range setting unit sets the speed limit range based on information relating to the movement of the moving body and information relating to the recognized object, the information relating to the movement of the moving body includes at least the current speed of the moving body, the distance the moving body will travel until the current speed reaches the speed limit, and the path the moving body will travel in the future, and the information relating to the object includes the position of the object, the speed of the object, and the direction of the object's movement.

[0012] (4) In the embodiment of (3) above, the track on which the moving body will travel in the future is a track on which the body will travel while avoiding the object.

[0013] (5) In the embodiment of (4) above, the speed range setting unit sets a plurality of speed limiting areas around the moving body.

[0014] (6) In the embodiment of (5) above, the speed limit is such that the first speed set in the first speed limit area, which is the speed limit area closer to the moving body, is lower than the second speed set in the second speed limit area, which is the speed limit area further from the moving body.

[0015] (7) In the embodiment of (6) above, the first speed limiting region is a variable region, and the second speed limiting region is a fixed region.

[0016] (8) In the embodiment of (7) above, the speed range setting unit makes the first speed limiting region closest to the moving body a variable region.

[0017] (9) In the embodiment of (8) above, the speed range setting unit sets the speed limiting range in which the front of the moving body is wide and the rear of the moving body is narrow.

[0018] (10): In any one embodiment of (2) to (9) above, the speed limiting area is a rectangular area around the moving body.

[0019] (11): In the embodiment of (10) above, the speed limiting area is the area around the moving body obtained by deforming the rectangular area along the path on which the moving body will travel in the future.

[0020] (12): In the embodiment of (11) above, the mobile body is a mobile body that can carry one or more occupants and is capable of moving both on a roadway and in a predetermined area separate from the roadway.

[0021] (13): In the embodiment of (12) above, the object includes other traffic participants moving on the road.

[0022] (14): In the embodiment of (13) above, the other traffic participants include pedestrians.

[0023] (15): A driving control system according to one aspect of the present invention is a driving control system for controlling the movement of a moving body, which determines the driving speed of the moving body based on the positional relationship between the moving body and an object present in the vicinity of the moving body, and includes a speed determination unit in the speed control unit of the moving body which causes the moving body to move at the driving speed, the speed determination unit which includes a speed area setting unit which sets a predetermined speed limit area around the moving body, and a speed area determination unit which determines whether or not an object recognized based on a detection result of detecting the conditions around the moving body is present in the speed limit area, and determines the driving speed to be the speed limit set in the speed limit area in which the object is present.

[0024] (16): A driving control method according to one aspect of the present invention is a driving control method in which a computer that controls the driving of a moving body determines the driving speed of the moving body based on the positional relationship between the moving body and an object present in the vicinity of the moving body, drives the moving body at the driving speed, sets a predetermined speed limit area around the moving body when determining the driving speed, determines whether or not the recognized object is present in the speed limit area based on the detection result of detecting the conditions around the moving body, and sets the driving speed to the speed limit area set in the speed limit area where the object is present.

[0025] (17): A storage medium according to one aspect of the present invention is a storage medium that stores a program which causes a computer that controls the movement of a moving body to determine the speed of the moving body based on the positional relationship between the moving body and objects present around the moving body, to move the moving body at the speed, to set a predetermined speed limit area around the moving body when determining the speed, to determine whether or not the recognized object is present within the speed limit area based on the detection result of detecting the conditions around the moving body, and to set the speed limit set in the speed limit area where the object is present as the speed.

[0026] According to the embodiments described in (1) to (17) above, the speed at which the moving body travels near an obstacle can be determined more favorably.

[0027] This figure shows a mobile body equipped with a driving control device according to an embodiment, and an example of the configuration of the control device for the mobile body. This is a perspective view of the mobile body seen from above. This figure schematically shows an example of a speed limit area set in the driving control unit. This figure shows an example of the functional configuration of the driving control unit. This figure schematically shows an example of a method for setting the speed limit area in the speed area setting unit of the speed area determination unit. This figure schematically shows another example of a method for setting the speed limit area in the speed area setting unit of the speed area determination unit. This figure schematically shows an example of a speed limit area along a target trajectory set in the speed area setting unit of the speed area determination unit, and an example of a method for speed control. This is a flowchart showing an example of the processing flow of speed control executed in the speed area determination unit. This is a flowchart showing another example of the processing flow of speed control executed in the speed area determination unit.

[0028] Hereinafter, embodiments of the mobile vehicle travel control device, travel control system, travel control method, and storage medium of the present invention will be described with reference to the drawings. In the mobile vehicle system of the present invention, some or all of the components that realize the functions of the mobile vehicle travel control device of the present invention, as described below, are realized by, for example, a server device, and by communicating with the mobile vehicle's control device via a network, travel control equivalent to that of the mobile vehicle travel control device of the present invention is performed. The network is any network, such as a LAN (Local Area Network), WAN (Wide Area Network), or Internet connection.

[0029] In the following description, it is assumed that the vehicle is equipped with a vehicle control system. The vehicle is a vehicle that carries one or more occupants and moves on both the roadway and a designated area separate from the roadway. The vehicle may be referred to as a micromobility, for example. For example, an electric kick scooter is a type of micromobility. The designated area is, for example, a sidewalk. The designated area may be part or all of a road shoulder, bicycle lane, or public open space, or it may include all of a sidewalk, road shoulder, bicycle lane, and public open space. In the following description, the designated area will be assumed to be a sidewalk. Wherever the term "sidewalk" is used in the following description, it may be replaced with "designated area" as appropriate.

[0030] [Overall Configuration] Figure 1 is a diagram showing an example of the configuration of a mobile body equipped with a driving control device according to an embodiment, and the control device of the mobile body. The mobile body 1 includes, for example, an external detection device 10, a mobile body sensor 12, an operator 14, an internal camera 16, a positioning device 18, a mode switching switch 22, an HMI (Human Machine Interface) 26, a moving mechanism 30, a drive device 40, an external notification device 50, a storage device 70, and a control device 100. The configuration shown in Figure 1 is merely an example, and some of the configuration (for example, some configurations that are not essential for realizing the functions of the present invention) may be omitted, or other configurations may be added.

[0031] The external environment detection device 10 detects the external conditions of the moving body 1. For example, the external environment detection device 10 is a device whose detection range is at least a part of the area around the moving body 1 (including the direction of travel). The external environment detection device 10 includes, for example, an external camera (not shown), a radar device, a LiDAR (Light Detection and Ranging), a sensor fusion device, etc.

[0032] An external camera (not shown) is, for example, a digital camera that uses a solid-state imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The external camera is attached at an arbitrary position capable of imaging at least the front of the moving body 1. The external camera periodically and repeatedly images the periphery of the moving body 1 at, for example, a predetermined time interval. The external camera may be a stereo camera. A radar device (not shown) emits radio waves such as millimeter waves to the periphery of the moving body 1 and detects radio waves (reflected waves) reflected by an object to detect at least the position (distance and azimuth) of the object. The radar device is attached at an arbitrary position of the moving body 1. A LIDAR (not shown) irradiates light (or electromagnetic waves with a wavelength close to light) to the periphery of the moving body 1 and measures scattered light. The LIDAR detects the distance to the target based on the time from light emission to light reception. The irradiated light is, for example, pulsed laser light. The LIDAR is attached at an arbitrary position of the moving body 1. A sensor fusion device (not shown) performs sensor fusion processing on detection results obtained by some or all of the external camera, the radar device, and the LIDAR to detect (recognize) the position, type, speed, etc. of an object.

[0033] The external detection device 10 outputs information (images, object positions, etc.) indicating detection results of the external camera, the radar device, the LIDAR, the sensor fusion device, etc. to the control device 100. The external detection device 10 may output the detection results of the external camera, the radar device, the LIDAR, the sensor fusion device, etc. to the control device 100 as they are.

[0034] The moving body sensor 12 includes, for example, a speed sensor, an acceleration sensor, a yaw rate (angular velocity) sensor, an azimuth sensor, and an operation amount detection sensor attached to the operator 14.

[0035] The operator 14 receives a driving operation by an occupant of the moving body 1. The operator 14 includes, for example, an operator for instructing acceleration and deceleration (e.g., an accelerator pedal, a brake pedal, a dial switch for speed adjustment, a lever), and an operator for instructing steering (e.g., a steering wheel). In this case, the moving body sensor 12 may include an accelerator opening sensor, a brake depression amount sensor, a steering torque sensor, and the like. The moving body 1 may be provided with an operator in a form other than the above as the operator 14 (e.g., a non-annular rotary operator, a joystick, a button, etc.).

[0036] The internal camera 16 images at least the head of the occupant of the moving body 1 from the front. The internal camera 16 is, for example, a digital camera using a solid-state imaging device such as a CCD or a CMOS. The internal camera 16 outputs the captured image to the control device 100.

[0037] The positioning device 18 is a device that positions the position of the moving body 1. The positioning device 18 is, for example, a GNSS (Global Navigation Satellite System) receiver, and based on the signal received from the GNSS satellite, identifies the position of the moving body 1 and outputs it as position information. The position information of the moving body 1 may be estimated, for example, from the position of a Wi-Fi base station to which a communication device (not shown) mounted on the moving body 1 is connected.

[0038] The mode selector switch 22 is a switch operated by the occupant. The mode selector switch 22 receives instructions regarding the switching of the driving state of the mobile unit 1. The mode selector switch 22 may be a mechanical switch or a GUI (Graphical User Interface) switch set on a touch panel. The mode selector switch 22 receives an operation to switch the driving mode to one of the following: Mode A: an assist mode in which either steering or acceleration / deceleration control is performed by the occupant, and the other is performed automatically (there may be Mode A-1 in which steering is performed by the occupant and acceleration / deceleration control is performed automatically, and Mode A-2 in which acceleration / deceleration control is performed by the occupant and steering control is performed automatically), Mode B: a manual driving mode in which steering and acceleration / deceleration are performed by the occupant, or Mode C: an automatic driving mode in which operation control and acceleration / deceleration control are performed automatically. The operation to switch the above modes (or driving states) may be received by a microphone (not shown) or an internal camera 16 provided on the mobile unit 1 instead of the mode selector switch 22. In this case, the control device 100 may accept a mode switching operation based on the analysis results of the occupant's voice input by a microphone (not shown), or it may accept a mode switching operation based on the occupant's gestures or mouth movements obtained as a result of the analysis of the occupant's front image captured by the internal camera 16.

[0039] The HMI 26 presents (or informs, notifies) various information to the occupant of the mobile unit 1 and accepts input operations from the occupant. The HMI 26 includes various display devices, speakers, microphones, buzzers, touch panels, switches, keys, lamps, etc. For example, the HMI 26 informs the occupant of the driving status of the mobile unit 1, which is controlled by the driving control unit 120, in different notification modes depending on the driving status. For example, the HMI 26 presents information from the control device 100 or presents information acquired from an external device via a communication device (not shown).

[0040] The mobility mechanism 30 is a mechanism for moving the mobile body 1 on a road. The mobility mechanism 30 is, for example, a group of wheels including steering wheels and drive wheels. The mobility mechanism 30 may also be legs for multi-legged walking.

[0041] The drive unit 40 outputs force to the moving mechanism 30 to move the moving body 1. The drive unit 40 includes, for example, a motor that drives the drive wheels, a battery that stores the power supplied to the motor, a braking device that controls the rotation of the drive wheels by friction and air resistance, that is, a braking device for decelerating or stopping the moving body 1, and a steering device that adjusts the steering angle of the steering wheels. The drive unit 40 may also be equipped with an internal combustion engine or a fuel cell as a means of outputting driving force or a means of generating power.

[0042] The external notification device 50 is, for example, a lamp, display device, speaker, etc., provided on the outer panel of the mobile body 1 to notify information to the outside of the mobile body 1. The external notification device 50 notifies the area around the mobile body (within a predetermined distance from the mobile body 1) of the running state of the mobile body 1, which is controlled by the running control unit 120, in different notification modes depending on the running state.

[0043] Figure 2 is a perspective view of the mobile body 1 from above. In Figure 2, FW is the steering wheel, RW is the drive wheel, SD is the steering mechanism, MT is the motor, and BT is the battery. The steering mechanism SD, motor MT, and battery BT are included in the drive system 40. In Figure 2, AP is the accelerator pedal, BP is the brake pedal, WH is the steering wheel, SP is the speaker, and MC is the microphone. The mobile body 1 shown in Figure 2 is a single-seat mobile body, and the occupant P is seated in the driver's seat DS and wearing a seat belt SB. The arrow α1 shown in Figure 2 is the direction of travel (velocity vector) of the mobile body 1. In the mobile body 1, the external environment detection device 10 is located near the front end of the mobile body 1, the internal camera 16 is located in a position that can capture images of the occupant P's head from in front of the occupant P, and the mode switching switch 22 is located on the boss of the steering wheel WH. In the mobile body 1, an external notification device 50, which serves as a display device, is provided near the front end of the mobile body 1. An HMI 26, which serves as a display device, is provided in front of the occupant P riding in the mobile vehicle 1. The external notification device 50 may be formed integrally with the speaker SP, and the HMI 26 may be formed integrally with the speaker SP and the microphone MC.

[0044] Returning to Figure 1, the storage device 70 is a storage device (a storage device equipped with a non-transient storage medium) that constitutes a storage device such as a semiconductor memory element such as ROM (Read Only Memory), RAM (Random Access Memory), or flash memory, or a hard disk drive (HDD). Map information 72, a program 74 executed by the control device 100, etc. are stored in the storage device 70. In Figure 1, the storage device 70 is shown outside the frame of the control device 100, indicating that it is configured to be located outside the control device 100, but the storage device 70 may be included in (located inside) the control device 100.

[0045] The control device 100 includes, for example, a drive control unit 120. The drive control unit 120 is implemented, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software) 74. Some or all of these components may be implemented by hardware (including circuitry) such as LSIs (Large Scale Integration), SOCs (System On Chips), Application Specific Integrated Circuits (ASICs), programmable logic devices (e.g., Simple Programmable Logic Devices (SPLDs) or Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs)), or by the cooperation of software and hardware. The program may be stored in the storage device 70 in advance, or it may be stored on a removable storage medium (non-transient storage medium) such as a DVD or CD-ROM and installed in the storage device 70 when the storage medium is mounted on a drive device.

[0046] The driving control unit 120 controls the drive unit 40 according to the driving mode determined by the mode selector switch 22 or the like, from among a plurality of pre-set driving modes. At this time, if the driving mode determined by the mode selector switch 22 or the like is a driving mode in which either or both steering operation and acceleration / deceleration control are performed automatically (mode A (assist mode) or mode C (automatic driving mode)), that is, when the mobile body 1 is autonomously driving (autonomous movement), the driving control unit 120 automatically generates a target trajectory for the mobile body 1 to travel in the future (without relying on the operation of the driver (occupant P)). The driving control unit 120 refers to the information of objects present on the travel path (road) included in the information indicating the detection result output by the external environment detection device 10, and generates a target trajectory that can be moved while avoiding objects within the road. Then, the driving control unit 120 controls the steering device SD of the drive unit 40 so that the mobile body 1 moves along the generated target trajectory.

[0047] The driving control unit 120 sets a predetermined speed limit area around the moving body 1 with respect to acceleration and deceleration. The driving control unit 120 sets multiple speed limit areas around the moving body 1. The driving control unit 120 sets each speed limit area based on information about the moving body 1 itself and information indicating the detection result of an object detected by the external environment detection device 10 (hereinafter simply referred to as "detection result"). A speed limit area is an area where the driving speed necessary to pass or stop in the vicinity of a detected object at a safe speed, that is, a speed limit, is defined. Information about the moving body 1 itself includes, for example, the current driving speed of the moving body 1 and the distance the moving body 1 will travel from the current driving speed until it decelerates or stops. Information about an object includes information such as the position, speed, and direction of movement of an object present on the track. The driving control unit 120 decides whether or not to limit the driving speed of the moving body 1 based on the detection result output by the external environment detection device 10. The driving control unit 120 limits the speed of the moving body 1 to the speed limit set for the speed limit area if the position of the object detected by the external detection device 10 is within the speed limit area, and releases the restriction on the speed of the moving body 1 to the speed limit set for the speed limit area if the position of the object is outside the speed limit area. However, if the position of the object, which was within the speed limit area on the side closer to the moving body 1 (inner side), is outside the inner speed limit area but is still within the speed limit area on the side farther from the moving body 1 (outer side), the driving control unit 120 continues to restrict the speed to the speed limit set for the outer speed limit area where the object is located.

[0048] The driving control unit 120 is an example of a "driving control device." The driving control unit 120 is also an example of a "speed control unit."

[0049] Figure 3 is a schematic diagram showing an example of a speed limit area set by the driving control unit 120. As shown in Figure 3, the driving control unit 120 sets a wider speed limit area in front of the moving body 1 than in the opposite direction to the rear of the moving body 1 (the direction of travel of arrow α1 shown in Figure 3). In other words, the driving control unit 120 sets a speed limit area that is wider in front of the moving body 1 and narrower behind the moving body 1. Figure 3 shows an example in which three speed limit areas (speed limit area Aa, speed limit area Ab, and speed limit area Ac) are set around the moving body 1. The number of speed limit areas set around the moving body 1 is not limited to three as shown in Figure 3; for example, there may be two or four or more.

[0050] Speed ​​restriction area Aa is the speed restriction area where the object is closest to the moving body 1, and therefore the speed of the moving body 1 is most strongly restricted. If the detected object is located within speed restriction area Aa (for example, another moving body, bicycle, pedestrian, or other dynamic object, i.e., another traffic participant has entered speed restriction area Aa), the driving control unit 120 sets the speed (speed limit) of the moving body 1 to 0 [km / h], that is, stops the moving body 1, to ensure the safety of the moving body 1 and the object. Speed ​​restriction area Ab is a speed restriction area where the speed of the moving body 1 is moderately restricted. If the detected object is located within speed restriction area Ab, the driving control unit 120 limits the speed (speed limit) of the moving body 1 to, for example, 2 [km / h], without imposing a strong restriction that would stop the moving body 1, but ensuring the safety of the moving body 1 and the object while the moving body 1 continues to move. Speed ​​restriction area Ac is a speed restriction area that limits the travel speed of the mobile body 1 to a low degree. When the detected object is located within (enters) speed restriction area Ac, the travel control unit 120 limits the travel speed (speed restriction) of the mobile body 1 to, for example, 4 [km / h], ensuring the safety of the mobile body 1 and the object while the mobile body 1 continues to move at a faster speed than when the object is located within speed restriction area Ab. Area Ao is an area where the travel speed of the mobile body 1 is not restricted. In other words, when the detected object is located within area Ao, the travel control unit 120 does not restrict the travel speed of the mobile body 1 because the safety of the mobile body 1 and the object is ensured.

[0051] Figure 3 shows an example where a pedestrian enters the speed-restricting area Ac from the front of the moving vehicle 1 (approaching the vehicle 1), and another pedestrian enters the speed-restricting area Ab from the left side of the vehicle 1 (approaching the vehicle 1). In this case, the driving control unit 120 limits the speed of the vehicle 1 to the speed limit set in the speed-restricting area Ac (e.g., 4 km / h) in order to ensure safety for the pedestrians approaching from the front and left. Then, in response to the pedestrian on the left getting closer and entering the speed-restricting area Ab, the control unit 120 further limits the speed to the speed limit set in the speed-restricting area Ab (e.g., 2 km / h). Subsequently, for example, if the pedestrians approaching from the front and left get even closer and enter the speed-restricting area Aa, the control unit 120 further limits the speed to the speed limit set in the speed-restricting area Aa (e.g., 0 km / h), that is, stops the vehicle 1.

[0052] Speed ​​limit area Aa is an example of a "first speed limit area," and speed limit areas Ab and Ac are examples of a "second speed limit area."

[0053] [Functional Configuration of the Driving Control Unit] Figure 4 shows an example of the functional configuration of the driving control unit 120. The driving control unit 120 includes, for example, an object recognition unit 130, an action plan generation unit 140, a speed range determination unit 150, a speed control unit 160, and a steering control unit 170.

[0054] The object recognition unit 130 recognizes objects present around the moving body 1 (for example, within a predetermined distance from the moving body 1) and their positions, speeds, accelerations, and other states, based on detection results output by the external detection device 10 (i.e., an external camera, radar device, LIDAR, sensor fusion device, etc., not shown). Objects include, for example, some or all of other road users such as vehicles, bicycles, and pedestrians, and obstacles such as fallen objects present (on the ground) on the path of the moving body 1. The object recognition unit 130 may also recognize road boundaries such as road markings, steps, guardrails, shoulders, and median strips, structures installed on the road such as road signs and billboards, and steps or ditches present between the roadway and the sidewalk (boundary), as objects. The position of an object is recognized, for example, as a position on an absolute coordinate system with the representative point of the moving body 1 (such as the center of gravity or the center of the drive axis) as the origin. The object recognition unit 130 acquires information such as the existence, location, and type of an object by inputting the image captured by the external camera of the external detection device 10 into a trained model that has been trained to output information such as the existence, location, and type of an object when the image captured by the external camera of the external detection device 10 is input. The location of an object may be represented by a representative point such as the center of gravity or a corner of the object, or it may be represented by a region. The type of object can also be estimated based on the size in the image or the intensity of the reflected waves received by the radar device of the external detection device 10. The object recognition unit 130 may recognize the velocity of an object detected by the radar device using, for example, Doppler shift. The state of an object may include the acceleration, jerk, or behavior of the object. The object recognition unit 130 outputs information representing the existence of the recognized object and its state, such as its location, movement speed, and acceleration (hereinafter referred to as "object information") to the action plan generation unit 140 and the velocity region determination unit 150, respectively.

[0055] The action plan generation unit 140, in principle, travels along the currently traveled path (road), and further generates a target trajectory for the future travel of the mobile body 1 automatically (without relying on the driver's (occupant P's) operation) in response to the surrounding conditions of the mobile body 1. At this time, if the object information output by the object recognition unit 130 indicates that an object exists on the road, the action plan generation unit 140 generates a target trajectory that avoids that object. The target trajectory includes, for example, the speed element of the mobile body 1 as it travels along the road. The action plan generation unit 140 outputs the generated target trajectory information (hereinafter referred to as "target trajectory information") to the speed range determination unit 150 and the speed control unit 160, respectively.

[0056] The speed range determination unit 150 includes, for example, a speed range setting unit 152 and a speed range determination unit 154.

[0057] The speed range determination unit 150 is an example of a "speed determination unit". The speed range determination unit 150 is also an example of a "driving control device".

[0058] The speed range setting unit 152 sets a predetermined speed limiting area around the moving object 1 based on the object information output by the object recognition unit 130 and the target trajectory information output by the action plan generation unit 140.

[0059] Here, the method for setting the speed limit area in the speed range setting unit 152 will be explained. Figure 5 is a schematic diagram showing an example of the method for setting the speed limit area in the speed range setting unit 152 provided in the speed range determination unit 150. Figure 5 shows the basic concept of the method for setting the speed limit area in the speed range setting unit 152. Figure 5 shows an example of setting the three speed limit areas (speed limit area Aa, speed limit area Ab, and speed limit area Ac) shown in Figure 3 around the moving body 1.

[0060] Figure 5(a) shows the relationship between the distance between the moving body 1 and the other traffic participant TP, which is a dynamic object, as an example, when the other traffic participant TP is a bicycle. Figure 5(b) shows the relationship between the distances in each direction in the three speed limit areas: speed limit area Aa, speed limit area Ab, and speed limit area Ac. The speed area setting unit 152 calculates the distance l from the moving body 1 in each direction in the speed limit areas set around it, based on the following equation (1).

[0061]

[0062] In equation (1) above, i represents each speed limit region. More specifically, i=1 represents speed limit region Aa, i=2 represents speed limit region Ab, and i=3 represents speed limit region Ac. In equation (1) above, j represents each direction relative to the moving body 1 in each speed limit region. More specifically, j=1 represents the front of the moving body 1, j=2 represents the side of the moving body 1, and j=3 represents the rear of the moving body 1.

[0063] In equation (1) above, e is the distance traveled by the moving body 1 until it decelerates to the speed limit set in the speed limit area (hereinafter referred to as "deceleration distance e"). The deceleration distance e in the forward direction (direction of travel) of the moving body 1 is, for example, the distance required when the moving body 1 decelerates with a gravitational acceleration of 0.1 [G]. The deceleration distance e in the lateral direction of the moving body 1 is, for example, the distance when the moving body 1 decelerates with a gravitational acceleration of 0.1 [G] while turning at the minimum turning radius. The minimum turning radius Rmin of the moving body 1 can be determined, for example, by taking the drive axis center C of the drive wheel RW of the moving body 1 as the origin, the direction of travel of the moving body 1 (direction of arrow α1 shown in Figure 2) as the X axis, and the vehicle width direction of the moving body 1 as the Y axis, and using the length lf in the forward direction in the X axis direction from the drive axis center C, the length lb in the backward direction in the X axis direction from the drive axis center C, the steering angle of the steering wheel FW, etc.

[0064] The speed range setting unit 152 sets the deceleration distance e relative to the direction of travel of the moving body 1. ｉ，１ This is calculated using the following formula (2).

[0065]

[0066] In the above formula (2), v ｉ，ｍａｘ is the maximum speed of the moving body 1 in the speed limit area outside each speed limit area. For example, the maximum speed v １，ｍａｘ in the speed limit area Ab outside the speed limit area Aa is 2 [km / h], and the maximum speed v ２，ｍａｘ in the speed limit area Ac outside the speed limit area Ab is 4 [km / h], and the maximum speed v ３，ｍａｘ in the area Ao outside the speed limit area Ac is 6 [km / h]. In the above formula (2), t ｌｏｓｓ is the time required from when the object is detected by the external detection device 10 until the travel control unit 120 starts controlling the travel state of the moving body 1, in other words, the processing delay time. In the above formula (2), V ｉ，ｔａｒｇｅｔ is the limit speed defined for each speed limit area. For example, the limit speed v １，ｔａｒｇｅｔ in the speed limit area Aa is 0 [km / h], the limit speed v ２，ｔａｒｇｅｔ in the speed limit area Ab is 2 [km / h], the limit speed v ３，ｔａｒｇｅｔ in the speed limit area Ac is 4 [km / h], and the limit speed in the area Ao is 6 [km / h]. In the above formula (2), g ｄｃｃ is the gravitational acceleration when the moving body 1 decelerates (0.1 [G] in the above example).

[0067] The speed area setting unit 152 calculates the deceleration distance e ｉ，２ for the side of the moving body 1 according to the following formula (3).

[0068]

[0069] In the above formula (3), R is a variable of the turning radius (the minimum turning radius Rmin described above) when the moving body 1 turns.

[0070] In equation (1) above, o is the distance traveled by the traffic participant TP, which is a dynamic object, until the moving object 1 comes to a stop (hereinafter referred to as "object travel distance o"). The object travel distance o is the distance traveled when the traffic participant TP, who is unaware of the presence of the moving object 1, is moving at a constant velocity. The constant velocity when the traffic participant TP is moving may be predetermined for each dynamic object, for example, 4 [km / h] if the dynamic object is a pedestrian, and 15 [km / h] if the dynamic object is a bicycle. On the other hand, if the object is an obstacle such as a fallen object (a static object), the constant velocity may be predetermined as 0 [km / h].

[0071] The speed range setting unit 152 determines the object's movement distance o when it approaches the moving object 1 and enters each speed limiting area. ｉ，ｊ This is calculated using the following formula (4).

[0072]

[0073] In equation (4) above, v ｏｂ，ｊ is a variable representing the component in the j-direction of the moving velocity (constant velocity) of a dynamic object. Figure 5(b) shows, similar to Figure 3, an example of the moving velocity (constant velocity) when a pedestrian, which is a dynamic object, enters each speed limit area as a traffic participant TP, as the pedestrian's moving velocity v of a pedestrian entering the speed limit area Ac from the front of the moving object 1. ｐｅｄ，１ And the pedestrian's movement speed v is that of a pedestrian entering the speed-restricted area Ab from the left side of the moving object 1. ｐｅｄ，２ This shows the respective values. Pedestrian movement speed v ｐｅｄ，１ And, pedestrian movement speed v ｐｅｄ，２ Each of these is, for example, a fixed speed of 4 [km / h]. In equation (4) above, t ｓｔｏｐ t is the time required for the moving object 1 to come to a stop. ｓｔｏｐ This can be calculated using the following formula (5).

[0074]

[0075] In equation (1) above, m is the distance between the moving object 1 and the traffic participant TP when the moving object 1 is stopped, that is, the margin distance to be left to avoid contact between the moving object 1 and the traffic participant TP (hereinafter referred to as "margin distance m").

[0076] In equation (1) above, the distance l ｉ－１，ｊ This is the distance (length) of the speed limit area inside the speed limit area currently being calculated.

[0077] The speed range setting unit 152 sets speed limit areas for each distance l calculated using equations (1) to (5) above for each direction around the moving body 1. However, the speed range setting unit 152 may also set the speed limit areas as fixed areas. In this case, the fixed speed limit areas may be some of the speed limit areas or all of the speed limit areas. For example, the speed range setting unit 152 may set all speed limit areas other than speed limit area Aa as fixed areas, in other words, only speed limit area Aa may be set as a speed limit area for each distance l calculated using equations (1) to (5) above. If all speed limit areas are set as fixed areas, the speed range setting unit 152 may be omitted.

[0078] Figure 6 is a schematic diagram illustrating another example of how to set the speed limit area in the speed range setting unit 152 of the speed range determination unit 150. Similar to the example shown in Figure 5, Figure 6 also shows an example where three speed limit areas (speed limit area Aa, speed limit area Ab, and speed limit area Ac) are set around the moving body 1. However, in the example shown in Figure 6, only speed limit area Aa is a variable speed limit area corresponding to the movement of traffic participants TP (pedestrians in Figure 6), while speed limit areas Ab and Ac are fixed speed limit areas regardless of the movement of traffic participants TP. In this case, the respective distances l corresponding to speed limit area Aa are calculated using equations (1) to (4) above to set speed limit area Aa. For speed limit areas Ab and Ac, for example, the widest speed limit area corresponding to the assumed traffic participants TP is set. More specifically, if the path of the moving object 1 is a roadway, a speed limit area is set corresponding to the automobile that is expected to be moving at the fastest speed among the traffic participants TP using the same roadway. If the path of the moving object 1 is a sidewalk, a speed limit area is set corresponding to the bicycle that is expected to be moving at the fastest speed among the traffic participants TP using the same sidewalk.

[0079] In the method for setting the speed limit area described using Figures 5 and 6 (including Figure 3), an example of setting a rectangular speed limit area around the moving body 1 is shown to illustrate the basic concept. As described above, the speed limit area setting unit 152 also sets a predetermined speed limit area around the moving body 1 based on the target trajectory information output by the action plan generation unit 140. In this case, the speed limit area setting unit 152 may use the rectangular speed limit area described above as a basis and set the speed limit area by deforming this rectangular area along the target trajectory. In this case, if the target trajectory of the moving body 1 is a travel path that avoids objects (dynamic or static objects), the travel speed of the moving body 1 will not be restricted more than necessary. In other words, when the travel control unit 120 passes near a detected object, if the target trajectory can ensure a safe distance from the object, it can travel smoothly at a safe speed near the object without decelerating or stopping more than necessary.

[0080] Figure 7 schematically shows an example of a speed limiting area along a target trajectory set by the speed range setting unit 152 of the speed range determination unit 150, and an example of a speed control method. For comparison, Figure 7(a) shows an example in which a rectangular speed limiting area is set, as shown in Figures 5 and 6 (including Figure 3), when the target trajectory is a travel path that avoids an object, and Figure 7(b) shows an example in which a speed limiting area along the target trajectory is set.

[0081] As shown in Figure 7(a), regardless of the travel path Mp of the moving body 1 according to the target trajectory, if each of the speed limiting areas Aa, Ab, and Ac is defined as a rectangular speed limiting area, then, for example, if an object Ob on the track Rt that is to be avoided by the target trajectory comes into (enters) one of the speed limiting areas as a result of the moving body 1 traveling, the speed of the moving body 1 will be limited to the speed limit defined in the speed limiting area in which the object Ob is located. In the example shown in Figure 7(a), the speed of the moving body 1 will be limited to the speed limit defined in speed limiting area Ab (for example, 2 [km / h]).

[0082] In contrast, as shown in Figure 7(b), if the rectangular areas of speed restriction areas Aa, Ab, and Ac are deformed to a shape that follows the target trajectory (follows the travel path Mp), then, for example, an object Ob on the travel path Rt that is to be avoided by the target trajectory is avoided by the movement of the moving body 1 along the target trajectory and does not exist (enter) any of the speed restriction areas. As a result, the moving body 1 is not restricted in its travel speed by the speed limit set in any of the speed restriction areas; that is, the moving body 1 can smoothly pass near the object Ob while maintaining its current travel speed. In the example shown in Figure 7(b), the moving body 1 can pass near the object Ob while maintaining the speed limit set in area Ao (for example, 6 [km / h]).

[0083] In the example shown in Figure 7(b), the case where object Ob is a static object is shown. However, if object Ob is a dynamic object such as a pedestrian, and this pedestrian approaches the moving body 1, the speed of the moving body 1 will be limited based on the distance between the moving body 1 and the pedestrian. In other words, the speed of the moving body 1 will be limited to the speed at which the pedestrian approaches. More specifically, if the pedestrian approaches the moving body 1 and enters the speed limit area Ac, the speed of the moving body 1 will be limited to the speed limit set in the speed limit area Ac (for example, 4 [km / h]). Furthermore, if the pedestrian approaches the moving body 1 and enters the speed limit area Ab, the speed of the moving body 1 will be limited to the speed limit set in the speed limit area Ab (for example, 2 [km / h]). Furthermore, if this pedestrian approaches the moving object 1 and enters the speed limit area Aa, the speed of the moving object 1 will be limited to the speed limit set for the speed limit area Aa (for example, 0 [km / h]), and the moving object 1 will come to a stop.

[0084] The method for setting the speed limit area along the target trajectory in the speed range setting unit 152 should be equivalent to the method for setting the speed limit area described with reference to Figure 5. However, when the speed range setting unit 152 sets the speed limit area along the target trajectory, the deceleration distance e relative to the side of the moving body 1 shown in equation (3) above must be set. ｉ，２ The variable R of the turning radius of the moving body 1 does not need to be considered in the above equation (3). This is because the consideration of the turning of the moving body 1 is included in the consideration when the action plan generation unit 140 generates the target trajectory. Accordingly, the speed range setting unit 152 sets the turning radius R in equation (3) to "0" and the deceleration distance e to the side of the moving body 1. ｉ，２ By substituting the following equation (6), you can calculate the deceleration distance e corresponding to each speed limit region.

[0085]

[0086] The speed range setting unit 152 is an example of a "speed range setting unit".

[0087] Returning to Figure 4, the speed range determination unit 154 determines whether or not an object exists within the speed limit range set by the speed range setting unit 152, based on the object information output by the object recognition unit 130. If all speed limit ranges are fixed ranges, the speed range determination unit 154 determines whether or not an object exists within the pre-set fixed speed limit range. The speed range determination unit 154 determines the speed limit set for the speed limit range in which the object exists as the travel speed of the moving body 1. The speed range determination unit 154 outputs information representing the determined travel speed (hereinafter referred to as "travel speed information") to the action plan generation unit 140.

[0088] The speed range determination unit 154 is an example of a "speed range determination unit".

[0089] As a result, the action plan generation unit 140 outputs the target trajectory, which includes the speed limit represented by the driving speed information output by the speed range determination unit 150, as a speed element in the generated target trajectory, to the speed control unit 160 and the steering control unit 170.

[0090] The speed control unit 160 controls the drive unit 40 based on the speed elements associated with the target trajectory generated by the action plan generation unit 140. More specifically, the speed control unit 160 controls the motor MT and brake device of the drive unit 40 so that the moving body 1 moves at the moving speed (limit speed) indicated in the speed elements associated with the target trajectory.

[0091] The steering control unit 170 controls the drive unit 40 according to the degree of curvature represented by the target trajectory generated by the action plan generation unit 140. More specifically, the steering control unit 170 controls the steering device of the drive unit 40 so that the moving body 1 turns according to the degree of curvature indicated in the target trajectory.

[0092] The process of controlling the movement of the moving body 1 along the target trajectory in the speed control unit 160 and the steering control unit 170 is realized, for example, by a combination of feedforward control and feedback control. As an example, the steering control unit 170 performs a combination of feedforward control according to the curvature of the path in front of the moving body 1 and feedback control based on the deviation from the target trajectory.

[0093] With this functional configuration, the speed range determination unit 150 in the travel control unit 120 determines the necessary travel speed (speed limit) to safely pass or stop near an object (dynamic or static object) detected by the external detection device 10, based on the target trajectory and the positional relationship between the mobile body 1 and the object. The speed control unit 160 and the steering control unit 170 then control the travel of the mobile body 1 so that it reaches the travel speed (speed limit) determined by the speed range determination unit 150. As a result, the travel control unit 120 can move the mobile body 1 safely and smoothly near an object (dynamic or static object).

[0094] [Processing Flow of the Velocity Domain Determination Unit] Figure 8 is a flowchart showing an example of the processing flow of velocity control performed in the velocity domain determination unit 150. The processing in this flowchart is executed repeatedly after the detection result is output by the external detection device 10. The processing in this flowchart is executed for each object recognized from the detection result output by the external detection device 10. In other words, if there are multiple objects recognized from the detection result output by the external detection device 10, the processing in this flowchart is executed in parallel for each object. For the sake of simplicity in the following explanation, we will assume that there is only one object recognized from the detection result output by the external detection device 10.

[0095] When the external environment detection device 10 outputs a detection result, the object recognition unit 130 recognizes the objects surrounding the moving body 1 and their positions, speeds, accelerations, and other states based on the object detection result, and outputs object information to the action plan generation unit 140 and the speed range determination unit 150, respectively. Furthermore, the action plan generation unit 140 generates a target trajectory that avoids the objects indicated in the object information output by the object recognition unit 130, and outputs target trajectory information to the speed range determination unit 150 and the speed control unit 160, respectively.

[0096] As a result, the speed range determination unit 150 acquires the object information output by the object recognition unit 130 (step S100). The speed range determination unit 150 then checks whether or not there is an object (step S110). More specifically, the speed range determination unit 150 checks whether or not the object that will limit the travel speed of the moving body 1 is included in the object information (step S110). If it is confirmed in step S110 that there is no object, the speed range determination unit 150 returns to step S100.

[0097] On the other hand, if the presence of an object is confirmed in step S110, the velocity domain determination unit 150 acquires the target trajectory information output by the action plan generation unit 140 (step S120). Subsequently, the velocity domain determination unit 150 acquires the object information, which is updated sequentially by the object recognition unit 130, and the target trajectory information, which is updated sequentially by the action plan generation unit 140. In other words, the velocity domain determination unit 150 repeatedly performs the process of acquiring object information in step S100 and the process of acquiring target trajectory information in step S120, thereby updating the object information and target trajectory information.

[0098] The speed range setting unit 152 sets a speed limiting area around the moving body 1 based on the acquired object information and target trajectory information (step S130). Here, it is assumed that the speed range setting unit 152 sets three speed limiting areas (speed limiting area Aa, speed limiting area Ab, and speed limiting area Ac) around the moving body 1, as shown in Figure 7(b). In the following description, the speed limiting area set in speed limiting area Aa (for example, 0 [km / h]) will be referred to as speed limiting area Sa, the speed limiting area set in speed limiting area Ab (for example, 2 [km / h]) will be referred to as speed limiting area Sb, and the speed limiting area set in speed limiting area Ac (for example, 4 [km / h]) will be referred to as speed limiting area Sc. Furthermore, in the following description, the travel speed set in area Ao where the travel speed of the moving body 1 is not limited (for example, 6 [km / h]) will be referred to as travel speed So.

[0099] Speed ​​limit Sa is an example of a "first speed," while speed limits Sb and Sc are examples of "second speeds."

[0100] The speed area determination unit 154 determines whether the position of the object indicated in the acquired object information is within (entered) the speed limit area Ac (step S140). If, in step S140, it is determined that the object is not within the speed limit area Ac, the speed area determination unit 154 returns to step S100, leaving the restriction on the travel speed of the mobile body 1 released (allowing travel at travel speed So) (step S142). At this time, the speed area determination unit 154 outputs travel speed information indicating that no speed restriction is applied to the action plan generation unit 140. As a result, the action plan generation unit 140 outputs a target trajectory with the travel speed So represented by the travel speed information output by the speed area determination unit 150 as the speed element to the speed control unit 160 and the steering control unit 170, and the speed control unit 160 and the steering control unit 170 control the travel of the mobile body 1 at travel speed So according to the target trajectory.

[0101] On the other hand, in step S140, if it is determined that the object is within the speed limit region Ac, the speed region determination unit 154 decides to limit the speed of the moving body 1 to the speed limit Sc and outputs the speed information to the action plan generation unit 140 (step S144). As a result, the action plan generation unit 140 outputs a target trajectory with the speed limit Sc represented by the speed information output by the speed region determination unit 150 as the speed element to the speed control unit 160 and the steering control unit 170, and the speed control unit 160 and the steering control unit 170 perform driving control of the moving body 1 according to the target trajectory limited to the speed limit Sc.

[0102] Subsequently, the speed range setting unit 152 updates the speed limiting area set around the moving body 1 based on the acquired (updated) object information and target trajectory information (step S150).

[0103] The speed area determination unit 154 determines whether the position of the object indicated in the acquired (updated) object information is within (entered) the speed limit area Ab (step S160). If it is determined in step S160 that the object is not within the speed limit area Ab, the speed area determination unit 154 returns to step S140. As a result, the speed area determination unit 154 determines, through the processing in step S140, whether the position of the object indicated in the acquired (updated) object information is within the speed limit area Ac. In other words, the speed area determination unit 154 determines whether the object, which was determined to be within (entered) the speed limit area Ac in the previous step S140, is still within (remaining within) the speed limit area Ac. Then, if the process in step S140 determines that the object is within the speed limit area Ac (the object is still within the speed limit area Ac), the speed area determination unit 154 outputs travel speed information indicating that the travel speed should be limited to the speed limit Sc to the action plan generation unit 140, and continues to restrict the travel speed of the mobile body 1 to the speed limit Sc. On the other hand, if the process in step S140 determines that the object is not within the speed limit area Ac (the object has moved out of the speed limit area Ac), the speed area determination unit 154 releases the restriction on the travel speed of the mobile body 1 (permission to travel at travel speed So) in the process in step S142, and returns the process to step S100.

[0104] On the other hand, in step S160, if it is determined that the object is within the speed limit region Ab, the speed region determination unit 154 decides to limit the speed of the moving body 1 to the speed limit Sb and outputs the speed information to the action plan generation unit 140 (step S162). As a result, the action plan generation unit 140 outputs a target trajectory with the speed limit Sb represented by the speed information output by the speed region determination unit 150 as the speed element to the speed control unit 160 and the steering control unit 170, and the speed control unit 160 and the steering control unit 170 perform driving control of the moving body 1 according to the target trajectory limited to the speed limit Sb.

[0105] Subsequently, the speed range setting unit 152 updates the speed limiting area set around the moving body 1 based on the acquired (updated) object information and target trajectory information (step S170).

[0106] The speed area determination unit 154 determines whether the position of the object indicated in the acquired (updated) object information is within (entered) the speed limit area Aa (step S180). If, in step S180, it is determined that the object is not within the speed limit area Aa, the speed area determination unit 154 returns to step S160. As a result, the speed area determination unit 154 determines, through the processing in step S160, whether the position of the object indicated in the acquired (updated) object information is within the speed limit area Ab. In other words, the speed area determination unit 154 determines whether the object, which was determined to be within (entered) the speed limit area Ab by the processing in the previous step S160, is still within (remaining within) the speed limit area Ab. Then, if the process in step S160 determines that the object is within the speed limit area Ab (the object is still within the speed limit area Ab), the speed area determination unit 154 outputs travel speed information indicating that the travel speed should be limited to the speed limit Sb to the action plan generation unit 140, and continues to restrict the travel speed of the mobile body 1 to the speed limit Sb. On the other hand, if the process in step S160 determines that the object is not within the speed limit area Ab (the object has left the speed limit area Ab), the speed area determination unit 154 returns to step S140. As a result, depending on the determination result from the process in step S140, the restriction on the travel speed of the mobile body 1 to the speed limit Sc is continued, or the travel speed restriction is lifted.

[0107] On the other hand, in step S180, if it is determined that the object is within the speed limit region Aa, the speed region determination unit 154 decides to limit the speed of the moving body 1 to the speed limit Sa, that is, to stop the moving body 1, and outputs the speed information to the action plan generation unit 140 (step S182). As a result, the action plan generation unit 140 outputs a target trajectory with the speed limit Sa represented by the speed information output by the speed region determination unit 150 as the speed element to the speed control unit 160 and the steering control unit 170, and the speed control unit 160 and the steering control unit 170 perform driving control to stop the moving body 1.

[0108] Subsequently, the speed range determination unit 154 returns to step S170. As a result, the speed range setting unit 152 updates the speed limit area set around the mobile body 1 based on the object information and target trajectory information acquired (updated) in step S170, and the speed range determination unit 154 determines in step S180 whether the position of the object indicated in the acquired (updated) object information is within the speed limit area Aa. In other words, the speed range determination unit 154 determines whether the object that was determined to be within (entered) the speed limit area Aa in the previous step S180 is still within (remaining within) the speed limit area Aa. If the current step S180 determines that the object is within the speed limit area Aa (the object is still remaining within the speed limit area Aa), the speed range determination unit 154 outputs travel speed information to the action plan generation unit 140 indicating that the mobile body 1 should be stopped (restricted to the speed limit Sa), and the mobile body 1 remains stopped. On the other hand, if the process in step S180 determines that the object is not within the speed limit area Aa (i.e., the object has moved outside the speed limit area Aa), the speed area determination unit 154 returns to step S160. As a result, the speed area determination unit 154 either continues to restrict the speed of the mobile body 1 to the speed limit Sb according to the determination result of the process in step S160, switches to restricting the speed of the mobile body 1 to the speed limit Sc according to the determination result of the process in step S140, or releases the speed limit. As a result, the action plan generation unit 140 outputs a target trajectory to the speed control unit 160 and the steering control unit 170, using the speed limit represented by the speed information output by the speed area determination unit 150 as the speed element, and the speed control unit 160 and the steering control unit 170 perform driving control of the mobile body 1 according to the distance between the mobile body 1 and the object.

[0109] Thereafter, when the external detection device 10 outputs a detection result and the object recognition unit 130 recognizes an object present around the moving body 1, the velocity range determination unit 150 repeats the processes of steps S100 to S182 according to the state of the recognized object, such as its position, speed, and acceleration.

[0110] Through this process, the speed range determination unit 150 in the travel control unit 120 determines the necessary travel speed (speed limit) to safely pass or stop near an object (dynamic or static object) detected by the external detection device 10, based on the target trajectory and the positional relationship between the mobile body 1 and the object. Then, the speed control unit 160 and the steering control unit 170 in the travel control unit 120 control the movement of the mobile body 1 so that it reaches the travel speed (speed limit) determined by the speed range determination unit 150. As a result, the travel control unit 120 can move the mobile body 1 safely and smoothly near the object (dynamic or static object).

[0111] [Modified Example of the Speed ​​Domain Determination Unit's Processing Flow] Figure 9 is a flowchart showing another example of the speed control processing flow executed in the speed domain determination unit 150. Similar to the flowchart shown in Figure 8, this flowchart is repeatedly executed after the detection result is output by the external detection device 10. Similar to the flowchart shown in Figure 8, this flowchart is executed for each object recognized from the detection result output by the external detection device 10. In the following explanation, for the sake of simplicity, we will assume that there is only one object recognized from the detection result output by the external detection device 10.

[0112] When the external environment detection device 10 outputs a detection result, the object recognition unit 130 recognizes the objects surrounding the moving body 1 and their positions, speeds, accelerations, and other states based on the object detection result, and outputs object information to the action plan generation unit 140 and the speed range determination unit 150, respectively. Furthermore, the action plan generation unit 140 generates a target trajectory that avoids the objects indicated in the object information output by the object recognition unit 130, and outputs target trajectory information to the speed range determination unit 150 and the speed control unit 160, respectively.

[0113] As a result, the speed range determination unit 150 acquires the object information output by the object recognition unit 130 (step S200). The speed range determination unit 150 then checks whether or not there is an object (step S210). More specifically, the speed range determination unit 150 checks whether or not the object that will limit the travel speed of the moving body 1 is included in the object information (step S210). If it is confirmed in step S210 that there is no object, the speed range determination unit 150 proceeds to step S270.

[0114] On the other hand, if the presence of an object is confirmed in step S210, the velocity range determination unit 150 acquires the target trajectory information output by the action plan generation unit 140 (step S220).

[0115] The speed range setting unit 152 sets a speed limiting area around the moving body 1 based on the acquired object information and target trajectory information (step S230). Here, similar to the flowchart process shown in Figure 8, the speed range setting unit 152 sets speed limiting areas Aa, Ab, and Ac around the moving body 1 as shown in Figure 7(b), and the speed limiting areas for each of these areas are also the same.

[0116] The speed range determination unit 154 determines whether the position of the object indicated in the acquired object information is within (entered) the speed limit area Ac (step S240). If it determines in step S240 that the object is within the speed limit area Ac, the speed range determination unit 154 decides to limit the travel speed of the moving body 1 to the speed limit Sc (step S242). Then, the speed range determination unit 154 proceeds to step S280.

[0117] On the other hand, if in step S240 it is determined that the object is not within the speed limit area Ac, the speed area determination unit 154 determines whether the position of the object indicated in the acquired object information is within (has entered) the speed limit area Ab (step S250). If in step S250 it is determined that the object is within the speed limit area Ab, the speed area determination unit 154 decides to limit the travel speed of the moving body 1 to the speed limit Sb (step S252). Then, the speed area determination unit 154 proceeds to step S280.

[0118] On the other hand, if in step S250 it is determined that the object is not within the speed limit area Ab, the speed area determination unit 154 determines whether the position of the object indicated in the acquired object information is within (entered) the speed limit area Aa (step S260). If in step S260 it is determined that the object is within the speed limit area Aa, the speed area determination unit 154 decides to limit the travel speed of the moving body 1 to the speed limit Sa, that is, to stop the moving body 1 (step S262). Then the speed area determination unit 154 proceeds to step S280.

[0119] On the other hand, if in step S260 it is determined that the object is not within the speed limit region Aa, the speed region determination unit 154 proceeds to step S270.

[0120] If it is confirmed in step S210 that there is no object, or if it is determined in step S260 that the object is not within the speed limit area Aa, the speed area determination unit 154 decides to release the speed limit on the moving body 1 (to allow it to travel at speed So) (step S242). The speed area determination unit 154 then proceeds to step S280.

[0121] The speed range determination unit 154 outputs the travel speed information representing the travel speed of the mobile body 1, which was determined in steps S242, S252, S262, and S270, to the action plan generation unit 140 (step S280). As a result, the action plan generation unit 140 outputs a target trajectory to the speed control unit 160 and the steering control unit 170, using the travel speed represented by the travel speed information output by the speed range determination unit 150 as the speed element. The speed control unit 160 and the steering control unit 170 then perform travel control of the mobile body 1 according to the target trajectory, which is limited to the travel speed determined by the speed range determination unit 150. The speed range determination unit 150 then returns the process to step S200.

[0122] Thereafter, when the external detection device 10 outputs a detection result and the object recognition unit 130 recognizes an object present around the moving body 1, the speed range determination unit 150 repeats the processes of steps S200 to S280 according to the position, speed, acceleration, and other conditions of the recognized object. At this time, in step S230, the speed range setting unit 152 updates the speed limit area set around the moving body 1 based on the acquired (updated) object information and target trajectory information. As a result, the action plan generation unit 140 outputs a target trajectory with the speed limit represented by the speed limit information output by the speed range determination unit 150 as the speed element to the speed control unit 160 and the steering control unit 170, and the speed control unit 160 and the steering control unit 170 perform driving control of the moving body 1 according to the distance between the moving body 1 and the object.

[0123] Through this process, the speed range determination unit 150 in the driving control unit 120 determines the necessary driving speed (speed limit) to safely pass or stop near an object (dynamic or static object) detected by the external detection device 10, based on the target trajectory and the positional relationship between the moving body 1 and the object. The speed control unit 160 and the steering control unit 170 then control the movement of the moving body 1 so that it reaches the driving speed (speed limit) determined by the speed range determination unit 150. As a result, the driving control unit 120 can move the moving body 1 safely and smoothly near the object (dynamic or static object).

[0124] As described above, according to the driving control device of the embodiment, the object recognition unit 130 in the driving control unit 120 of the control device 100 recognizes objects present around the moving body 1 and their positions, speeds, accelerations, and other states based on the detection results output by the external detection device 10. Furthermore, in the driving control device of the embodiment, the action plan generation unit 140 in the driving control unit 120 of the control device 100 generates a target trajectory for the moving body 1 to travel in the future automatically (without the operation of the driver (occupant P)). Then, in the driving control device of the embodiment, the speed range determination unit 150 in the driving control unit 120 of the control device 100 sets a predetermined speed limit area around the moving body 1 based on the object information output by the object recognition unit 130 and the target trajectory information output by the action plan generation unit 140, determines whether or not an object is present within the set speed limit area, and determines the speed limit (including stopping) for the moving body 1 when traveling near an object. As a result, in the driving control device of this embodiment, the speed control unit 160 and the steering control unit 170 within the driving control unit 120 of the control device 100 can control the movement of the mobile body 1 at a determined speed limit. As a result, the mobile body 1 equipped with the driving control device of this embodiment can travel at a safe speed and smoothly when traveling near an object (dynamic or static object).

[0125] The embodiment described above can be expressed as follows: A driving control device comprising: a storage medium for storing computer-readable instructions that can be read by a computer that controls the movement of a moving body; and a processor connected to the storage medium, wherein the processor executing the computer-readable instructions to: determine the driving speed of the moving body based on the positional relationship between the moving body and objects present around the moving body; drive the moving body at the driving speed; when determining the driving speed, set a predetermined speed limit area around the moving body; determine whether or not the recognized object is present within the speed limit area based on the detection results of detecting the conditions around the moving body; and set the driving speed to the speed limit area defined in the speed limit area where the object is present.

[0126] In the embodiment, the case where the mobile body 1 travels on a sidewalk, that is, where the path of the mobile body 1 is a sidewalk, was described. However, the mobile body 1 can also travel on a roadway. In this case, the processing of the travel control unit 120 should be equivalent to the processing of the travel control unit 120 described in the embodiment.

[0127] In the embodiment, the case in which the mobile body 1 is autonomously driven (autonomously moving) was described. However, the mobile body 1 is not limited to those that are autonomously driven. In this case, the processing of the driving control unit 120 should be equivalent to the processing of the driving control unit 120 described in the embodiment.

[0128] Although embodiments for carrying out the present invention have been described above using examples, the present invention is not limited in any way to these embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention.

[0129] 1... Mobile unit 10... External detection device 12... Mobile unit sensor 14... Operator 16... Internal camera 18... Positioning device 22... Mode switching switch 26... HMI 30... Mobility mechanism 40... Drive unit 50... External notification device 70... Storage device 72... Map information 74... Program 100... Control unit 120... Driving control unit 130... Object recognition unit 140... Action plan generation unit 150... Speed ​​range determination unit 152... Speed ​​range setting unit 154... Speed ​​range determination unit 160... Speed ​​control unit 170... Steering control unit

Claims

1. A driving control device for a moving body, comprising: a speed determination unit that determines the driving speed of the moving body based on the positional relationship between the moving body and an object present around the moving body; and a speed control unit that causes the moving body to travel at the aforementioned driving speed, wherein the speed determination unit comprises: a speed area setting unit that sets a predetermined speed limit area around the moving body; and a speed area determination unit that determines whether or not an object recognized based on a detection result of detecting the conditions around the moving body is present within the speed limit area, and determines the driving speed to be the speed limit set for the speed limit area where the object is present.

2. The speed range setting unit sets the speed limit range based on information relating to the movement of the moving body and information relating to the recognized object, the information relating to the movement of the moving body includes at least the current speed of the moving body and the distance the moving body travels until the current speed becomes the limit speed, and the information relating to the object includes the position of the object, the speed of the object, and the direction of the object's movement, as described in claim 1.

3. The speed range setting unit sets the speed limit range based on information relating to the movement of the moving body and information relating to the recognized object, the information relating to the movement of the moving body includes at least the current speed of the moving body, the distance the moving body will travel until the current speed reaches the speed limit, and information relating to the path the moving body will travel in the future, and the information relating to the object includes the position of the object, the speed of the object, and the direction of the object's movement, as described in claim 1.

4. The travel control device for a mobile body according to claim 3, wherein the track on which the mobile body will travel in the future is a track on which the mobile body travels while avoiding the object.

5. The speed range setting unit sets a plurality of speed limiting areas around the moving body, as described in claim 4.

6. The mobile body travel control device according to claim 5, wherein the first speed set in the first speed limiting region, which is the speed limiting region closer to the mobile body, is lower than the second speed set in the second speed limiting region, which is the speed limiting region further from the mobile body.

7. The travel control device for a mobile body according to claim 6, wherein the first speed limiting region is a variable region and the second speed limiting region is a fixed region.

8. The speed range setting unit makes the first speed limiting range closest to the moving body a variable range, as described in claim 7.

9. The speed range setting unit sets the speed limiting range in which the front of the moving body is wide and the rear of the moving body is narrow, as described in claim 8.

10. The speed limiting area is a rectangular area surrounding the moving body, as described in any one of claims 2 to 9.

11. The mobile body travel control device according to claim 10, wherein the speed limiting area is the area around the mobile body obtained by deforming the rectangular area along the path on which the mobile body will travel in the future.

12. The mobile body according to claim 11, wherein the mobile body is a mobile body on which one or more occupants are mounted and which is capable of moving both on a roadway and in a predetermined area different from a roadway.

13. The driving control device for a moving body according to claim 12, wherein the object includes other traffic participants moving on the track.

14. The other traffic participants include pedestrians, as described in claim 13, a driving control device for a moving body.

15. A driving control system for controlling the movement of a moving body, comprising: a speed determination unit that determines the driving speed of the moving body based on the positional relationship between the moving body and an object present around the moving body, and instructs the speed control unit of the moving body to drive the moving body at the determined driving speed, wherein the speed determination unit comprises: a speed area setting unit that sets a predetermined speed limit area around the moving body; and a speed area determination unit that determines whether or not an object recognized based on detection results of detecting the conditions around the moving body is present within the speed limit area, and determines the driving speed to be the speed limit set for the speed limit area where the object is present.

16. A driving control method comprising: a computer controlling the movement of a moving body; determining the driving speed of the moving body based on the positional relationship between the moving body and objects present around the moving body; driving the moving body at the driving speed; setting a predetermined speed limit area around the moving body when determining the driving speed; determining whether or not the recognized object is present within the speed limit area based on the detection results of detecting the conditions around the moving body; and determining the driving speed to be the speed limit set for the speed limit area where the object is present.

17. A storage medium storing a program that causes a computer controlling the movement of a moving object to determine the speed of the moving object based on the positional relationship between the moving object and objects present around the moving object, to move the moving object at the speed, to set a predetermined speed limit area around the moving object when determining the speed, to determine whether or not the recognized object is present within the speed limit area based on the detection results of detecting the conditions around the moving object, and to set the speed limit set for the speed limit area where the object is present as the speed.

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