Intersection Stop Control for Sidewalk Mobile Objects
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Solution Overview
Problem
Existing mobile object control systems fail to adequately manage autonomous stops at intersections, particularly on sidewalks, due to lack of consideration for traffic light states and surrounding conditions.
Innovation Solution
A mobile object control device and method that utilizes an external environment detection system to recognize intersection situations, including traffic lights and obstacles, to control the object's movement, ensuring appropriate stops and navigation through crosswalks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mobile object stops autonomously at an intersection without considering traffic light states, then the stopping position may be arbitrary, but the mobile object cannot determine the appropriate stop position and may block traffic participant flow
Solution Approach 1:
The control unit determines a stop position in advance based on the state of the traffic light detected by the recognition unit. By performing this determination before actually stopping, the mobile object ensures it stops at an appropriate position that does not block traffic participants, rather than stopping arbitrarily and then adjusting
Solution Approach 2:
The recognition unit continuously detects the state of the traffic light and provides feedback to the control unit. This feedback loop allows the mobile object to adjust its stop position based on real-time traffic light states, ensuring reliable stop position determination while maintaining system simplicity through reusable detection components
2Measurement precision
If the mobile object stops at a position where the traffic light state is not detectable, then the stop position may be convenient, but the mobile object cannot accurately recognize the traffic light state
Solution Approach 1:
The control unit determines the stop position in advance based on the detected traffic light state, ensuring the mobile object stops at a position where the traffic light remains detectable. This preliminary determination prevents the mobile object from stopping at inconvenient positions where detection would be compromised
Solution Approach 2:
The system prevents the mobile object from stopping at positions that would block traffic participants or make traffic light detection difficult. By anticipating and preventing problematic stop positions in advance, the system maintains both detection accuracy and operational ease
3Reliability
If the mobile object does not consider the behavior of traffic participants when stopping, then the control logic is simple, but the mobile object may block the flow of traffic participants
Solution Approach 1:
The control unit determines the stop position in advance by considering the state of traffic participants detected by the recognition unit. This preliminary consideration ensures the mobile object stops at a position that does not block traffic flow, rather than stopping first and then detecting potential blocking issues
Solution Approach 2:
The recognition unit serves multiple functions: detecting traffic light states, identifying traffic participants, and determining appropriate stop positions. This multi-functionality allows the system to consider traffic participant behavior without significantly increasing device complexity, as the same sensors and processing units handle multiple detection tasks
Data Source
AI summary
A mobile object control device includes a recognition unit configured to recognize a surrounding situation of a mobile object on the basis of an output of an external environment detection device configured to detect an external situation of the mobile object and a control unit configured to control at least a drive unit configured to move the mobile object. The control unit controls the drive unit on the basis of a situation of an intersection recognized by the recognition unit so that the mobile object is stopped when the recognition unit recognizes that the mobile object is moving in a predetermined region and the mobile object needs to stop in accordance with a state of a first traffic light located in a movement direction of the mobile object in front of the intersection.