JP2021113047A - Mobile control device, mobile control method, and program for mobile control device - Google Patents

Abstract

To provide a mobile body control device and the like which continues automatic drive stably, even in the case where position measurement cannot be performed correctly.SOLUTION: A relative position of a mobile body with respect to a predetermined feature is detected (S2, S6), a running state of the mobile body is detected (S3, S7), and in the case where the detection accuracy of the relative position of the mobile body is equal to or less than predetermined accuracy, first operation control of the mobile body using the detection result of the detection of the relative position of the mobile body is switched to second operation control of the mobile body using the detection result of the detection of the running state of the mobile body (S4, S5). In the case where the period where the detection accuracy is equal to or less than the predetermined accuracy is within a predetermined period after the switching, the second operation control continues (S9).SELECTED DRAWING: Figure 6

Description

The present application belongs to the technical fields of mobile control devices, mobile control methods, and programs for mobile control devices.

A control device for automatically driving an example of a moving vehicle has been developed. For example, in Patent Document 1 below, it is determined whether or not the conditions for performing automatic driving are satisfied by detecting that at least one of the running state of the vehicle, the surrounding state of the vehicle, and the state of the driver is acquired. A self-driving vehicle control device for automatically driving a vehicle is disclosed.

Japanese Unexamined Patent Publication No. 2014-106854

However, in the technique described in Patent Document 1, when the position cannot be measured accurately due to bad weather or the like, the automatic driving is simply notified to be canceled or the vehicle is guided to a stop point to be stopped. I was just there.

Therefore, the present application has been made in view of each of the above problems, and one example of the problem is to provide a mobile control device or the like that stably continues automatic operation even when the position cannot be measured accurately. To do.

In order to solve the above problems, the invention according to claim 1 comprises a first detecting means for detecting a relative position of a moving body with respect to a predetermined feature, a second detecting means for detecting a traveling state of the moving body, and a second detecting means. When the detection accuracy of the relative position of the first detection means is less than or equal to a predetermined value, the movement using the detection result of the second detection means from the first operation control of the moving body using the detection result of the first detection means. The control means includes a control means for switching to the second operation control of the body, and the control means continues the second operation control when the period in which the detection accuracy is equal to or less than a predetermined period is within a predetermined period after the switching. It is characterized by that.

Further, in the invention according to claim 7, the first detecting means detects the relative position of the moving body with respect to a predetermined feature, and the second detecting means detects the traveling state of the moving body. When the detection accuracy of the relative position of the first detection means is equal to or less than a predetermined value in the second detection step and the control means, the second operation control of the moving body using the detection result of the first detection means is performed. A control step for switching to the second operation control of the moving body using the detection result of the detection means is included, and the period in which the detection accuracy is equal to or less than a predetermined period in the control step is within a predetermined period after the switching. In this case, the second operation control is continued.

It is a block diagram which shows an example of the outline structure of the mobile body control device which concerns on embodiment. It is a block diagram which shows an example of the outline structure of the vehicle control device which concerns on Example. It is a schematic diagram which shows an example of sensing by an outside world sensor. It is a schematic diagram which shows an example of the distribution of a feature. It is a schematic diagram which shows an example of a feature. It is a flowchart which shows an example of the operation of the vehicle control device which concerns on Example.

A mode for carrying out the present application will be described with reference to FIG. Note that FIG. 1 is a block diagram showing an example of an outline configuration of the mobile control device according to the embodiment.

As shown in FIG. 1, the mobile body control device 1 includes a first detection means 1a, a second detection means 1b, and a control means 1c.

In this configuration, the first detecting means 1a detects the relative position of the moving body with respect to a predetermined feature. Here, examples of features include buildings, road signs, paints on roads (white lines, stop lines, etc.), traffic lights, trees, and other objects that can be geographically identified. Further, with respect to these features, the position information and the attribute information may be recorded in advance on the data (map or the like) referred to by the moving body when traveling. The position information may be information on the absolute position of the feature or information for specifying the position from the road. The information that identifies the position from the road is, for example, the relative position from the position reference point on the road. Examples of moving bodies include vehicles, motorcycles, aircraft, ships and the like.

The sensor that detects the relative position is a sensor that measures the outside world of a moving body, and is a sensor (outside world sensor) that acquires information necessary for automatic driving. Examples of the external world sensor include a camera, a radar, a traveling space sensor (LIDAR: Light Detection and Ranging, Laser Imaging Detection and Ranging), and the like. As the outside world sensor, an obstacle sensor installed around the moving body may be used. The relative position is represented by the distance between the moving body and the feature, the angle, the xyz coordinates of the feature with the moving body as the base point, and the like.

The second detecting means 1b detects the traveling state of the moving body.

Here, as an example of the traveling state, the acceleration, speed, traveling direction, inclination, etc. of the moving body can be mentioned. Examples of the running state include the angle of the steering wheel, the operating state of the brake, the gear, the wiper, etc., the direction indicated by the direction indicator, the on / off state of the light, and the like. The sensor that detects the running state of the moving body is, for example, a sensor (internal world sensor) mounted on a vehicle that measures the running state of the moving body itself. Examples of sensors that detect the traveling state of a moving body include a gyro sensor, an acceleration sensor, a speed sensor, a wheel rotation angle sensor, a steering angle sensor, and the like. In addition, GNSS such as GPS (Global Positioning System) that acquires the absolute position of a moving object.
(Global Navigation Satellite System) The positioning system may or may not be included in the internal sensor.

When the detection accuracy of the relative position of the first detection means 1a is equal to or less than a predetermined value, the control means 1c uses the detection result of the second detection means from the first operation control of the moving body using the detection result of the first detection means 1a. Switch to the second operation control of the moving body.

The first operation control is an automatic operation control based on a relative position with a feature detected by the first detection means 1a (for example, an external sensor). More specifically, in the first operation control, for example, the detection result (relative position from the feature) of the first detection means 1a and the ground previously acquired or set as data to be referred to when the moving body is traveling. By collating with the position information of the object (relative position or absolute position of the feature from the road in the map data), the current position of the moving object on the road is continuously estimated. Then, while collating the estimated position with the travel lane information (lane position in the map data, etc.) of the road of the planned route acquired or set in advance as data to be referred to by the moving body during traveling, the moving body is used. Continuously controls the travel of the moving body so that the vehicle travels appropriately on the travel lane. The estimated position information of the moving body estimated in this way is a high-precision external sensor and a high-precision "data that the moving body refers to when traveling (that is, map data including detailed position information of the feature)". By combining the above, the position estimation accuracy can be dramatically improved as compared with the conventional GPS positioning.

The second operation control is an automatic operation control based on the position of the moving body detected by the second detection means 1b (for example, the internal sensor). More specifically, in the second operation control, the moving distance and direction of the moving body from a certain set starting point position are estimated from the detection result of the second detecting means on the road of the current moving body. The position of is continuously estimated. Specifically, for example, the position on the road or the positional relationship with the road may be specified, or the relative position of the moving body from the estimated starting point position may be estimated, or the absolute position can be specified. The absolute position of the moving body may be calculated based on the starting point position that is or can be estimated. The starting point position is a position estimated or specified and set by a means other than the second detecting means. The starting point position may be set by, for example, a GNSS positioning system, but in the following description, an example of setting using the detection result of the first detection means 1a will be described.

As an example of the decrease in the detection accuracy of the relative position, if the position cannot be measured accurately due to the deterioration of the sensor function due to the weather, dirt, etc., or if the position cannot be measured due to the change or disappearance of the feature, the external sensor has failed. Cases and the like can be mentioned. Further, the detection accuracy of the relative position is set to be equal to or lower than the predetermined value, the signal for calculating the relative position cannot be acquired due to the deterioration of the function of the external sensor (undetectable), the signal level of the external sensor is low, and the like. Further, the relative position detection accuracy is less than a predetermined value, and the position cannot be measured (undetectable) due to a change or disappearance of a feature. In addition, the relative position detection accuracy is set to be less than or equal to a predetermined value, and an abnormal value such as a discontinuous value as compared with the measurement results up to the previous time is detected. Further, assuming that the detection accuracy of the relative position is less than a predetermined value, the difference between the absolute position of the moving object calculated from the measured relative position and the absolute position of the feature and the absolute position calculated by GPS or the like causes an error in GPS or the like. It can be said that it exceeds.

When switching from the first operation control of the moving body using the detection result of the first detection means 1a to the second operation control of the moving body using the detection result of the second detection means, the starting point used for the second operation control. The position may be set. For the starting point position, for example, an estimated position by the first operation control of the moving body using the detection result of the first detecting means 1a estimated to be normal as soon as possible before switching, and a passing time traveled on the position are set. do. Then, in the second operation control, the detection result of the second detection means is used retroactively to the passing time to estimate the moving distance and direction of the moving body from the starting point position where the set position has already been estimated. , Continuously estimate the current position of the moving object on the road. In the position estimation and running by the second operation control, it is considered that if the running is continued unless the starting point position is updated, errors are accumulated according to the accuracy of the second detecting means and the running accuracy is lowered.

Further, the control means 1c continues the second operation control when the period in which the detection accuracy is equal to or less than the predetermined period is within the predetermined period after the switching. Examples of a predetermined period include several seconds, several tens of seconds, several minutes, several tens of minutes, and the like. The predetermined period may be any time as long as it depends on the traveling accuracy of the moving body by the second operation control and the cumulative error is within the allowable range (for example, within 10 cm). Alternatively, it may be a time during which the vehicle can travel without protruding from the road or lane of the planned route. Further, as an example of the predetermined period, the predetermined period may be set according to the traveling state of the moving body. For example, when an example of the traveling state is the speed of a moving body, if the speed of the moving body is slow, the predetermined time is lengthened, and if the speed is slow, the predetermined time is shortened. Further, a situation that affects the accuracy of the second detection means, for example, when there are many curves (when the traveling state has a large change in the left-right direction of the moving body), when the road is an uneven road (as a traveling state, the moving body has a large change). If the road condition is bad due to the weather (when the vertical vibration is large), the road condition is bad (when the tire is slipping, rain or snow is detected by the rainfall sensor), etc., the specified time is shortened. You may.

If the detection accuracy of the relative position is reduced to or less than a predetermined value and the detection accuracy is restored, the second operation control may be switched to the first operation control. As an example of the case where the detection accuracy is recovered, there are cases where the signal can be acquired again, the detection accuracy is higher than the predetermined value, the detection accuracy is higher than the second predetermined value, which is larger than the predetermined value, and the like. Can be mentioned.

Further, if the period during which the relative position detection accuracy is equal to or less than the predetermined period is longer than the predetermined period after switching, the moving body may be stopped at the predetermined position by the second operation control. The predetermined position is, for example, a position where the vehicle can stop, such as a road shoulder.

When stopping, the driver of the moving body may be notified that the vehicle will stop. Further, the moving body control device 1 may perform a follow-up operation with respect to the moving body in front. The mobile body control device 1 may perform inertial running. The mobile control device 1 may be switched to manual operation.

The position error after switching to the second operation control is calculated, and if the position error is larger than the predetermined error, the moving body may be stopped at the predetermined position by the second operation control. The error in the traveling position due to the second operation control by the internal sensor may be an estimation error. For example, it is a value obtained by multiplying the average error per unit distance by the mileage after switching to the second operation control. In this way, the error is cumulatively increased by the traveling by the second operation control. The average error per unit distance may be changed depending on the traveling condition. For example, when the running condition is bad, the average error per unit distance is increased.

Further, the predetermined error is set from, for example, a permissible error that allows the vehicle to travel without protruding from the road lane. For example, 10 cm. The predetermined error may be set according to the traveling state. The mobile control device 1 sets a predetermined error low when the traveling state is poor.

As described above, according to the operation of the vehicle control device 10 according to the embodiment, even if the relative position of the moving body cannot be accurately measured, the automatic operation can be stably continued.

[1. Outline of vehicle body control device configuration and functions]
Next, specific examples corresponding to the above-described embodiments will be described with reference to FIGS. 2 to 5. The examples described below are examples in which the present application is applied to a vehicle control device attached to a vehicle or the like, which is an example of a moving body.

FIG. 2 is a block diagram showing an example of an outline configuration of the vehicle control device according to the embodiment. FIG. 3 is a schematic diagram showing an example of sensing by an external sensor. FIG. 4 is a schematic diagram showing an example of the distribution of features. FIG. 5 is a schematic view showing an example of a feature.

As shown in FIG. 2, the vehicle control device 10 as an example of the mobile control device 1 according to the embodiment includes a storage unit 11, a communication unit 12, an input / output interface unit 13, and a control unit 14. .. Then, the control unit 12, the drive device 20 that controls the running of the vehicle V, the outside world sensor 30 that measures the outside world of the vehicle V, the inside world sensor 31 that measures the running state of the vehicle V itself, the GPS sensor 32, and the like. It is connected to various sensors via the input / output interface unit 13. The control unit 14 and the input / output interface unit 13 are connected via the system bus 15. Further, the vehicle control device 10 has a timer function (not shown).

The storage unit 11 is composed of, for example, a non-volatile memory or the like. The storage unit 11 stores various programs for controlling the vehicle control device 10, map information for navigating the vehicle V, feature information of various objects 5, and the like. Examples of feature information include the absolute position of each feature, a feature amount for identifying each feature (for example, the shape of the feature), and the like. The storage unit 11 stores the latitude and longitude, the relative position from the road, the feature amount, and the like in association with the ID number of the feature of each place.

Note that various programs, map information, and feature information may be acquired via a network such as a wireless communication network, or a recording medium such as a CD (Compact Disc) or DVD (Digital Versatile Disc). It may be recorded in the drive device and read through the drive device.

The communication unit 12 has a wireless communication function. The communication unit 12 connects to a mobile communication network or the like of the network and acquires traffic information or the like.

The input / output interface unit 13 is an interface between each unit and the control unit 14. The input / output interface unit 13 performs interface processing between the storage unit 11 and the communication unit 12 and the control unit 14. The input / output interface unit 13 connects the drive device 20, the outside world sensor 30, the inside world sensor 31, and the GPS sensor 32.

The control unit 14 includes, for example, a CPU (Central Processing Unit) 12a, a ROM (Read Only Memory) 14b, and a RAM (Random Access Memory) 14c. In the control unit 14, the CPU 14a reads and executes various programs stored in the ROM 14b, the RAM 14c, and the storage unit 11 to control the drive device 20.

The drive device 20 controls the accelerator amount to control the speed and acceleration of the vehicle V. The drive device 20 controls the steering angle to change the traveling direction of the vehicle V. The drive device 20 controls the amount of braking to decelerate and stop the vehicle V. The drive device 20 also controls lights, turn signals, and the like.

As shown in FIG. 3, the lidar, which is an example of the outside world sensor 30, is installed at two locations in front of the vehicle V and two locations behind the vehicle V so that the feature 5 around the vehicle V can be detected. The outside world sensor 30 may be installed on the vehicle V. Further, when an example of the external sensor 30 is a camera, it may be installed above the windshield. When an example of the external world sensor 30 is a radar, it may be installed in front of and behind the vehicle V. When an example of the outside world sensor 30 is an obstacle sensor, it may be installed around the vehicle V.

When the external sensor 30 is LIDAR, it radiates and scans near infrared rays, ultraviolet rays, and visible rays to detect reflected light, thereby measuring the distance and width to an object and acquiring three-dimensional point group data. do. Since the information on the distance of each point of the three-dimensional point cloud data is included, the measurement result of the LIDAR of the example of the external world sensor 30 includes the information such as the distance to the object, the direction, and the shape. Further, the control unit 14 recognizes the object from the three-dimensional point cloud data and identifies the feature.

The outside world sensor 30 detects a feature 5 existing around the traveling vehicle V. As shown in FIG. 4, the feature 5 exists along the road or at a position that can be detected from the vehicle V on the road. As shown in FIG. 5, the feature 5 is a building, a road sign, a tree, a paint on a road, or the like.

Examples of the internal sensor 31 include an acceleration sensor, a gyro sensor, a wheel angular velocity sensor, and a steering angle sensor. The acceleration sensor is composed of, for example, a piezoelectric element, detects the acceleration of the vehicle V, and outputs acceleration data. The gyro sensor is, for example, a mechanical type such as a vibration type or a rotary type, or an optical type gyro sensor using an optical fiber. The gyro sensor detects the direction, inclination, etc. of the vehicle V. The angular velocity sensor measures a vehicle speed pulse consisting of a pulse signal generated as the wheels of the vehicle rotate.

Further, examples of the internal sensor 31 include a sensor that detects the operating state of the brake, gear, wiper, etc. of the vehicle V, the direction indicated by the direction indicator, and the on / off state of the light.

The GPS sensor 32 receives radio waves from a plurality of GPS satellites that carry downlink data including positioning data. The positioning data is used to detect the absolute position of the vehicle V from the latitude and longitude information and the like. In the detection of the absolute position by the GPS sensor 32, an error of several tens of meters occurs from several mails such as multipath.

The vehicle control device 10 has a navigation function and calculates a route from the current location to the target.

[2. Vehicle control device operation]
The operation of the vehicle control device 10 according to the embodiment will be described with reference to FIG. Although the description here describes the case where the position of the vehicle V is acquired as an absolute position, the position of the vehicle V may be calculated as a position on the road (relative position from the road).

FIG. 6 is a flowchart showing an example of the operation of the vehicle control device according to the embodiment.

As shown in FIG. 6, the vehicle control device 10 performs automatic driving by the first driving control (step S1). Specifically, the control unit 14 starts automatic operation by the first operation control based on the relative position with the feature 5 detected by the outside world sensor 30.

The control unit 14 followed the planned route from the relative position with respect to the feature 5 (detection result of the outside world sensor 30), the absolute position of the vehicle V calculated from the absolute position of the feature 5, and the map information. Automatic operation is performed by the first operation control. More specifically, the control unit 14 collates the detection result of the external world sensor 30 with the position information of the feature that is acquired or set in advance as the data to be referred to when the vehicle V is traveling. The position of the vehicle V on the road is continuously estimated. Then, the control unit 14 collates the estimated position with the information of the traveling lane of the road of the planned route that is acquired or set in advance as data that the vehicle V refers to when traveling, and the vehicle V is traveling in the traveling lane. The running of the vehicle V is continuously controlled so as to run properly on the vehicle.

Next, the vehicle control device 10 detects the relative position of the vehicle with respect to a predetermined feature (step S2). Specifically, the control unit 14 extracts feature quantities such as the shape of the feature 5 from the three-dimensional point cloud data and images around the vehicle V measured by the outside world sensor 30. The control unit 14 refers to the storage unit 11 and identifies a predetermined feature 5 (specifies the feature ID) from the feature amount. The number of predetermined features 5 may be plural.

The control unit 14 obtains the relative position of the vehicle V with respect to the predetermined feature 5 based on the distance and direction information included in the three-dimensional point cloud data of the LIDAR measurement result of the specified feature 5. The control unit 14 refers to the storage unit 11 and obtains the absolute position of the specified feature based on the feature ID. The control unit 14 calculates the absolute position of the vehicle V from the relative position of the vehicle V with respect to the predetermined feature 5 and the absolute position of the feature 5. The control unit 14 may calculate each position of the vehicle V from each relative position of the plurality of features 5, and calculate the position of the vehicle V from the median value of the value of each position, the arithmetic mean, and the like. ..

The relative position cannot be detected when the signal level of the external sensor drops due to the weather, dirt, etc., or when the position cannot be measured due to changes or disappearance of the feature.

The vehicle control device 10 functions as an example of the first detecting means for detecting the relative position of the moving body with respect to a predetermined feature.

Next, the vehicle control device 10 detects the traveling state of the vehicle (step S3). Specifically, the control unit 14 detects the speed, acceleration, traveling direction, etc. of the vehicle V based on the data of the internal sensor 31.

The vehicle control device 10 functions as an example of the second detecting means for detecting the traveling state of the moving body.

Next, the vehicle control device 10 determines whether or not the detection accuracy of the detected relative position is equal to or less than a predetermined value (step S4). Specifically, the control unit 14 determines whether or not the relative position cannot be detected. Further, as the relative position detection accuracy, the control unit 14 calculates the difference between the absolute position based on the GPS sensor 32 and the absolute position based on the external world sensor 30, and the difference in this position is equal to or greater than a predetermined value (for example, the GPS sensor 32). It is determined whether or not the error distance of is greater than or equal to a predetermined distance).

When the detection accuracy of the detected relative position is equal to or less than a predetermined value (step S4; YES), the vehicle control device 10 performs automatic driving by the second operation control (step S5). Specifically, the control unit 14 switches from the automatic operation by the first control using the detection result of the outside world sensor 30 to the automatic operation by the second control using the detection result of the inside world sensor 31. For example, the current position of the vehicle V is continuously estimated by estimating the moving distance and the direction of the vehicle V from the detection result of the inner world sensor 31 starting from the absolute position by the external world sensor 30 immediately before, and the map. Based on the information, automatic operation is performed by the second operation control according to the planned route. As a control method, for example, the current position of the vehicle V is calculated from the detection result of the internal sensor 31 with the absolute position of the immediately preceding external sensor 30 as the starting position, and the difference between the current position and the planned route is reduced. The control unit 14 controls the drive device 20.

When the detection accuracy of the relative position is equal to or less than a predetermined value, the vehicle control device 10 uses the detection result of the second detection means from the first operation control of the moving body using the detection result of the first detection means. It functions as an example of a control means for switching to the second operation control of the moving body.

If the detection accuracy of the detected relative position is not less than or equal to the predetermined value (step S4; NO), the process returns to the process of step S2, and the automatic operation by the first operation control is continued.

The vehicle control device 10 functions as an example of the control means for continuing the second operation control when the period in which the detection accuracy is equal to or less than the predetermined period is within the predetermined period after the switching.

After the process of step S5, the vehicle control device 10 detects the relative position of the vehicle with respect to a predetermined feature (step S6). Specifically, the control unit 14 detects the relative position of the vehicle V with respect to the predetermined feature 5 as in step S2.

Next, the vehicle control device 10 detects the traveling state of the vehicle (step S7). Specifically, the control unit 14 detects the traveling state of the vehicle V as in step S3.

Next, the vehicle control device 10 determines whether or not the detection accuracy of the detected relative position is equal to or less than a predetermined value (step S8). Specifically, the control unit 14 determines whether or not the detection accuracy of the issued relative position is equal to or less than a predetermined value, as in step S4.

When the detection accuracy of the detected relative position is not more than a predetermined period (step S8; YES), the vehicle control device 10 determines whether or not the period in which the detection accuracy is not more than the predetermined period is within the predetermined period (step S9). Specifically, in step S5, the control unit 14 determines whether or not a predetermined period has elapsed after switching from the first operation control to the second operation control by the timer function.

The predetermined period may be set according to the traveling state of the vehicle V. For example, the control unit 14 increases the predetermined time when the speed of the vehicle V is slow, and shortens the predetermined time when the speed is slow, based on the result of the speed sensor of the internal sensor 31 or the like. Further, when there are many curves or the curves are tight and the change in the vehicle V in the left-right direction is large due to the result of the gyro sensor of the internal sensor 31, the control unit 14 may shorten the predetermined time. If the road is uneven and the vertical vibration is large according to the result of the internal sensor 31, the control unit 14 may shorten the predetermined time. When the road condition is bad due to the weather, the tires are slipping according to the result of the internal sensor 31, and rain or snow is detected by the rainfall sensor, the control unit 14 may shorten the predetermined time. As described above, when the traveling conditions are bad, the control unit 14 shortens the predetermined period to shorten the continuation of the automatic operation by the second operation control.

When the detection accuracy of the detected relative position is not less than or equal to a predetermined value (step S8; NO), the vehicle control device 10 returns to the process of step S1 and switches from the second operation control to the automatic operation by the first operation control. The running of the vehicle V returns to the automatic driving by the first driving control according to the planned route.

As an example of the case where the detection accuracy of the detected relative position is not less than or equal to the predetermined value, that is, when the detection accuracy of the relative position is restored, for example, the vehicle V is moving, the next feature 5 is detected, and the relative position is detected. Can be detected, the external sensor can be cleaned, the weather has recovered, and the feature 5 can be detected.

The vehicle control device 10 functions as an example of a control means for switching from the second operation control to the first operation control when the detection accuracy recovers after the detection accuracy of the relative position becomes equal to or less than the predetermined value. ..

When the period in which the detection accuracy is equal to or less than the predetermined period is not within the predetermined period (step S9; NO), the vehicle control device 10 controls the stop by the second operation control (step S10). Specifically, the control unit 14 stops the vehicle V at a predetermined position such as a road shoulder where the vehicle can be stopped based on the second operation control and the map information, and ends the automatic driving.

When the vehicle control device 10 stops, the vehicle control device 10 may notify the driver that the vehicle will stop. Further, the vehicle control device 10 may perform follow-up operation with respect to the vehicle in front. The vehicle control device 10 may perform inertial traveling. The vehicle control device 10 may be switched to manual operation.

Further, when the detection accuracy of only the lidar of the outside world sensor is lowered, the vehicle control device 10 may be stopped at a predetermined position or automatically driven by another outside world sensor such as a camera or an obstacle sensor.

The vehicle control device 10 is an example of means for stopping the moving body at a predetermined position by the second operation control when the period during which the detection accuracy of the relative position is equal to or less than a predetermined period is longer than the predetermined period after the switching. Function.

When the period in which the detection accuracy is equal to or less than the predetermined period is within the predetermined period (step S9; YES), the vehicle control device 10 returns to the process of step 6 and continues the automatic operation using the second operation control.

As described above, according to the operation according to the embodiment, when the period in which the relative position detection accuracy is equal to or less than the predetermined period after switching from the first operation control to the second operation control is within a predetermined period, the first operation is performed. Since the 2 operation control is continued, even if the position of the feature 5 cannot be measured accurately, the automatic operation can be stably continued by the 2nd operation control for a while until the recovery is achieved.

In addition, when switching from the second operation control to the first operation control when the detection accuracy recovers after the relative position detection accuracy becomes less than a predetermined value, stable automatic operation is continued by the first operation control. Can be done.

Further, when the period in which the detection accuracy of the relative position is equal to or less than the predetermined position is longer than the predetermined period after switching to the second operation control, the vehicle V can be stopped when the vehicle V is stopped at the predetermined position by the second operation control. From the stop position, the driver can start manual driving.

Further, when the predetermined period is set according to the traveling state of the vehicle V, which is an example of the moving body, the automatic driving can be stably continued according to the traveling state of the vehicle V.

Further, when the position error after switching to the second operation control is calculated and the position error is larger than the predetermined error, the vehicle V can be stopped when the vehicle V is stopped at the predetermined position by the second operation control. From the stop position, the driver can start manual driving.

Further, when the vehicle V is controlled by the second driving control based on the detection result of the second detecting means and the map information, the automatic driving can be continued more stably by the map information.

1: Mobile control device 1a: First detection means 1b: Second detection means 1c: Control means 5: Feature 10: Vehicle control device (mobile control device)
14: Control unit V: Vehicle (moving body)

Claims (1)

A first detecting means for detecting the relative position of a moving body with respect to a predetermined feature,
A second detecting means for detecting the traveling state of the moving body, and
When the detection accuracy of the relative position of the first detection means is less than or equal to a predetermined value, the movement using the detection result of the second detection means from the first operation control of the moving body using the detection result of the first detection means. Control means to switch to the second operation control of the body,
With
The control means is a mobile body control device, characterized in that the second operation control is continued when the period in which the detection accuracy is equal to or less than a predetermined period is within a predetermined period after the switching.

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