US-12617416-B2 - Mobile object control device and mobile object control method

US12617416B2US 12617416 B2US12617416 B2US 12617416B2US-12617416-B2

Abstract

A hardware processor of a mobile object executes the program stored in a storage device to acquire information indicating a road situation in a traveling direction of a mobile object; to recognize whether the mobile object is moving on a roadway or a predetermined region different from the roadway; to recognize presence of a contact portion between the sidewalk and the predetermined region in the traveling direction of the mobile object; to control the speed of the mobile object at least partially, and limit a speed at which the mobile object is moving on the roadway to a first speed and limit a speed at which the mobile object is moving on a sidewalk to a second speed slower than the first speed; and to bring a speed of the mobile object closer to the second speed when the mobile object is moving on the roadway, the contact portion is recognized within a predetermined range from the mobile object, and the road situation is in a predetermined state.

Inventors

Hideki Matsunaga
Yuji Yasui
Takashi Matsumoto
Gakuyo Fujimoto

Assignees

HONDA MOTOR CO., LTD.

Dates

Publication Date: 20260505
Application Date: 20250123
Priority Date: 20210330

Claims (14)

1 . A mobile object control device for a mobile object capable of moving on both a roadway and a sidewalk, comprising: a storage device storing a program; and a hardware processor, wherein the hardware processor executes the program stored in the storage device to: acquire information indicating a road situation of the roadway in a traveling direction of the mobile object which is moving on the roadway; recognize whether the mobile object is moving on the roadway or the sidewalk; recognize presence of a contact portion between the sidewalk and the roadway in the traveling direction of the mobile object, the contact portion being provided at a boundary between the sidewalk and the roadway, the contact portion being a portion in which a load is less than in other portions of the boundary when the mobile object passes through; control the speed of the mobile object at least partially; limit a speed at which the mobile object is moving on the roadway to a first speed; limit a speed at which the mobile object is moving on the sidewalk to a second speed slower than the first speed; and question about an intention to enter the sidewalk using an interface device when the mobile object is moving on the roadway, the contact portion is recognized within a first predetermined range from the mobile object in the traveling direction of the mobile object, and it is recognized based on the acquired information that a dead end is within a second predetermined range from the mobile object in the traveling direction of the mobile object, the first predetermined range being shorter than or the same as the second predetermined range.
2 . The mobile object control device according to claim 1 , wherein the hardware processor further determines whether the road situation is a predetermined state, and wherein the hardware processor questions about the intention to enter the sidewalk using the interface device when determining that the road situation is a predetermined state.
3 . The mobile object control device according to claim 2 , wherein the hardware processor determines that the road situation is a predetermined state when it is recognized based on the acquired information that a speed of another mobile object relative to the mobile object, the another mobile object moving in the same direction as the mobile object, is greater than a threshold A within the second predetermined range from the mobile object in the traveling direction of the mobile object.
4 . The mobile object control device according to claim 3 , wherein the hardware processor brings a speed of the mobile object closer to the second speed when a positive response is obtained to the question about the intention to enter the sidewalk using the interface device.
5 . The mobile object control device according to claim 2 , wherein the hardware processor determines that the road situation is a predetermined state when it is recognized based on the acquired information that a predetermined number of types or more of mobile objects coexist within a second predetermined range from the mobile object in the traveling direction of the mobile object.
6 . The mobile object control device according to claim 5 , wherein the hardware processor brings a speed of the mobile object closer to the second speed when a positive response is obtained to the question about the intention to enter the sidewalk using the interface device.
7 . The mobile object control device according to claim 2 , wherein the hardware processor determines that the road situation is a predetermined state when it is recognized based on the acquired information that the number of large vehicles is equal to or greater than a threshold B within a second predetermined range from the mobile object in the traveling direction of the mobile object.
8 . The mobile object control device according to claim 7 , wherein the hardware processor brings a speed of the mobile object closer to the second speed when a positive response is obtained to the question about the intention to enter the sidewalk using the interface device.
9 . The mobile object control device according to claim 2 , wherein the hardware processor brings a speed of the mobile object closer to the second speed when a positive response is obtained to the question about the intention to enter the sidewalk using the interface device.
10 . The mobile object control device according to claim 1 , wherein the hardware processor brings a speed of the mobile object closer to the second speed when a positive response is obtained to the question about the intention to enter the sidewalk using the interface device.
11 . A mobile object control device for a mobile object capable of moving on both a roadway and a sidewalk, comprising: a storage device storing a program; and a hardware processor, wherein the hardware processor executes the program stored in the storage device to: acquire information indicating a road situation of the roadway in a traveling direction of the mobile object which is moving on the roadway; recognize whether the mobile object is moving on the roadway or the sidewalk; recognize presence of a contact portion between the sidewalk and the roadway in the traveling direction of the mobile object, the contact portion being provided at a boundary between the sidewalk and the roadway, the contact portion being a portion in which a load is less than in other portions of the boundary when the mobile object passes through; control the speed of the mobile object at least partially; limit a speed at which the mobile object is moving on the roadway to a first speed; limit a speed at which the mobile object is moving on the sidewalk to a second speed slower than the first speed; and question about an intention to enter the sidewalk using an interface device when the mobile object is moving on the roadway, the contact portion is recognized within a first predetermined range from the mobile object in the traveling direction of the mobile object, and it is recognized based on the acquired information that a construction site is within a second predetermined range from the mobile object in the traveling direction of the mobile object, the first predetermined range being shorter than or the same as the second predetermined range.
12 . The mobile object control device according to claim 11 , wherein the hardware processor brings a speed of the mobile object closer to the second speed when a positive response is obtained to the question about the intention to enter the sidewalk using the interface device.
13 . A mobile object control device for a mobile object capable of moving on both a roadway and a sidewalk, comprising: a storage device storing a program; and a hardware processor, wherein the hardware processor executes the program stored in the storage device to: acquire information indicating a road situation of the roadway in a traveling direction of the mobile object which is moving on the roadway; recognize whether the mobile object is moving on the roadway or the sidewalk; recognize presence of a contact portion between the sidewalk and the roadway in the traveling direction of the mobile object, the contact portion being provided at a boundary between the sidewalk and the roadway, the contact portion being a portion in which a load is less than in other portions of the boundary when the mobile object passes through; control the speed of the mobile object at least partially; limit a speed at which the mobile object is moving on the roadway to a first speed; limit a speed at which the mobile object is moving on the sidewalk to a second speed slower than the first speed; and question about an intention to enter the sidewalk using an interface device before decelerating the mobile object when the mobile object is moving on the roadway, the contact portion is recognized within a first predetermined range from the mobile object in the traveling direction of the mobile object, and it is recognized based on the acquired information that traffic congestion occurs within a second predetermined range from the mobile object in the traveling direction of the mobile object, the first predetermined range being shorter than or the same as the second predetermined range.
14 . The mobile object control device according to claim 13 , wherein the hardware processor brings a speed of the mobile object closer to the second speed when a positive response is obtained to the question about the intention to enter the sidewalk using the interface device.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is a Continuation of application Ser. No. 17/702,847 filed on Mar. 24, 2022, the entire content of which is incorporated herein by reference. Priority is claimed on Japanese Patent Application No. 2021-056995, filed Mar. 30, 2021, the content of which is incorporated herein by reference. BACKGROUND Field of the Invention The present invention relates to a mobile object control device and a mobile object control method. Description of Related Art In the related art, the invention of a one-person riding electromotive vehicle capable of moving on a sidewalk has been disclosed (see Japanese Unexamined Patent Application, First Publication No. 2020-189536). SUMMARY Technologies of the related art have not taken into account mobile objects capable of moving on both roadways and predetermined regions different from roadways. Therefore, appropriate control cannot be performed at the time of entrance to predetermined regions from roadways in some cases. The present invention is devised in view of such circumstances and an objective of the present invention is to provide a mobile object control device and a mobile object control method capable of appropriately controlling a mobile object capable of moving on both a roadway and a predetermined region different from the roadway at the time of entrance to a predetermined region from a roadway. A driving support device, a mobile object control device and a mobile object control method according to the present invention adopt the following configurations. (1) According to an aspect of the present invention, a mobile object control device includes a storage device storing a program and a hardware processor. The hardware processor executes the program stored in the storage device to: acquire information indicating a road situation in a traveling direction of a mobile object; recognize whether the mobile object is moving on a roadway or a predetermined region different from the roadway; recognize presence of a contact portion between the predetermined region and the roadway in the traveling direction of the mobile object; control the speed of the mobile object at least partially, and limit a speed at which the mobile object is moving on the roadway to a first speed and limit a speed at which the mobile object is moving on a sidewalk to a second speed slower than the first speed; and bring a speed of the mobile object closer to the second speed when the mobile object is moving on the roadway, the contact portion is recognized within a predetermined range from the mobile object, and the road situation is in a predetermined state.(2) In the mobile object control device according to the aspect (1), the hardware processor may question about an intention to enter the predetermined region using an interface device when the mobile object is moving on the roadway, the contact portion is recognized within a first predetermined range from the mobile object, and the road situation is a predetermined state. A speed of the mobile object may be brought closer to the second speed when a positive response is obtained.(3) In the mobile object control device according to the aspect (1), the hardware processor may determine that the road situation is a predetermined state when it is recognized based on the acquired information that a dead end is within a second predetermined range in the traveling direction of the mobile object.(4) In the mobile object control device according to the aspect (1), the hardware processor may determine that the road situation is a predetermined state when it is recognized based on the acquired information that a construction site is within a second predetermined range in the traveling direction of the mobile object.(5) In the mobile object control device according to the aspect (1), the hardware processor may determine that the road situation is a predetermined state when it is recognized based on the acquired information that traffic congestion occurs within a second predetermined range in the traveling direction of the mobile object.(6) In the mobile object control device according to the aspect (1), the hardware processor may determine that the road situation is a predetermined state when it is recognized based on the acquired information that a speed of another mobile object moving in the same direction as the mobile object is greater than a threshold A within a second predetermined range in the traveling direction of the mobile object.(7) In the mobile object control device according to the aspect (1), the hardware processor may determine that the road situation is a predetermined state when it is recognized based on the acquired information that a predetermined number of types or more of mobile objects coexist within a second predetermined range in the traveling direction of the mobile object.(8) In the mobile object control device according to the aspect (1), the hardware processor may determine that t