JP2018073010A - MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND MOBILE BODY CONTROL DEVICE PROGRAM - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile body control device, a method and a program for stably continuing automatic operation even when accurate position measurement becomes impossible. SOLUTION: When the detection accuracy of detecting the relative position of a moving body with respect to a feature and detecting the traveling state of S2, S6 and the moving body and detecting the relative position of S3, S7 and the moving body is equal to or less than a predetermined value, the relative of the moving body is detected. Switching from the first operation control using the detection result of position detection to the second operation control using the detection result of the detection of the traveling state of the moving body S4, S5, accompanying the movement after switching to the second operation control S9 to continue the second operation control when the error in the position of the moving body is within a predetermined range. [Selection diagram] FIG. 6

Description

  The present application belongs to a technical field of a mobile control device, a mobile control method, and a program for a mobile control device.

  A control device for automatically driving a vehicle as an example of a moving body has been developed. For example, in Patent Document 1 below, it is detected whether at least one of a running state of a vehicle, a situation around the vehicle, and a state of a driver is acquired, and whether or not a condition for performing automatic driving is satisfied is determined. An automatic driving vehicle control device for automatically driving a vehicle is disclosed.

JP 2014-106854 A

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

  Therefore, the present application has been made in view of the above-described problems, and one example of the problem is to provide a mobile control device that stably continues automatic operation even when position measurement cannot be performed accurately. There is to do.

  In order to solve the above-mentioned problem, the invention according to claim 1 is a first detection means for detecting a relative position of a moving body with respect to a feature, a second detection means for detecting a traveling state of the moving body, and the first Control means for switching from the first operation control using the detection result of the first detection means to the second operation control using the detection result of the second detection means when the detection accuracy of the one detection means is less than a predetermined value; The control means continues the second operation control when an error in the position of the moving body accompanying the movement after switching to the second operation control is within a predetermined range.

According to a sixth aspect of the present invention, the first detecting means detects the relative position of the moving body with respect to the feature, and the second detecting means detects the running state of the moving body. The detection step and the control means use the detection result of the second detection means from the first operation control using the detection result of the first detection means when the detection accuracy of the first detection means falls below a predetermined value. A control step for switching to the second operation control, and in the control step, when an error in the position of the moving body accompanying the movement after the switch to the second operation control is within a predetermined range, the second operation control The control is continued.

It is a block diagram which shows an example of schematic structure of the mobile body control apparatus which concerns on embodiment. It is a block diagram which shows an example of schematic structure of the vehicle control apparatus which concerns on an Example. It is a schematic diagram which shows an example of the sensing by an external sensor. It is a schematic diagram which shows an example of 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 operation | movement of the vehicle control apparatus which concerns on an Example.

  An embodiment for carrying out the present application will be described with reference to FIG. FIG. 1 is a block diagram illustrating an example of a schematic configuration of the mobile control device according to the embodiment.

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

  In this configuration, the first detection unit 1a detects the relative position of the moving body with respect to the feature. Here, as an example of the feature, there are a building, a road sign, a paint on the road (white line, stop line, etc.), a traffic light, a tree, and the like whose location can be specified in geography. Further, the position information and attribute information of these features may be recorded in advance on data (such as a map) that the mobile body refers to when traveling. The position information may be information on the absolute position of the feature or information specifying the position from the road. The information specifying the position from the road is, for example, a relative position from a position reference point on the road. Examples of the moving body include a vehicle, a motorcycle, an aircraft, a ship, and the like.

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

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

  Here, as an example of the traveling state, there are acceleration, speed, traveling direction, inclination, and the like of the moving body. As an example of the running state, there are a steering wheel angle, an operating state of a brake, a gear, a wiper and the like, a pointing direction of a direction indicator, a light on / off state, and the like. The sensor that detects the traveling state of the moving body is, for example, a sensor (internal sensor) that is mounted on a vehicle that measures the traveling state of the moving body itself. As an example of a sensor that detects the traveling state of a moving body, a gyro sensor, an acceleration sensor, a speed sensor, a wheel rotation angle sensor, a rudder angle sensor, and the like can be given. Note that a GNSS positioning system such as a GPS (Global Positioning System) that acquires the absolute position of the moving body may or may not be included in the internal sensor.

  When the detection accuracy of the first detection unit 1a is below a predetermined level, the control unit 1c performs the second operation using the detection result of the second detection unit 1b from the first operation control using the detection result of the first detection unit 1a. Switch to operation control.

  The first operation control is automatic operation control based on the relative position with respect to the 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 acquired or set in advance as data that the moving body refers to when traveling. The current position of the moving body on the road is continuously estimated by collating the position information of the object (relative position or absolute position of the feature with respect to the road in the map data). Then, the mobile object is checked while the estimated position is collated with, for example, information on the road lane of the road of the planned route acquired or set as data to be referred to when the mobile object travels (such as the lane position in the map data). Continuously controls the traveling of the moving body so as to appropriately travel on the traveling lane. The estimated position information of the moving body estimated in this way includes a highly accurate external sensor and highly accurate “data that the moving body refers to when traveling (ie, map data including detailed position information of the feature)”. By combining, position estimation accuracy can be dramatically improved over conventional GPS positioning.

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

  As an example of a decrease in the detection accuracy of the first detection means 1a, when the position cannot be measured accurately due to a decrease in the function of the sensor due to weather, dirt, or the like, or when the position cannot be measured due to a change or disappearance of a feature, the external sensor Failure and the like. In addition, the detection accuracy of the first detection unit 1a is not more than a predetermined value, a signal for calculating the relative position due to the deterioration of the function of the external sensor could not be acquired (detection impossible), the signal level of the external sensor is low, etc. It is done. Moreover, as a value of the relative position detection accuracy, position measurement could not be performed due to a change or disappearance of a feature (undetectable) or the like. For example, when the detection accuracy of the first detection unit 1a is not more than a predetermined value, an abnormal value such as a discontinuous value compared to the previous measurement result is detected. Assuming that the detection accuracy of the first detection means 1a is below a predetermined value, the difference between the absolute position of the moving body calculated from the measured relative position and the absolute position of the feature and the absolute position calculated by GPS or the like is an error of GPS or the like. And so on.

  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. As the starting 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 as normal as possible before switching and the passing time of traveling on the position are set. To do. In the second operation control, the detection result of the second detection means is used retroactively to the passing time, thereby estimating the moving distance and direction of the moving body from the starting position where the set position has already been estimated. The position of the current moving body on the road is continuously estimated. In the position estimation and traveling by the second operation control, it is considered that if the traveling is continued unless the starting position is updated, errors are accumulated according to the accuracy of the second detecting means, and the traveling accuracy is lowered.

  Moreover, the control means 1c continues 2nd operation control, when the error of the position of the moving body accompanying the movement after switching to 2nd operation control is less than predetermined. As an example of the position error, there are an estimation error caused by traveling by the second driving control by the inner sensor, a difference between the position estimated by traveling by the second driving control by the inner sensor and the absolute position calculated by the GPS, and the like. Can be mentioned. The error in the position of travel by the second driving control by the internal sensor may be, for example, an estimation error of a value obtained by multiplying the average error per unit distance by the travel distance by switching to the second driving control. Thus, the error increases cumulatively due to the traveling by the second operation control.

  The travel distance of the moving body accompanying the movement after switching to the second operation control may be a travel distance starting from the position where the previous feature was measured, or the position where the switch to the second operation control was performed (the previous time It may be a travel distance starting from the position estimated from the position where the feature is measured.

  The average error per unit distance may be changed depending on the running state. For example, when the speed of the moving body is an example of the traveling state, the average error per unit distance is increased when the speed of the moving body is high, and the average error is decreased when the speed is low. Also, when there are many curves (when the moving body has a large change in the lateral direction of the moving body), when the road is a bumpy road (when the moving body is subject to large vertical vibrations), the road condition may vary depending on the weather. When the running state is bad, such as when it is bad (when the tire is slipping as a running state or when rain or snow is detected by a rain sensor), the average error per unit distance may be increased.

  The error predetermined value in the position error of the moving body is, for example, on the order of several centimeters, for example, where the moving bodies in adjacent lanes do not contact each other. Examples of the error of the position of the moving body within a predetermined range include, for example, the error being within a predetermined range (error predetermined value range), the absolute value of the position error being equal to or less than the predetermined error value, and the like.

  The error predetermined value in the position error of the moving body (a predetermined example in the position error of the moving body) may be set according to the traveling state. For example, in the case where the speed of the moving body is an example of the traveling state and the speed of the moving body is high, the moving body control device 1 sets the error predetermined value in the position error of the moving body to be low and the speed is low. Sets the error predetermined value in the position error of the moving body high. In other words, when the speed of the moving body is high, the predetermined error value is set so that the condition for continuing the second operation control becomes stricter than when the speed of the moving body is low. Further, when the running state is bad, such as when there are many curves, the mobile body control device 1 may set the error predetermined value in the position error of the mobile body low. In other words, when the traveling state is bad, the predetermined error value is set so that the condition for continuing the second operation control becomes stricter than when the traveling state is good.

  If the detection accuracy is restored after the relative position detection accuracy becomes equal to or lower than a predetermined value, the second operation control may be switched to the first operation control. As an example of the case where the detection accuracy is recovered, when the signal can be acquired again, when the detection accuracy is higher than a predetermined value, when the detection accuracy is higher than a second predetermined value that is larger than the predetermined value, etc. Is mentioned.

  When a position error due to switching to the second operation control is calculated and the position error of the moving body is not within a predetermined range (for example, when the position error is larger than a predetermined error value), the predetermined position is determined by the second operation control. The moving body may be stopped.

  In addition, when the period during which the relative position detection accuracy is equal to or lower 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.

  In addition, when stopping, you may notify the driver | operator of a moving body that it stops. Moreover, the mobile body control apparatus 1 may perform a follow-up driving | operation with respect to the front mobile body. The mobile body control device 1 may perform inertia traveling. The mobile body control device 1 may be switched to manual operation.

  Note that the second operation control may be continued when the period during which the detection accuracy is equal to or lower than the predetermined period is within a predetermined period after switching. Examples of the predetermined period include several seconds, several tens of seconds, several minutes, several tens of minutes, and the like. The predetermined period depends on the traveling accuracy of the moving body by the second driving control (for example, when traveling near the center of the road or lane by the second driving control of the moving body using the detection result of the second detecting means, Even if the accumulated error is taken into account, it is sufficient that the travel position of the actual vehicle is within the road or lane of the planned route of the map information. 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 the speed of the moving body is an example of the traveling state, the predetermined time is lengthened when the speed of the moving body is slow, and the predetermined time is shortened when the speed is high. Further, when the running state is bad, the predetermined time may be shortened.

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

[1. Overview of vehicle body control device configuration and functions]
Next, specific examples corresponding to the above-described embodiment will be described with reference to FIGS. In addition, the Example described below is an Example at the time of applying this application with respect to the vehicle control apparatus attached to the vehicle etc. which are examples of a mobile body.

  FIG. 2 is a block diagram illustrating an example of a schematic configuration of the vehicle control device according to the embodiment. FIG. 3 is a schematic diagram illustrating 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 diagram illustrating an example of a feature.

  As illustrated 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. . And various kinds, such as the control part 12, the drive device 20 which controls driving | running | working of the vehicle V, the external sensor 30 which measures the external field of the vehicle V, the internal sensor 31 which measures the driving state of the vehicle V itself, a GPS sensor, etc. The sensor is connected via the input / output interface unit 13. The control unit 12 and the input / output interface unit 13 are connected via a system bus 15. Moreover, the vehicle control apparatus 10 has a timer function (not shown).

  The storage unit 11 is composed of, for example, a nonvolatile memory. The storage unit 11 stores various programs for controlling the vehicle control device 10, map information for navigating the vehicle V, feature information of each feature 5, and the like. The feature information includes an absolute position of each feature, a feature amount (for example, the shape of the feature), etc. for specifying each feature. The storage unit 11 stores the latitude and longitude, the feature amount, and the like in association with the feature ID number of each feature.

  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 a DVD (Digital Versatile Disc). May be recorded on the disk and read via the drive device.

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

The input / output interface unit 13 is an interface between each unit and the control unit 12.
The input / output interface unit 13 performs interface processing between the storage unit 11, the communication unit 12, and the control unit 14. The input / output interface unit 13 is connected to the driving device 20, the external sensor 30, the internal 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 14 a reads out and executes various programs stored in the ROM 14 b, the RAM 14 c, and the storage unit 11, and controls the driving device 20.

  The drive device 20 controls the speed and acceleration of the vehicle V by controlling the accelerator amount. The drive device 20 controls the steering angle to change the traveling direction of the vehicle V. The drive device 20 controls the brake amount to decelerate and stop the vehicle V. The driving device 20 also controls lights, direction indicators, and the like. The drive device 20 is controlled by the vehicle control device 10, and the vehicle V travels by automatic driving.

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

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

  The external sensor 30 detects the feature 5 present 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 the road, or the like.

  Examples of the internal sensor 31 include an acceleration sensor, a gyro sensor, a wheel angular velocity sensor, and a rudder angle sensor. The acceleration sensor is made 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 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 composed of a pulse signal generated with the rotation of the vehicle wheel.

  Examples of the inner sensor 31 include a sensor that detects an operation state of a brake, a gear, a wiper, or the like of the vehicle V, an indication direction of a direction indicator, and an on / off state of a light.

  The GPS sensor 32 receives radio waves carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle V from latitude and longitude information. The absolute position detected by the GPS sensor 32 has an error of several meters to several tens of meters such as multipath.

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

[2. Operation of vehicle control apparatus]
The operation of the vehicle control apparatus 10 according to the embodiment will be described with reference to FIG.

  FIG. 6 is a flowchart illustrating 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 the automatic operation by the first operation control based on the relative position with the feature 5 detected by the external sensor 30.

  The control unit 14 follows the planned route from the absolute position of the vehicle V calculated from the relative position to the feature 5 (detection result of the external sensor 30) and the absolute position of the feature 5, and the map information. Automatic operation by 1 operation control is performed. More specifically, the control unit 14 collates with the detection result of the external sensor 30 and the position information of the feature acquired or set in advance as the data that the vehicle V refers to when traveling, The position of the vehicle V on the road is continuously estimated. Then, the control unit 14 compares the estimated position, for example, with reference to the information on the road lane of the road of the planned route acquired or set in advance as data to be referred to when the vehicle V travels. The travel of the vehicle V is continuously controlled so as to travel appropriately.

  Next, the vehicle control device 10 detects the relative position of the vehicle with respect to the predetermined feature (step S2). Specifically, the control unit 14 extracts a feature amount such as the shape of the feature 5 from the image around the vehicle V measured by the external sensor 30. The control unit 14 refers to the storage unit 11 and identifies the predetermined feature 5 from the feature amount (identifies the feature ID). The predetermined feature 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 identified 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. Note that the control unit 14 calculates each absolute position of the vehicle V from each relative position of the plurality of features 5, and calculates the absolute position of the feature 5 based on the median value, arithmetic average, etc. of each absolute distance. Good.

  It should be noted that the relative position cannot be detected when the signal level of the external sensor decreases due to weather, dirt, or the like, or when position measurement cannot be performed due to a change or disappearance of a feature.

  The vehicle control device 10 functions as an example of a first detection unit that detects the relative position of the moving body with respect to the 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, and the like of the vehicle V based on the data of the internal sensor 31.

  The vehicle control device 10 functions as an example of a second detection unit that detects 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 a difference between the absolute position based on the GPS sensor 32 and the absolute position based on the external sensor 30, and the difference in the position is equal to or larger than a predetermined value (for example, the GPS sensor 32). It is determined whether or not the error distance is equal to or greater than a predetermined distance (that is, when the error is large and the accuracy is lower than the predetermined detection accuracy).

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

  When the detection accuracy of the first detection unit becomes equal to or lower than a predetermined value, the vehicle control device 10 uses the detection result of the second detection unit from the first operation control using the detection result of the first detection unit. It functions as an example of a control means for switching to 2-operation control.

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

  The vehicle control device 10 functions as an example of a control unit that continues the second operation control when the period during which the detection accuracy is less than or equal to a 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 the 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, as in step S4, the control unit 14 determines whether or not the accuracy of detection of the outputted relative position is equal to or less than a predetermined value.

  When the detection accuracy of the detected relative position is less than or equal to a predetermined value (that is, when the accuracy is lower than the predetermined detection accuracy) (step S8; YES), the vehicle control device 10 determines whether the position error of the moving body is within a predetermined value. It is determined whether or not (step S9). First, the control unit 14 calculates an error in the position of the moving body accompanying the movement after switching to the second operation control. For example, after switching from the first operation control to the second operation control, the control unit 14 calculates the travel distance using the absolute position of the vehicle V when the previous feature 5 is detected as the starting position. The control unit 14 calculates a position error by multiplying the calculated travel distance by an average error per unit distance.

  The average error per unit distance may be increased or decreased according to the traveling state of the vehicle V. For example, the control unit 14 increases the average error when the speed of the vehicle V is high, and decreases the average error when the speed is low, 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 result of the gyro sensor or the like of the internal sensor 31 causes a large change in the left-right direction of the vehicle V, the control unit 14 may increase the average error. When the road is an uneven road and the vertical vibration is large due to the result of the internal sensor 31, the control unit 14 may increase the average error. When the road condition is bad due to the weather and the tire sensor is slipping according to the result of the internal sensor 31, or when rain or snow is detected by the rain sensor, the control unit 14 may increase the average error.

  After calculating the position error, the control unit 14 determines whether the calculated position error is within a predetermined error value (for example, 1 centimeter, 5 centimeter, etc.).

  The predetermined error value may be set according to the traveling state of the vehicle V. For example, when the speed of the vehicle V is high due to the result of the speed sensor of the internal sensor 31 or the like, the control unit 14 lowers the error predetermined value (that is, the condition for continuing the second operation control becomes severe). Thus, the predetermined error value is set), and when the speed is low, the predetermined error value is increased (that is, the predetermined error value is set so that the condition for continuing the second operation control is relaxed). Further, when there are many curves or the curves are tight, and the change in the left-right direction of the vehicle V is large due to the result of the gyro sensor or the like of the internal sensor 31, the control unit 14 may decrease the predetermined error value. . When the road is an uneven road and the vertical vibration is large due to the result of the internal sensor 31, the control unit 14 may decrease the predetermined error value. When the road condition is bad due to the weather and the tire sensor is slipping according to the result of the internal sensor 31, or when rain or snow is detected by the rain sensor, the control unit 14 may lower the predetermined error value. As described above, when the running condition is bad, the control unit 14 shortens the continuation of the automatic driving by the second driving control by increasing the average error or reducing the predetermined error value. In other words, when the speed of the moving body is high, the predetermined error value is set so that the condition for continuing the second operation control becomes stricter than when the speed of the moving body is slow, and there are many curves. When the running state is bad, the predetermined error value is set so that the condition for continuing the second operation control becomes stricter than when the running state is good.

  When the detection accuracy of the detected relative position is not less than or equal to the 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 traveling 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 a predetermined value, that is, when the detection accuracy of the relative position is recovered, for example, the vehicle V is moving and the next feature 5 is detected to detect the relative position. Can be detected, the external sensor can be cleaned, the weather has recovered, and the feature 5 has been detected.

  The vehicle control device 10 functions as an example of a control unit that switches from the second operation control to the first operation control when the detection accuracy is recovered after the detection accuracy of the relative position becomes equal to or less than the predetermined value. .

  When the position error is not within the predetermined range (that is, when the position error is larger than the predetermined value) (step S9; NO), the vehicle control device 10 performs stop control by the second operation control (step S10). Specifically, based on the second driving control and the map information, the control unit 14 stops the vehicle V at a predetermined position where the vehicle can stop, such as a road shoulder, and ends the automatic driving.

  In addition, when stopping, the vehicle control device 10 may notify the driver of the stop. Further, the vehicle control device 10 may perform a follow-up operation with respect to the vehicle ahead. The vehicle control device 10 may perform inertia traveling. The vehicle control device 10 may be switched to manual operation.

  Further, when the detection accuracy of only the LIDAR of the external sensor is lowered, the vehicle control device 10 may stop at a predetermined position or perform automatic driving by another external sensor such as a camera or an obstacle sensor.

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

  When the position error is within the predetermined error value (that is, when the position error is smaller than the predetermined value) (step S9; YES), the vehicle control device 10 returns to the process of step S6 and uses the second driving control. Continue automatic driving.

  The vehicle control device 10 functions as an example of a control unit that continues the second driving control when an error in the position of the moving body accompanying the movement after switching to the second driving control is within a predetermined range.

  As described above, according to the operation according to the embodiment, after switching from the first operation control to the second operation control, the error of the position of the moving body accompanying the movement after switching to the second operation control is a predetermined value. Since the second operation control is continued within the range, the automatic operation can be stably continued by the second operation control even when the position of the feature 5 cannot be accurately measured.

  In addition, when the detection accuracy of the first detection means becomes equal to or less than a predetermined value and the detection accuracy is restored, when switching from the second operation control to the first operation control, the automatic operation is stably continued by the first operation control. can do.

  Further, when the error of the position of the moving body is not within the predetermined range, when the vehicle V is stopped at the predetermined position by the second operation control, the vehicle V can be stopped, and the driver starts the manual driving from the stop position. Can do.

  In addition, when the predetermined error in the position of the moving body is set according to the traveling state of the vehicle V, which is an example of the moving body, the automatic operation can be continued stably according to the traveling state of the vehicle V. it can.

  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.

DESCRIPTION OF SYMBOLS 1: Mobile body control apparatus 1a: 1st detection means 1b: 2nd detection means 1c: Control means 5: Feature 10: Vehicle control apparatus (mobile body control apparatus)
14: Control unit V: Vehicle (moving body)

Claims (7)

First detecting means for detecting a relative position of the moving body with respect to the feature;
Second detection means for detecting a traveling state of the moving body;
Control for switching from the first operation control using the detection result of the first detection means to the second operation control using the detection result of the second detection means when the detection accuracy of the first detection means is below a predetermined level. Means,
With
The said control means continues the said 2nd driving control, when the error of the position of the said moving body accompanying the movement after switching to the said 2nd driving control is less than predetermined, The moving body control apparatus characterized by the above-mentioned. The moving body control device according to claim 1,
After the detection accuracy of the first detection means becomes equal to or less than the predetermined value, when the detection accuracy is restored, the mobile control device is switched from the second operation control to the first operation control. In the moving body control device according to claim 1 or 2,
When the error of the position of the moving body is not within a predetermined range, the moving body control device stops the moving body at a predetermined position by the second operation control. In the moving body control device according to claim 3,
The moving body control apparatus according to claim 1, wherein a predetermined error in the position of the moving body is set according to a traveling state of the moving body. In the moving body control device according to any one of claims 1 to 4,
The moving body control apparatus, wherein the moving body is controlled by the second operation control based on a detection result of the second detection means and map information. A first detection step in which a first detection means detects a relative position of the moving body with respect to the feature;
A second detection step in which a second detection means detects a traveling state of the moving body;
When the detection accuracy of the first detection means is below a predetermined level, the control means performs a second operation using the detection result of the second detection means from the first operation control using the detection result of the first detection means. A control step to switch to control;
Including
In the control step, the second operation control is continued when an error in the position of the moving body accompanying the movement after switching to the second operation control is within a predetermined range.   A program for a moving body control device, which causes a computer to function as the moving body control device according to any one of claims 1 to 5.