JP6538546B2 - Moving body - Google Patents

Description

  The present invention relates to a mobile unit, in particular, a mobile unit that travels by the operation of a passenger.

  What is shown by patent documents 1 is known as one form of a mobile which moves by operation by a crew member. The mobile object (for example, an electric wheelchair) of Patent Document 1 includes a peripheral object detection means for detecting a peripheral object (object to be detected) present around the mobile object, and an upper limit speed setting means for setting an upper limit speed of the mobile object. Is equipped. The upper limit speed setting means sets the upper limit speed to be suppressed when the object is present in the area on the path of the moving object and the side area of the area on the path. Thereby, the collision between the detected object and the moving object is suppressed. Further, the upper limit speed setting means sets the upper limit speed in accordance with the region where the detected object is located, the relative speed between the moving object and the detected object, and the like.

Patent 5338398

  In the moving body of Patent Document 1, for example, when the moving body is traveling on a road having a relatively narrow width, the upper limit speed is detected when a stationary object such as a plant is detected as a detected object located in the side area The upper limit speed of the moving object is suppressed by the setting means. In this case, because the object to be detected is only a stationary object, it may feel that it is desired to travel faster than the suppressed speed. At this time, a gap is generated between the restricted travel of the moving body and the intended travel of the occupant.

  Therefore, the present invention has been made to solve the problems described above, and in order to suppress a collision between a moving object and an object to be detected around the moving object, based on the object to be detected around the moving object. An object of the present invention is to suppress the traveling of a moving body reflecting the intention of a passenger in the moving body for suppressing the traveling of the moving body.

In order to solve the above-mentioned subject, a mobile according to claim 1 is a mobile that travels by a drive device driven according to an input to an operating device by a passenger, and the mobile is a detected object around the mobile. And a control device for controlling the drive amount of the drive device to travel the moving object based on input information which is information input to the operation device, the control device comprising: A suppression area setting unit configured to set a reference suppression area, which is a suppression area in which traveling of the moving object is suppressed when the detected object detected by the vehicle is positioned in the area, and the intention of the occupant; Alternatively, based on the type of the object to be detected located in the peripheral area which is the area on both sides of the predicted travel area of the moving object, the suppression area reduced relative to the reference suppression area set by the reference suppression area setting unit Reduced restraint area And a reduced suppression area setting unit for setting a type of the detected object is a stationary object and movement thereof, said controller, the type of the test object located in the peripheral region is the still When it is determined by the peripheral object type determination unit that determines whether it is an object or the moving object, and the peripheral object type determination unit that the type of the detection object in the peripheral region is the stationary object, The reference suppression area setting unit further includes an area switching unit for switching from the reference suppression area set by the reference suppression area setting unit to the reduction suppression area set by the reduction suppression area setting unit.

According to this, based on the occupant's intention, the reduction suppression area setting unit sets the reduction suppression area reduced with respect to the reference suppression area. That is, the suppression area can be reduced. Therefore, when the traveling object is suppressed because the detected object is positioned in the reference suppression area, the reference suppression area is switched to (reduced) the reduction suppression area, so that the position is within the reference suppression area. When the target object to be detected is located outside the reduction suppression area, the suppression of the traveling of the moving object is released. In this case, when the traveling of the moving body is suppressed more than the traveling intended by the occupant because the detected object is positioned in the reference suppression area, the suppression of the traveling of the moving body is canceled. The gap between the restricted travel and the intended travel of the occupant is suppressed.
In addition, the reduction suppression area setting unit sets the reduction suppression area based on the type of the detection target located in the peripheral area. When the suppression area is set as the reduction suppression area, it is difficult for the detection object to be located in the suppression area. As a result, when the detected object is not positioned within the suppression area, the traveling of the movable body is not suppressed, and the traveling intended by the occupant becomes possible. Therefore, at this time, the gap between the restricted traveling of the moving body and the intended traveling of the occupant is suppressed. As a result, the mobile unit can suppress the traveling of the mobile unit reflecting the intention of the occupant.

It is a schematic diagram showing composition of a first embodiment of a mobile by the present invention. It is a partial expanded sectional view which shows the operating device and cancellation | release request | requirement detection apparatus which are shown in FIG. It is a schematic diagram which shows the input information input into the operating device of FIG. 1, a vertical axis | shaft represents the front-back direction of a mobile body, and a horizontal axis represents the left-right direction of a mobile body. It is a block diagram of a mobile shown in FIG. FIG. 5 is a first map stored in the control device shown in FIG. 4 and is a map showing the relationship between the desired straight traveling speed and the straight traveling speed of the moving object. It is a 2nd map memorized by the control device shown in Drawing 4, and is a map which showed the relation between desired revolving speed and revolving speed of a mobile. It is a schematic diagram which shows the prediction advancing area | region and peripheral area | region which are produced | generated on polar coordinates by the track | truck estimation part shown in FIG. 4, The vertical axis of polar coordinates is the front-back direction of a mobile body, Represents It is a schematic diagram which shows the reference suppression area | region set on polar coordinate by the reference | standard suppression area | region setting part shown in FIG. It is a schematic diagram which shows the reduction suppression area | region set on polar coordinate by the reduction suppression area | region setting part shown in FIG. It is a third map stored in the control device shown in FIG. 4 and is the shortest distance between the moving object and the detected object when the detected object is located in the suppression area, and the limited driving amount of the driving amount of the driving device Is a map showing the relationship with 5 is a flowchart of a program executed by the control device shown in FIG. 4; 5 is a flowchart of a program executed by the control device shown in FIG. 4; It is a schematic diagram which shows the modification of the suppression area | region set on a polar coordinate by the reference | standard suppression area | region setting part shown in FIG. 4, and a reduction suppression area setting part. It is a block diagram of a mobile concerning a second embodiment of the present invention. It is a schematic diagram which shows the reference suppression area | region set on polar coordinate by the reference | standard suppression area | region setting part shown in FIG. 13 is a schematic view showing a reduction suppression area set on polar coordinates by the reduction suppression area setting unit shown in FIG. 13 and an object grid appearing on polar coordinates when the moving object is traveling on an alley having a relatively narrow width. is there. FIG. 14 is a schematic view showing an occlusion grid used in a modification of the method of deriving the occupancy rate by the occupancy rate deriving unit shown in FIG. 13; It is the 4th map memorized by the control device shown in Drawing 13, and is the map which showed the relation between a circumference thing and a control field. It is a schematic diagram which shows area | region expansion control which the area | region expansion control part shown in FIG. 13 performs. It is a fifth map stored in the control device shown in FIG. 13 and is a map showing the relationship between the acceleration of the moving object, the peripheral objects and the occupancy rate, and the execution of the region expansion control. It is a flowchart of the program run by the control apparatus shown in FIG. It is a 14th map memorize | stored in the control apparatus of the mobile body based on the modification of 2nd embodiment of this invention, and is a map which showed the relationship between an occupancy rate and a suppression area | region. It is a twenty-fourth map stored in the control device for a mobile according to the modification of the second embodiment of the present invention, and is a map showing the relationship between peripheral objects and occupancy rates, and the suppression area. It is a fifteenth map stored in the control device for a mobile according to a modification of the second embodiment of the present invention, and is a map showing the relationship between peripheral objects and occupancy rates and execution of region expansion control.

First Embodiment
Hereinafter, a first embodiment of a mobile unit according to the present invention will be described with reference to the drawings. As a moving body in the present embodiment, an electric wheelchair 1 shown in FIG. 1 will be described as an example. In the present specification, for convenience of explanation, the upper and lower sides in FIG. 1 are the upper and lower sides of the electric wheelchair 1, and the lower left and upper right sides are the front and rear of the electric wheelchair 1, respectively. The lower right side is described as the right side and the left side of the electric wheelchair 1, respectively. Moreover, in FIG. 1, the arrow which shows each direction is shown.

  As shown in FIGS. 1 and 2, the electric wheelchair 1 includes a wheelchair main body 10, a drive device 20, an operation device 30, a release request detection device 40, a detection device 50, and a control device 60. The electric wheelchair 1 is a movable body driven by a drive device 20 driven according to an input to the operation device 30 by a passenger. The drive device 20, the operation device 30, the release request detection device 40, the detection device 50 and the control device 60 are attached to the wheelchair main body 10.

  The wheelchair main body 10 includes a frame 11, a seat 12 on which an occupant sits, and wheels 13. The seat 12 and the wheels 13 are attached to the frame 11. The wheel 13 is configured to be rotatable around the rotation axis. The wheels 13 are disposed on the left and right sides of the wheelchair main body 10 and driven by the drive device 20. The left driving wheel 13a and the right driving wheel 13b, and the left auxiliary wheel 13c and the right auxiliary wheel assisting traveling of the electric wheelchair 1 It is equipped with 13d.

  The driving device 20 rotates the driving wheels 13 a and 13 b to drive the electric wheelchair 1. The drive device 20 is configured, for example, by combining an electric motor (not shown) and a reduction gear (not shown). The drive device 20 is provided to each of the drive wheels 13a and 13b one by one (two in total).

  The operating device 30 is operated by the occupant in order to designate the linear velocity v and the turning velocity w of the electric wheelchair 1. The straight traveling speed v is the speed of the electric wheelchair 1 in the front direction (front direction) of the electric wheelchair 1. The turning speed w is an angular velocity at which the electric wheelchair 1 turns around the center of gravity of the electric wheelchair 1 at a position where the electric wheelchair 1 is located. In the present embodiment, the operating device 30 is a joystick. As shown in FIG. 2, the operating device 30 includes a lever portion 31 and a pedestal portion 32 that supports the lever portion 31 in an inclinable manner.

  The operating device 30 is positioned in a state where the lever portion 31 stands upright in the vertical direction at a non-operated position (hereinafter referred to as a neutral position) indicated by a broken line in FIG. The operating device 30 is operated by inclining the lever portion 31 from the neutral position to the occupant. The state in which the lever portion 31 is operated can be represented by the coordinates of the tip of the operating device 30 when the operating device 30 is projected onto the XY plane parallel to the horizontal plane, as shown in FIG. The X axis is the same as the front-rear direction of the electric wheelchair 1, and the positive direction of the X axis is the same as the front direction of the electric wheelchair 1. The Y axis is the same as the left-right direction of the electric wheelchair 1, and the positive direction of the Y axis is the same as the right direction of the electric wheelchair 1. The value of the X coordinate is a desired straight speed xjs that is a straight speed of the electric wheelchair 1 desired by the occupant. The value of the Y coordinate is a desired turning speed yjs, which is the turning speed of the electric wheelchair 1 desired by the occupant. The desired straight traveling speed xjs and the desired turning speed yjs are output to the control device 60 at every first predetermined time as input information which is information input to the operation device 30. The first predetermined time is, for example, 1/25 second.

  The cancellation request detection device 40 detects the strength of the cancellation request according to the operation of the occupant. A cancellation | release request | requirement is a request | requirement of cancellation | release with respect to suppression of driving | running | working of the electric wheelchair 1 mentioned later. The cancellation request detection device 40 detects the strength of the cancellation request according to the size of the pressing load described later. That is, it is detected that the strength of the release request increases as the pressing load increases. The release request detection device 40 includes a protrusion 41 and a load detection unit 42.

As shown in FIG. 2, the protrusion 41 is formed to project forward from the lower end portion of the lever portion 31.
The load detection unit 42 is provided at a position where the protrusion 41 can contact when the lever 31 is tilted forward in the pedestal 32. The load detection unit 42 detects the load from the protrusion 41 when the protrusion 41 contacts. This load is an operation load (hereinafter, referred to as a pressing load) when the occupant operates the lever portion 31 to incline forward and presses the protrusion 41 against the load detecting portion 42. The load detection unit 42 is, for example, a strain gauge type load sensor. The load detection unit 42 transmits the detection result to the control device 60.

  The detection device 50 detects an object to be detected around the electric wheelchair 1. The detection device 50 is a three-dimensional sound range sensor (laser range scanner (3D scanner)). The detection device 50 emits a laser in the horizontal direction and in the vertical direction (three-dimensionally) from the detection unit 51, and the detection unit 51 receives a reflected wave from the detection object to detect the presence or absence of the detection object. And the distance from the detection part 51 to a to-be-detected object is acquired as to-be-detected object information. The detection device 50 emits a laser radially forward of the power wheelchair 1. The detection device 50 acquires, for example, detected object information at every first predetermined time. The detected object information acquired by the detecting device 50 is output to the control device 60.

  The control device 60 controls the drive amount of the drive device 20 based on the input information to cause the electric wheelchair 1 to travel. As shown in FIG. 4, the control device 60 is connected with the drive device 20, the operation device 30, the release request detection device 40 and the detection device 50. The control device 60 includes a traveling control unit 61 and a collision suppression control unit 62.

  The traveling control unit 61 performs traveling control for causing the electric wheelchair 1 to travel. The traveling control unit 61 includes a straight traveling speed deriving unit 61a, a turning speed deriving unit 61b, and a driving amount control unit 61c.

  The straight traveling speed deriving unit 61 a is configured to derive the straight traveling speed v of the electric wheelchair 1. The straight traveling speed deriving unit 61a acquires the desired straight traveling speed xjs, which is input information, from the operation device 30, and converts it into the straight traveling speed v. Specifically, the straight traveling speed deriving unit 61a derives the straight traveling speed v from the acquired desired straight traveling speed xjs based on the first map M1 illustrated in FIG. 5A. The first map M1 shows the relationship between the desired straight traveling speed xjs and the straight traveling speed v. The first map M1 includes a proportional part mv1 in which the desired straight traveling velocity xjs and the straight traveling velocity v are proportional, and a dead zone mv2 in which the straight traveling velocity v is a constant value regardless of the size of the desired straight traveling velocity xjs. If the linear velocity v is positive, the electric wheelchair 1 moves forward. On the other hand, when the linear velocity v is negative, the electric wheelchair 1 moves backward. The straight traveling velocity deriving unit 61a outputs the derived straight traveling velocity v to the drive amount control unit 61c.

  The turning speed deriving unit 61 b is for deriving the turning speed w of the electric wheelchair 1. The turning speed deriving unit 61b acquires the desired turning speed yjs, which is input information, from the operation device 30, and converts it into a turning speed w. Specifically, the turning speed deriving unit 61b derives the turning speed w from the acquired desired turning speed yjs based on the second map M2 shown in FIG. 5B. The second map M2 shows the relationship between the desired turning speed yjs and the turning speed w. The second map M2 includes a proportional part mw1 in which the desired turning speed yjs is proportional to the turning speed w, and an insensitive section mw2 in which the turning speed w has a constant value regardless of the magnitude of the desired turning speed yjs. When the turning speed w is positive, the electric wheelchair 1 turns right. On the other hand, when the turning speed w is negative, the electric wheelchair 1 turns left. The turning speed deriving unit 61b outputs the derived turning speed w to the drive amount control unit 61c.

  The drive amount control unit 61c controls the drive amount (number of rotations) of the drive device 20 based on the rectilinear velocity v acquired from the rectilinear velocity deriving unit 61a and the turning velocity w acquired from the turning velocity deriving unit 61b. The drive amount control unit 61c derives the rotational speed of the left driving wheel 13a and the rotational speed of the right driving wheel 13b based on the acquired straight traveling speed v and turning speed w. The magnitude of the rotational speed of each of the drive wheels 13a and 13b is proportional to the magnitude of the linear velocity v, and the magnitude of the difference between the rotational speed of the left drive wheel 13a and the rotational speed of the right drive wheel 13b is The rotational speeds of the drive wheels 13a and 13b are derived so as to be proportional to the magnitude of the turning speed w. The relationship between the straight traveling speed v and the turning speed w and the rotational speeds of the drive wheels 13a and 13b is measured and derived in advance by experiments and the like. Since the drive device 20 is subjected to PWM control, the control command value of the drive device 20 is calculated by the duty ratio. Further, the drive amount control unit 61c includes a drive amount suppression unit 61c1. The drive amount suppression unit 61c1 suppresses the drive amount of the drive device 20 according to the control command from the collision suppression control unit 62 (described later).

  The collision suppression control unit 62 performs collision suppression control that suppresses a collision between the electric wheelchair 1 and the detected object. The collision suppression control unit 62 is, as shown in FIG. 4, a course prediction unit 62a, a reference suppression area setting unit 62b, a reduction suppression area setting unit 62c, a cancellation request acquisition unit 62d, an area switching unit 62e, and an obstacle presence / absence judgment unit 62f. Is equipped.

  The course prediction unit 62a predicts the course of the electric wheelchair 1 based on the input information (the desired straight traveling speed xjs and the desired turning speed yjs) from the operation device 30. The course prediction unit 62a predicts the course of the electric wheelchair 1 on polar coordinates C, as shown in FIG. The polar coordinate C is disposed parallel to the horizontal plane, and is a polar coordinate where the front end central position of the electric wheelchair 1 is set as the origin C0 and the upper side of FIG. The angular range of the polar coordinates C corresponds to an angular range in which the detection device 50 can detect the detected object. The polar coordinates C have a plurality of grids G partitioned at predetermined intervals in the radial and circumferential directions (for example, intervals of 1 m in the radial direction and intervals of 5 ° in the circumferential direction).

Specifically, the predicted travel area Wy, which is the path of the electric wheelchair 1 predicted by the path prediction unit 62a, is from the time when the control device 60 acquires the input information to the time when a second predetermined time (for example, 5 seconds) elapses. The movement trajectory of the electric wheelchair 1 is shown. That is, the width of the predicted travel area Wy corresponds to the width of the electric wheelchair 1. The predicted travel area Wy is generated from the straight traveling speed v and the turning speed w based on a predetermined function which is measured and derived in advance by experiments and the like. The predicted travel area Wy is generated (updated) at every first predetermined time when the control device 60 acquires input information from the controller device 30.
Moreover, the area | region of the both sides of the prediction advancing area | region Wy among the area | regions of polar coordinate C is produced | generated as peripheral area | region Rs.

  The reference suppression area setting unit 62b is a suppression area in which the traveling of the electric wheelchair 1 is suppressed when the detected object detected by the detection device 50 is positioned in the area, and a reference suppression area Rb as a reference is set. It is As shown in FIG. 7, the reference suppression area Rb extends along the predicted travel area Wy, and is set in a fan shape having a reference width Bb larger than the width of the predicted travel area Wy and serving as a reference value. . The shape of the reference suppression area Rb changes in accordance with the change in the predicted travel area Wy due to the change in input information. The shape of the reference suppression area Rb shown in FIG. 7 is a shape when the predicted travel area Wy extends straight forward. When the detected object detected by the detection device 50 is positioned in the reference suppression area Rb, the traveling of the electric wheelchair 1 is suppressed (described later). The reference suppression area Rb set by the reference suppression area setting unit 62b is output to the area switching unit 62e.

  The reduction suppression area setting unit 62c sets reduction suppression areas Rr1 and Rr2, which are reduced suppression areas, to the reference suppression area Rb set by the reference suppression area setting unit 62b. The reduction suppression area setting unit 62c sets a first reduction suppression area Rr1 and a second reduction suppression area Rr2. As shown in FIG. 8, the first reduction suppression region Rr1 is set in a fan shape extending along the predicted travel region Wy and having the first width Br set. The first width Br is set to a value between the width of the predicted travel area Wy and the reference width Bb. That is, the first reduction suppression region Rr1 is a region included in the reference suppression region Rb. The shape of the first reduction suppression area Rr1 changes in accordance with the change in the predicted travel area Wy due to the change in input information. The shape of the first reduction suppression region Rr1 shown in FIG. 8 is a shape when the predicted travel region Wy extends straight forward.

  Further, the second reduction suppression region Rr2 is set to the same region as the predicted travel region Wy. That is, the widths of the reference suppression area Rb, the first reduction suppression area Rr1, and the second reduction suppression area Rr2 are set to be narrowed stepwise in the order. When the detected object detected by the detection device 50 is positioned in each of the reduction suppression regions Rr1 and Rr2, the traveling of the electric wheelchair 1 is suppressed (described later). The reduction suppression regions Rr1 and Rr2 set by the reduction suppression region setting unit 62c are output to the region switching unit 62e. Thus, in the suppression area of the first embodiment, three suppression areas of the reference suppression area Rb, the first reduction suppression area Rr1, and the second reduction suppression area Rr2 are set.

  The cancellation request acquisition unit 62d acquires the strength of the cancellation request. Specifically, the release request acquisition unit 62d acquires the pressing load of the occupant detected by the load detection unit 42. The pressing load acquired by the cancellation request acquisition unit 62d is output to the area switching unit 62e.

  The area switching unit 62e is set by the reference suppression area setting unit 62b based on the strength of the cancellation request detected by the cancellation request detection device 40 (cancellation request acquisition unit 62d) and the determination result of the obstacle presence / absence determination unit 62f. The reference suppression area Rb is switched to the reduction suppression areas Rr1 and Rr2 set by the reduction suppression area setting unit 62c. Specifically, the area switching unit 62e switches the reference suppression area Rb to the reduction suppression areas Rr1 and Rr2 based on the presence or absence of an obstacle and the size of the pressing load from the release request acquisition unit 62d. In the present embodiment, the region switching unit 62e switches (selects) the reference suppression region Rb and the reduction suppression regions Rr1 and Rr2 by region switching control described later. The reduction suppression regions Rr1 and Rr2 switched by the region switching unit 62e are output to the obstacle presence / absence determination unit 62f. When the area switching unit 62e does not switch the reference suppression area Rb, the reference suppression area Rb is output to the obstacle presence / absence determination unit 62f.

  The obstacle presence / absence determination unit 62f determines the presence or absence of an obstacle based on the detected object information detected by the detection device 50 and the suppression area from the area switching unit 62e. An obstacle is a to-be-detected object located in suppression area | region. That is, the obstacle presence / absence determination unit 62f determines that there is an obstacle when the detected object detected by the detection device 50 is positioned in the suppression area from the area switching unit 62e. On the other hand, the obstacle presence / absence determination unit 62f has no obstacle when the detection object detected by the detection device 50 is not located within the suppression area from the area switching unit 62e (that is, outside the suppression area). It is determined that

  An obstacle presence / absence determination control performed by the obstacle presence / absence determination unit 62f to determine the presence or absence of an obstacle will be described. First, the to-be-detected object information from the detection device 50 is projected to the polar coordinate C. The detected object information is coordinate data of a point group PG composed of a plurality of points P representing three-dimensional position information of the detected object. As shown in FIG. 7 and FIG. 8, the grid G in which the number of points P of the point group PG projected on the polar coordinate C is equal to or more than a predetermined number is a detected object grid which is the grid G in which the detected object exists. Ru. The predetermined number is, for example, three. When the to-be-detected object grid and the suppression area overlap, the obstacle presence / absence determination unit 62f determines that there is an obstacle. Specifically, as shown in FIG. 7, there are three detected object grids Gk1, Gk2 and Gk3 based on the detected information from the detecting device 50, and the suppression area is set by the reference suppression area setting unit 62b. In the case of the reference suppression area Rb, when the two detected grids Gk2 and Gk3 overlap the reference suppression area Rb, the obstacle presence / absence determination unit 62f determines that there is an obstacle.

  On the other hand, when the to-be-detected object grid and the suppression area do not overlap, the obstacle presence / absence determination unit 62f determines that there is no obstacle. Specifically, as shown in FIG. 8, there are three detected object grids Gk1, Gk2 and Gk3 based on the detected information from the detecting device 50, and the suppression area is set by the reduction suppression area setting unit 62c. In the case of the first reduction suppression region Rr1, when the three detection object grids Gk1, Gk2 and Gk3 do not overlap the first reduction suppression region Rr1, the obstacle presence / absence determination unit 62f determines that there is no obstacle judge. In addition, since the to-be-detected object information is acquired at every first predetermined time, the determination of the presence or absence of an obstacle by the obstacle presence / absence determination unit 62f is performed at every first predetermined time. The determination result of the obstacle presence / absence determination unit 62f is output to the area switching unit 62e and the drive amount suppression unit 61c1.

  The drive amount suppression unit 61c1 suppresses the traveling of the electric wheelchair 1 while the obstacle presence / absence determination unit 62f determines that there is an obstacle. Specifically, the drive amount suppression unit 61c1 suppresses the drive amount of the drive device 20. The drive amount control unit 61 c suppresses the maximum drive amount of the drive device 20 in the present embodiment. As a result, the maximum linear velocity v is suppressed. The drive amount suppression unit 61c1 suppresses the maximum linear velocity v to the maximum linear velocity vx while the obstacle presence / absence determination unit 62f determines that there is an obstacle. The highest linear velocity vx is the third map shown in FIG. 9 from the shortest distance Dmin (see FIG. 7) from the electric wheelchair 1 (center of the front end of the electric wheelchair 1 (origin C0)) to the detection object located in the suppression area. It is derived based on M3. The shortest distance Dmin can be derived from the detected object information. The shortest distance Dmin is derived by the drive amount suppressing unit 61c1 while the obstacle presence / absence determining unit 62f determines that there is an obstacle. The third map M3 shows the relationship between the shortest distance Dmin and the maximum straight traveling velocity vx. The relationship between the shortest distance Dmin and the highest straight traveling velocity vx is set so that the highest straight traveling velocity vx becomes smaller as the shortest distance Dmin becomes shorter. On the other hand, when the obstacle presence determination unit 62f determines that there is no obstacle, the drive amount suppression unit 61c1 cancels the suppression when the travel of the electric wheelchair 1 is suppressed.

  Next, traveling control for causing the control device 60 to travel the electric wheelchair 1 will be described. When the occupant operates the operation device 30, the control device 60 starts traveling control from the time when the control device 60 acquires input information from the operation device 30. As described above, based on the input information from the operation device 30, the straight traveling speed deriving unit 61a derives the straight traveling speed v, and the turning speed deriving unit 61b derives the turning speed w. The drive amount control unit 61 c controls the drive amount of the drive device 20 based on the derivation results of the straight traveling speed derivation unit 61 a and the turning speed derivation unit 61 b to cause the electric wheelchair 1 to travel. When the occupant sets the position of the operating device 30 to the neutral position while the control device 60 is performing travel control, the electric wheelchair 1 stops because the linear velocity v and the turning velocity w become zero. In this case, the traveling control of the control device 60 ends.

  Next, the collision suppression control performed by the control device 60 will be described with reference to the flowchart shown in FIG. The collision suppression control controls the traveling speed of the electric wheelchair 1 when there is a detected object in the suppression area during travel control of the electric wheelchair 1, and allows an operator to have an operating time for avoiding the object. Is a control for suppressing the collision between the electric wheelchair 1 and the object to be detected. In addition, at the time of driving | running | working start, the suppression area | region is set to reference | standard suppression area | region Rb.

  When travel control is started, the control device 60 predicts the course of the electric wheelchair 1 in step S102 (course prediction unit 62a). At step S104, control device 60 sets reference suppression area Rb and reduction suppression areas Rr1 and Rr2 (reference suppression area setting unit 62b, reduction suppression area setting unit 62c). Then, in step S106, the control device 60 executes the area switching control (area switching unit 62e). The area switching control will be described using the flowchart shown in FIG.

  At step S202, control device 60 determines whether or not there is an obstacle (obstacle presence determination unit 62f). If it is determined that there is no obstacle, the control device 60 determines “NO” in step S202. Then, in step S204, the control device 60 sets the suppression area as the reference suppression area Rb, and ends the area switching control. If it is determined that there is no obstacle, the travel of the electric wheelchair 1 is not suppressed (the drive amount suppression unit 61c1), so the gap between the travel of the electric wheelchair 1 and the travel intended by the occupant , Driving gap)) has not occurred. Thus, the suppression area is the reference suppression area Rb having the largest area. On the other hand, if it is determined that there is an obstacle (obstacle presence determination unit 62f), the control device 60 determines “YES” in step S202, and advances the program to step S206.

  At step S206, control device 60 determines whether or not the strength of the cancellation request is equal to or less than the first cancellation request determination value. Specifically, control device 60 determines whether or not the pressing load is equal to or less than the first release request determination value. The first release request determination value is set to the pressing load when the travel gap is very small. The first cancellation request determination value is, for example, 1N. When the travel gap is very small or there is no travel gap, the pressing load is very small. In this case, when the pressing load is equal to or less than the first release request determination value, the control device 60 determines “YES” in step S206. Then, in step S204, the control device 60 sets the suppression area as the reference suppression area Rb, and ends the area switching control.

  On the other hand, when the travel gap is relatively large, the pressing load is relatively large. In this case, when the pressing load is larger than the first release request determination value, the control device 60 determines “NO” in step S206, and advances the program to step S208.

  At step S208, control device 60 determines whether or not the strength of the release request (press load) is equal to or less than the second release request determination value. The second release request determination value is set to a value (for example, 10 N) larger than the first release request determination value. When the travel gap is relatively large and the pressing load is equal to or less than the second release request determination value, the control device 60 determines “YES” in step S208. Then, in step S210, the control device 60 sets the suppression area as the first reduction suppression area Rr1, and ends the area switching control. On the other hand, in the case where the travel gap is relatively large, when the pressing load is larger than the second release request determination value, the control device 60 determines “NO” in step S208. Then, in step S212, the control device 60 sets the suppression area to the second reduction suppression area Rr2, and ends the area switching control.

Returning to the flowchart of FIG. 10, the description will be continued.
Control device 60 determines whether or not there is an obstacle in step S108. If the detected object is located in the suppression area switched by the area switching control, it is determined that there is an obstacle (obstacle presence / absence determination unit 62f). In this case, the control device 60 determines “YES” in step S108, and suppresses the traveling of the electric wheelchair 1 in step S110 (drive amount suppression unit 61c1). Then, the program returns to step S102.

  On the other hand, when the detected object is located outside the suppression area switched by area switching control (the detection object is not located in the suppression area), it is determined that there is no obstacle (obstacle presence / absence determination unit 62f ). In this case, the control device 60 determines “NO” in step S108, and determines whether the traveling of the electric wheelchair 1 is suppressed in step S112. When the travel of the electric wheelchair 1 is not suppressed, the control device 60 determines “NO” in step S112, and returns the program to step S102. On the other hand, if the suppression of the traveling of the electric wheelchair 1 has already been made, the control device 60 determines “YES” in step S112, cancels the suppression of the traveling of the electric wheelchair 1 in step S114 The suppressing unit 61c1) returns the program to step S102.

  Next, the case where the electric wheelchair 1 operates according to the above-described flowchart will be described. Description is given of the case where the electric wheelchair 1 is traveling at the maximum speed (for example, 10 km / hr) when traveling is not suppressed by the occupant tilting the lever portion 31 of the operation device 30 forward. Do. At this time, the predicted travel area Wy is formed straight toward the front (step S102; track prediction unit 62a). Then, based on the predicted travel area Wy, the reference suppression area Rb and the reduction suppression areas Rr1 and Rr2 are set (step S104, the reference suppression area setting unit 62b, the reduction suppression area setting unit 62c), and it is determined that there is no obstacle. When it is set, the suppression area is set as the reference suppression area Rb (step S106; area switching unit 62e).

  At this time, the object is detected by the detection device 50, and as shown in FIG. 7, when the object is located in the reference suppression area Rb, according to the shortest distance Dmin between the electric wheelchair 1 and the object The maximum speed of the straight traveling speed v is suppressed (step S110; driving amount suppression unit 61c1). In the case where the electric wheelchair 1 is traveling at the receding linear velocity v, when the detected object is, for example, a stationary object, and the occupant feels that he wants to run faster than the restrained rectilinear velocity v, the traveling gap It is happening. At this time, the driver further tilts the lever portion 31 forward to request the release of the suppression of the travel of the electric wheelchair 1. Thus, when the pressing load becomes a load between the first release request determination value and the second release request determination value, as shown in FIG. 8, the reference suppression region Rb is cut to the first reduction suppression region Rr1. Replace (step S106; area switching unit 62e).

  As a result, the object to be detected is positioned outside the first reduction suppression area Rr1, so that the suppression of the traveling of the electric wheelchair 1 is released (step S114; drive amount suppression unit 61c1). Thus, the occupant can travel the electric wheelchair 1 at an uncontrolled speed. As described above, by suppressing the travel gap, the travel of the electric wheelchair 1 reflecting the intention of the occupant is suppressed.

  Even when the reference suppression area Rb is switched to the first reduction suppression area Rr1 (step S106; area switching unit 62e), when the detected object is positioned within the first reduction suppression area Rr1, Traveling is suppressed (step S110; driving amount suppression unit 61c1). In addition, even when the strength of the release request from the occupant becomes relatively large and the suppression area becomes the second reduction suppression area Rr2, when the detection object is positioned within the second reduction suppression area Rr2, the electric wheelchair 1 Travel is suppressed. As described above, even when there is a release request by the occupant, the traveling of the electric wheelchair 1 is suppressed when the detected object is positioned in the suppression area. Thus, a collision between the detected object and the electric wheelchair 1 is suppressed. Furthermore, when the pressing load is relatively large against the driver's intention, or when the operation device 30, the release request detection device 40, and the control device 60 fail, the release request determination value is greater than the release request determination value. When the object to be detected is positioned within the suppression area, the travel of the electric wheelchair 1 is suppressed even when the size is increased. Therefore, also in these cases, the collision between the object to be detected and the electric wheelchair 1 is suppressed.

  According to the first embodiment, the electric wheelchair 1 is the electric wheelchair 1 that travels by the drive device 20 driven according to the input to the operation device 30 by the occupant. The electric wheelchair 1 controls the drive amount of the drive device 20 based on the detection device 50 for detecting an object to be detected in the vicinity of the electric wheelchair 1 and input information which is information input to the operation device 30. And a controller 60 for causing the vehicle 1 to travel. The control device 60 is a suppression region in which the traveling of the electric wheelchair 1 is suppressed when the detected object detected by the detection device 50 is located in the region, and a reference for setting a reference suppression region Rb as a reference A reduction suppression setting is performed to set reduction suppression regions Rr1 and Rr2, which are reduction regions, to the reference suppression region Rb set by the reference suppression region setting unit 62b based on the suppression region setting unit 62b and the occupant's intention. And a region setting unit 62c.

  According to this, the reduction suppression area setting unit 62c sets the reduction suppression areas Rr1 and Rr2 reduced with respect to the reference suppression area Rb based on the occupant's intention. That is, the suppression area can be reduced. Therefore, when traveling of the electric wheelchair 1 is suppressed because the detected object is positioned in the reference suppression region Rb, the reference suppression region Rb is switched (reduced) to the reduction suppression regions Rr1 and Rr2, When the detected object located in the reference suppression area Rb is located outside the reduction suppression areas Rr1 and Rr2, the suppression of the traveling of the electric wheelchair 1 is released. In this case, when the traveling of the electric wheelchair 1 is suppressed more than the traveling intended by the occupant because the detected object is located in the reference suppression region Rb, the suppression of the traveling of the electric wheelchair 1 is canceled, The gap between the restricted travel of the electric wheelchair 1 and the intended travel of the occupant is suppressed. Therefore, the electric wheelchair 1 can suppress the traveling of the electric wheelchair 1 reflecting the intention of the occupant.

Further, the occupant's intention is a release request for suppressing the traveling of the electric wheelchair 1, and the electric wheelchair 1 further includes a release request detection device 40 that detects the strength of the release request by the operation of the occupant. The control device 60 reduces the reference suppression area Rb set by the reference suppression area setting unit 62b based on the strength of the cancellation request detected by the cancellation request detection device 40 and reduces the reduction suppression area setter 62c. And a region switching unit 62e for switching to the suppression regions Rr1 and Rr2.
According to this, when the occupant operates the release request detection device 40, the release request for suppressing the traveling of the electric wheelchair 1 is reliably transmitted to the electric wheelchair 1. Therefore, the switching from the reference suppression area Rb to the reduction suppression areas Rr1 and Rr2 is surely performed by the area switching unit 62e. Therefore, since the gap between the restricted traveling of the electric wheelchair 1 and the intended traveling of the occupant is surely suppressed, it is possible to reliably suppress the traveling of the electric wheelchair 1 reflecting the intention of the occupant. it can.

Further, the reduction suppression area setting unit 62c sets the reduction suppression area to be reduced as the strength of the release request detected by the release request detection device 40 increases.
According to this, as the strength of the cancellation request detected by the cancellation request detection device 40 increases, the reduction suppression area is set to be reduced, so that the detected object located outside the reduction suppression area is Become more. Therefore, since the gap between the restricted traveling of the electric wheelchair 1 and the traveling intended by the occupant is further suppressed, the traveling of the electric wheelchair 1 reflecting the intention of the occupant can be further suppressed.

In the first embodiment, the suppression area is formed so that the width is gradually narrowed based on the size of the release request (press load) of the occupant, but the scope of the present invention is not deviated from. In addition, the suppression area may be set to a shape different from the shape of the first embodiment. For example, as shown in FIG. 12, when four regions R1 to R4 whose widths become narrower toward the front from the origin C0 are set, the reference suppression region Rb is set to a region including all four regions R1 to R4. Be done. In addition, the first reduction suppression area Rr1 is set to an area obtained by combining the three areas R2 to R4. Then, the second reduction suppression area Rr2 is set to an area obtained by combining the two areas R3 and R4. Furthermore, when the reduction suppression area setting unit 62c sets a third reduction suppression area that makes the area smaller than the second reduction suppression area Rr2, the third reduction suppression area is set from one area R4. Thus, the reduction suppression area is set such that the length along the front-rear direction becomes stepwise smaller than the reference suppression area Rb.
When the reduction suppression area setting unit 62c sets the reduction suppression area in a stepwise manner so as to be similar to the reference suppression area Rb, the reduction suppression area is the front-back direction with respect to the reference suppression area Rb. The length along the line is set to be reduced stepwise, and the width is set to be reduced stepwise.

Second Embodiment
Next, parts of the second embodiment of the mobile object according to the present invention, which are different from the first embodiment described above, will be mainly described. Compared to the first embodiment described above, the second embodiment does not include the release request detection device 40, and further, the configuration of the collision suppression control unit 62 is different. In the collision suppression control unit 62 according to the first embodiment described above, switching of the suppression region is performed based on the release request of the occupant. However, the collision suppression control unit 162 according to the second embodiment is not limited to the peripheral region Rs. Switching of the suppression area is performed based on the type of the detected object located. Further, in the collision suppression control unit 162 of the second embodiment, region expansion control is performed in which the suppression region is deformed so as to be expanded based on the type of the detection object and the like. The types of objects to be detected are stationary objects and moving objects.

  The collision suppression control unit 162 according to the second embodiment, as shown in FIG. 13, includes a course prediction unit 162a, a reference suppression area setting unit 162b, a reduction suppression area setting unit 162c, a peripheral object presence determination unit 162g, and a peripheral object type determination. A section 162h, an occupancy ratio deriving section 162k, an area switching section 162e, an acceleration deriving section 162m, an area expansion control section 162n, and an obstacle presence / absence determination section 162f are provided. The traveling speed v from the traveling speed deriving unit 61a and the turning speed w from the turning speed deriving unit 61b are input to the peripheral object type determination unit 162h and the acceleration deriving unit 162m at every first predetermined time.

  The course prediction unit 162a generates the predicted travel area Wy and the peripheral area Rs, as in the first embodiment described above. The prediction advance region Wy and the peripheral region Rs are output to the reference suppression region setting unit 162b, the reduction suppression region setting unit 162c, and the peripheral object presence / absence determination unit 162g.

The reference suppression area setting unit 162b sets a reference suppression area Rb. The reference suppression area Rb of the second embodiment is formed to be parallel to the predicted travel area Wy, as shown in FIG. The reference width Bb of the second embodiment is formed to be approximately four times the width of the electric wheelchair 1.
The reduction suppression area setting unit 162c sets a reduction suppression area Rr. The reduction suppression area Rr in the second embodiment is only one reduction suppression area Rr. The reduction suppression area Rr of the second embodiment is set to the same area as the predicted travel area Wy.

  The peripheral object presence / absence determination unit 162g determines the presence / absence of a peripheral object based on the detected object information detected by the detection device 50 and the peripheral region Rs from the route prediction unit 162a. The peripheral object is an object to be detected located in the peripheral region Rs. Specifically, as shown in FIG. 14, when the peripheral region Rs and the detection object grid Gk overlap, the peripheral object presence / absence determination unit 162 g positions the detection object in the peripheral region Rs, so the peripheral objects are present. It determines that it exists.

  On the other hand, when the peripheral region Rs and the detection object grid Gk do not overlap, the peripheral object presence / absence determination unit 162g determines that there is no peripheral object because the detection object is not located in the peripheral region Rs. The peripheral region Rs and the detection object grid Gk do not overlap when the detection object grid Gk does not exist on the polar coordinate C or when the detection object grid Gk overlaps only with the suppression region. The determination result of the peripheral object presence / absence determination unit 162g is output to the peripheral object type determination unit 162h, the area switching unit 162e, and the area expansion control unit 162n. Further, the peripheral object presence / absence determination unit 162g outputs the information (the position and the number on the polar coordinate C) of the peripheral region Rs and the detection object grid Gk to the occupancy ratio derivation unit 162k.

  When the peripheral object presence / absence determination unit 162g determines that there is a peripheral object, the peripheral object type determination unit 162h determines whether the type of the peripheral object is a stationary object or a moving object. As described above, since the coordinates of the object to be detected are acquired at every first predetermined time, the velocity of the object to be detected can be calculated on the polar coordinate C. The speed of the detected object is a relative speed to the speed of the electric wheelchair 1. In addition, the peripheral object type determination unit 162h calculates the speed of the electric wheelchair 1 based on the rectilinear velocity v from the rectilinear velocity deriving unit 61a and the turning velocity w from the turning velocity deriving unit 61b. Then, when the speed of the detected object is the same as the speed of the electric wheelchair 1, it is determined that the type of the detected object is a stationary object. On the other hand, when the speed of the detected object is different from the speed of the electric wheelchair 1, it is determined that the type of the detected object is a moving object. The peripheral object type determination unit 162h outputs the detection result to the area switching unit 162e and the area expansion control unit 162n.

  The occupancy rate deriving unit 162k derives an occupancy rate that is the ratio of the area occupied by the detected object to the peripheral area Rs. The occupancy rate deriving unit 162k derives the occupancy rate based on the information on the peripheral region Rs and the detection object grid Gk from the peripheral object presence / absence determination unit 162g. The occupancy rate is specifically a ratio of the number of object grids Gk overlapping the peripheral region Rs to the number of grids G overlapping the peripheral region Rs. For example, when the electric wheelchair 1 travels straight on a relatively narrow straight alley, as shown in FIG. 15A, when there is a stationary object such as a plant arranged parallel along both sides of the alley, A parallel point group PG appears on the polar coordinate C along the front-rear direction. In this case, the number of grids G overlapping the peripheral region Rs is 162. Further, the number of the to-be-detected object grid Gk overlapping the peripheral region Rs is eighteen. Therefore, the occupancy rate in this case is 11.1 (= 18/162)%. Also, for example, when there is no detected object in the peripheral region Rs, the number of the detected object grid Gk overlapping the peripheral region Rs is zero, so the occupancy rate becomes zero%. The occupancy rate deriving unit 162k outputs the derived occupancy rate to the area switching unit 162e and the area expansion control unit 162n.

  Note that the occupancy ratio deriving unit 162k derives the occupancy ratio based on the peripheral region Rs from the peripheral object presence / absence determination unit 162g, the information of the detection object grid Gk, and the information of the occlusion grid Go (see FIG. 15B). You may do so. The occlusion grid Go is a grid G corresponding to the occlusion region on the polar coordinate C. When the detection device 50 detects the detected object, another detected object located behind the detected object (in a direction away from the electric wheelchair 1) can not be detected due to the characteristics of the detection device 50 described above. An area in which the other detected object can not be detected is the occlusion area. On the polar coordinates C, as shown in FIG. 15B, when there is the same object grid Gk as that in FIG. 15A, the grid G located in front of the object grid Gk becomes an oculijeong grid Go. The occupancy ratio deriving unit 162k calculates the ratio of the number of detected object grids Gk overlapping the peripheral region Rs to the number obtained by subtracting the number of the oculjeong grids Go overlapping the peripheral region Rs from the number of grids G overlapping the peripheral region Rs. It may be derived as the occupancy rate.

The area switching unit 162e switches the suppression area based on the determination result of the peripheral object presence / absence determination unit 162g, the determination result of the peripheral object type determination unit 162h, and the occupancy derived by the occupancy deriving unit 162k based on a predetermined map. It is a thing. In the second embodiment, the predetermined map is the fourth map M4 shown in FIG. Specifically, if the peripheral object presence / absence determination unit 162g determines that there is no peripheral object, the region switching unit 162e determines that the type of the peripheral object is a moving object by the peripheral object type determination unit 162h. In this case, the suppression area is set to the reference suppression area Rb. When there are a plurality of peripheral objects, the suppression region is set as the reference suppression region Rb when it is determined that even one of the peripheral objects is a moving object.
In addition, when the peripheral object type determination unit 162h determines that the type of the peripheral object is a stationary object, the region switching unit 162e sets the suppression region as the reduction suppression region Rr. When there are a plurality of peripheral objects, the suppression region is set as the reduction suppression region Rr when it is determined that the types of all the peripheral objects are stationary objects.

  The acceleration deriving unit 162 m derives the acceleration of the electric wheelchair 1. The acceleration deriving unit 162m calculates the velocity of the electric wheelchair 1 every first predetermined time based on the straight traveling velocity v from the straight traveling velocity deriving unit 61a and the turning velocity w from the turning velocity deriving unit 61b. It stores as time series data. In this way, it is derived from the current speed in the time-series data and whether or not the electric wheelchair 1 is accelerating from each speed from the second predetermined time which is longer than the first predetermined time to the present time. The acceleration deriving unit 162m outputs the derivation result to the region expansion control unit 162n.

  The area expansion control unit 162 n executes area expansion control for expanding the suppression area. The area expansion control is control for expanding the suppression area switched by the area switching unit 162e. In the present embodiment, as shown in FIG. 17, the area expansion control expands (deforms) the width of the suppression area so as to expand in the left-right direction. In the area expansion control, an expansion amount for expanding the suppression area is calculated. Specifically, ΔRL, which is the amount of expansion for expanding the left side of the suppression region, is expressed as equation (1). Further, ΔRR, which is an expansion amount for expanding the right side of the suppression region, is expressed as Expression (2). ΔRL and ΔRR are calculated every first predetermined time, and the suppression region is expanded by the expansion amount.

[Equation 1]
ΔRL = HL × ((A / B) + C) (1)
[Equation 2]
ΔRR = HR × ((A / B) + C) (2)

HL is the horizontal length from the left end of the current suppression area to the left end of the left peripheral area Rs. A is the current acceleration of the electric wheelchair 1. B is the maximum acceleration of the electric wheelchair 1.
HR is the horizontal length from the right end of the current suppression area to the right end of the peripheral area Rs on the right side. When the speed of the electric wheelchair 1 is the maximum speed, C is set to a predetermined value. The predetermined value extends ΔRL to the left end of peripheral area Rs when ΔRL is not expanded to the left end of peripheral area Rs when the speed of electric wheelchair 1 is the maximum speed, and ΔRR is the peripheral area Rs. When not extending to the right end, ΔRR is set to a value that extends to the right end of the peripheral region Rs. On the other hand, if the speed of the electric wheelchair 1 is not the maximum speed, C is set to zero.

  In addition, when the suppression area is expanded, when the detected object is positioned in the suppression area, the area expansion control unit 162 n maintains the suppression area without expanding the size of the suppression area at that time. Then, when the detected object located in the suppression area deviates from the suppression area, the area expansion control unit 162 n expands the suppression area as described above. When the suppression area is expanded and both left and right ends of the suppression area reach both left and right ends of the peripheral area Rs, the area expansion control unit 162 n restores the initial shape when the suppression area is set, and Repeat the expansion of the suppression area and continue.

  Further, based on the fifth map M5 shown in FIG. 18, the region expansion control unit 162n derives the acceleration result of the acceleration deriving unit 162m, the determination result of the peripheral object presence / absence determination unit 162g, the determination result and occupancy of the peripheral object type determination unit 162h. From the derivation result of the rate derivation unit 162k, it is determined whether or not region expansion control is to be performed. Specifically, when the acceleration derived by the acceleration deriving unit 162 m is equal to or less than zero, the region expansion control unit 162 n does not execute the region expansion control regardless of the types and occupancy rates of surrounding objects. In addition, when the acceleration derived by the acceleration deriving unit 162m is larger than zero, the region expansion control unit 162n determines that the region is a stationary object and the occupancy is equal to or greater than the occupancy determination value. Do not execute extended control. When the electric wheelchair 1 travels in a relatively narrow place, the occupancy rate determination value is set such that the occupancy rate is equal to or higher than the occupancy rate determination value. The occupancy rate determination value is, for example, 8%.

On the other hand, when the acceleration derived by the acceleration deriving unit 162m is larger than zero, the region expansion control unit 162n does not have surrounding objects, the type of surrounding objects is a moving object, and the type of peripheral objects is stationary. If the object is an object and the occupancy rate is smaller than the occupancy rate determination value, area expansion control is performed. When executing the area expansion control, the area expansion control unit 162 n outputs the suppression area expanded by the area expansion control to the obstacle presence / absence determination unit 162 f. On the other hand, when the area expansion control unit 162n does not execute the area expansion control, the area expansion control unit 162n outputs the suppression area to the obstacle presence / absence determination unit 162f without expanding the suppression area.
The obstacle presence / absence determination unit 162f determines the presence or absence of an obstacle based on the detected object information detected by the detection device 50 and the suppression area from the area expansion control unit 162n.

Next, the collision suppression control performed by the control device 60 in the second embodiment will be described along the flowchart shown in FIG. The flow chart shown in FIG. 19 is the same as the flow chart shown in FIG. 10 from step S102 and step S108 after step S320.
In step S102, the control device 60 predicts the course of the electric wheelchair 1, and generates a predicted travel area Wy (course prediction unit 162a). At step S304, control device 60 generates peripheral region Rs (track prediction unit 162a). Then, the control device 60 sets the reference suppression area Rb and the reduction suppression area Rr in step S306 (a reference suppression area setting unit 162b, a reduction suppression area setting unit 162c).

  At step S308, control device 60 determines whether or not there is a peripheral object (peripheral object presence / absence determination unit 162g). If there is no detected object in the peripheral region Rs, the control device 60 determines “NO” in step S308 because there is no peripheral object, and advances the program to step S312. On the other hand, when the detected object is present in the peripheral region Rs, the control device 60 determines “YES” in step S308 because there is a peripheral object. Then, at step S310, control device 60 determines the type of peripheral object (peripheral object type determination unit 162h), and advances the program to step S312. At step S312, control device 60 derives the occupancy rate (occupancy rate deriving unit 162k).

  Subsequently, in step S314, the control device 60 derives the acceleration of the electric wheelchair 1 (acceleration deriving unit 162m). Further, in step S316, the control device 60 switches the suppression area (area switching unit 162e). Then, the control device 60 determines whether to execute the area expansion control (area expansion control unit 162 n). When area expansion control is to be performed, control device 60 determines “YES” in step S318, executes area expansion control in step S320, and advances the program to step S108. On the other hand, when the area expansion control is not executed, the control device 60 determines “NO” in step S318, and advances the program to step S108 without executing the area expansion control. The control device 60 returns the program to step S102 after the process of step S110, when it is determined as "NO" in step S112, and after performing the process of step S114.

  Next, the case where the electric wheelchair 1 is operated will be described along the flowchart of FIG. 19 described above. First, the case where the electric wheelchair 1 travels straight ahead in a relatively wide area will be described. In this case, when the object is not detected by the detection device 50, there is no peripheral object (step S308; peripheral object presence / absence determination unit 162g), and the suppression region is made the reference suppression region Rb (step S316; region switching unit 162e). Further, at this time, when the electric wheelchair 1 is not accelerating, the acceleration is not more than zero (step S314; acceleration deriving unit 162m), and therefore the region expansion control is not executed (step S318; region expansion control unit 162n). On the other hand, when the electric wheelchair 1 is accelerating, the acceleration becomes larger than zero (step S314; acceleration deriving unit 162m). At this time, the area expansion control is executed when there is no detected object (step S320; area expansion control unit 162n). Then, when there is no detected object, the detected object is not located in the reference suppression area Rb. Therefore, since there is no obstacle (step S108; obstacle presence / absence detection unit), the travel is not suppressed (drive amount suppression unit 61c1).

  Then, when the electric wheelchair 1 travels straight in a relatively wide area, as shown in FIG. 14, there is an object to be detected in the peripheral region Rs (step S308; peripheral object presence / absence determination unit 162g), and the object to be detected When the type of object is a moving object (step S310; peripheral object type determination unit 162h), the suppression region is set as the reference suppression region Rb (step S316; region switching unit 162e). At this time, when the electric wheelchair 1 is accelerating (when acceleration> zero), area expansion control is performed (step S320; area expansion control unit 162n). Then, when the moving object is positioned in the reference suppression region Rb, the size of the reference suppression region Rb when the moving object is positioned in the reference suppression region Rb is maintained, and the traveling of the electric wheelchair 1 is suppressed. (Step S110; driving amount suppression unit 61c1).

  Further, when the type of the detected object shown in FIG. 14 is a stationary object when the electric wheelchair 1 travels straight ahead in a relatively wide area (step S310; peripheral object type determination unit 162h), the suppression region is suppressed from being reduced. The region Rr is set (step S316; region switching unit 162e). When the number of the object grids Gk generated by the stationary object is two, the occupancy rate is smaller than the occupancy rate determination value. Therefore, when the electric wheelchair 1 is accelerating (when acceleration> zero), the area expansion control is executed (step S320; area expansion control unit 162n). Then, when the stationary object is positioned in the reduction suppression region Rr, the size of the reduction suppression region Rr when the stationary object is positioned in the reduction suppression region Rr is maintained, and the traveling of the electric wheelchair 1 is suppressed. (Step S110; driving amount suppression unit 61c1).

  Next, in the case where the electric wheelchair 1 travels straight on a relatively narrow straight alley, there will be described a stationary object such as a plant arranged along both sides of the alley. In this case, as shown in FIG. 15A, there is an object to be detected in the peripheral region Rs (step S308; peripheral object presence / absence determination unit 162g), and the type of the object to be detected is a stationary object (step S310; peripheral object The type determination unit 162h) sets the suppression area as the reduction suppression area Rr (step S316; area switching unit 162e). Furthermore, in this case, the occupancy rate becomes equal to or higher than the occupancy rate determination rate (step S312; occupancy rate derivation unit 162k). Therefore, in this case, area expansion control is not executed even when the electric wheelchair 1 is accelerating (acceleration> zero) (step S318; area expansion control unit 162n).

  Further, in this case, the area expansion control is not executed even when the electric wheelchair 1 is not accelerating (when acceleration ≦ zero) (step S318; area expansion control unit 162n). Therefore, in this case, as long as the electric wheelchair 1 travels straight, the stationary object is not located within the reduction suppression area Rr, and thus the traveling of the electric wheelchair 1 is not suppressed (the driving amount suppression unit 61c1).

According to the second embodiment, the electric wheelchair 1 travels by the drive device 20 driven according to the input to the operation device 30 by the occupant, and the electric wheelchair 1 detects an object to be detected around the electric wheelchair 1. The control device 60 controls the drive amount of the drive device 20 based on input information which is information input to the operation device 30, and causes the electric wheelchair 1 to travel. The control device 60 is a suppression region in which the traveling of the electric wheelchair 1 is suppressed when the detected object detected by the detection device 50 is located in the region, and a reference for setting a reference suppression region Rb as a reference The reference suppression area set by the reference suppression area setting unit 162b based on the suppression area setting unit 162b and the type of the object to be detected located in the peripheral region Rs which is the region on both sides of the predicted travel region Wy of the electric wheelchair 1 And a reduction suppression area setting unit 162c configured to set a reduction suppression area Rr, which is a reduction suppression area, to Rb.
According to this, the reduction suppression area setting unit 162c sets the reduction suppression area Rr based on the type of the detection target located in the peripheral area Rs. When the suppression area is set to the reduction suppression area Rr, it is difficult for the object to be detected to be located in the suppression area. Thereby, when the detected object is not positioned within the suppression area, the traveling of the electric wheelchair 1 is not suppressed, and the traveling intended by the occupant becomes possible. Therefore, at this time, the gap between the restricted traveling of the electric wheelchair 1 and the intended traveling of the occupant is suppressed. Therefore, the electric wheelchair 1 can suppress the traveling of the electric wheelchair 1 reflecting the intention of the occupant.

Further, the type of the object to be detected is a stationary object and a moving object. The control device 60 determines in the peripheral region Rs by the peripheral object type determination unit 162h that determines whether the type of the detected object located in the peripheral region Rs is a stationary object or a moving object, and the peripheral object type determination unit 162h. An area to be switched from the reference suppression area Rb set by the reference suppression area setting unit 162b to the reduction suppression area Rr set by the reduction suppression area setting unit 162c when it is determined that the type of the object to be detected is a stationary object. And a switching unit 162e.
According to this, when only the stationary object is located in the peripheral region Rs, the occupant sometimes feels that the electric wheelchair 1 is to travel at a relatively high speed. At this time, a gap between the restricted traveling of the electric wheelchair 1 and the intended traveling of the occupant is more likely to occur than when the detected object located in the peripheral region Rs includes the moving object. On the other hand, when it is determined that the type of the detected object in the peripheral region Rs is a stationary object, the region switching unit 162e switches the reference suppression region Rb to the reduction suppression region Rr. Thereby, it is possible to make it difficult to position the detection object in the suppression area. When the detected object is not located in the suppression area, the traveling of the electric wheelchair 1 is not suppressed, and the traveling intended by the occupant becomes possible. Thus, the gap between the restricted traveling of the electric wheelchair 1 and the intended traveling of the occupant is suppressed. Therefore, the electric wheelchair 1 can suppress the traveling of the electric wheelchair 1 reflecting the intention of the occupant.

In addition, the control device 60 performs area expansion control for expanding the suppression area when the peripheral object type determination unit 162h determines that the type of the detected object in the peripheral region Rs is a moving object. It further comprises 162n.
When the type of the object to be detected located in the peripheral region Rs is a moving object, it is difficult to predict the movement of the object to be detected as compared with the case where the type of the object to be detected is a stationary object. In this case, the moving object can be easily positioned in the suppression area by expanding the size of the suppression area by the area expansion control unit 162 n. When the moving object is located in the suppression area, the traveling of the electric wheelchair 1 is suppressed. Thus, the collision between the electric wheelchair 1 and the moving object can be further suppressed.
In addition, since the amount of suppression of travel of the electric wheelchair 1 is adjusted according to the distance between the electric wheelchair 1 and the object to be detected, even when the object to be detected is positioned within the expanded suppression area, It can be ensured that no suppression takes place.

The control device 60 further includes an occupancy ratio deriving unit 162k that derives an occupancy ratio that is the ratio of the area occupied by the detected object to the peripheral area Rs. The region expansion control unit 162 n determines that the occupancy ratio derived by the occupancy ratio derivation unit 162 k is an occupancy ratio when the peripheral object type determination unit 162 h determines that the type of the detected object in the peripheral region Rs is a stationary object. When it is smaller than the judgment value, area expansion control is executed.
Even when the type of the object to be detected located in the peripheral region Rs is a stationary object, exercise is performed when the occupancy rate is smaller than the occupancy rate determination value, that is, when the space in which the electric wheelchair 1 is traveling is relatively wide. It is conceivable that the electric wheelchair 1 collides with the moving object due to the sudden appearance of objects or the like. At this time, the detection target can be easily positioned in the suppression area by the area expansion control unit 162 n expanding the size of the suppression area. Thus, the collision between the electric wheelchair 1 and the moving object can be further suppressed.
On the other hand, when the type of the detected object located in the peripheral region Rs is a stationary object, when the occupancy rate is equal to or greater than the occupancy rate determination value, ie, the space in which the electric wheelchair 1 is traveling is relatively narrow ( For example, when a narrow alley etc.), it is considered that the possibility of a collision between the object to be detected and the electric wheelchair 1 due to a sudden appearance of the object to be detected or the like is relatively low. Therefore, the area expansion control unit 162 n does not expand the size of the suppression area. Therefore, since the gap between the restricted traveling of the electric wheelchair 1 and the intended traveling of the occupant is suppressed, it is possible to suppress the traveling of the electric wheelchair 1 reflecting the intention of the occupant.

  In addition, in each embodiment mentioned above, although an example of a mobile was shown, this invention is not limited to this, Another structure can also be employ | adopted. For example, in each of the above-described embodiments, the mobile unit is the electric wheelchair 1, but instead, it may be a boarding type mobile unit such as a small vehicle or a mobile robot.

  Further, in the above-described first embodiment, the release request detection device 40 includes the load detection unit 42 that detects a pressing load. However, instead of this, a plurality of switches may be provided. In this case, the area switching unit 62e may switch the reduction suppression areas Rr1 and Rr2, for example, in accordance with the switch that has been turned on. Furthermore, the release request detection device 40 may be provided with a microphone or the like capable of inputting the voice of the occupant. In this case, the area switching unit 62e may switch the reduction suppression areas Rr1 and Rr2, for example, according to the size of the voice of the passenger.

  In the first embodiment described above, the area switching unit 62e switches the suppression area in consideration of the determination result of the obstacle presence / absence determination unit 62f, but instead, the obstacle presence / absence determination unit The suppression region may be switched based on only the detection result of the release request detection device 40 without considering the determination result of 62 f.

In the second embodiment described above, the area switching unit 162e switches the suppression area based on the fourth map M4 shown in FIG. 16, but instead, the fourteenth map shown in FIG. The switching of the suppression area may be performed based on M14. In this case, the area switching unit 162e switches from the reference suppression area Rb to the reduction suppression area Rr when the occupancy rate is equal to or more than the occupancy rate determination value. As described above, the control device 60 determines the occupancy rate that is the occupancy rate derived by the occupancy rate derivation unit 162k and the occupancy rate derivation unit 162k that derives the occupancy rate that is the ratio of the area occupied by the detected object to the peripheral area Rs. The area switching unit 162e is further provided to switch from the reference suppression area Rb set by the reference suppression area setting unit 162b to the reduction suppression area Rr set by the reduction suppression area setting unit 162c.
When the occupancy rate is larger than the occupancy rate determination value, that is, when the space in which the electric wheelchair 1 is traveling is relatively narrow, the detected object is in the suppression area as compared with the case where the space in which the electric wheelchair 1 is traveling is wide. Easy to locate. Therefore, when the occupancy rate is larger than the occupancy rate determination value, a gap between the restricted traveling of the electric wheelchair 1 and the intended traveling of the occupant tends to occur, and the area switching unit 162e suppresses the reduction of the reference suppression area Rb. Switch to area Rr. Thereby, when the detected object is not positioned within the suppression area, the traveling of the electric wheelchair 1 is not suppressed, and the traveling intended by the occupant becomes possible. Thus, the gap between the restricted traveling of the electric wheelchair 1 and the intended traveling of the occupant is suppressed. Therefore, the electric wheelchair 1 can suppress the traveling of the electric wheelchair 1 reflecting the intention of the occupant.

  In the second embodiment described above, the area switching unit 162e switches the suppression area based on the fourth map M4 shown in FIG. 16, but instead of this, the twenty-fourth example shown in FIG. The suppression area may be switched based on the map M24. In this case, as compared with the second embodiment described above, even when the type of the peripheral object is a moving object, the suppression region is set as the reduction suppression region Rr when the occupancy is equal to or more than the occupancy ratio determination value.

In the second embodiment described above, the area expansion control unit 162 n determines whether to execute the area expansion control based on the fifth map M5 illustrated in FIG. 18. At this time, the area expansion control unit 162 n determines whether to execute the area expansion control from the acceleration, but instead, when the electric wheelchair 1 is at the maximum speed, the acceleration of the electric wheelchair 1 is Regardless of the above, the area expansion control may be executed from the peripheral objects and the occupancy rate based on the contents of the fifth map M5 indicated by “when acceleration> zero”.
In addition, instead of the fifth map M5 illustrated in FIG. 18, the area expansion control unit 162 n may determine whether to execute the area expansion control based on a fifteenth map M15 illustrated in FIG. good. In this case, the area expansion control unit 162 n determines whether or not to execute the area expansion control based on only the occupancy rate, regardless of whether or not the electric wheelchair 1 is accelerating.

  Moreover, in the second embodiment described above, the region expansion control unit 162 n calculates the expansion amount based on the acceleration of the electric wheelchair 1, but instead, the area expansion control unit 162 n does not change the expansion amount regardless of the acceleration of the electric wheelchair 1. The area may be expanded by the expansion amount.

  Further, in the embodiment described above, the operating device 30 is a joystick, but instead, the operating device 30 is controlled by an accelerator that directs the linear velocity v of the electric wheelchair 1 and a steering wheel that instructs the turning direction of the electric wheelchair 1 It may be configured.

  In each of the above-described embodiments, the reduction suppression regions Rr, Rr1, and Rr2 are set in advance by the reduction suppression region setting units 62c and 162c, but instead, by deforming the reference suppression region Rb, The reduction suppression regions Rr, Rr1, and Rr2 may be set.

Moreover, in each embodiment mentioned above, although the detection apparatus 50 is a three-dimensional range-finding sensor which detects three-dimensional positional information on a to-be-detected object, it replaces with this and detects two-dimensional positional information on a to-be-detected object It may be a two-dimensional range-finding sensor.
In the embodiment described above, the electric wheelchair 1 includes one detection device 50. However, instead of this, a plurality of detection devices 50 may be provided. According to this, compared with the case where one detection device 50 is provided, the range in which the detection object of the detection device 50 can be detected can be expanded.

  Moreover, in each embodiment mentioned above, although the suppression area | region is planarly produced | generated on polar coordinate C, you may make it generate | occur | produce the suppression area | region three-dimensionally instead. In this case, in place of the polar coordinates C, it is preferable to set a suppression area on spherical coordinates centered on the electric wheelchair 1. According to this, the height of the reference suppression area Rb and the height of the reduction suppression area Rr can be set to be different within a range in which the detection device 50 can detect the detected object.

In each of the above-described embodiments, when there is a detected object in the suppression region, the maximum linear velocity v limited by the drive amount suppression unit 61c1 varies according to the shortest distance Dmin. It is also possible to change in accordance with the relative speed between the electric wheelchair 1 and the object to be detected or the density of the object to be detected in the grid G (density of the point group PG). When there is a detected object in the suppression area, the drive amount suppression unit 61c1 may limit the maximum linear velocity v to a constant speed regardless of the shortest distance Dmin.
Further, in each of the above-described embodiments, by setting the drive amount of the drive device 20 to the limited drive amount by the drive amount suppressing portion 61c1, the maximum linear velocity v is limited. The velocity v may be uniformly reduced at a predetermined rate. In addition, the temporal change rate (acceleration) of the linear velocity v may be limited.

  DESCRIPTION OF SYMBOLS 1 ... Electric wheelchair (mobile body), 10 ... Wheelchair main body, 20 ... Drive device, 30 ... Operation device, 40 ... Cancellation request detection device, 50 ... Detection device, 60 ... Control device, 61 ... Traveling control part, 61c ... Drive Amount control unit 61c1 Drive amount suppression unit 62 Collision control unit 62a Track prediction unit 62b Reference suppression area setting unit 62c Reduction suppression area setting unit 62d Cancellation request acquisition unit 62e Area Switching unit, 62f ... obstacle presence determination unit, 162g ... peripheral object presence determination unit, 162h ... peripheral object type determination unit, 162k ... occupancy ratio deriving unit, 162n ... area expansion control unit, C ... polar coordinates, Rb ... reference suppression area , Rr ... reduction suppression area, Rs ... peripheral area, Wy ... predicted travel area.

Claims (4)

A moving body driven by a drive device driven according to an input to a control device by a passenger,
The moving body is
A detection device for detecting an object to be detected around the moving body;
And a control device for controlling the drive amount of the drive device to travel the moving body based on input information which is information input to the operation device.
The controller is
A reference suppression area setting unit that sets a reference suppression area, which is a suppression area in which traveling of the movable body is suppressed when the detected object detected by the detection device is positioned within the area; ,
In the reference suppression area set by the reference suppression area setting unit based on the intention of the occupant or the type of the detection object located in the peripheral area which is the area on both sides of the predicted travel area of the mobile object against it, Bei example a reduced suppression area setting unit for setting a reduction suppression region is reduced the inhibition region, and
The types of the object to be detected are a stationary object and a moving object,
The controller is
A peripheral object type determination unit that determines whether the type of the object to be detected located in the peripheral area is the stationary object or the moving object;
When the peripheral object type determination unit determines that the type of the detected object in the peripheral region is the stationary object, the reduction suppression region is determined from the reference suppression region set by the reference suppression region setting unit. A mobile unit further comprising: a region switching unit configured to switch to the reduction suppression region set by the setting unit . The controller is
A region expansion control unit for executing region expansion control for expanding the suppression region when the peripheral object type determination unit determines that the type of the detection object in the peripheral region is the moving object; The mobile unit according to claim 1 provided. The controller is
The apparatus further comprises an occupancy ratio deriving unit that derives an occupancy ratio that is a ratio of the area occupied by the detection object to the peripheral area.
The area expansion control unit is configured to use the occupancy ratio derived by the occupancy ratio deriving unit when the peripheral object type determination unit determines that the type of the detected object in the peripheral region is the stationary object. The mobile unit according to claim 2 , wherein the area expansion control is executed when the value is smaller than the occupancy ratio determination value. A moving body driven by a drive device driven according to an input to a control device by a passenger,
The moving body is
A detection device for detecting an object to be detected around the moving body;
And a control device for controlling the drive amount of the drive device to travel the moving body based on input information which is information input to the operation device.
The controller is
A reference suppression area setting unit that sets a reference suppression area, which is a suppression area in which traveling of the movable body is suppressed when the detected object detected by the detection device is positioned within the area; ,
In the reference suppression area set by the reference suppression area setting unit based on the intention of the occupant or the type of the detection object located in the peripheral area which is the area on both sides of the predicted travel area of the mobile object A reduction suppression area setting unit configured to set a reduction suppression area, which is the reduced suppression area,
And occupancy factor deriving unit that derives the occupancy is the proportion of area occupied by the detection object to the previous SL peripheral region,
When the occupancy ratio derived by the occupancy ratio derivation unit is equal to or greater than the occupancy ratio determination value, the reduction set by the reduction suppression region setting unit from the reference suppression region set by the reference suppression region setting unit mobile that example Bei and a region switching unit for switching the suppression area.

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