JP2003151092A - Mobile run by mechanical and/or electrical power controlled essentially by man for driving state thereof and operation control system thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent collision with an obstruction or to relax an obstruct at collision when there is the obstruction in a running direction of a mobile essentially driven by a man. SOLUTION: In this method for preventing collision with the obstruction or relaxing an obstruct at collision when there is the obstruction in the running direction of the mobile essentially driven by the man, the mobile run by mechanical and/or electrical power has a means for finding the obstruction in an advancing direction during running, a means for recognizing the obstruction by information from the finding means and a mechanism for temporarily reducing a speed of the mobile by a constant value or by a constant proportion or stopping the mobile on the basis of information from the means for recognizing the obstruction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a moving body such as an automobile and a moving body having the same. In particular, the present invention relates to a collision accident mitigation / prevention device for reducing the possibility of collision with an obstacle during traveling.

[0002]

2. Description of the Related Art A vehicle is moved in the direction of movement of a moving body such as an automobile.
When the driver of the moving body recognizes an object, such as a human being or a utility pole, which may collide when the moving body travels as it is, the driver operates the steering wheel to prevent the collision and moves at the same speed. Take action to lower
That is, in the case of a car, the accelerator is released and the brake is applied. When a human is driving an automobile and recognizes an obstacle, a command is sent from the brain to the foot, and the driver releases the accelerator and brakes. However, since it takes time in the recognition process, the command transmission process, the actual operation process, etc., the automobile continues to run during that time. It is said that the standard human nerve transmission speed is about 300 m / sec. It takes 0.75 seconds for a normal man and about 1 second for a woman before the object appears in the retina, is transmitted to the cerebrum through the nervous system, and the cerebrum makes a command to make a brake action. It is said. During this time, the car runs without any braking operation. This free running distance is generally as shown in Table 1. Of course, this free running distance changes depending on the hourly speed, the characteristic characteristic of each vehicle, the traveling speed, the weight, the characteristic of the driver, and the like.

[0003]

[Table 1] free running distance

As is clear from the table, the average free-running distance when a woman is driving at a speed of 60 km / hour is about 1
It will be 7m. In addition, since the vehicle will continue to travel 27 m after the braking work is started by the driver, the total stop distance is 4
It will be 4m. Therefore, if an object suddenly enters within 44 m, for example, if a person suddenly jumps out, an accident will occur. Of course, it is possible for the driver to take avoidance measures with the steering wheel and take measures such as honking the whistle, but in some cases, it is often impossible to take these actions, and the intruder notices. In many cases, they can't avoid it. There are various known methods for preventing a moving object from colliding regardless of human behavior. The automatic train stop device of a train receives a stop signal and stops the train regardless of the driver's action.
In this case, since the stop device works upon receiving the signal, it cannot be applied to an automobile running on a road.

On the other hand, in an automobile, it is necessary for the automobile side to recognize an obstacle in front of the vehicle.
A method has been proposed in which electromagnetic waves, ultrasonic waves, and the like are emitted in front of a vehicle, the reflected wave is sensed to know the distance from an obstacle, and the speed of the vehicle is controlled to prevent a collision. In connection with this, various methods for preventing drowsiness, which occupies a large part of an accident, have been proposed and partially put into practical use. The method using laser, electromagnetic waves, and ultrasonic waves can be recognized when the obstacle ahead is, for example, a slow moving vehicle, a stopped vehicle, or a large object that has fallen on the road. As described above, the main target of these methods is to deal with the cause on the driver side such as driver's drowsiness and oversight due to looking away etc., which is effective in those cases, but it is effective for people on the road. Almost to jump out,
The effect cannot be expected.

When a human suddenly jumps out, electromagnetic waves are difficult to be reflected from the human body, and ultrasonic waves are easily attenuated in the air. On the other hand, for example, a method of detecting infrared rays emitted from a human body has been proposed. It is said that the infrared rays emitted from the human body and the sunlight have different peak values, so that the infrared rays emitted from the human body can be recognized.
However, with this method, it is expected that the discriminating ability will differ depending on the climate, that is, whether it is sunny, cloudy, or rain, a difference due to time, daytime, evening, or night. Further, it cannot be used for recognizing objects other than the living body, and separately requires these recognizing devices. Therefore, although these may be effective alone, they are not perfect and are desired to be used in combination. It should be noted that automobiles are widely used as the current driving method is established, and a system that completely changes the current driving system is not realistic. That is, it is necessary for the system to be acceptable to the driver with little discomfort. Also, extremely expensive and bulky devices are impractical.

[0007]

When there is an obstacle in the traveling direction of a moving body which is driven by a person, the collision with the obstacle is prevented or the obstacle at the time of the collision is reduced.

[0008]

SUMMARY OF THE INVENTION The present invention is a method for preventing a collision with an obstacle or for reducing an obstacle at the time of collision when the obstacle is substantially in the traveling direction of a moving body driven by a human. With respect to the above, regarding the means for recognizing an obstacle in the traveling direction while traveling, the means for recognizing the obstacle by the information from the recognizing means, and the speed for the moving body based on the information from the means for recognizing the obstacle Decrease by a certain amount or a certain percentage,
Alternatively, it is a moving body that has a function of stopping and that is driven by a mechanical or / and electrical power that substantially controls a driving state by a human.

Further, the means for recognizing an obstacle in the traveling direction while traveling, the means for recognizing the obstacle based on the information from the means for recognizing the obstacle, and the moving body based on the information from the means for recognizing the obstacle. Control system for a moving body that has a function of temporarily reducing the speed of a vehicle by a fixed amount or a fixed ratio, or stopping the vehicle, which is driven by mechanical or / and electrical power that is substantially controlled by a human. Is.

The means for recognizing an obstacle in the traveling direction during traveling is based on an image obtained optically.
A moving body that is driven by mechanical or / and electrical power that controls a driving state by a person.

The means for recognizing an obstacle in the traveling direction during traveling is based on an image obtained optically.
It is a driving control system of a moving body which is driven by mechanical or / and electric power by which a human controls a driving state.

Further, the means for recognizing an obstacle in the traveling direction during traveling is that the electromagnetic wave, laser, ultrasonic wave or infrared ray is emitted from the moving body in the moving direction until the reflected wave is obtained. , A moving body that is driven by mechanical or / and electrical power that controls the driving state of a human being.

Further, the means for recognizing an obstacle in the traveling direction while traveling is that the electromagnetic wave, laser, ultrasonic wave or infrared ray is emitted from the moving body in the moving direction until the reflected wave is obtained. Is a driving control system of a moving body which is driven by mechanical or / and electrical power for controlling a driving state by a human being.

Further, the means for recognizing an obstacle in the traveling direction while traveling is a means for recognizing infrared rays emitted from the obstacle, which is substantially mechanical and / or electrical for controlling a driving state by a human. It is a moving body that travels by power.

Further, the means for recognizing an obstacle in the traveling direction while traveling is a means for recognizing infrared rays emitted from the obstacle, which is substantially mechanical and / or electrical for controlling a driving state by a human. It is an operation control system of a mobile body traveling by power.

Further, it is a moving body which uses two or more means for recognizing an obstacle in the traveling direction while traveling and which is substantially driven by a human being by mechanical or / and electric power for controlling the driving state. .

Further, the driving of a moving body which uses two or more means for recognizing an obstacle in the traveling direction while driving and which is driven by mechanical or / and electric power for controlling a driving state by a human being. It is a control system.

Further, the means for recognizing an obstacle in the traveling direction during traveling is, in consideration of the distance to the obstacle, the speed of the moving body, the moving characteristic of the moving body, and the characteristic of the obstacle obtained from the obstacle,
A moving body that is driven by mechanical or / and electrical power for controlling the driving state of a person, which determines whether to activate or stop the function of temporarily reducing the speed of the moving body. Is.

Further, the means for recognizing an obstacle in the traveling direction while the vehicle is traveling considers the distance to the obstacle, the speed of the moving body, the moving characteristic of the moving body, and the characteristic of the obstacle obtained from the obstacle,
A driving control system for a vehicle, which is driven by mechanical or / and electrical power for controlling a driving state by a person, which determines whether to activate a function of temporarily reducing the speed of the vehicle. is there.

Further, the function of temporarily reducing or stopping the speed of the moving body by a fixed amount or a fixed ratio, or stopping it is a method of stopping the fuel supply to the engine, a method of decreasing the fuel supply, or a power supply to the motor. A method of stopping or reducing, a method of activating an electric brake (braking means), a method of activating a mechanical brake, or a combination thereof, which is substantially used by a human to control a driving state. And / or is a moving body that travels by electric power.

Further, the function of temporarily lowering or stopping the speed of the moving body by a fixed amount or a fixed ratio, or stopping it is a method of stopping or reducing the fuel supply to the engine, and a method of supplying electric power to the motor. A method of stopping or reducing, a method of activating an electric brake (braking means), a method of activating a mechanical brake alone or
It is an operation control system of a moving body which is used in combination and which is driven by a mechanical or / and electric power which is substantially controlled by a human being.

Further, the function of lowering the speed of the moving body is stopped or becomes dependent when the driving control of the moving body by the driver is started, or a mechanical or physical control by which a human controls the driving state is substantially performed. And / or is a moving body that travels by electric power. Further, the function of reducing the speed of the moving body is stopped when the driving control of the moving body by the driver is started,
It is a driving control system of a moving body which is driven by mechanical or / and electrical power for controlling a driving state by a human being.

Further, the function of lowering the speed of the moving body is a movement which is stopped by a lapse of two seconds or more after recognizing an obstacle, and which is driven by mechanical or / and electrical power for controlling a driving state by a person. It is the body.

Further, the function of lowering the speed of the moving body is stopped by the lapse of 2 seconds or more after recognizing the obstacle, and is substantially driven by mechanical or / and electric power for controlling the driving state by a human. It is an operation control system of a mobile body.

The function of lowering the speed of the moving body continues to operate even after the driving control of the moving body is started by the driver, and is substantially mechanical or / and electrical controlled by a human to control the driving state. It is a moving body that runs with various powers.

Further, the function of lowering the speed of the moving body continues to operate even after the driving control of the moving body by the driver is started, and is substantially mechanical and / or electrically controlled by a human to control the driving state. It is an operation control system of a moving body that travels with various powers.

[0027]

DETAILED DESCRIPTION OF THE INVENTION

The present invention relates to a method of preventing a collision with an obstacle or reducing an obstacle at the time of collision when there is an obstacle in the traveling direction of a moving body driven by a human. Based on the information from the means for recognizing the obstacles and the information from the means for recognizing the obstacles, and the information from the means for recognizing the obstacles, a function for temporarily reducing or stopping the speed of the moving body is provided. Characterized by having,
It is a moving body that is driven by a mechanical or / and electrical power that controls a driving state.

The meaning that a person actually controls the driving state means that the person who is the driver makes the main judgment and performs the control, and it means that it is not an automatic driving like the new transportation system. The present invention also corresponds to a case where the automatic operation function is provided as an auxiliary or a part. In addition, the moving body targeted by the present invention, passengers who can move freely on the road, automobiles such as trucks, forklifts, bulltozers, vehicles running on rails, electric wheelchairs, etc. It does not depend on the power of living things such as human power. The traveling means may be wheels, tracks, etc.,

The purpose is to temporarily reduce or stop the speed of the moving body by a fixed amount or a fixed ratio.
The main purpose is to temporarily reduce the speed by a fixed amount or a fixed percentage. After that, measures such as continued deceleration, complete stop, maintenance of a constant speed, acceleration, etc. will be taken. Sudden braking while driving at high speed can lead to accidents such as slips and spins. Although it depends on the presence or absence of the ABS brake, it is desirable to decelerate within a range where the driver does not feel uncomfortable when the obstacle is far away. For example, when traveling at a speed of 60 km / hour or more,
The speed reduction should be 20% or more and 30% or less. Two
If it is 0% or less, the deceleration effect is small, and if it exceeds 30%, adverse effects such as increased acceleration to the driver appear.

The control only temporarily is due to the fact that the driver is scheduled to perform the subsequent control.
However, if the recognition device determines that the driver is not in a normal state such as dozing, the system is operated until stopped. Whether or not the driver is in a normal state can be determined by using a known drowsiness sensing device. If a large object suddenly appears in the front in the traveling direction, the full-power braking is rapidly activated. In the case of 60 km / hour or less, the traveling direction can be almost maintained, causing a sudden stop. In that case, it is necessary to lock the steering wheel, so whether or not to apply full-power braking is determined in advance. The moving body that travels by mechanical or / and electric power means an internal combustion period such as a gasoline engine, a diesel engine, a Stirling engine, an electric motor,
What is used may be used, and those may be combined and provided. The driving method is also not particularly limited.

As a method of temporarily reducing the speed of the moving body by a fixed amount or a fixed ratio, or stopping the moving body, a method which is currently used may be used as it is or after being improved. A hydraulic brake, which is mainly used for an electromagnetic brake or a foot brake used in a train, can be used for the time being, and may not use hydraulic pressure like a side brake. What is important is that the system be compatible with the current braking system, and it must operate without causing the driver to feel uncomfortable. As one method for braking with hydraulic pressure, a mechanism as shown in FIG. 1 is effective. When the recognition means issues a deceleration command, hydraulic pressure 4 is applied,
The piston 6 is pushed to the right, and the brake is activated. After that, the driver enters the braking work, the brake pedal 1 is stepped on, the piston 5 is pushed, and the braking operation of a normal feeling works.

As another deceleration means, the engine automatically shifts to the idling state, the fuel supply to the engine is stopped,
Alternatively, the intake and exhaust of the engine may be stopped. In the case of an electric motor, stop the power supply. The same applies to fuel cell vehicles, but the supply of fuel is stopped. In particular,
Attaching an electromagnet to the accelerator, it does not sometimes change during normal depression, the power turns off when a signal such as deceleration is received,
The system will automatically shift to the idling state. By adopting this system, engine braking is activated faster than by human motion. This mechanism is particularly important in current torque converter vehicles, which have poor engine braking. In addition, the system is more effective by providing a mechanism that automatically lowers the gear one step. Once the foot is released from the accelerator, the electromagnets are connected and the accelerator restores its function. This is easily possible by using limit switches. FIG. 2 shows the electromagnetic switch portion of the accelerator. The method of operating the service brake is also effective. When the side is operated by the service brake, the brake will be in operation unless the power is turned off, but if the mechanism is released in a short time, the battery power consumption can be suppressed to the minimum.

When the means for recognizing an obstacle in the traveling direction during traveling adopts a method based on a change in an image obtained optically, a CCD camera is used. If an obstacle suddenly appears in the image and it is larger than a certain percentage, the system is activated and slows down the vehicle. This includes people jumping out of the side of the road and cars jumping out. It is intended for the case where an object larger than the size of a dog or dog at a distance of 10 m is suddenly recognized. Therefore, cats and balls are not included. If the size of the object does not change or decreases over time, the system does not work.If the two-wheeled vehicle overtakes from the side and is positioned ahead, or if another vehicle is in another lane, Exclude the case of approaching forward from the case of deceleration. In addition, when the two-wheeled vehicle is overtaking ahead of the other side from behind and is not small, it is an object that requires caution, such as falling at a close range, and deceleration of 10 to 20 km / hour increases safety.

There is a method of using focus as another optical means. A mechanism that focuses on a distance corresponding to the speed of the moving body is prepared in advance. For example, 40 km / hour and 20
By setting the system to focus on m, 4
A stopped object at a distance of more than 0 m is initially out of focus and is recognized as a blurred image, and is eventually recognized as a sharp and focused image, and then again as a blurred image. It 20m in this state
Recognize that there is an obstacle within. If you recognize it at a distance of 20 m, you cannot prevent the collision,
Since deceleration starts from the position of m, it can be expected that the accident will be significantly smaller than 20 m when the device is not provided. In general, whether or not a major accident occurs is due to a slight difference in speed, and thus a slight difference in braking work. The front curve is also recognized in the same pattern in the image.

As a means for recognizing an obstacle in the traveling direction during traveling, when electromagnetic waves, lasers, ultrasonic waves, or infrared rays are emitted from the moving body in the traveling direction and a reflected wave is obtained, The method described anywhere can be used. What is important is to recognize an obstacle and control the traveling speed immediately, which is the control pattern. If the means for recognizing an obstacle in the traveling direction while driving is a means for recognizing infrared rays emitted from the obstacle, use a filter for infrared rays of a specific wavelength emitted by warm animals such as humans and animals. The method of detection. In this case, it is necessary to target only infrared rays from an object existing in or near the traveling direction of the automobile, and a hood is required. In addition, it is necessary to determine a threshold in order to exclude a distant object from the target. Of course, the threshold must change according to speed, for example 4
At 0 km / hour, the valence emitted from the child at the position of 20 m is set as the threshold value, and at 60 km / hour, the valence emitted from the child at the position of 30 m is set as the threshold value.

[0037]

Embodiments of the present invention will be described below with reference to the attached drawings. FIG. 3 is a block diagram showing the configuration of a vehicle stop mechanism according to the first embodiment of the present invention.
Camera 11, image processing unit 12, arithmetic unit 1
3, a control unit 14, a braking unit 15, a vehicle speed sensor 16, and a driver monitoring unit 17. The front surface in the traveling direction is segmented into a certain size, and the image on the screen is targeted. The camera 11 is mounted on the front of the vehicle,
Alternatively, place it on the hood or on the dashboard inside the windshield. When installing on the bonnet or dashboard, the camera is not a long focus type,
Teletype is suitable. When it is installed on the front surface, it does not hinder the driver's visual field, but dirt on the front surface of the lens or the like poses a problem. The same problem occurs when installing devices such as lasers, electromagnetic waves, infrared rays, and ultrasonic waves.

The video signal output from the camera 11 is processed by the signal processing unit 12 into a signal that can be processed by the arithmetic unit 13, and then transmitted to the arithmetic unit 13. The arithmetic unit 13 determines whether or not to apply the automatic brake to the vehicle based on the input signals from the signal processing unit 12, the vehicle speed sensor 16 and the driver monitoring unit 17, and if it determines that the automatic braking is necessary, the braking device is activated. Activate to activate automatic braking. When the vehicle speed is a certain speed or more, for example, 100 km / hour or more, the automatic braking is set not to be applied. When the vehicle speed is less than a certain speed, a mechanism for activating the automatic brake is used, but the arithmetic unit determines whether or not to apply the brake based on the distance from the object and the vehicle speed.

While the vehicle is running, the camera continuously captures images, and when a sudden change in the images is detected, the automatic brake is activated. The brakes in this case should not be sharp and strong brakes that cause the car to spin or the driver to lean forward significantly. Provisionally 60
If an obstacle suddenly appears 20 m in front of a car running at km / h (for example, a child jumps out), 60 km /
If you reduce the speed by 40 km / hour, the free running distance will be shortened by several meters, and the risk of accident / collision will be greatly reduced.
Of course, at the same time as the automatic braking is applied,
The effect is further enhanced by using a mechanism that also stops the supply of fuel to the engine. This automatic braking is automatically released when the driver monitoring unit determines that the driver is normal and the foot brake cannot be applied within 2 seconds. Further, when it is determined that the driver is not normal, the vehicle is automatically stopped in accordance with the programmed mode so as not to cause spin and slip until the driver continues to stop.

The continuity of the image is lost even when the vehicle running ahead is suddenly braked or the exhaust brake is applied. The brake lamp does not turn on when the brake lamp does not turn on, or the exhaust brake does not turn on, but it may be considered that a sufficient inter-vehicle distance can be secured because it is difficult to see in front of a large vehicle equipped with the exhaust brake. The brake lamp may be turned on even when the exhaust brake is operating, and the operation of the exhaust brake can be detected by infrared rays. A typical case where the continuity of an image changes greatly is when the direction of an automobile is changed.
It is preferable that the speed automatically lowers when traveling on a right turn, a left turn, a curve or the like.

The camera has a T measuring distance of about 500 mm.
The ELE type is suitable. For the focus adjustment, it is appropriate to use the ZEISS type in which the lens portion itself is moved back and forth like Linhof or Spilag without rotating the helicoid. The material of the lens is expensive, and it is not necessary to use optical glass having low strength. In order to satisfy the requirements for strength and heat resistance to withstand shock and heat rather than image quality, ordinary glass is used. Although the present invention has been described above with reference to the above-described embodiments, various modifications and applications are possible within the scope of the gist of the present invention, and these modifications and applications are not excluded from the scope of the present invention.

[0042]

The present invention is intended to reduce the damage of a car accident. Due to the realization of the present invention,
A major accident can be a minor accident, and a fatal accident can be an injury accident. The present invention can be installed without affecting the existing system at all, and is also a relatively inexpensive system.

[0043]

[Brief description of drawings]

FIG. 1 is a schematic diagram of one method for hydraulically braking.

FIG. 2 is a conceptual diagram showing an electromagnetic switch portion of an accelerator.

FIG. 3 is a block diagram showing a configuration of a vehicle stop mechanism according to a first embodiment of the present invention.

[Explanation of symbols]

1-Brake pedal 4 ... Hydraulic pressure 5, 6 ... Piston 7 ... accelerator pedal 9 ... Electromagnetic clutch 11 ... Camera 12 Image processing unit 13 ... Arithmetic unit 14 ... Control unit 15 ... Brake unit 16 ... Vehicle speed sensor 17: Driver monitoring unit

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Claims (20)

[Claims] 1. A means for recognizing an obstacle in a traveling direction while traveling, a means for recognizing an obstacle based on information from the recognizing means, and a means for recognizing an obstacle based on information from the means for recognizing the obstacle. A mobile body which has a function of temporarily reducing a speed by a fixed amount or a fixed ratio or stopping the speed, and which is driven by mechanical or / and electrical power substantially controlled by a human to control a driving state. . 2. A means for recognizing an obstacle in the traveling direction during traveling, a means for recognizing an obstacle based on information from the means for recognizing the obstacle, and information for recognizing the obstacle,
A mechanical or / or substantially human-controlled driving condition characterized by having a function of temporarily reducing the speed of a moving body by a fixed amount or a fixed ratio or stopping the moving body.
And an operation control system for a moving body that is driven by electric power. 3. A mechanical system for controlling a substantially human driving condition according to claim 1, wherein the means for recognizing an obstacle in the traveling direction while driving is based on an image obtained optically. Or / and a mobile body that travels by electric power. 4. The substantially human-controlled driving condition according to claim 2, wherein the means for recognizing an obstacle in the traveling direction while traveling is based on an image obtained optically. An operation control system for a moving body that travels by mechanical or / and electrical power. 5. The means for recognizing an obstacle in the traveling direction while traveling is based on the time until a reflected wave is obtained by emitting an electromagnetic wave, a laser, an ultrasonic wave or an infrared ray from a moving body in the moving direction. A moving body which is driven by mechanical or / and electric power for controlling a driving state by a substantially human according to claim 1. 6. The means for recognizing an obstacle in the traveling direction during traveling depends on the time until a reflected wave is obtained by emitting an electromagnetic wave, a laser, an ultrasonic wave or an infrared ray from a moving body in the moving direction. 3. A driving control system for a moving body, which is driven by mechanical or / and electrical power for controlling a driving state substantially by a human according to claim 2. 7. The mechanical system according to claim 1, wherein the means for recognizing an obstacle in the traveling direction while traveling is for recognizing infrared rays emitted from the obstacle. Or / and a moving body that travels by electric power. 8. A mechanical system for controlling a driving condition substantially by a human according to claim 2, wherein the means for recognizing an obstacle in the traveling direction while traveling is a means for recognizing infrared rays emitted from the obstacle. Or / and an operation control system of a moving body that travels by electric power. 9. The substantially human being according to claim 1, wherein the means for recognizing an obstacle in the traveling direction while traveling is one using two or more means according to claim 3, claim 5 or claim 7. An operation control system for a moving body, which is driven by mechanical or / and electric power for controlling an operating state. 10. The means for recognizing an obstacle in the traveling direction during traveling is the means according to claim 4, claim 6, or claim 2.
The operation control system for a mobile body traveling by substantially mechanical and / or electric power for controlling a driving state according to claim 1, which is used for one or more. 11. A means for recognizing an obstacle in a traveling direction while traveling, considering the distance to the obstacle, the speed of the moving body, the moving characteristic of the moving body, and the characteristic of the obstacle obtained from the obstacle, The substantially human driving according to claim 1, claim 3, claim 5, or claim 7, which determines whether to activate or stop the function of temporarily reducing the speed of the moving body. A moving body that travels by mechanical or / and electric power that controls the state. 12. A means for recognizing an obstacle in the traveling direction while traveling, considering the distance to the obstacle, the speed of the moving body, the moving characteristic of the moving body, and the characteristic of the obstacle obtained from the obstacle, The machine according to claim 2, claim 4, claim 6, or claim 8 for determining whether to activate a function of temporarily reducing the speed of the moving body. Operation control system for a mobile body that travels by static and / or electric power. 13. A function of temporarily lowering or stopping a speed of a moving body by a fixed amount or a fixed ratio, or stopping a fuel supply to an engine, a method of reducing the fuel supply to an engine, or a power supply to a motor. A method of stopping or reducing, a method of activating an electric brake (braking means), a method of activating a mechanical brake alone, or
Mechanically and / or electrically controlling a driving state substantially by a human being according to claim 1, claim 3, claim 5, claim 7, claim 9, or claim 11 used in combination. A moving body that runs on power. 14. A function of temporarily reducing or stopping a speed of a moving body by a fixed amount or a fixed ratio, or a function of stopping the fuel supply to an engine, a method of reducing the fuel supply to an engine, and a power supply to a motor. The method of stopping or reducing, the method of activating an electric brake (braking means), and the method of activating a mechanical brake are used alone or in combination, and are used. The operation control system for a mobile body according to any one of claims 10 and 12, wherein the vehicle travels substantially by a mechanical or / and electric power that controls a driving state. 15. The claim 1, claim 3, claim 5, claim 5 or claim 5, wherein the function of reducing the speed of the moving body is stopped or becomes dependent when the driving control of the moving body by the driver is started. 7. A moving body which is run by mechanical or / and electric power for controlling a driving state substantially by a human according to claim 7, claim 9 or claim 13. 16. The function of reducing the speed of a moving body is stopped when the driving control of the moving body is started by a driver, claim 2, claim 4, claim 6, claim 8, claim 10, The operation control system for a moving body according to claim 12, wherein a substantially human being travels by mechanical or / and electric power for controlling a driving state. 17. The function of lowering the speed of a moving body is stopped 2 seconds or more after an obstacle is recognized, and then the function is stopped, claim 3, claim 5, claim 7, claim 9, claim 11 and claim 11. The moving body which is substantially driven by a human being according to claim 13 or 15 and is driven by mechanical or / and electric power for controlling a driving state. 18. The function of lowering the speed of a moving body is stopped 2 seconds or more after recognizing an obstacle, and then the function is stopped, claim 4, claim 6, claim 8, claim 10, or claim 12. 17. A driving control system for a mobile body according to any one of claims 14 and 16, wherein a traveling body is driven by mechanical or / and electrical power by which a human controls a driving state. 19. The function of lowering the speed of a moving body continues to operate after the driver starts driving control of the moving body, and the function of lowering the speed of the moving body continues to operate. 9, claim 11, claim 13, claim 15, claim 17
The moving body which is driven by mechanical or / and electrical power for controlling a driving state substantially by the human. 20. The function of lowering the speed of a moving body continues to operate even after the driving control of the moving body by the driver is started, claim 2, claim 4, claim 6, claim 8, claim 8. 10, claim 12, claim 14, claim 16, claim 1
8. A driving control system for a mobile body, which is driven by mechanical or / and electrical power for controlling a driving state substantially by a human according to 8.