JP2015154608A - Movable body and method of controlling maximum speed - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movable body enabling safety and prompt movement without endangering an operator even if an abnormal condition such as a failure occurs in a sensor, and a method of controlling the maximum speed of the movable body.SOLUTION: A movable body is equipped with a joystick 22, a motor 16, a sensor 30, and a controller 40. The controller 40 is equipped with a sensor abnormal condition detecting portion 42, a maximum speed setting portion 44, and a speed controlling portion 46 for controlling the motor 16 so as to prevent traveling speed from exceeding the set maximum speed. When the sensor abnormal condition detecting portion 42 detects an abnormal condition of the sensor 30, the maximum speed setting portion 44 limits the maximum speed from first speed to second speed from information from the sensor abnormal condition detecting portion 42. While the maximum speed is limited at the second speed, an operator carries out second operation indicating an intention of increasing the traveling speed after carrying out the first operation indicating the recognition of the abnormal condition of the sensor 30, so that the maximum speed setting portion 44 increases the maximum speed enabling traveling to third speed between the first speed and the second speed.

Description

  The present invention relates to a moving body and a method for controlling the maximum speed thereof.

  In recent years, vehicles (automobiles) provided with sensors that detect the presence or absence of surrounding obstacles have been proposed. Such a vehicle is also provided with an obstacle notification device and a speed control device. When an obstacle is detected around the vehicle by the sensor, the obstacle notification device informs the driver (driver) of the obstacle. Notification is made, or the speed control device automatically controls the speed of the vehicle.

  In addition, even in an electric wheelchair (hereinafter simply referred to as “wheelchair”) that is used by elderly people and persons with disabilities as a means of transportation in daily life, a sensor, an obstacle notification device, and a speed control device that detect the presence or absence of surrounding obstacles. The one with is proposed. In such a wheelchair, for example, when an elderly person or a handicapped person who operates the wheelchair (hereinafter referred to as a “pilot”) notices an obstacle while traveling, there is a risk of contact with the obstacle. In addition, the sensor detects the presence of an obstacle and informs the operator to prompt the avoidance operation. When the avoidance operation is not in time, the wheelchair is automatically decelerated to avoid contact. In this way, with a wheelchair equipped with sensors, obstacle notifications and speed control devices, even if the driver is unable to properly demonstrate recognition, judgment and operation ability, contact with obstacles can be prevented in advance and safely Makes it possible to travel.

  Patent Document 1 discloses a driving support device that avoids the driver from excessively depending on the driving control of the speed control device itself provided in the vehicle and can prompt a spontaneous operation. In the driving support device, the forward monitoring laser radar (sensor) that detects an obstacle existing around the vehicle, and the vehicle speed of the vehicle is maximized when the forward monitoring laser radar detects an obstacle present around the vehicle. There is provided a speed control device having an ECU that performs speed control to be equal to or less than the speed limit value. Even if the ECU does not detect an obstacle after the front monitoring laser radar detects an obstacle present in the vicinity of the vehicle, until the driver voluntarily performs a deceleration operation to bring the vehicle below the maximum speed limit value. Speed control is performed, and the speed control is released when the deceleration operation is performed spontaneously.

JP 2011-000937 A

  In the driving support apparatus described in Patent Document 1, there is no disclosure regarding processing when an abnormality such as a failure occurs in the forward monitoring laser radar and the normal operation cannot be performed. In that case, automatic speed control according to the presence or absence of obstacles cannot be performed, but healthy drivers usually have appropriate recognition, judgment and operation skills, so they can demonstrate their capabilities themselves. Thus, it is possible to determine the presence or absence of an obstacle and change the speed by an accelerator operation to avoid a risk of contact with the obstacle.

  On the other hand, when an abnormality such as a failure occurs in the sensor in the wheelchair, control for stopping the wheelchair by stopping energization of the drive unit of the wheelchair is executed. However, since the wheelchair cannot be moved as it is, the operator can cancel the wheelchair stop control at his / her own discretion. Then, the wheelchair can travel at an arbitrary speed up to the same maximum speed as when the sensor is operating normally, with the sensor remaining in an abnormal state.

  However, some pilots are unable to adequately demonstrate recognition, judgment, and operation ability compared to healthy people, so the same as when the sensor is operating normally with the sensor remaining in an abnormal state. It is not reasonable to be able to run at any speed up to the maximum speed. Thus, there is room for further improvement in the wheelchair control method when an abnormality such as a failure occurs in the wheelchair sensor.

  In view of the above problems, there is a need for an electric wheelchair and a method for controlling the maximum speed of the electric wheelchair that enable safer and quicker movement even when an abnormality such as a failure occurs in the sensor.

  In order to solve the above-described problems, the moving body according to the present invention includes a speed adjuster that adjusts a traveling speed by a driver's operation, a driving unit that generates a driving force for traveling, and a traveling A moving body comprising a sensor that detects information on the surrounding environment of the vehicle and a control unit that limits the traveling speed based on an output signal of the sensor, wherein the control unit detects a sensor abnormality that detects an abnormality of the sensor. A detection unit, a maximum speed setting unit that sets a maximum speed that can be traveled based on information from the sensor abnormality detection unit, and a travel speed that does not exceed the maximum speed set by the maximum speed setting unit A speed control unit that controls the drive unit, and in the control unit, when the sensor abnormality detection unit detects an abnormality of the sensor, the maximum speed setting unit sets the maximum speed that can be traveled to the sensor. In the state where the first speed when normally operating is limited to the second speed, the traveling speed is set between zero and the second speed, and the maximum speed is limited to the second speed. Performs the second operation as an intention display to increase the travel speed after performing the first operation as an intention display that the sensor has recognized the abnormality of the sensor, so that the maximum speed setting unit determines the maximum speed that can be traveled. The point is to increase to a third speed between the first speed and the second speed.

  When an abnormal operation of the sensor is detected, safety such as contact avoidance cannot be expected by detecting an obstacle with the sensor. Therefore, the maximum speed at which the vehicle can travel is controlled from the first speed by controlling the moving body. Limit to a second speed that is significantly slower than that. However, since it is not possible to move quickly at the second speed, it may be assumed that the operator feels dissatisfied. Therefore, in the state where the maximum speed is limited to the second speed, the second operation is performed as an intention display for increasing the traveling speed after the first operation is performed as an intention display indicating that the operator has recognized the abnormality of the sensor operation. By doing so, the maximum speed of the moving body is increased from the second speed to a third speed that is a speed between the first speed and the second speed. Thereby, even if an abnormality in the operation of the sensor is detected, the operator can quickly move on the moving body while recognizing the abnormality in the sensor.

  In the moving body according to the present invention, it is preferable that the first operation is to place the speed adjuster in a neutral region where the speed instruction value is zero.

  If the movement is continued with the maximum speed being the second speed, the pilot may not be aware that the sensor is abnormal. However, if the driver feels something wrong with driving because the speed of the moving body does not increase beyond the second speed even if the speed adjuster is operated, an abnormality has usually occurred in the moving body. I doubt that. Then, the operator stops the moving body by setting the speed adjuster to the position of the neutral region where the speed instruction value is zero in order to check whether the moving body is abnormal. And as a result of investigating the presence or absence of abnormality of a mobile body, the notification of abnormality of a sensor is discovered and abnormality of a sensor is recognized. Accordingly, when the maximum speed is in the second speed state, if the operator operates the speed adjuster to the position of the neutral region, it is determined that the operator is very likely to have recognized the sensor abnormality. Can do.

The feature of the method for controlling the maximum speed of the moving body according to the present invention is that the abnormality of the sensor is detected when an abnormality of the sensor that detects information on the surrounding environment of the moving body occurs while the moving body is traveling. And, based on detection of abnormality of the sensor, limiting the maximum speed at which the moving body can travel from the first speed to the second speed when the sensor operates normally,
Lowering the traveling speed, causing the moving body to travel at the traveling speed between zero and the second speed, and the operator of the moving body in a state where the maximum speed is limited to the second speed. Performing a first operation as an intention indication that the sensor has recognized an abnormality in the sensor; and after performing the first operation, a second operation as an intention indication for the operator to increase the traveling speed of the moving body Performing the second operation, increasing the maximum speed at which the mobile body can travel to a third speed between the first speed and the second speed after performing the second operation, zero and the first Enabling the moving body to travel at the traveling speed between three speeds.

  In the control method according to the present invention, as described above, in the state where the maximum speed is limited to the second speed due to the detection of the abnormality of the sensor, the operator's intention to recognize the abnormality of the operation of the sensor. By performing the second operation as an intention display for increasing the traveling speed after performing the first operation as a display, the maximum speed of the moving body is a speed between the first speed and the second speed from the second speed. Increase to 3 speeds. Thereby, even if an abnormality in the operation of the sensor is detected, the operator can quickly move on the moving body while recognizing the abnormality in the sensor.

  In the method for controlling the maximum speed of the moving object according to the present invention, it is preferable that the first operation is to place the speed adjuster of the moving object in a neutral region where the speed instruction value is zero.

  If the control method according to the present invention is similar to the above, if the driver does not increase the speed of the second speed or more and the driver feels something uncomfortable with traveling, the mobile object is usually abnormal. Suspect that occurred. Then, the operator stops the moving body by setting the speed adjuster to the position of the neutral region where the speed instruction value is zero in order to check whether the moving body is abnormal. And as a result of investigating the presence or absence of abnormality of a mobile body, the notification of abnormality of a sensor is discovered and abnormality of a sensor is recognized. Accordingly, when the maximum speed is in the second speed state, if the operator operates the speed adjuster to the position of the neutral region, it is determined that the operator is very likely to have recognized the sensor abnormality. Can do.

It is a perspective view showing the composition of an electric wheelchair. It is a perspective view showing an armrest. It is a block diagram showing the structure of a controller. It is a flowchart showing the control procedure by the controller when abnormality arises in a sensor.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, an electric wheelchair (hereinafter simply referred to as “wheelchair”) 10 includes a frame 12, a driver's seat (hereinafter simply referred to as “seat”) 14, a motor 16, wheels 18, An armrest 20, a joystick 22, a sensor 30, and a controller 40 are provided. The motor 16 is an example of a drive unit, the joystick 22 is an example of a speed adjuster, and the controller 40 is an example of a control unit.

  The seat 14, the motor 16, and the sensor 30 are attached to the frame 12. The wheel 18 is driven by the motor 16. The armrests 20 are attached to the frame 12 on both sides in the width direction (left-right direction) of the seat 14. The joystick 22 is attached to the armrest 20. The controller 40 is built in the armrest 20.

  As shown in FIG. 2, the armrest 20 includes a horizontal surface 20a extending in the horizontal direction and an inclined surface 20b extending downward from the front end of the horizontal surface 20a. The side surface 20c of the armrest 20 is provided with a main switch 24 for turning on / off the power of the motor 16 and the controller 40 and a notification release switch 26, and various information regarding the wheelchair 10 is turned on and flashed by a method such as lighting or flashing. A plurality of LEDs 28 for informing are attached. Details of the operation of the notification release switch 26 will be described later. The armrest 20 has a hollow inside, and a controller 40 is built therein. The attachment position of the armrest 20 with respect to the frame 12 can be adjusted in the vertical direction and the front-back direction, and can be suitably set according to the physique of the operator.

  The joystick 22 is a member that is operated by the operator, and is provided on the inclined surface 20b of the armrest 20, and the upper end 22a is formed in a spherical shape. The joystick 22 is electrically connected to a controller 40 built in the armrest 20. The operator instructs the traveling direction and speed of the wheelchair 10 by the direction in which the joystick 22 is tilted and the angle of tilting, and the motor 16 is controlled accordingly, and the traveling direction and speed of the wheelchair 10 change. When the joystick 22 is in a neutral region that is not tilted in any direction, the speed instruction value is zero.

  The sensor 30 projects the laser, ultrasonic waves, etc. in front of the wheelchair 10 and receives reflected waves from obstacles etc. existing in front of the wheelchair 10, thereby determining the presence of the obstacle and the distance to the obstacle. It has a function to detect. The sensor 30 is electrically connected to the controller 40 and always outputs an electric signal indicating the distance to the obstacle to the controller 40.

  As shown in FIG. 3, the controller 40 includes a sensor abnormality detection unit 42, a maximum speed setting unit 44, a speed control unit 46, and a speed limit release instruction unit 48. The sensor abnormality detection unit 42 always receives an electrical signal output from the sensor 30 and monitors whether or not the sensor 30 has an abnormality. When it is suspected that an abnormality has occurred in the sensor 30, such as when no signal is input from the sensor 30, the sensor abnormality detection unit 42 outputs an electrical signal that notifies the maximum speed setting unit 44 of the abnormality of the sensor 30.

  The maximum speed setting unit 44 sets the maximum speed at which the vehicle can travel according to the situation of the wheelchair 10 itself and the surrounding conditions. In the present embodiment, the first speed that allows the vehicle to travel at the maximum specified speed without limiting the maximum speed, the second speed, the first speed, and the first speed that are significantly lower than the first speed. A third speed between the two speeds can be set. In the present embodiment, the first speed is set to 6 km / h, the second speed is set to 1 km / h, and the third speed is set to 3 km / h. Immediately after turning on the main switch 24 and in a state where the sensor 30 is operating normally, the maximum speed is set to the first speed. Information on the maximum speed set by the maximum speed setting unit 44 is output to the speed control unit 46.

  The speed control unit 46 receives an electric signal output according to the direction in which the operator tilts the joystick 22 and the angle to tilt, and controls the rotation direction and the rotation speed of the motor 16 according to the input electric signal. Output a signal. The output electrical signal corresponds to the traveling direction and traveling speed of the wheelchair 10. The motor 16 rotates the wheel 18 in accordance with the output electric signal. Thereby, the operator can drive the wheelchair 10 at a desired direction and speed.

  However, the signal for controlling the rotational speed of the motor 16 output by the speed control unit 46 is controlled so that the speed at which the wheelchair 10 can travel does not exceed the maximum speed set by the maximum speed setting unit 44. The For example, in the present embodiment, when the maximum speed is set to the first speed in the maximum speed setting unit 44, the speed control unit 46 moves the wheelchair 10 when the operator tilts the joystick 22 forward as much as possible. Outputs an electric signal traveling at 6 km / h toward the motor 16. However, in the case where the maximum speed is set to the second speed in the maximum speed setting unit 44, the speed control unit 46 sets the wheelchair 10 to 1 km even when the operator tilts the joystick 22 forward as much as possible. Only an electric signal traveling at / h is output to the motor 16. That is, the wheelchair 10 cannot travel at a speed exceeding 1 km / h.

  The electrical signal output according to the direction in which the operator tilts the joystick 22 and the tilt angle is input to the speed limit release instruction unit 48 simultaneously with the speed control unit 46 described above. When the maximum speed is set to the second speed in the maximum speed setting unit 44, the speed limit release instructing unit 48 is set to the maximum speed when a predetermined operation is performed with the joystick 22 or when the notification release switch 26 is pressed. An instruction to increase the maximum speed from the second speed to the third speed is output to the setting unit 44. Thereby, in the maximum speed setting unit 44, the maximum speed is set so as to increase from the second speed to the third speed, and the wheelchair 10 can travel at a speed up to 3 km / h.

  Next, control by the controller 40 when an abnormality such as a failure occurs in the sensor 30 while the wheelchair 10 is traveling will be described.

  As shown in FIG. 4, the main switch 24 is turned on to make the wheelchair 10 travelable. The operator sits on the seat 14 and operates the joystick 22 to drive the wheelchair 10 (step # 1). Since no abnormality has occurred in the sensor 30 at this time (No in Step # 2), the sensor abnormality detection unit 42 does not output a signal notifying the abnormality of the sensor 30 to the maximum speed setting unit 44, In the maximum speed setting unit 44, the maximum speed is set to the first speed. Therefore, the operator can drive the wheelchair 10 at an arbitrary speed up to 6 km / h by operating the joystick 22 (step # 3).

  When an abnormality such as a failure occurs in the sensor 30 while the wheelchair 10 is traveling (Yes in Step # 2), the sensor abnormality detection unit 42 outputs a signal notifying the abnormality of the sensor 30 and is attached to the armrest 20 of the wheelchair 10. A signal is output toward the sensor abnormality notification lamp 28a which is one of the LEDs 28. Upon receiving the signal from the sensor abnormality detection unit 42, the sensor abnormality notification lamp 28a blinks to notify the operator that an abnormality has occurred in the sensor 30.

  The maximum speed setting unit 44 that has received a signal notifying the abnormality of the sensor 30 from the sensor abnormality detection unit 42 changes the maximum speed at which the wheelchair 10 can travel from the first speed (6 km / h) to the second speed (1 km / h). Setting is made so as to limit (step # 4). Then, a signal notifying that the maximum speed is set to the second speed is output to the speed control unit 46.

  When the speed control unit 46 receives a signal notifying that the maximum speed has been set to the second speed, it reads information on the rotational speed currently output to the motor 16. When the motor 16 outputs a signal for controlling the wheelchair 10 to travel at a speed higher than the second speed, the wheelchair 10 travels with the motor 16 decelerated to the second speed. A signal to be controlled is output. At this time, if the speed of the wheelchair 10 is rapidly decreased, there is a risk that the operator will jump out of the seat 14, and therefore the traveling speed is gradually decreased to the second speed. When the speed control unit 46 outputs a signal for controlling the wheelchair 10 to travel at a speed lower than the second speed with respect to the motor 16, nothing is performed on the motor 16. However, even when the operator tilts the joystick 22 forward as much as possible, the wheelchair 10 cannot travel at a speed exceeding the second speed.

  When an abnormality occurs in the sensor 30, safety such as contact avoidance by detecting an obstacle with the sensor 30 cannot be expected. Nevertheless, when the control is performed so that the wheelchair 10 can travel at the first speed as the maximum speed in the same manner as when the sensor 30 is operating normally, the driver is delayed in noticing the obstacle while traveling. In addition, there is a risk of contact with obstacles. In the present embodiment, when an abnormality occurs in the sensor 30, the maximum speed that can be traveled by the wheelchair 10 is limited to a second speed that is significantly slower than the first speed in order to ensure the safety of the operator. As a result, even if the pilot is delayed in noticing the obstacle, there is a time margin for the operator to avoid the obstacle, and even if it is in contact with the obstacle, It is likely that the degree of injury to the pilot will be small.

  In the present embodiment, since the maximum purpose is to ensure safety by avoiding dangers such as contact with the obstacle of the operator, the second speed is set to a speed at which the minimum movement is possible. ing. For this reason, even when the pilot needs to move quickly in the wheelchair 10 such as a long-distance movement in a short time, the maximum speed does not increase, so the driver may be dissatisfied.

  Therefore, in the present embodiment, when the operator performs a predetermined operation for recognizing that an abnormality has occurred in the sensor 30, the maximum speed that can be traveled is set between the first speed and the second speed. Relax speed limit to increase to 3rd speed. Specifically, when the wheelchair 10 is traveling in a state where the maximum speed is limited to the second speed, the operator performs an operation to return the joystick 22 to the neutral region where the speed instruction value is zero, and thereby the wheelchair 10. Is stopped (Yes in step # 5), the joystick 22 is again tilted in the forward direction (step # 6). The operation of returning the joystick 22 to the neutral region is an example of the first operation, and the operation of tilting the joystick 22 in the forward direction after the first operation is an example of the second operation.

  As described above, since the operation of the joystick 22 is always input to the speed limit release instructing unit 48, when the wheelchair 10 is traveling at the second speed, these operations and the wheelchair 10 are stopped and rerun. The speed limit canceling instruction unit 48 determines that the driver has recognized the abnormality of the sensor 30, and instructs the maximum speed setting unit 44 to increase the maximum speed from the second speed to the third speed. Output a signal. The maximum speed setting unit 44 changes the setting so that the maximum speed becomes the third speed (step # 7), and outputs information on the maximum speed after the change to the speed control unit 46. Thus, the speed control unit 46 enables the wheelchair 10 to travel at the third speed (3 km / h) when the operator tilts the joystick 22 forward as much as possible (step # 8).

  If the movement continues with the maximum speed being the second speed, the operator may not have the recognition that the sensor 30 is abnormal. However, if the operator feels something wrong with traveling because the speed of the wheelchair 10 does not increase beyond the second speed even when the joystick 22 is operated, an abnormality has occurred in the wheelchair 10 normally. I doubt. Then, the operator stops the wheelchair 10 with the joystick 22 placed in a neutral region where the speed instruction value is zero in order to check whether the wheelchair 10 is abnormal. And as a result of investigating the presence or absence of the abnormality of the wheelchair 10, the blinking of the sensor abnormality notification lamp 28a is found and the abnormality of the sensor 30 is recognized. Therefore, if the operator operates the joystick 22 to the neutral position when the maximum speed is in the second speed state, it is determined that the operator is very likely to have recognized the abnormality of the sensor 30. Can do.

  When the wheelchair 10 is traveling at a speed equal to or lower than the second speed, an operation other than “stop the wheelchair 10 by operating the operator to return the joystick 22 to the neutral region where the speed instruction value is zero” (step When No. of # 5 is performed, even if the joystick 22 is tilted in the forward direction thereafter, the speed limit release instructing unit 48 sets the maximum speed from the second speed to the third speed with respect to the maximum speed setting section 44. The wheelchair 10 can only travel at a speed up to the second speed (1 km / h) even when the operator tilts the joystick 22 forward as much as possible. # 9).

  As described above, in the present embodiment, the joystick 22 indicates that the speed indication value is zero as an intention indication that the operator has recognized an abnormality in the operation of the sensor 30 in a state where the maximum speed is limited to the second speed. The wheelchair 10 is stopped by performing an operation of returning to the neutral region (first operation). Thereafter, the maximum speed at which the wheelchair 10 can travel can be increased from the second speed to the third speed by performing an operation (second operation) of tilting the joystick 22 in the forward direction again. Thereby, even if it is a case where the abnormality of the action | operation of the sensor 30 is detected, a driver | operator can move rapidly with the wheelchair 10, recognizing abnormality of the sensor 30. FIG.

  In the present embodiment, the joystick 22 is used as the speed adjuster, but the present invention is not limited to this. Instead of the joystick 22, the speed may be adjusted by an arbitrary method such as a button switch in four directions or eight directions.

  In the present embodiment, the operation of returning the joystick 22 to the neutral region where the speed instruction value is zero is performed as the first operation, but the present invention is not limited to this. Since it is sufficient for the operator to know the intention of recognizing the abnormality of the sensor 30, for example, an operation of pressing the notification release switch 26 for canceling the blinking of the sensor abnormality notification lamp 28a may be set as the first operation. This is because the fact that the operator presses the notification release switch 26 indicates that the sensor abnormality notification lamp 28a is blinking, and thus recognizes the abnormality of the sensor 30.

  In the present embodiment, the operation of tilting the joystick 22 in the forward direction again is performed as the second operation, but it is only necessary to know the intention to increase the traveling speed by operating the speed adjuster, and the present invention is not limited to this.

  In the present embodiment, the first speed is set to 6 km / h, the second speed is set to 1 km / h, and the third speed is set to 3 km / h. However, the present invention is not limited to this. For example, as long as the first speed is 10 km / h, the second speed is 2 km / h, and the third speed is 5 km / h, the respective speeds can be set to arbitrary speeds. .

  In the present embodiment, as an abnormality of the sensor 30, a failure of the sensor 30 or a case where no signal is input from the sensor 30 to the control unit is illustrated, but the present invention is not limited to this. For example, a case where inappropriate information (signal) is input to the sensor 30 as information on the surrounding environment during traveling as an abnormality of the other sensor 30 is included. In addition, when the sensor 30 having a sensor failure self-diagnosis function is used, an abnormality of the sensor 30 may be detected by a signal from the sensor 30 output at the time of the failure.

  In the present embodiment, the standard type (chair type) electric wheelchair 10 has been described, but the present invention is not limited to this. The control according to the present embodiment may be applied to, for example, a handle type electric wheelchair or a boarding type mobile body (vehicle, mobile robot, etc.). In this case, the first operation and the second operation can be performed by operating the accelerator or the brake instead of the operation of the joystick 22.

  The present invention can be used for a moving body and a method for controlling its maximum speed.

10 Electric wheelchair (moving body)
16 Motor (drive unit)
22 Joystick (Speed adjuster)
30 sensor 40 controller (control unit)
42 Sensor abnormality detection unit 44 Maximum speed setting unit 46 Speed control unit

Claims (4)

Based on a speed adjuster that adjusts the traveling speed by a driver's operation, a driving unit that generates a driving force for traveling, a sensor that detects information on the surrounding environment during traveling, and traveling based on an output signal of the sensor A moving body comprising a control unit for limiting speed,
The controller is
A sensor abnormality detector for detecting abnormality of the sensor;
A maximum speed setting unit for setting a maximum speed at which the vehicle can travel based on information from the sensor abnormality detection unit;
A speed control unit that controls the drive unit so that a traveling speed does not exceed the maximum speed set by the maximum speed setting unit;
In the control unit, when the sensor abnormality detection unit detects an abnormality of the sensor, the maximum speed setting unit changes the maximum speed at which the vehicle can travel from the first speed to the second speed when the sensor operates normally. Limit the travel speed between zero and the second speed,
In a state where the maximum speed is limited to the second speed, the second operation is performed as an intention display for increasing the traveling speed after performing the first operation as an intention display indicating that the driver has recognized the abnormality of the sensor. By performing the above, the maximum speed setting unit increases the maximum speed at which the vehicle can travel to a third speed between the first speed and the second speed.   The moving body according to claim 1, wherein the first operation is to place the speed adjuster in a neutral region where a speed instruction value is zero. Detecting an abnormality of the sensor when an abnormality of a sensor for detecting information on an environment around the moving object occurs during traveling of the moving object; and
Based on detection of an abnormality of the sensor, limiting a maximum speed at which the mobile body can travel from a first speed to a second speed when the sensor normally operates;
Reducing the traveling speed and traveling the moving body at the traveling speed between zero and the second speed;
Performing a first operation as an intention indication that the driver of the moving body has recognized the abnormality of the sensor in a state where the maximum speed is limited to the second speed;
After the first operation, the operator performs a second operation as an intention display to increase the traveling speed of the moving body;
After performing the second operation, increasing the maximum speed at which the mobile body can travel to a third speed between the first speed and the second speed;
Enabling the mobile to travel at the travel speed between zero and the third speed;
Control method for maximum speed of moving object. The said 1st operation is a control method of the maximum speed of the moving body of Claim 3 which makes a speed adjuster the position of the neutral area | region where a speed instruction value becomes zero.

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