WO2021161727A1

WO2021161727A1 - Controller, control method, and program

Info

Publication number: WO2021161727A1
Application number: PCT/JP2021/001548
Authority: WO
Inventors: 和希高澤; 誠幸佐々木
Original assignee: ピクシーダストテクノロジーズ株式会社
Priority date: 2020-02-13
Filing date: 2021-01-19
Publication date: 2021-08-19
Also published as: JP2021126332A

Abstract

This controller controls a mobile body comprising a movement mechanism and at least one pressure sensor. The controller comprises: a means for determining the posture of a passenger of the mobile body on the basis of the measurement results from the at least one pressure sensor; and a means for controlling the movement mechanism on the basis of the results of determining the posture of the passenger.

Description

Controllers, control methods, and programs

This disclosure relates to controllers and mobiles.

In recent years, various autonomous moving bodies have been known that detect obstacles on the road surface such as steps using a distance measuring sensor and move autonomously. For example, Patent Document 1 describes an autonomous moving body that decelerates or decelerates as if an obstacle exists when the distance detected by the sensor unit exceeds a threshold value.

JP-A-2015-103227

Electric wheelchairs or other personal mobility (hereinafter simply referred to as "moving objects") can be accelerated, steered and braked at least one (ie, self-driving) without human intervention. If configured, the occupant may lose his or her posture during automatic driving. If the running condition of the moving object does not change even though the occupant loses his / her posture, there is a risk of causing an accident such as the occupant falling.

The purpose of this disclosure is to enhance the safety of mobile objects that can be driven automatically.

The controller according to one aspect of the present disclosure controls a moving body including a moving mechanism and one or more pressure sensors. The controller includes means for determining the posture of the occupant of the moving body based on the measurement results of one or more pressure sensors, and means for controlling the moving mechanism based on the determination result of the posture of the occupant.
Is.

According to the present disclosure, it is possible to enhance the safety of a moving body capable of autonomous driving.

It is a block diagram which shows the structure of the moving body of this embodiment. It is a perspective view of the appearance of the moving body of this embodiment. It is a figure which shows the arrangement of the pressure sensor provided in the moving body of this embodiment. It is a figure which shows the arrangement of the pressure sensor in the seat part, and the left and right footrests. It is a figure which shows the arrangement of the pressure sensor in the back part. It is a figure which shows the 1st example of the posture of an occupant. It is a figure which shows the 2nd example of the posture of an occupant. It is a figure which shows the 3rd example of the posture of an occupant. It is a figure which shows the 4th example of the posture of an occupant. It is a transition diagram of the traveling state of the moving body of this embodiment. It is a figure which shows the data structure of the posture database of this embodiment. It is a flowchart which illustrates the moving body control processing which concerns on this embodiment. It is a figure which shows the region R1. It is a figure which shows the region R2. It is a figure which shows the region R5. It is a flowchart which illustrates the moving body control processing which concerns on the modification.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In addition, in the drawing for demonstrating the embodiment, the same components are in principle the same reference numerals, and the repeated description thereof will be omitted.

In this embodiment, each direction is defined as follows.
・ F direction: front of moving body 1 ・ B direction: rear of moving body 1 ・ R direction: right side of moving body 1 when facing forward (F direction) ・ L direction: facing forward (F direction) Left side of moving body 1 at the time ・ U direction: upward direction of moving body 1 ・ D direction: downward direction of moving body 1

(1) Configuration of a moving body The configuration of the moving body will be described. FIG. 1 is a block diagram showing a configuration of a moving body of the present embodiment. FIG. 2 is a perspective view of the appearance of the moving body of the present embodiment. FIG. 3 is a diagram showing an arrangement of pressure sensors provided in the moving body of the present embodiment. FIG. 4 is a diagram showing the arrangement of pressure sensors on the seat and the left and right footrests. FIG. 5 is a diagram showing the arrangement of the pressure sensor on the back surface.

The moving body 1 can be operated automatically. Autonomous driving means that at least one of steering, acceleration, and braking of the moving body 1 is controlled by a computer without human (for example, occupant) operation.

As shown in FIG. 1, the moving body 1 includes a controller 10, a pressure sensor 21, a LIDAR 22, and a moving mechanism 31.
The mobile body 1 can be, for example, an electric wheelchair or other personal mobility.

As shown in FIG. 2, the electric wheelchair as the moving body 1 includes a controller 10, a keypad 23, a front wheel 31FL, a front wheel 31FR, a rear wheel 31RL, a rear wheel 31RR, a seat 32, and a back 33. The footrest 34FL, the footrest 34FR, the pole 35, and the sensor accommodating portion 36 are provided.

The controller 10 is arranged rearward (R direction) with respect to the back portion 33 in the front-rear direction. The controller 10 is configured to enable automatic operation of the moving body 1 by controlling the moving body 1.

Specifically, the controller 10 can operate in a plurality of operation modes including a manual operation mode and an automatic operation mode.
In the automatic operation mode, the controller 10 controls the moving mechanism 31 based on the measurement result of the distance by at least one of the pressure sensor 21 and the LIDAR 22, so that the controller 10 does not operate by a human being (for example, an occupant or an assistant). , It is configured to perform at least one of steering, acceleration and braking of the moving body 1. For example, the controller 10 can drive the moving body 1 along a route to a destination set based on a user instruction while avoiding contact with an obstacle.

As shown in FIG. 1, the controller 10 includes a storage device 11, a processor 12, an input / output interface 13, and a communication interface 14.

The storage device 11 is configured to store programs and data. The storage device 11 is, for example, a combination of a ROM (Read Only Memory), a RAM (Random Access Memory), and a storage (for example, a flash memory or a hard disk).

The program includes, for example, the following program.
-OS (Operating System) program-Program of an application that executes information processing (for example, an automatic driving application of mobile 1)

The data includes, for example, the following data.
-Database referenced in information processing-Data obtained by executing information processing (that is, the execution result of information processing)

The processor 12 is configured to realize the function of the controller 10 by activating the program stored in the storage device 11. The processor 12 is an example of a computer.

The input / output interface 13 is configured to acquire a signal (for example, a user's instruction) from an input device connected to the controller 10 and output the signal to an output device connected to the controller 10.
The input device is, for example, a pressure sensor 21, a LIDAR (Light Detection and Ranging) 22, a keypad 23, a keyboard, a pointing device, a touch panel, or a combination thereof.
The output device is, for example, a mobile mechanism 31, a display, a speaker, a lamp, or a combination thereof.

The communication interface 14 is configured to control communication between the controller 10 and an external device (for example, a server (not shown)).

The moving body 1 can include one or more pressure sensors 21. In the following description, as shown in FIGS. 3 to 5, the moving body 1 includes a pressure sensor 21S, a pressure sensor 21B, a pressure sensor 21FR, and a pressure sensor 21FL.

The pressure sensor 21S is arranged on the seat portion 32. The pressure sensor 21S measures the pressure received by the seat 32 from the upper side (U direction) to the lower side (D direction). When the occupant is seated on the seat 32, the pressure sensor 21S measures the pressure applied to the seat 32 by the occupant's buttocks. Based on the output of the pressure sensor 21S, it is possible to determine whether or not the occupant is seated.

As shown in FIG. 4, a sensor array (for example, 4 × 4 sensor arrays) composed of a plurality of pressure sensors 21S may be arranged on the seat portion 32. Based on the distribution of the outputs of the plurality of pressure sensors 21S, it is possible to estimate the position of the center of gravity of the occupant (the position on the plane (for example, the seat surface) orthogonal to the UD axis).

The pressure sensor 21B is arranged on the back 33. The pressure sensor 21B measures the pressure received by the back portion 33 from the front (F direction) to the rear (R direction). When the occupant is seated with his back in contact with the back 33 (ie, the occupant is sitting deeply), the pressure sensor 21B measures the pressure from the occupant's back. Based on the output of the pressure sensor 21B, it is possible to determine whether or not the back of the occupant is in contact with the back 33 (that is, whether the occupant is sitting deeply).

As shown in FIG. 5, a sensor array (for example, 1 × 4 sensor array) composed of a plurality of pressure sensors 21B may be arranged on the back 33. It is possible to estimate the position of the center of gravity of the occupant (position on the SL-SR axis) based on the distribution of the outputs of the plurality of pressure sensors 21B.

The pressure sensor 21FR is arranged on the footrest 34FR. The pressure sensor 21FR measures the pressure received by the footrest 34FR from the upper side (U direction) to the lower side (D direction). When the occupant rests his right foot on the footrest 34FR, the pressure sensor FR measures the pressure exerted by the occupant's right foot on the footrest 34FR. Based on the output of the pressure sensor 21FR, it is possible to determine whether or not the occupant has his right foot resting on the footrest 34FR.

The pressure sensor 21FL is arranged on the footrest 34FL. The pressure sensor 21FL measures the pressure received by the footrest 34FL from the upper side (U direction) to the lower side (D direction). When the occupant rests his right foot on the footrest 34FL, the pressure sensor FL measures the pressure exerted by the occupant's right foot on the footrest 34FL. Based on the output of the pressure sensor 21FL, it is possible for the occupant to determine whether or not the left foot is resting on the footrest 34FL.
The number and arrangement of pressure sensors included in the moving body 1 are not limited to the above. For example, a single pressure sensor may be installed on the seat portion 32 and the back portion 33, or a plurality of pressure sensors may be installed on the footrest 34FL and the footrest 34FR, respectively. Further, the pressure sensor may not be installed in at least one of the seat portion 32, the back portion 33, the footrest 34FL and the footrest 34FR, or the pressure sensor may be arranged at another position such as an armrest. Further, these pressure sensors may be provided so as to be detachable from the moving body 1.

LIDAR 22 is housed in the sensor housing unit 36. The sensor accommodating portion 36 is attached to the upper end of the pole 35. The pole 35 is arranged upward (U direction) with respect to the back portion 33. Specifically, the pole 35 extends substantially vertically from the upper end of the back portion 33. That is, the LIDAR 22 is arranged upward (in the U direction) with respect to the pole 35 and is supported by the pole 35.

The angle (hereinafter referred to as "irradiation angle") θ formed by the virtual line along the irradiation direction of the LIDAR 22 with respect to the plane (hereinafter referred to as "reference plane") along the traveling direction (that is, the front-back direction) of the moving body 1. The LIDAR 22 is arranged so that it is less than 90 degrees.
The reference plane is, for example, a plane that passes through the center of the wheel 31 (for example, the rear wheel 31RL and the rear wheel 31RR).
For example, the LIDAR 22 is from the left front (SL direction and F direction) to the front (F direction) to the right front (SR direction) of the moving body 1 in the direction from the upper side (U direction) to the lower side (D direction) of the pole 35. And it is configured to measure the distance to obstacles in the range of (F direction). As an example, the LIDAR 22 is attached at a position higher than the head of an occupant seated on the moving body 1 and is configured to detect the presence of an obstacle in front of the moving body 1 (F direction). That is, the laser irradiation direction of the LIDAR 22 is directed from the left front (SL direction and F direction) to the front (F direction) to the right front (SR direction and F direction) of the moving body 1, and is a horizontal plane passing through the mounting position of the LIDAR 22. It is necessary to turn downward (D direction). Therefore, the LIDAR 22 is attached so as to be inclined downward (in the D direction) from the horizontal plane (in other words, to be inclined with respect to the traveling surface of the moving body 1). The tilt angle of the LIDAR 22 may be fixed, electrically (for example, an actuator) or manually variable.

The LIDAR 22 irradiates a laser that emits light in a pulsed manner according to a control signal from the controller 10, and detects the light that is scattered by an obstacle and returned by a photodetector. The distance from the LIDAR 22 to the obstacle can be measured based on the time difference between the irradiation of the laser and the return of the scattered light and the propagation speed of the laser. The LIDAR 22 will be described as using the two-dimensional LIDAR, which is relatively inexpensive with respect to the three-dimensional LIDAR, but is not limited thereto.

The keypad 23 is arranged upward (U direction) with respect to the armrest of the moving body 1. The keypad 23 may be fixed to either the left or right armrest, or may be configured to be attached to either the left or right armrest depending on the physical function of the occupant (for example, the dominant arm, the presence or absence of a movement disorder). ..

The keypad 23 is an example of an input device for an occupant or a caregiver to input an instruction to the controller 10. The keypad 23 may accept, for example, at least one of the following instructions:
・ Setting a destination ・ Selecting a route ・ Starting automatic driving ・ Ending automatic driving ・ Switching between automatic driving mode and manual driving mode ・ Decelerating / stopping / starting / calling a caregiver

The moving mechanism 31 moves the moving body 1 according to the control signal from the controller 10. The configuration of the moving mechanism 31 depends on the moving method required for the moving body 1, but as an example, the moving mechanism 31 has a brake in addition to the front wheel 31FL, the front wheel 31FR, the rear wheel 31RL, and the rear wheel 31RR shown in FIG. It may include motors, transmissions, and axles.

The front wheel 31FL is arranged downward (D direction) with respect to the seat portion 32 and leftward (SL direction) with reference to the front wheel 31FR. The front wheel 31FL is configured to be rotatable.
The front wheel 31FR is arranged downward (D direction) with respect to the seat portion 32 and to the right (SR direction) with reference to the front wheel 31FL. The front wheel 31FR is configured to be rotatable.
The rear wheel 31RL is arranged downward (D direction) with respect to the seat portion 32 and leftward (SL direction) with reference to the rear wheel 31RR. The rear wheel 31RL is configured to be rotatable.
The rear wheel 31RR is arranged downward (in the D direction) with respect to the seat portion 32 and in the right direction (SR direction) with respect to the rear wheel 31RL. The rear wheel 31RR is configured to be rotatable.

The seat portion 32 is arranged downward (D direction) and forward (F direction) with respect to the back portion 33. The seat portion 32 is configured to be able to support the buttocks of the occupant.
The back portion 33 is arranged above (U direction) and rearward (R direction) with respect to the seat portion 32. The back 33 can support the back of the occupant.
The footrest 34FL is arranged downward (D direction) with respect to the seat portion 32 and leftward (SL direction) with reference to the footrest 34FR. The footrest 34FL can support the occupant's left foot.
The footrest 34FR is arranged downward (in the D direction) with respect to the seat portion 32 and in the right direction (SR direction) with respect to the footrest 34FL. The footrest 34FR can support the occupant's right foot.

The pole 35 is arranged upward (U direction) with respect to the back surface of the back portion 33. Specifically, the pole 35 has the height of the upper end of the pole 35 along an axis different from the center line (vertical line) in the width direction (that is, the left-right direction (SL-SR axis direction)) of the back portion 33. (Height from the horizontal plane when the front wheel 31FL, front wheel 31FR, rear wheel 31RL, and rear wheel 31RR are in contact with the horizontal plane (ground height)) is at a position higher than the upper end of the back 33 (“reference height”). It will be extended so that it becomes. The reference height can be set higher than, for example, the height of the head of the occupant seated on the moving body 1.
The pole 35 is configured so that the sensor accommodating portion 36 can be attached to the upper end of the pole 35.

The sensor accommodating portion 36 is arranged upward (U direction) with respect to the pole 35. Specifically, the sensor accommodating portion 36 is attached to the upper end of the pole 35. The sensor accommodating portion 36 is configured to accommodate the LIDAR 22. The sensor accommodating unit 36 may accommodate at least one of the lamp and the speaker in addition to the LIDAR 22.

The controller 10 determines the posture of the occupant based on the pressure measurement result by the pressure sensor 21. Then, the controller 10 controls the moving mechanism 31 based on the determination result of the posture of the occupant to ensure the safety of the occupant during the automatic operation of the moving body 1.

(2) Outline of the Embodiment The outline of the present embodiment will be described. FIG. 6 is a diagram showing a first example of the posture of the occupant. FIG. 7 is a diagram showing a second example of the posture of the occupant. FIG. 8 is a diagram showing a third example of the posture of the occupant. FIG. 10 is a transition diagram of the traveling state of the moving body of the present embodiment.

As shown in FIG. 6, the first example of the posture of the occupant is a state in which the occupant US is seated on the seat portion 32 so that the position of the center of gravity of the occupant US is within a predetermined region while the back is in contact with the back portion 33. The posture is such that both feet are placed on the footrest 34FL and the footrest 34FR (also referred to as "normal"). The predetermined region is a region excluding the front (F direction) end, the left (SL direction) end, and the right (SR direction) end of the seat surface of the seat 32. When the posture of the occupant US is normal, the controller 10 normally causes the moving body 1 to travel.

As shown in FIG. 7, the second example of the occupant's posture is a posture in which the occupant US sits excessively shallowly with his back away from the back 33 (also referred to as "forward leaning"). When the occupant US is in the forward leaning posture, the position of the center of gravity of the occupant US is in the region including the front end (F direction) of the seat surface of the seat portion 32.

As shown in FIG. 8, a third example of the occupant's posture is a posture in which the occupant US stands on the footrest 34FL and the footrest 34FR (also referred to as “standing”). When the occupant US is in the upright position, the occupant US is not seated on the seat 32.

As shown in FIG. 9, the fourth example of the occupant's posture is a posture in which the back leans against the back 33 and sits excessively shallowly (also referred to as "sacral sitting"). When the occupant US is in the sacral sitting posture, the position of the center of gravity of the occupant US is in the region including the front end (F direction) of the seat surface of the seat portion 32.

The fifth example of the occupant's posture is a posture in which the occupant's body is biased to either the left direction (SL direction) or the right direction (SR direction) (also called "left-right bias"). When the occupant US is in a left-right biased posture, the position of the center of gravity of the occupant US includes the region including the left (SL direction) end of the seat surface of the seat 32 or the right end (SR direction). In the area.

When the occupant's posture is an abnormal type such as leaning forward (Fig. 7), standing up (Fig. 8), sitting on the sacrum (Fig. 9), dropping of the foot (not shown), and left-right bias (not shown). , There is a risk of at least one of the following accidents occurring:
-The fall of the occupant US or belongings (for example, a wand) -The occupant US's feet or other parts, or the entanglement of the belongings in the moving mechanism 31-The occupant US's hands, feet, head, or other parts, or belongings Contact with obstacles

Therefore, the controller 10 decelerates the moving body 1 when it is determined that the posture of the occupant US is not normal. As a result, the moving body 1 slows down or stops, so that an accident such as a fall of the occupant US due to the collapse of the posture of the occupant US can be prevented, or even if such an accident occurs, the occupant US receives it. The impact can be softened.

More specifically, as shown in FIG. 10, in the present embodiment, the controller 10 determines the posture of the occupant US as one of category 0, category 1, and category 2 in ascending order of risk. The controller 10 performs different deceleration control depending on whether the posture of the occupant US corresponds to category 1 and the posture of the occupant US corresponds to category 2.

When the posture of the occupant US corresponds to category 0, the controller 10 normally causes the moving body 1 to travel. When the posture of the occupant US falls under category 1, the controller 10 causes the moving body 1 to drive slowly. When the posture of the occupant US falls under category 2, the controller 10 stops the moving body 1.

As shown in FIG. 10, when the controller 10 determines that the posture of the occupant US falls under category 2 during normal traveling of the moving body 1 or slowing down of the moving body 1, the controller 10 decelerates until the moving body 1 stops. Let me. When the controller 10 determines that the posture of the occupant US falls under category 1 during normal traveling of the moving body 1, the controller 10 decelerates the moving body 1 to a predetermined slow speed.

As shown in FIG. 10, the controller 10 maintains the speed of the moving body 1 when it is determined that the posture of the occupant US falls under category 0 during the normal traveling of the moving body 1. When the controller 10 determines that the posture of the occupant US falls under category 1 when the moving body 1 is slowing down, the controller 10 maintains the speed of the moving body 1. When the controller 10 determines that the posture of the occupant US falls under category 2 when the moving body 1 is stopped, the controller 10 keeps the moving body 1 stopped.

As shown in FIG. 10, when the controller 10 determines that the posture of the occupant US corresponds to the posture of category 0 when the moving body 1 is slowing down, the controller 10 accelerates the moving body 1 to a predetermined normal traveling speed. When the controller 10 determines that the posture of the occupant US corresponds to the posture of category 0 when the moving body 1 is stopped, the controller 10 starts the moving body 1 and accelerates it to a predetermined normal traveling speed. When the controller 10 determines that the posture of the occupant US corresponds to the posture of category 1 when the moving body 1 is stopped, the controller 10 starts the moving body 1 and accelerates it to a predetermined slow-moving speed.

(3) Database The posture database of this embodiment will be described. FIG. 11 is a diagram showing a data structure of the posture database of the present embodiment.

As shown in FIG. 11, the posture database includes a "posture ID" field, a "posture name" field, a "category" field, a "buttocks" field, a "back" field, and a "foot" field. .. Each field is associated with each other.

The posture ID is stored in the "posture ID" field. The posture ID identifies the posture type. Posture name data is stored in the "posture name" field. The posture name data indicates the name of the posture type.

Category data is stored in the "Category" field. The categorical data indicates the category to which the posture type belongs.

The first pressure condition is stored in the "buttocks" field. The first pressure condition is a condition relating to the measurement result of the pressure sensor 21S.

The second pressure condition is stored in the "back" field. The second pressure condition is a condition relating to the measurement result of the pressure sensor 21B.

The third pressure condition is stored in the "foot" field. The third pressure condition is a condition relating to the measurement results of the pressure sensor 21FL and the pressure sensor 21FR.

(4) Mobile control process The mobile control process of the present embodiment will be described. FIG. 12 is a flowchart illustrating the mobile control process according to the present embodiment. FIG. 13 is a diagram showing the region R1. FIG. 14 is a diagram showing the region R2. FIG. 15 is a diagram showing the region R5.

As shown in FIG. 12, the controller 10 executes the start of automatic operation (S100).
Specifically, the processor 12 receives a destination setting and an automatic operation start instruction from an occupant or an assistant via the input / output interface 13 or the communication interface 14. The processor 12 refers to the current location data and the map data stored in the storage device 11 and determines the route to the destination. After that, the processor 12 repeats controlling at least one of acceleration, steering, and braking along the determined route.

After the execution of step S100, the controller 10 executes the posture determination (S110).
Specifically, the processor 12 acquires the measurement result of at least one of the pressure sensor 21S, the pressure sensor 21B, the pressure sensor 21FL, and the pressure sensor 21FR. Based on the acquired measurement result, the processor 12 determines the posture of the occupant US as one of the posture types registered in the posture database (FIG. 11).

According to the example of FIG. 11, when the processor 12 satisfies the three conditions of "the position of the center of gravity of the occupant is within the region R1", "Pb> Th1b", and "(Pfl> Th1f) AND (Pfr> Th1f)". In addition, the posture of the occupant US is determined to be normal (category 0). As shown in FIG. 13, the region R1 is a region of the seating surface of the seat portion 32, for example, on the B direction side of the reference line BL1F, on the R direction side of the reference line BL1L, and on the L direction side of the reference line BL1R. be. Pb represents a measurement result (for example, a representative value) of the pressure sensor 21B. Th1b represents a threshold value for determining whether or not the back of the occupant US is in contact with the back portion 33. Pfl represents the measurement result of the pressure sensor 21FL. Pfr represents the measurement result of the pressure sensor 21FR. Th1f represents a threshold value for determining whether or not both feet of the occupant US are on the footrest 34FL and the footrest 34FR.

According to the example of FIG. 11, the processor 12 tilts the posture of the occupant US forward (category 1) when the two conditions of "the position of the center of gravity of the occupant is outside the region R2" and "Pb <Th2b" are satisfied. judge. As shown in FIG. 14, the region R2 is a region of the seat surface of the seat portion 32 on the B direction side of, for example, the reference line BL2. Th2b represents a threshold value for determining whether or not the back of the occupant US is in contact with the back portion 33. Th2b may be the same as the above-mentioned threshold value Th1b.

According to the example of FIG. 11, when the processor 12 satisfies the three conditions of “Ps <Th3”, “Pb <Th3b”, and “(Pfl> Th3f) OR (Pfr> Th3f)”, the occupant US The posture is determined to be standing (category 2). Ps represents a measurement result (for example, a representative value) of the pressure sensor 21S. Th3s represents a threshold value for determining whether or not the buttocks of the occupant US are in contact with the seat 32. Th3b represents a threshold value for determining whether or not the back of the occupant US is in contact with the back portion 33. Th3b may be the same as the above-mentioned threshold value Th1b. Th3f represents a threshold value for determining whether or not both feet of the occupant US are on the footrest 34FL and the footrest 34FR. Th3f may be the same as the above-mentioned threshold value TH1f. When the user's posture is upright, at least one of the left and right feet is heavier than when the user is seated, so that at least one of Pfl and Pfr is normal when the user's posture is normal. It is thought that it will be larger than that. Therefore, Th3f may be set larger than the threshold value TH1f.

According to the example of FIG. 11, when the condition of "(Pfl <Th4f) OR (Pfr <Th4f)" is satisfied, the processor 12 determines that the posture of the occupant US is a foot dropout (category 2). Th4f represents a threshold value for determining whether or not both feet of the occupant US are on the footrest 34FL and the footrest 34FR. Th4f may be the same as the above-mentioned threshold value TH1f.

According to the example of FIG. 11, the processor 12 determines that the posture of the occupant US is left-right bias (category 1) when the condition of "the position of the center of gravity of the occupant is outside the region R5" is satisfied. As shown in FIG. 15, the region R5 is a region of the seating surface of the seat portion 32, for example, on the R direction side of the reference line BL5L and on the L direction side of the reference line BL5R.

According to the example of FIG. 11, when the two conditions of "the position of the center of gravity of the occupant is outside the region R6" and "Pb> Th6b" are satisfied, the processor 12 sets the posture of the occupant US to sit on the sacrum (category 1). judge. The region R2 is, for example, a region of the seat surface of the seat portion 32 on the B direction side with respect to a certain reference line. The area R6 may be the same as the above-mentioned area R2. Th6b represents a threshold value for determining whether or not the back of the occupant US is in contact with the back portion 33. Th6b may be the same as the above-mentioned threshold value Th1b. When the user's posture is sitting on the sacrum, the user is leaning on the back 33, so that Pb is considered to be larger than when the user's posture is not sitting on the sacrum. Therefore, the threshold value Th6b may be set larger than the threshold value Th1b.

When the determination result in step S110 corresponds to category 0, the controller 10 executes the normal travel control (S111).
Specifically, the processor 12 controls the moving mechanism 31 so that when the moving body 1 is stopped, the moving body 1 starts and accelerates to a predetermined normal traveling speed. When the speed of the moving body 1 is non-zero and is smaller than the normal running speed, the processor 12 controls the moving mechanism 31 so as to accelerate the moving body 1 to the normal running speed. When the speed of the moving body 1 is close to the normal traveling speed, the processor 12 controls the moving mechanism 31 so that the moving body 1 maintains the speed.

When the determination result in step S110 corresponds to category 1, the controller 10 executes the slow-moving control (S112).
Specifically, the processor 12 controls the moving mechanism 31 so that when the moving body 1 is stopped, the moving body 1 starts and accelerates to a predetermined slow running speed. When the speed of the moving body 1 is close to the slow speed, the processor 12 controls the moving mechanism 31 so that the moving body 1 maintains the speed. When the speed of the moving body 1 exceeds the slowing speed, the processor 12 controls the moving mechanism 31 so that the moving body 1 decelerates to the slowing speed.

When the determination result in step S110 corresponds to category 2, the controller 10 executes stop control (S113).
Specifically, when the moving body 1 is stopped, the processor 12 keeps the moving body 1 stopped. When the moving body 1 is traveling, the processor 12 controls the moving mechanism 31 so as to decelerate until the moving body 1 stops.

After executing step S111 or step S112, the controller 10 executes the obstacle avoidance process (S120).
Specifically, the processor 12 controls the moving mechanism 31 based on the distance measurement result by the LIDAR 22. The processor 12 may execute at least one of the following first to fourth examples of obstacle avoidance processing.

In the first example of the obstacle avoidance process, the processor 12 maintains the speed of the moving body 1 when the distance to the obstacle is equal to or greater than the threshold value.
This threshold value may be fixed or variable depending on at least one of the measured direction of the distance, the traveling direction of the moving body 1, and the speed of the moving body 1.

In the second example of the obstacle avoidance process, the processor 12 slows down or stops the moving body 1 when the distance to the obstacle is less than the threshold value.

In the third example of the obstacle avoidance process, the processor 12 changes the traveling direction of the moving body 1 when the distance to the obstacle is less than the threshold value.
The changed traveling direction may be determined by the processor 12 or by an external device (for example, a server (not shown)). The changed direction of travel can be determined based on the direction of the obstacle corresponding to the measurement result below the threshold value, that is, the direction of the obstacle with which the contact is possible.

In the fourth example of the obstacle avoidance process, the processor 12 accelerates the moving body 1 when the distance to the obstacle in the direction opposite to the traveling direction of the moving body 1 is less than the threshold value. For example, when an obstacle approaches from the rear side when viewed from the traveling direction of the moving body 1, there is a possibility that contact can be avoided by accelerating the moving body 1 or the impact at the time of contact can be mitigated.

After executing step S113 or step S120, the controller 10 executes the end determination (S130) of the automatic operation.
Specifically, the processor 12 can determine that the automatic operation is terminated when at least one of the following conditions is satisfied.
-Mobile 1 has arrived at the destination-The occupant, caregiver, or other administrator has instructed the end of automatic driving-The occupant, caregiver, or other administrator has switched to manual operation mode Was instructed ・ It was determined that it was difficult to continue automatic driving based on factors such as failure, battery condition, road surface condition, etc.

When it is determined in step S130 that the automatic operation is not terminated, the controller 10 executes the posture determination (S110) again.

(5) Summary of the present embodiment As described above, the controller included in the moving body of the present embodiment determines the posture of the occupant based on the measurement results of one or more pressure sensors provided in the moving body. , The movement mechanism is controlled based on the posture determination result. For example, the controller decelerates the moving body when it is determined that the posture of the occupant corresponds to a predetermined type. Therefore, according to this controller, it is possible to appropriately control the traveling state of the moving body when the occupant loses his / her posture. That is, according to this controller, it is possible to enhance the safety of the moving body capable of automatically driving.
The method of determining the posture of the occupant by the controller 10 and the content of the control of the moving body 1 according to the determination result are not limited to the above examples. For example, in the controller 10, all of the left and right pressure sensors provided on the seat portion 32 of the moving body 1, the left and right pressure sensors provided on the back portion 33, and the pressure sensors provided on the footrest 34FL and the footrest FR are equal to or higher than the threshold value. When the pressure of the occupant is detected, it may be determined that the occupant's posture is normal, and in other cases, the occupant's attitude may be determined to be abnormal. Then, the controller 10 controls the moving body 1 so as to normally travel based on the instruction by the keypad 23 when it is determined that the posture of the occupant is normal, and moves when it is determined that the posture of the occupant is abnormal. The body 1 may be controlled to stop or decelerate the running, or may be controlled not to start the running. Further, when none of the pressure sensors detects the pressure equal to or higher than the threshold value, the controller 10 may determine that there is no occupant (the user is not on board) and restrict the movement of the moving body 1.

(6) Modification Example A modification of the present embodiment will be described. This modified example is an example of outputting an alarm based on the determination result of the posture of the occupant.

(6-1) Mobile control process The mobile control process of this modification will be described. FIG. 16 is a flowchart illustrating a moving body control process according to a modified example.

As shown in FIG. 16, the controller 10 has the same as the present embodiment (FIG. 12), that is, start of automatic operation (S100), determination of posture (S110), normal driving control (S111), slow-moving control (S112), Then, the stop control (S113) is executed.

After executing step S112, the controller 10 executes an alarm output (S112a).
Specifically, the processor 12 may output, for example, at least one of the following alarms. The content of the alarm may differ depending on the posture type of the occupant determined in step S110.
-Signal for outputting at least one of text, voice, and image prompting the occupant to return to the normal posture to the output device (for example, display, speaker, etc.) provided in the moving body 1. A signal for outputting at least one of the text, voice, and image for calling to an external device (for example, a caregiver's terminal (not shown) or an output device provided in the moving body 1 ・ Around the occupant's caregiver or occupant. A signal for outputting at least one of text, voice, and an image telling a human being that the occupant's posture is not normal to an external device (for example, a caregiver's terminal (not shown) or an output device provided by the moving body 1. -Signal for lighting the lamp provided in the moving body 1 with a lighting pattern that conveys an abnormality in the occupant's posture-Text, voice, and image that inform an external device (for example, a server (not shown)) that the occupant's attitude is not normal. Signal to output at least one

For example, the text that encourages the occupant to return to the normal posture may be "sit deeply in a chair", "put your feet on the footrest", "do not lean to the left or right", etc.

After executing step S113, the controller 10 executes an alarm output (S113a).
For example, the processor 12 may output the alarm described for step S113a.

After executing step S111 or step S112a, the controller 10 executes the obstacle avoidance process (S120) (FIG. 12).
After executing step S113 or step S120, the controller 10 executes the end determination (S130) (FIG. 12) of the automatic operation.
When it is determined in step S130 that the automatic operation is not terminated, the controller 10 re-executes the posture determination (S110).

As described above, the controller included in the moving body of the present embodiment determines the posture of the occupant based on the measurement results of one or more pressure sensors provided on the moving body, and gives an alarm based on the posture determination result. Is output. For example, when it is determined that the posture of the occupant corresponds to a predetermined type, the controller urges the occupant to return to the normal posture or calls a caregiver. That is, according to this controller, the collapse of the posture of the occupant can be corrected at an early stage, so that the safety of the moving body capable of automatic driving can be improved.

(7) Other Modifications The storage device 11 may be connected to the controller 10 via the network NW.

In the explanation of the embodiment, the posture judgment conditions are defined for each occupant's part (buttocks, back, and feet). However, for example, the pressure sensor may be omitted for a part of the explained part, or the pressure sensor may be added for the part not explained (for example, the arm). When the pressure sensor is omitted for a part of the already explained part, the description of the embodiment can be read as assuming that the conditions for the part are not defined.

In the explanation of the embodiment, the posture judgment conditions are defined for each occupant's part (buttocks, back, and feet). However, a typical pressure distribution for each posture type may be created in advance based on the measurement results of a plurality of pressure sensors when the occupant takes various postures. Then, the posture of the occupant may be determined by matching the typical pressure distribution for each posture type with the measurement result acquired from the pressure sensor.

In the description of the embodiment, it has been explained that the moving body is decelerated when it is determined that the posture of the occupant corresponds to a predetermined type, but how the moving body is decelerated, that is, it is given to the moving body 1. The negative acceleration may be variable depending on at least one of the occupant's weight and physique. For example, the heavier the weight of the occupant, the smaller the absolute value of acceleration may be. The larger the occupant's physique (for example, the higher the position of the center of gravity), the smaller the absolute value of acceleration may be. The weight and physique of the occupant may be estimated based on the measurement result of the pressure sensor, or may be obtained by other methods.
In the above-described embodiment, the threshold values (for example, Th1b, Th1f, Th2b, etc. in FIG. 11) to be compared with the pressure value measured by the pressure sensor for determining the posture of the occupant are assumed to be predetermined respectively. .. However, the present invention is not limited to this, and the controller 10 may change the threshold values of these pressure sensors depending on the situation. For example, by setting the threshold value of the pressure sensor to be higher when the occupant's weight is heavier than when the occupant's weight is light, the controller 10 can be used by occupants of various weights to ride on the moving body 1. However, the attitude of the occupant can be judged appropriately. Specifically, the controller 10 may acquire information indicating the attributes of the occupant from an external device by communication, and set the threshold value of the pressure sensor based on the acquired information. Further, the controller 10 sets the threshold value of the pressure sensor based on the value output by each pressure sensor when the occupant is riding on the moving body 1 in a normal posture (before the moving body 1 starts or during normal running). You may.
Further, for example, when the posture of the occupant is normal, the pressure applied to the back of the moving body 1 becomes larger when the moving body 1 is traveling uphill than when the moving body 1 is traveling downhill, and the footrest is used. The pressure is reduced. Therefore, the controller 10 may change the threshold value of the pressure sensor according to the slope of the road on which the moving body 1 is traveling. As a result, the controller 10 can appropriately determine the posture of the occupant even when the road on which the moving body 1 travels includes a slope. The controller 10 may determine the slope of the road on which the moving body 1 is traveling based on the measurement result (distance from the LIDAR 22 to the ground) by the LIDAR 22, or the map information acquired from the external device and the moving body 1. The judgment may be made based on the result of self-position estimation of.

In the description of the embodiment, the controller 10 may decelerate the moving body 1 when the determination result of the posture of the occupant corresponds to the category 1 or the category 2. How the moving body 1 is decelerated, that is, the negative acceleration given to the moving body 1 may be variable according to the posture type. For example, when the posture of the occupant US is leaning forward or standing upright, if the moving body 1 is suddenly decelerated, there is a risk that the occupant US may fall due to inertia. Therefore, when the posture of the occupant US is determined to be forward leaning or standing, the processor 12 makes the moving body 1 slower than when the posture of the occupant US is determined to be at least one of other abnormal types. It may be decelerated to (that is, the absolute value of acceleration may be reduced).

In the description of the embodiment, the posture types are classified into three categories, but the posture types may be classified into two categories or four or more categories.

In the description of the embodiment, it has been explained that the moving body is decelerated when it is determined that the posture of the occupant corresponds to a predetermined type, but in such a case, even if the upper limit speed of the moving body is limited to be small. good.

In the description of the embodiment, it has been explained that the moving body is decelerated when it is determined that the posture of the occupant corresponds to the predetermined type, but the posture of the occupant corresponds to the predetermined type while the moving body is stopped. Then, when it is determined, the start of the moving body may be prohibited.

In the description of the embodiment, how to control the movement mechanism is determined based on the combination of the distance to the obstacle and the determination result of the posture. However, the control of the moving mechanism based on the distance to the obstacle and the control of the moving mechanism based on the posture determination result may be performed independently.

In the explanation of the modified example, an alarm is output after the slow-moving control and the stop control. However, an alarm may be output before the driving and stop control, or an alarm may be output in parallel with the driving and stop control.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited to the above embodiments. Further, the above-described embodiment can be improved or modified in various ways without departing from the spirit of the present invention. Moreover, the above-described embodiment and modification can be combined.

(8) Addendum The matters described in the embodiment are added below.

(Appendix 1)
A controller (10) that controls a moving body (1) including a moving mechanism (31) and one or more pressure sensors (21).
A means (S110) for determining the posture of a moving occupant based on the measurement results of one or more pressure sensors, and
A controller including means (S111, S112, S113) for controlling a movement mechanism based on a determination result of a occupant's posture.

According to (Appendix 1), the controller appropriately controls the running state of the moving body when the occupant loses his / her posture. That is, the safety of the moving body capable of automatic operation can be enhanced.

(Appendix 2)
The controller according to Appendix 1, wherein the means for controlling the moving mechanism decelerates the moving body when it is determined that the posture of the occupant corresponds to a predetermined type (S112, S113).

According to (Appendix 2), the controller decelerates the moving body when the occupant loses his / her posture. That is, the safety of the moving body capable of automatic operation can be enhanced.

(Appendix 3)
The controller according to Appendix 1 or Appendix 2, wherein the pressure sensor of one or more includes a pressure sensor (21FL, 21FR) arranged on a footrest (34FL, 34FR) capable of supporting the occupant's foot.

According to (Appendix 3), the controller appropriately controls the running state of the moving body when it detects that the occupant has lost its posture based on the output of the pressure sensor arranged on the footrest. That is, the safety of the moving body capable of automatic operation can be enhanced.

(Appendix 4)
The means for determining the posture of the occupant is to determine whether or not the posture of the occupant corresponds to the type in which the occupant's foot is falling off from the footrest based on the measurement result of the pressure sensor arranged on the footrest.
The means for controlling the movement mechanism decelerates the moving body when it is determined that the posture of the occupant corresponds to the type in which the occupant's foot is falling off from the footrest (S112, S113).
The controller according to Appendix 3.

According to (Appendix 4), the controller decelerates the moving body when the posture of the occupant corresponds to the type in which the occupant's foot is falling off from the footrest. That is, the safety of the moving body capable of automatic operation can be enhanced.

(Appendix 5)
The controller according to Appendix 4, wherein the means for controlling the movement mechanism decelerates the moving body until the moving body is stopped when it is determined that the posture of the occupant corresponds to the type in which the occupant's foot is falling off from the footrest (S113). ..

According to (Appendix 5), the controller stops the moving body when the posture of the occupant corresponds to the type in which the occupant's foot is falling off from the footrest. That is, the safety of the moving body capable of automatic operation can be enhanced.

(Appendix 6)
The means for determining the posture of the occupant is to determine whether or not the posture of the occupant corresponds to the type in which the occupant's foot is falling off from the footrest based on the measurement result of the pressure sensor arranged on the footrest.
The controller further includes means (S112a, S113a) for outputting an alarm when it is determined that the posture of the occupant corresponds to the type in which the occupant's foot is falling off from the footrest.
The controller according to any one of Supplementary note 3 to Supplementary note 5.

According to (Appendix 6), the controller urges the occupant to return to the normal posture or calls a caregiver when the occupant's posture corresponds to the type in which the occupant's foot is falling off the footrest. Therefore, since the posture collapse of the occupant can be corrected at an early stage, the safety of the moving body capable of automatic operation can be improved.

(Appendix 7)
One or more pressure sensors include a pressure sensor (21B) located on the back (33) capable of supporting the back of the occupant.
The controller according to any one of Supplementary note 1 to Supplementary note 6.

According to (Appendix 7), the controller appropriately controls the running state of the moving body when it detects that the occupant has lost its posture based on the output of the pressure sensor arranged on the back. That is, the safety of the moving body capable of automatic operation can be enhanced.

(Appendix 8)
The means for determining the posture of the occupant determines whether or not the posture of the occupant corresponds to the type in which the back of the occupant does not touch the back based on the measurement result of the pressure sensor arranged on the back.
The means for controlling the movement mechanism decelerates the moving body when it is determined that the posture of the occupant corresponds to the type in which the back of the occupant does not touch the back (S112, S113).
The controller according to Appendix 7.

According to (Appendix 8), the controller decelerates the moving body when the posture of the occupant corresponds to the type in which the back of the occupant does not touch the back. That is, the safety of the moving body capable of automatic operation can be enhanced.

(Appendix 9)
The means for determining the posture of the occupant determines whether or not the posture of the occupant corresponds to the type in which the back of the occupant does not touch the back based on the measurement result of the pressure sensor arranged on the back.
The controller further includes means (S112a, S113a) for outputting an alarm when it is determined that the posture of the occupant corresponds to the type in which the back of the occupant does not touch the back.
The controller according to Appendix 7 or Appendix 8.

According to (Appendix 9), the controller urges the occupant to return to the normal posture or calls a caregiver when the occupant's posture corresponds to the type in which the occupant's back does not touch the back. Therefore, since the posture collapse of the occupant can be corrected at an early stage, the safety of the moving body capable of automatic operation can be improved.

(Appendix 10)
One or more pressure sensors include a pressure sensor (21B) located on the back (33) capable of supporting the back of the occupant.
The means for determining the posture of the occupant is to determine whether or not the posture of the occupant corresponds to the type in which the occupant's foot is falling off from the footrest based on the measurement result of the pressure sensor arranged on the footrest.
The means for determining the posture of the occupant determines whether or not the posture of the occupant corresponds to the type in which the back of the occupant does not touch the back based on the measurement result of the pressure sensor arranged on the back.
When it is determined that the posture of the occupant corresponds to the type in which the occupant's foot is falling off from the footrest, the means for controlling the movement mechanism decelerates until the moving body is stopped (S113).
The means for controlling the movement mechanism is when it is determined that the posture of the occupant does not correspond to the type in which the occupant's feet are falling off from the footrest, and the occupant's back does not correspond to the type in which the back is not in contact with the back. , Decelerate the moving body to a predetermined slow speed (S112),
The controller according to any one of Supplementary note 3 to Supplementary note 6.

According to (Appendix 10), the controller only slows down the moving body when the occupant's posture corresponds to the type in which the occupant's back does not touch the back, and the occupant's posture causes the occupant's feet to fall off the footrest. Stop the moving body if it corresponds to the type you are doing. That is, the safety of the moving body capable of automatic operation can be enhanced.

(Appendix 11)
The controller according to any one of Supplementary note 1 to Supplementary note 10, wherein the pressure sensor (1 or more) includes a pressure sensor (21S) arranged on a seat portion (32) capable of supporting the buttocks of an occupant.

According to (Appendix 11), the controller appropriately controls the running state of the moving body when it detects that the occupant has lost its posture based on the output of the pressure sensor arranged on the seat. That is, the safety of the moving body capable of automatic operation can be enhanced.

(Appendix 12)
The means for determining the posture of the occupant determines whether or not the posture of the occupant corresponds to a type in which the position of the center of gravity of the occupant is outside the predetermined range based on the measurement result of the pressure sensor arranged on the seat. ,
The means for controlling the moving mechanism decelerates the moving body when it is determined that the posture of the occupant corresponds to a type in which the position of the center of gravity of the occupant is outside the predetermined range (S112, S113).
The controller according to Appendix 11.

According to (Appendix 12), the controller decelerates the moving body when the posture of the occupant corresponds to a type in which the position of the center of gravity of the occupant is outside the predetermined range. That is, the safety of the moving body capable of automatic operation can be enhanced.

(Appendix 13)
The means for determining the posture of the occupant determines whether or not the posture of the occupant corresponds to a type in which the position of the center of gravity of the occupant is outside the predetermined range based on the measurement result of the pressure sensor arranged on the seat. ,
The controller further includes means (S112a, S113a) for outputting an alarm when it is determined that the posture of the occupant corresponds to a type in which the position of the center of gravity of the occupant is outside the predetermined range.
The controller according to Appendix 11 or Appendix 12.

According to (Appendix 13), the controller urges the occupant to return to the normal posture or calls a caregiver when the occupant's posture corresponds to a type in which the position of the occupant's center of gravity is outside the predetermined range. By doing so, it is possible to correct the collapse of the occupant's posture at an early stage, so that the safety of the moving body capable of automatic driving can be improved.

(Appendix 14)
One or more pressure sensors include a pressure sensor (21S) located on a seat (32) capable of supporting the occupant's buttocks.
The means for determining the posture of the occupant is to determine whether or not the posture of the occupant corresponds to the type in which the occupant's foot is falling off from the footrest based on the measurement result of the pressure sensor arranged on the footrest.
The means for determining the posture of the occupant determines whether or not the posture of the occupant corresponds to a type in which the position of the center of gravity of the occupant is outside the predetermined range based on the measurement result of the pressure sensor arranged on the seat. ,
When it is determined that the posture of the occupant corresponds to the type in which the occupant's foot is falling off from the footrest, the means for controlling the movement mechanism decelerates until the moving body is stopped (S113).
The means for controlling the movement mechanism is determined that the posture of the occupant does not correspond to the type in which the occupant's foot is falling off the footrest, and the position of the center of gravity of the occupant corresponds to the type outside the predetermined range. In that case, the moving body is decelerated to a predetermined slow speed (S112).
The controller according to any one of Supplementary note 3 to Supplementary note 6.

According to (Appendix 14), the controller only slows down the moving body when the posture of the occupant corresponds to a type in which the position of the center of gravity of the occupant is outside the predetermined range, and the posture of the occupant is the foot of the occupant. Stop the moving body if it falls under the type of falling off from the footrest. That is, the safety of the moving body capable of automatic operation can be enhanced.

(Appendix 15)
The means for determining the posture of the occupant determines whether or not the posture of the occupant corresponds to the type in which the buttocks of the occupant do not touch the seat based on the measurement result of the pressure sensor arranged on the seat.
The means for controlling the moving mechanism decelerates the moving body when it is determined that the posture of the occupant corresponds to the type in which the buttocks of the occupant do not touch the seat (S112, S113).
The controller according to any one of Supplementary note 11 to Supplementary note 14.

According to (Appendix 15), the controller decelerates the moving body when the posture of the occupant corresponds to the type in which the buttocks of the occupant do not touch the seat. That is, the safety of the moving body capable of automatic operation can be enhanced.

(Appendix 16)
The means for determining the posture of the occupant determines whether or not the posture of the occupant corresponds to the type in which the buttocks of the occupant do not touch the seat based on the measurement result of the pressure sensor arranged on the seat.
The controller further includes means (S112a, S113a) for outputting an alarm when it is determined that the posture of the occupant corresponds to the type in which the buttocks of the occupant do not touch the seat.
The controller according to any one of Supplementary note 11 to Supplementary note 15.

According to (Appendix 16), the controller urges the occupant to return to the normal posture or calls a caregiver when the occupant's posture corresponds to the type in which the occupant's buttocks do not touch the seat. As a result, it is possible to correct the posture collapse of the occupant at an early stage, and thus it is possible to improve the safety of the moving body capable of automatic driving.

(Appendix 17)
The means for determining the posture of the occupant determines whether or not the posture of the occupant corresponds to a type in which the position of the center of gravity of the occupant is outside the predetermined range based on the measurement result of the pressure sensor arranged on the seat. ,
The means for determining the posture of the occupant determines whether or not the posture of the occupant corresponds to the type in which the buttocks of the occupant do not touch the seat based on the measurement result of the pressure sensor arranged on the seat.
The means for controlling the movement mechanism is to decelerate the moving body until it stops when it is determined that the posture of the occupant corresponds to the type in which the buttocks of the occupant do not touch the seat.
The means for controlling the movement mechanism is such that the posture of the occupant does not correspond to the type in which the posture of the occupant does not contact the seat with the buttocks of the occupant, and the posture of the occupant is in a range in which the position of the center of gravity of the occupant is predetermined. When it is determined that the type corresponds to the outside type, the moving body is decelerated to a predetermined slowing speed.
The controller according to Appendix 11.

According to (Appendix 17), the controller only slows down the moving body when the posture of the occupant corresponds to a type in which the position of the center of gravity of the occupant is outside the predetermined range, and the posture of the occupant is the buttocks of the occupant. The moving body is stopped when it corresponds to the type that is not in contact with the seat. That is, the safety of the moving body capable of automatic operation can be enhanced.

(Appendix 18)
It ’s a mobile body,
A moving mechanism that moves a moving body and
1 or more pressure sensors and
A moving body including a controller that determines the posture of the occupant of the moving body based on the measurement results of one or more pressure sensors and controls the moving mechanism based on the determination result of the posture of the occupant.

According to (Appendix 18), the moving body appropriately controls its own running state when the occupant loses his / her posture. That is, the safety of the moving body capable of automatic operation can be enhanced.

1: Mobile body 10: Controller 11: Storage device 12: Processor 13: Input / output interface 14: Communication interface 21: Pressure sensor 22: LIDAR
31: Moving mechanism 32: Seat 33: Back 35: Pole

Claims

A controller that controls a moving body equipped with a moving mechanism and one or more pressure sensors.
A means for determining the posture of an occupant of the moving body based on the measurement results of the one or more pressure sensors, and
A controller including means for controlling the movement mechanism based on the determination result of the posture of the occupant.
The controller according to claim 1, wherein the means for controlling the moving mechanism decelerates the moving body when it is determined that the posture of the occupant corresponds to a predetermined type.
The controller according to claim 1 or 2, wherein the pressure sensor of one or more includes a pressure sensor arranged on a footrest capable of supporting the foot of the occupant.
The means for determining the posture of the occupant determines whether or not the occupant's foot has fallen off from the footrest based on the measurement result of the pressure sensor arranged on the footrest.
The means for controlling the moving mechanism decelerates the moving body when it is determined that the foot of the occupant has fallen off from the footrest.
The controller according to claim 3.
The controller according to claim 4, wherein the means for controlling the moving mechanism is to decelerate the moving body until the moving body is stopped when it is determined that the foot of the occupant has fallen off from the footrest.
The means for determining the posture of the occupant determines whether or not the occupant's foot has fallen off from the footrest based on the measurement result of the pressure sensor arranged on the footrest.
The controller further comprises means for outputting an alarm when it is determined that the occupant's foot has fallen off the footrest.
The controller according to any one of claims 3 to 5.
The one or more pressure sensors include a pressure sensor located on the back capable of supporting the back of the occupant.
The controller according to any one of claims 1 to 6.
The means for determining the posture of the occupant determines whether or not the back of the occupant is in contact with the back based on the measurement result of the pressure sensor arranged on the back.
The means for controlling the moving mechanism decelerates the moving body when it is determined that the back of the occupant is not in contact with the back.
The controller according to claim 7.
The means for determining the posture of the occupant determines whether or not the back of the occupant is in contact with the back based on the measurement result of the pressure sensor arranged on the back.
The controller further comprises means for outputting an alarm when it is determined that the back of the occupant is not in contact with the back.
The controller according to claim 7 or 8.
The controller according to any one of claims 1 to 9, wherein the one or more pressure sensors include a pressure sensor arranged on a seat that can support the occupant's buttocks.
The means for determining the posture of the occupant determines whether or not the position of the center of gravity of the occupant is within a predetermined range based on the measurement result of the pressure sensor arranged on the seat.
The means for controlling the moving mechanism decelerates the moving body when it is determined that the position of the center of gravity of the occupant is outside the range.
The controller according to claim 10.
The means for determining the posture of the occupant determines whether or not the position of the center of gravity of the occupant is within a predetermined range based on the measurement result of the pressure sensor arranged on the seat.
The controller further includes means for outputting an alarm when it is determined that the position of the center of gravity of the occupant is outside the range.
The controller according to claim 10.
The means for determining the posture of the occupant determines whether or not the buttocks of the occupant are in contact with the seat based on the measurement results of the pressure sensor arranged on the seat.
The means for controlling the moving mechanism decelerates the moving body when it is determined that the buttocks of the occupant are not in contact with the seat.
The controller according to any one of claims 10 to 12.
The means for determining the posture of the occupant determines whether or not the buttocks of the occupant are in contact with the seat based on the measurement results of the pressure sensor arranged on the seat.
The controller further includes means for outputting an alarm when it is determined that the buttocks of the occupant are not in contact with the seat.
The controller according to any one of claims 10 to 13.
The means for determining the posture of the occupant determines the posture of the occupant based on the comparison result between the pressure value measured by the one or more pressure sensors and the threshold value.
The controller further comprises means for changing the threshold value based on at least one of the attributes of the occupant and the slope of the road on which the moving body 1 travels.
The controller according to any one of claims 1 to 14.
The controller according to any one of claims 1 to 15, wherein the moving body is an electric wheelchair.
A control method for controlling a moving body including a moving mechanism and one or more pressure sensors.
Based on the measurement results of the one or more pressure sensors, the posture of the occupant of the moving body is determined.
A control method for controlling the movement mechanism based on the determination result of the posture of the occupant.
The control method according to claim 17, wherein the moving body is decelerated when it is determined that the posture of the occupant corresponds to a predetermined type.
The control method according to claim 17 or 18, wherein the moving body is an electric wheelchair.
A program for causing a computer to function as each means of the controller according to any one of claims 1 to 16.