PROBLEM TO BE SOLVED: To provide a mobile body control device, etc. for stably allowing automatic driving to continue even when correct position measurement becomes impossible.SOLUTION: A mobile body control device performs: detecting a relative position of a mobile body with respect to a predetermined feature (S2, S6); detecting a travel state of a mobile body (S3, S7); switching control from first driving control of a mobile body with the use of a detection result of detection of a relative position of a mobile body to second driving control of a mobile body with the use of a detection result of detection of a travel state of a mobile body when the detection accuracy of a relative position of a mobile body is equal to or less than a predetermined level (S4, S5); and allowing the second driving control to continue when a period when detection accuracy is equal to or less than a predetermined level is within a predetermined period after switching (S9).SELECTED DRAWING: Figure 6
【課題】正確に位置計測ができなくなった場合でも、安定的に自動運転を継続する移動体制御装置等を提供する。【解決手段】所定の地物に対する移動体の相対位置を検出しS2、S6、移動体の走行状態を検出しS3、S7、移動体の相対位置の検出精度が所定以下の場合、移動体の相対位置の検出の検出結果を用いた移動体の第1運転制御から、移動体の走行状態の検出の検出結果を用いた移動体の第2運転制御に切替えS4,S5、検出精度が所定以下である期間が、切替え後、所定期間以内である場合、第2運転制御を継続するS9。【選択図】図6
MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND PROGRAM FOR MOBILE BODY CONTROL DEVICE
移動体制御装置、移動体制御方法、および、移動体制御装置用プログラム
2018-04-26
Patent
Electronic Resource
Japanese
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