PROBLEM TO BE SOLVED: To provide a mobile body control device, method, and program for achieving stable continuation of an automatic driving even when position measurement cannot be correctly performed.SOLUTION: A relative position of a mobile body with respect to a feature is detected (S2, S6). A travel state of the mobile body is detected (S3, S7). When detection accuracy for detecting a relative position becomes equal to or less than a predetermined level, control is changed over from first driving control using a detection result in detection of a relative position of the mobile body to second driving control using a detection result in detection of a travel state of the mobile body (S4, S5). When a tolerance in a position of the mobile body with a movement after changeover into the second driving control is within a predetermined level, the second driving control is allowed to continue (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、方法及びプログラムを提供する。【解決手段】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、相対位置を検出する検出精度が所定以下となった場合、移動体の相対位置の検出の検出結果を用いた第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第2運転制御に切り替えS4,S5、第2運転制御への切替後の移動に伴う移動体の位置の誤差が所定以内である場合、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
2018-05-10
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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