Control device for mobile body

Patent metadata

Field	Value
Publication number	US-11975787-B2
Application number	US-202017131411-A
Country	US
Kind code	B2
Filing date	Dec 22, 2020
Priority date	Dec 25, 2019
Publication date	May 7, 2024
Grant date	May 7, 2024

Abstract

The control device (20) corrects a basic movement command for a mobile body (1), which is based on an operator's maneuvering operation, in accordance with a positional relationship between the mobile body and an obstacle, and performs movement control of the mobile body (1) in accordance with the corrected movement command. The control device (20) is configured to correct the basic movement command, when a distance d between the obstacle and the mobile body (1) has become a predetermined value d1 or less, to cause a yaw rate in a direction away from the obstacle to be additionally generated on the mobile body (1), and also configured to correct the basic movement command so as to cause a rate of increase in magnitude of the yaw rate with respect to a decrease of the distance to be increased as the distance d is closer to the predetermined value d1.

First claim

What is claimed is:

1. A control device for a mobile body which moves in accordance with a maneuvering operation by an operator, the device comprising:
a basic movement command generation unit configured to generate a basic movement command which is a movement command for the mobile body based on the maneuvering operation by the operator;
a movement command correction unit configured to correct the basic movement command according to a positional relationship between the mobile body and an obstacle present or set up in a moving environment of the mobile body; and
a movement control unit configured to perform movement control of the mobile body according to a corrected movement command which is the basic movement command corrected by the movement command correction unit; wherein
the movement command correction unit is configured to correct the basic movement command, in a case where a distance between the obstacle and the mobile body has become a first predetermined value or less, so as to cause a yaw rate in a direction away from the obstacle to be additionally generated on the mobile body, and configured to correct the basic movement command so as to cause a rate of increase in magnitude of the yaw rate with respect to a decrease of the distance between the obstacle and the mobile body, to be increased as the distance between the obstacle and the mobile body increases.

2. The control device for the mobile body according to claim 1 , wherein
the movement command correction unit is configured to correct the basic movement command in such a manner that the yaw rate additionally generated on the mobile body changes according to the distance, a direction of the mobile body with respect to the obstacle, and a moving velocity of the mobile body.

3. The control device for the mobile body according to claim 1 , wherein
the movement command correction unit is further configured to correct the basic movement command, in the case where the distance has become the first predetermined value or less, in such a manner that a moving velocity of a representative point of the mobile body is limited to a moving velocity having an absolute value smaller than a basic moving velocity which is a moving velocity defined according to the basic movement command, and configured to correct the basic movement command so as to cause a rate of increase in degree of restriction of the moving velocity with respect to a decrease of the distance, to be increased as the distance is closer to the first predetermined value.

4. The control device for the mobile body according to claim 3 , wherein
the movement command correction unit is configured, in the case where the distance has become the first predetermined value or less, to perform processing of setting a first restriction degree index value indicating the degree of restriction of the moving velocity according to the distance and processing of setting a second restriction degree index value indicating the degree of restriction of the moving velocity according to a direction of the mobile body with respect to the obstacle, and restrict the moving velocity of the representative point of the mobile body in accordance with the first restriction degree index value and the second restriction degree index value, and
the movement command correction unit is also configured, in a case where the degree of restriction indicated by the second restriction degree index value which is set in a case where the distance is not greater than a second predetermined value which is smaller than the first predetermined value is defined as a degree A restriction and the degree of restriction indicated by the second restriction degree index value which is set in a case where the distance is greater than the second predetermined value is defined as a degree B restriction, to set the second restriction degree index value so as to cause the degree A restriction becomes greater than the degree B restriction in at least a part of a variable range of the direction of the mobile body.

5. The control device for the mobile body according to claim 1 , wherein
the mobile body is a boarding-type mobile body having a boarding section on which the operator boards.

6. A control device for a mobile body which moves in accordance with a maneuvering operation by an operator, the device comprising:
a basic movement command generation unit configured to generate a basic movement command which is a movement command for the mobile body based on the maneuvering operation by the operator;
a movement command correction unit configured to correct the basic movement command according to a positional relationship between the mobile body and an obstacle present or set up in a moving environment of the mobile body; and
a movement control unit configured to perform movement control of the mobile body according to a corrected movement command which is the basic movement command corrected; wherein
the movement command correction unit is configured to correct the basic movement command, in a case where a distance between the obstacle and the mobile body has become a first predetermined value or less, so as to restrict a moving velocity of a representative point of the mobile body to a moving velocity having an absolute value smaller than a basic moving velocity which is a moving velocity defined according to the basic movement command, and configured to correct the basic movement command so as to cause a rate of increase in degree of restriction of the moving velocity with respect to a decrease of the distance between the obstacle and the mobile body, to be increased as the distance between the obstacle and the mobile body increases.

7. The control device for the mobile body according to claim 6 , wherein
the movement command correction unit is configured, in the case where the distance has become the first predetermined value or less, to perform processing of setting a first restriction degree index value indicating the degree of restriction of the moving velocity according to the distance and processing of setting a second restriction degree index value indicating the degree of restriction of the moving velocity according to a direction of the mobile body with respect to the obstacle, and restrict the moving velocity of the representative point of the mobile body in accordance with the first restriction degree index value and the second restriction degree index value, and
the movement command correction unit is also configured, in a case where the degree of restriction indicated by the second restriction degree index value which is set in a case where the distance is not greater than a second predetermined value which is smaller than the first predetermined value is defined as a degree A restriction and the degree of restriction indicated by the second restriction degree index value which is set in a case where the distance is greater than the second predetermined value is defined as a degree B restriction, to set the second restriction degree index value so as to cause the degree A restriction becomes greater than the degree B restriction in at least a part of a variable range of the direction of the mobile body.

8. The control device for the mobile body according to claim 6 , wherein
the mobile body is a boarding-type mobile body having a boarding section on which the operator boards.

Assignees

• Honda Motor Co Ltd

Inventors

• Goto Masaki
• Shirokura Shinya
• Hasegawa Makoto
• Ozaki Kazumasa

Classifications

• B62K11/007 Primary

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• G05D1/021 Primary

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• B62J45/4151

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