Mobile body control device, mobile body control method, and non-transitory computer-readable storage medium

A mobile body control device provided in a first mobile body moving along a first travel route in a merging area including the first travel route, a second travel route that merges with the first travel route, and a regulation body arranged on a boundary between the first travel route and the second travel route and configured to regulate a movement from the second travel route to the first travel route, the mobile body control device comprising:

• an external environment detector configured to detect a position of a second mobile body moving along the second travel route and a position of the regulation body;
• an own mobile body position detector configured to detect a position of the first mobile body;
• and
• an action planner configured to execute movement control of the first mobile body in the merging area to avoid by accelerating or decelerating at least one of the first mobile body and the second mobile body so as to maintain an inter-vehicle distance between the first mobile body and the second mobile body equal to or greater than a predetermined value, thereby avoiding interference between the first mobile body and the second mobile body,
• wherein the action planner is configured
• to calculate a first distance from the first mobile body to the second mobile body and a second distance from the first mobile body to a regulation body end that is an end of the regulation body in a travel direction of the first travel route,
• to execute the movement control of the first mobile body in a case where the first distance is equal to or more than the second distance, and
• not to execute the movement control of the first mobile body in a case where the first distance is less than the second distance.

A mobile body control method for a computer to execute movement control of at least one of a first mobile body moving along a first travel route and a second mobile body moving along a second travel route in a merging area including the first travel route, the second travel route that merges with the first travel route, and a regulation body arranged on a boundary between the first travel route and the second travel route and configured to regulate a movement from the second travel route to the first travel route, the mobile body control method comprising:

• acquiring a position of the first mobile body and a position of the second mobile body;
• detecting a position of the regulation body;
• acquiring a first distance from the first mobile body to the second mobile body and a second distance from the first mobile body to a regulation body end that is an end of the regulation body in a travel direction of the first travel route;
• executing the movement control of the at least one of the first mobile body and the second mobile body in the merging area by accelerating or decelerating at least one of the first mobile body and the second mobile body so as to maintain an inter-vehicle distance between the first mobile body and the second mobile body equal to or greater than a predetermined value, thereby avoiding interference between the first mobile body and the second mobile body;
• executing automatically the movement control of the at least one of the first mobile body and the second mobile body in a case where the first distance is equal to or more than the second distance;
• and
• not executing the movement control of either the first mobile body or the second mobile body in a case where the first distance is less than the second distance.

A non-transitory computer-readable storage medium, comprising a program for executing movement control of at least one of a first mobile body moving along a first travel route and a second mobile body moving along a second travel route in a merging area including the first travel route, the second travel route that merges with the first travel route, and a regulation body arranged on a boundary between the first travel route and the second travel route and configured to regulate a movement from the second travel route to the first travel route,

• wherein the program, when executed by a computer, executes a mobile body control method comprising:
• acquiring a position of the first mobile body and a position of the second mobile body;
• detecting a position of the regulation body;
• acquiring a first distance from the first mobile body to the second mobile body and a second distance from the first mobile body to a regulation body end that is an end of the regulation body in a travel direction of the first travel route;
• executing the movement control of the at least one of the first mobile body and the second mobile body in the merging area by accelerating or decelerating at least one of the first mobile body and the second mobile body so as to maintain an inter-vehicle distance between the first mobile body and the second mobile body equal to or greater than a predetermined value, thereby avoiding interference between the first mobile body and the second mobile body;
• executing the movement control of the at least one of the first mobile body and the second mobile body in a case where the first distance is equal to or more than the second distance;
• and
• not executing the movement control of either the first mobile body or the second mobile body in a case where the first distance is less than the second distance.