Title:
移動体
Document Type and Number:
Japanese Patent JP6649054
Kind Code:
B2
Abstract:
Provided is a mobile body which can accurately recognize the step or inclination of the road surface by suppressing the influence from the profile of the road surface on which the mobile body travels. The electric wheelchair which travels, driven by a driving device includes a feature amount calculating portion which calculates a feature amount which is associated with a feature of one of the plurality of sections from a divided point group data which is the point group data belonging to the one of the plurality of sections per every section divided by the dividing portion; a search starting point setting portion which sets a search starting point which serves as a starting point for searching for whether there is a travelable section in which the electric wheelchair is travelable among the plurality of sections based on the feature amount calculated by the feature amount calculating portion; and a judging portion which judges a resembling section which includes a feature amount resembling the feature amount associated with the search starting point from among a surrounding section which is one of the plurality of sections surrounding the search starting point set by the search starting point setting portion.
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Inventors:
Hirotoshi Ochiai
Mitsuhiro Ando
Nagamine Noboru
Takayuki Furuta
Masaharu Shimizu
Hideaki Yamato
Kengo Toda
Takashi Kodachi
Mitsuhiro Ando
Nagamine Noboru
Takayuki Furuta
Masaharu Shimizu
Hideaki Yamato
Kengo Toda
Takashi Kodachi
Application Number:
JP2015226382A
Publication Date:
February 19, 2020
Filing Date:
November 19, 2015
Export Citation:
Assignee:
Aisin Seiki Co., Ltd.
Chiba Institute of Technology
Chiba Institute of Technology
International Classes:
B60L15/20; B60L3/00; G05D1/02
Domestic Patent References:
| JP2014119349A | ||||
| JP764634A | ||||
| JP201485940A |
Attorney, Agent or Firm:
Kiichi Yamamoto
Kobayashi Osamu
Kimura Gunji
Kobayashi Osamu
Kimura Gunji