Title:
MOBILE BODY AND MOBILE BODY ROUTE DETERMINATION METHOD
Document Type and Number:
Japanese Patent JP2022177741
Kind Code:
A
Abstract:
To obtain a route where a mobile body can smoothly travel with high flexibility.SOLUTION: A mobile body which travels from a current position towards a target position includes: a first zone candidate search part which searches for a plurality of first zone candidates with which the mobile body can travel from the current position within preset first set time; a second zone candidate search part which, for each end point of the first zone candidates, searches for a plurality of second zone candidates with which the mobile body can travel from the end point within preset second set time; a target direction recognition part which recognizes a target direction as a direction where the target position lies; an obstacle position recognition part which detects the position of an obstacle around the mobile body; and a route determination part which determines, based on the target direction and the position of the obstacle from among the plurality of first zone candidates and the plurality of second zone candidates, a first zone and a second zone used as a route where the mobile body moves.SELECTED DRAWING: Figure 4
Inventors:
SATO ONORI
NASU TAKANOBU
WAKITA TOSHIHIRO
NASU TAKANOBU
WAKITA TOSHIHIRO
Application Number:
JP2021084192A
Publication Date:
December 01, 2022
Filing Date:
May 18, 2021
Export Citation:
Assignee:
TOYOTA MOTOR CORP
IKUTOKU GAKUEN
IKUTOKU GAKUEN
International Classes:
G05D1/02; B60W30/10; B60W40/02; G08G1/16
Attorney, Agent or Firm:
Yoshiki Hasegawa
Yoshiki Kuroki
Satoshi Kotobiyama
Teppei Omori
Yoshiki Kuroki
Satoshi Kotobiyama
Teppei Omori