Information processing method, information processing device, information processing program, and storage medium

Abstract

To provide an information processing method and the like that can grasp the actual traceability of an autonomous device before inputting a target path.SOLUTION: An information processing method includes displaying a curved limit path being such a limit that tracing of a target path by an autonomous device is allowed from a starting node of the target path. The information processing method includes accepting the input of the target path from the starting node where the limit path is displayed. The limit path is the path that is correlated with a state value for a yaw rate that is assumed by the autonomous device as the upper limit of the allowable range where tracing is realized and a target speed in autonomous travel of the target path.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to an information processing technique for performing route generation-related processing related to generating route data that defines a target route to be traced by an autonomous device capable of autonomous travel. [Background technology]

[0002] Patent Document 1 discloses a driving trajectory correction device that corrects the driving trajectory of a vehicle. When the deviation amount exceeds a threshold while the vehicle is traveling at a predetermined speed or higher, the driving trajectory correction device generates a correction trajectory that smoothly connects the current position of the vehicle to a target point, and corrects the driving trajectory by replacing the portion of the driving trajectory up to the target point with the correction trajectory. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-75256 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology of Patent Document 1, the travel trajectory is corrected after the vehicle actually deviates from the travel trajectory. In this case, there is a risk of a large delay in tracing the travel trajectory due to a response delay that occurs from when the deviation is detected to when the travel trajectory is corrected and the vehicle travels according to the corrected travel trajectory. On the other hand, when route data that defines a target route is generated in advance, if the user cannot grasp the actual traceability of whether the autonomous device can actually trace the target route before inputting the target route, there is a risk of a decrease in convenience.

[0005] An object of the present disclosure is to provide an information processing method capable of grasping the actual traceability of an autonomous device before inputting a target route. Another object of the present disclosure is to provide an information processing device capable of grasping the actual traceability of an autonomous device before inputting a target route. Yet another object of the present disclosure is to provide an information processing program capable of grasping the actual traceability of an autonomous device before inputting a target route. Yet another object of the present disclosure is to provide a storage medium capable of grasping the actual traceability of an autonomous device before inputting a target route. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the corresponding relationship with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is an information processing method executed by a processor (102) to execute a route generation-related process related to generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, the method comprising: Displaying a curved limit path (PL) that is a limit within which tracing of the target path by the autonomous device is permitted from a start node (Ns) of the target path; Accepting an input of a target route from a start node on which a limit route is displayed; Including, The limit route is a route that correlates with a state value for the yaw rate assumed by the autonomous device as the upper limit within the allowable range in which the trace is valid, and a target speed that is targeted in the autonomous traveling of the target route.

[0008] A second aspect of the present disclosure is an information processing device that includes a processor (102) and executes route generation-related processing related to generation of route data that defines a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, The processor Displaying a curved limit path (PL) that is a limit within which tracing of the target path by the autonomous device is permitted from a start node (Ns) of the target path; Accepting an input of a target route from a start node on which a limit route is displayed; configured to run The limit route is a route that correlates with a state value for the yaw rate assumed by the autonomous device as the upper limit within the allowable range in which the trace is valid, and a target speed that is targeted in the autonomous traveling of the target route.

[0009] A third aspect of the present disclosure is an information processing program stored in a storage medium (101) for executing a route generation-related process related to generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, the information processing program including instructions to be executed by a processor (102), The command is, Displaying a curved limit path (PL) from a start node of the target path, which is a limit within which tracing of the target path by the autonomous device is permitted; Accepting an input of a target route from a start node on which a limit route is displayed; Including, The limit route is a route that correlates with a state value for the yaw rate assumed by the autonomous device as the upper limit within the allowable range in which the trace is valid, and a target speed that is targeted in the autonomous traveling of the target route.

[0010] A fourth aspect of the present disclosure is a storage medium storing an information processing program including instructions to be executed by a processor (102) to execute a route generation-related process related to generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, the information processing program including: The command is, Displaying a curved limit path (PL) that is a limit within which tracing of the target path by the autonomous device is permitted from a start node (Ns) of the target path; Accepting an input of a target route from a start node on which a limit route is displayed; Including, The limit route is a route that correlates with a state value for the yaw rate assumed by the autonomous device as the upper limit within the allowable range in which the trace is valid, and a target speed that is targeted in the autonomous traveling of the target route.

[0011] According to the first to fourth aspects, a limit route is displayed that correlates with a state value of the yaw rate assumed by the autonomous device as the upper limit of the allowable range in which tracing is possible, and a target speed that is a target for autonomous traveling of the target route. Therefore, by referring to this limit route, the user can input the target route while checking whether tracing of the target route is possible. Therefore, the actual tracing ability of the autonomous device can be grasped. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram showing an autonomous device according to a first embodiment. [Diagram 2] 1 is a block diagram showing a configuration of an entire system including an information processing apparatus according to a first embodiment; [Diagram 3] 1 is a block diagram showing a functional configuration of an information processing device according to a first embodiment; [Figure 4] 3 is a flowchart illustrating an information processing method according to the first embodiment. [Diagram 5] FIG. 13 is a schematic diagram showing an example of a display of a limit route. [Figure 6] FIG. 13 is a schematic diagram showing an example of a screen during input of a target route. [Figure 7] FIG. 13 is a schematic diagram showing an example of a display of the next limit route. [Figure 8] 10 is a flowchart showing an information processing method according to a second embodiment. [Figure 9] 13 is a flowchart showing an information processing method according to a third embodiment. [Figure 10] 13 is a flowchart illustrating an information processing method according to a fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, multiple embodiments of the present disclosure will be described with reference to the drawings. In addition, by assigning the same reference numerals to corresponding components in each embodiment, duplicated descriptions may be omitted. In addition, when only a part of the configuration is described in each embodiment, the configuration of the other embodiment described above can be applied to the other parts of the configuration. Furthermore, in addition to the combination of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments can be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0014] First embodiment An information processing device 100 according to the first embodiment controls a display related to a target route P of an autonomous device 1 shown in Fig. 1. The autonomous device 1 is an autonomous robot capable of autonomously traveling in any direction including forward, backward, left and right. Note that the autonomous device 1 according to the first embodiment can also be called an autonomous vehicle.

[0015] The autonomous device 1 is provided with a driving source 11, a control unit 12, wheels 13, and an axle 14 on a vehicle body 10. The driving source 11 is, for example, an electric motor. The control unit 12 is a control device that executes autonomous driving control of the autonomous device 1, and is an ECU (Electronic Control Unit) including at least one dedicated computer. The control unit 12 autonomously executes acceleration / deceleration control and steering control of the autonomous device 1, thereby causing the autonomous device 1 to self-propel. The control unit 12 controls the autonomous driving so as to trace a target route P according to route data related to the target route P.

[0016] The wheels 13 include a pair of front wheels 13a provided at the front of the vehicle body 10 and a pair of rear wheels 13b provided at the rear. The axle 14 includes a front axle 14a having a pair of front wheels 13a rotatably fixed to both ends thereof, and a rear axle 14b having a pair of rear wheels 13b rotatably fixed to both ends thereof. The vehicle body 10 is provided with a loading space S for loading cargo. The loading space S is formed, for example, as a space that opens toward the top, by being partitioned into front, rear, left and right by a part of the vehicle body 10. The loading space S may be formed, for example, as a space that opens toward the side of the vehicle body 10, or may simply be an upper space above the upper surface of the vehicle body 10 as a loading surface.

[0017] The autonomous device 1 realizes autonomous driving by traveling so as to trace a preset target route P from a starting point to a destination point. The information processing device 100 executes a display for a user of the autonomous device 1 to determine the target route P in advance before the departure of the autonomous device 1. Specifically, the information processing device 100 displays to the user a limit route PL that is permitted to be traced by the autonomous device 1.

[0018] As shown in FIG. 2, the information processing device 100 is connected to an input system 4, a map database (DB) 5, a vehicle DB 6, and a display system 7 via at least one of, for example, a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line.

[0019] The input system 4 accepts input operations by a user. The input system 4 is, for example, at least one of a mouse, a trackball, a keyboard, a touch panel, etc. The input system 4 may also include a device that accepts voice command input, such as a microphone.

[0020] The map DB 5 stores map information usable by the information processing device 100. The map DB 5 includes at least one type of non-transitory tangible storage medium, for example, a semiconductor memory, a magnetic medium, an optical medium, and the like. The map DB 5 may be a database of a locator that estimates a self-state quantity including a self-position of the host vehicle A. The map DB 5 may be a database of a navigation unit that navigates the travel route of the host vehicle A. The map DB 5 may be configured by combining a plurality of types of these databases, etc.

[0021] The map information in the map DB5 includes at least two-dimensional horizontal position information on surrounding objects O that are installed in the facility area and may become obstacles when the autonomous device 1 travels. For example, the map information may be point cloud data including a reflection point group of the surrounding objects O acquired by an external sensor such as LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging). In this case, each reflection point has position information. Alternatively, the map information may be image data obtained by imaging the reflection point group projected onto a bird's-eye view plane. The map information may include three-dimensional position information including height information of the surrounding objects O.

[0022] The vehicle DB 6 stores information (vehicle information) related to the autonomous device 1 that can be used by the information processing device 100. The vehicle DB 20 includes at least one type of non-transient substantial storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium. The vehicle information in the vehicle DB 6 includes information on the autonomous device 1 required for displaying the limit route PL. For example, the vehicle information includes dimensional information of the autonomous device 1. The dimensional information includes at least the distance Lr from the center of gravity position CG of the vehicle to the rear axle 14b.

[0023] The vehicle DB 6 stores the dimensional information in association with the identification information of the autonomous device 1. Here, the identification information is information indicating the vehicle type of the autonomous device 1, such as the product name, model number, or model name. That is, the vehicle DB 6 stores various information so that, when a vehicle type of the autonomous device 1 is specified, the dimensional information corresponding to the vehicle type can be collated.

[0024] The display system 7 displays information to the user. Specifically, the display system 7 displays a target route P and a predicted driving area R (described later) together with map information of the target area. The display system 7 is at least one type of device, such as a liquid crystal panel or an organic EL panel.

[0025] The information processing device 100 is a computer including at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. Here, storage may refer to accumulation in which data is retained even when the computer is turned off, or temporary storage in which data is erased when the computer is turned off. The processor 102 includes at least one type of core, such as a central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a data flow processor (DFP), or a graph streaming processor (GSP).

[0026] In the information processing device 100, the processor 102 executes a plurality of instructions included in an information processing program stored in the memory 101 in order to control the display of route data defining the target route P traced by the autonomous device 1. In this way, the information processing device 100 constructs a plurality of functional blocks for controlling the display of route data defining the target route P traced by the autonomous device. The plurality of functional blocks constructed in the information processing device 100 include an acquisition block 110 and an output block 120 as shown in FIG.

[0027] The flow of an information processing method in which the information processing device 100 controls the display of route data defining a target route P traced by the autonomous device 1 through cooperation of these blocks 110 and 120 will be described below with reference to Fig. 4. Hereinafter, this processing flow may be referred to as an information processing flow. This processing flow is repeatedly executed while the computer of the information processing device 100 is running. Note that each "S" in this processing flow refers to multiple steps executed by multiple commands included in an information processing program.

[0028] First, in S10, the acquisition block 110 acquires map information on the facility area in which the autonomous device 1 is used from the map DB 5. In the following S20, the output block 120 converts the acquired map information into an image and displays it on the display system 7 as a map of the facility area. This facility map displays at least surrounding objects O such as buildings and installations that may become obstacles when the autonomous device 1 travels. The facility map may further display road markings and the like.

[0029] Then, in S30, the acquisition block 110 acquires vehicle information of the autonomous device 1. Specifically, the acquisition block 110 accepts input of identification information of the user via the input system 4, and reads out vehicle information of the autonomous device 1 corresponding to the identification information from the vehicle DB 6.

[0030] In the next step S40, the acquisition block 110 acquires a target speed V of the autonomous device 1. The target speed V is a travel speed that is a target for the autonomous device 1 when traveling along the target route P that is to be input. The acquisition block 110 acquires the target speed V, for example, by accepting an input of the target speed V via the input system 4. Alternatively, the acquisition block 110 may acquire the target speed V by reading out a predefined target speed V from a storage medium such as the memory 101.

[0031] Then, in S50, the acquisition block 110 acquires the yaw rate limit value γ max The acquisition block 110 acquires, for example, a yaw rate limit value γ max The yaw rate limit value γ max is the magnitude of the yaw rate assumed for the autonomous device 1 as the upper limit of the allowable range in which the trace is established. That is, the yaw rate limit value γ max is a value assumed as being substantially impossible to trace the target route P if the vehicle travels at a yaw rate greater than or equal to this value. max may be a value that is predefined and stored in the memory 101 or the like. max is an example of a "state value for yaw rate." In the following S60, the acquisition block 110 accepts an input of the start node Ns by the user via the input system 4. For example, the acquisition block 110 accepts the input of the start node Ns by clicking an arbitrary position on the facility map displayed on the screen of the display system 7 with a mouse, inputting coordinates with a keyboard, or the like.

[0032] Then, in S70, the output block 120 defines a limit path PL extending from the starting node Ns. The limit path PL is a curved path that is the limit of the allowable range for tracing the target path P by the autonomous device 1. The limit path PL is defined by a yaw rate limit value γ max and the target speed V. In other words, the limit path PL is a path that is correlated with the yaw rate limit value γ maxand the target speed V. More specifically, the limit route PL is a route that is further defined in accordance with the vehicle information.

[0033] In order to define the limit path PL, the output block 120 outputs the yaw rate limit value γ max When driving on a curve (turning) to maintain the coordinate position (x k ,y k ) and yaw angle φ k The transition of the vehicle is simulated. The coordinate system here is an orthogonal coordinate system fixed with respect to the road surface. The output block 120 adopts the travel trajectory as the simulation result as the limit path PL. The output block 120 executes simulations for the cases of turning right and turning left from the position of the start node Ns, respectively, and defines two patterns of the limit path PL. Note that the left and right here mean the left and right when heading in the traveling direction of the autonomous device 1. Note that, for example, the output block 120 executes a simulation for the case of turning without assuming the presence of a surrounding object O.

[0034] For example, the output block 120 simulates the running of the autonomous device 1 using a two-wheel model that regards the autonomous device 1 as a two-wheeled vehicle equipped with virtual front and rear wheels. The output block 120 outputs the coordinate position (x k ,y k ) and yaw angle φ k The yaw angle φ k is the position (x k ,y k Specifically, it is the angle between the path tangent at that position and the x-axis. Here, x k ,y k ,φ k The subscript k in is a natural number that is 0 at the initial position, that is, at the start node Ns, and increases by 1 for each update.

[0035] Target speed V, yaw rate limit γ maxThe distance L from the center of gravity CG to the rear axle 14b when turning r The slip angle β in the autonomous device 1 corresponds to the following formula (1): Note that the positive or negative value of the right side of formula (1) is selectively determined depending on the turning direction.

number

[0036] And the position (x k ,y k ), yaw angle φ k Position after distance step ds from (x k+1 ,y k+1 ), yaw angle φ k+1 corresponds to the following formulas (2) to (4).

number

number

number

[0037] The output block 120 performs an arbitrary number of updates to determine the yaw rate limit value γ max The coordinate position (x k ,y k ) is acquired as a travel locus that defines the limit route PL. Note that the distance step ds and the number of updates may be set by the user or may be specified in advance.

[0038] In the next step S80, the output block 120 displays the limit path PL on the display system 7. As shown in FIG. k ,y k ), the limit path PL is displayed as a curved line object extending from the start node Ns. That is, the output block 120 displays the limit path PL as a curved line object extending from the start node Ns based on the point cloud information of the coordinate position (x k ,y k) to a position on the display screen in the display system 7, and the coordinate position (x k ,y k 5) is interpolated with a curve to display the limit path PL. Note that the subscript i in Fig. 5 is the number of an arbitrary point that defines the limit path PL. Also, even if the surrounding object O is displayed within the display range of the limit path PL, the output block 120 may simply display the limit path PL so as to be superimposed on the surrounding object O.

[0039] By displaying the limit route PL, the display system 7 displays an input allowable area where input of the target route P is allowed and an input prohibited area where input of the target route P is prohibited, with the limit route PL as the boundary line. The input allowable area can also be rephrased as a travel allowable area where travel of the autonomous device 1 is allowed. The input prohibited area can also be rephrased as a travel prohibited area where travel of the autonomous device 1 is prohibited. Depending on the distance step ds and the number of updates, the limit route PL may be displayed to the end on the display screen. In other words, the limit route PL may be displayed in an interrupted state on the display screen.

[0040] Then, in S90, the input of a target route P by the user as shown in Fig. 6 based on the display system 7 after the limit route PL is displayed is accepted via the input system 4. For example, the target route P by the user is defined by a start node Ns, an end node Ne, and route lines connecting each node. In more detail, the start node Ns and the end node Ne are defined on the displayed facility map by clicking the mouse or inputting coordinates, and the route lines connecting each node Ns, Ne are also defined on the facility map. For example, the target route P is displayed as an image object in a vector format with at least the start node Ns and the end node Ne as vertices.

[0041] Therefore, the user can change the positions of these vertices and the directions and magnitudes of the vectors from the vertices to change the shape of the target route P to what the user desires. The directions and magnitudes of the vectors from the vertices can be changed, for example, by manipulating linear handles (not shown) extending from these vertices with a mouse or the like. Note that, in addition to the nodes Ns and Ne, the user may arbitrarily add other vertices that define the shape of the target route P.

[0042] Then, in S100, the acquisition block 110 determines whether the target route P input by the user crosses the limit route PL. For example, the acquisition block 110 determines that the target route P crosses the limit route PL when the target route P and the limit route PL cross or overlap. If it is determined that the target route P crosses the limit route PL, the flow proceeds to S110. In S110, the output block 120 prohibits the determination of the target route P. For example, the output block 120 prohibits the input of the next target route P with the end node Ne of the current target route P as the start node Ns until a correction input of the target route P is made. The output block 120 may notify the user that the target route P crosses the limit route PL by the display system 7.

[0043] If it is determined in S100 that the target route P does not cross the limit route PL, the flow proceeds to S120. In S120, the acquisition block 110 determines whether or not the generation of the entire target route P to the final destination has been completed. For example, the acquisition block 110 determines that the target route P has been confirmed when the user has input via the input system 4 to determine the completion of the generation of the target route P. If it is determined that the generation of the entire target route P is not completed, the flow proceeds to S130.

[0044] In S130, the acquisition block 110 defines the end node Ne of the target route P input in the previous S90 as the start node Ns of the target route P to be input next. Specifically, the acquisition block 110 reads the coordinates of the end node Ne of the previous target route P as the coordinate position of the next start node Ns. Then, after S130, this flow returns to S70. By repeating the processes of S70 to S130, every time the user inputs a target route P, a limit route PL is displayed as a guide for inputting a new target route P that is continuous with the target route P (see FIGS. 5 to 7).

[0045] On the other hand, if it is determined in S120 that the generation of all the target routes P is completed, the flow proceeds to S140. In S140, route data regarding the confirmed target route P is output. The route data is output, for example, by storing it in a storage medium such as the memory 101 or an external memory, transmitting the route data to the autonomous device 1, or the like. The information processing device 100 repeats the above processing until the user sets the target route P to the final arrival point of the autonomous device 1.

[0046] According to the first embodiment described above, the yaw rate limit value γ max A limit route PL that correlates with the target speed V and the target velocity V that is targeted in the autonomous traveling of the target route P is displayed. Therefore, by referring to this limit route PL, the user can input the target route P while checking whether the target route P can be traced or not. Therefore, the actual tracing ability of the autonomous device 1 can be grasped.

[0047] Second Embodiment As shown in FIG. 8, the second embodiment is a modification of the first embodiment.

[0048] In the information processing apparatus 100 according to the second embodiment, the process proceeds to S51 after the process of S40. In S51, the acquisition block 110 acquires the yaw rate limit value γ max Instead of lateral acceleration limit a lmax The lateral acceleration limit almax is the magnitude of the lateral acceleration assumed for the autonomous device 1 as the upper acceleration limit for the establishment of a trace. In other words, the lateral acceleration limit value a lmax is a value that is assumed to make it substantially impossible to trace the target route P if the vehicle travels with a lateral acceleration larger than this value. After S51, the flow proceeds to S60 and S70.

[0049] In S70 of this embodiment, the output block 120 determines the lateral acceleration limit value a lmax The yaw rate limit value γ max The lateral acceleration limit a lmax is the target speed V and the yaw rate limit value γ max That is, the lateral acceleration limit value a lmax is an example of a "state value for yaw rate".

number

[0050] Therefore, the output block 120 outputs the lateral acceleration limit a lmax is a value that correlates with the target speed V, and the yaw rate limit value γ max The output block 120 outputs the converted yaw rate limit value γ max Then, the output block 120 calculates the slip angle β corresponding to the formula (1) from the yaw rate limit value γmax and the slip angle β. The output block 120 outputs the coordinate position (x k ,y k ) and yaw angle φ k The limit path PL is defined by updating the lateral acceleration limit value a lmax The yaw rate limit value γ max , we define the corresponding limit path PL.

[0051] Third embodiment As shown in FIG. 9, the third embodiment is a modification of the first embodiment.

[0052] The information processing apparatus 100 of the third embodiment proceeds to S52 after the process of S40. In S52, the acquisition block 110 acquires the yaw rate limit value γ max Instead of the steering angle limit value δ max The steering angle limit value δ max is the magnitude of the steering angle assumed by the autonomous device 1 as the upper limit of the steering angle for the trace to be established. In other words, the steering angle limit value δ max is a value that is stipulated such that if the vehicle is driven with a steering angle larger than this value, it becomes substantially impossible to trace the target route P. After S52, the flow proceeds to S60 and S70.

[0053] In S70 of this embodiment, the output block 120 determines whether the steering angle limit value δ max The yaw rate limit value γ max In the two-wheel model, the steering angle limit value δ max is the target speed V, the wheelbase L, and the yaw rate limit value γ max The steering angle limit value δ corresponds to the following formula (6). max is an example of a "state value for yaw rate".

number

[0054] Therefore, the output block 120 outputs the steering angle limit value δ max is a value that correlates with the target speed V, and the yaw rate limit value γ max The output block 120 outputs the converted yaw rate limit value γ max The slip angle β corresponding to the formula (1) is calculated from the above. Then, the output block 120 outputs the yaw rate limit value γ max From the slip angle β, the coordinate position (x k ,y k ) and yaw angle φ k The limit path PL is defined by updating the above. Therefore, the output block 120 of the second embodiment defines the limit path PL by updating the steering angle limit value δ maxThe yaw rate limit value γ max , we define the corresponding limit path PL.

[0055] Fourth embodiment The fourth embodiment is a modified example of the first embodiment, as shown in Fig. 10. In the fourth embodiment, the information processing device 100 defines the limit route PL as a route that also correlates with the weight of the autonomous device 1, and displays it.

[0056] In the fourth embodiment, the vehicle DB 6 further stores the vehicle weight of the autonomous device 1 as vehicle information. The vehicle weight stored in the vehicle DB 6 is the weight in an unladen state in which no cargo is carried. The vehicle DB 6 stores the vehicle weight in association with the identification information of the autonomous device 1.

[0057] 10, the information processing flow in the fourth embodiment proceeds to S31 after S30. In S31, the acquisition block 110 receives an input regarding the load weight of the load on the autonomous device 1.

[0058] Furthermore, in S70 of this flow, the output block 120 defines a limit path PL as a path correlated with the weight in addition to the yaw rate limit value γmax and the target speed V. In this case, the output block 120 may execute a simulation using a dynamics model and define the resulting trajectory as the limit path PL.

[0059] (Other embodiments) Although several embodiments have been described above, the present disclosure should not be construed as being limited to those embodiments, and can be applied to various embodiments and combinations within the scope not departing from the gist of the present disclosure.

[0060] In a modified example, the information processing device 100 may obtain a plurality of state values ​​that are individually defined. In this case, the information processing device 100 defines the limit path PL according to the state value that has the strictest allowable range for tracing among the plurality of state values. For example, the yaw rate limit value γ max, lateral acceleration limit a lmax and steering angle limit value δ max When the lateral acceleration limit value a lmax and steering angle limit value δ max Then, the information processing device 100 selects the most severe value among the state values, that is, the value with the smallest magnitude as a yaw rate, as the state value to be used for defining the limit path PL.

[0061] In a modified example, when the target route P overlaps the limit route PL without intersecting with it, the information processing device 100 may determine that the target route P does not straddle the limit route PL.

[0062] In a modified example, the information processing device 100 may accept an input of a new target speed V for each target route P. In addition, in a modified example, the information processing device 100 may accept an input of a target speed V that changes depending on travel from the start node Ns.

[0063] In a modified example, the computer constituting the information processing device 100 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), CPLD (Complex Programmable Logic Device), etc. Furthermore, such a digital circuit may have a memory that stores a program.

[0064] In a modified example, the memory 101 storing the information processing program may be a portable storage medium removable from the information processing device 100. In this case, the memory 101 may be a storage medium in which the information processing program is stored readably in the information processing device 100 as a computer, for carrying the program to be installed in the information processing device 100. Alternatively, the memory 101 may be a storage medium of a server device that distributes the information processing program to the information processing device 100 of a user.

[0065] In the modified example, the host mobile body to which the information processing device 100 is applied may be, for example, an autonomous robot capable of transporting luggage or collecting information by autonomous or remote driving. In addition to the forms described above, the above-mentioned embodiment and modified example may be implemented in the form of a processing circuit (e.g., a processing ECU, etc.) or a semiconductor device (e.g., a semiconductor chip, etc.) as a control device configured to be mountable on a host mobile body and having at least one processor 102 and one memory 101.

[0066] (Disclosure of technical ideas) This specification discloses multiple technical ideas described in the following multiple dependent claims. Some of the claims may be described in a multiple dependent form, where the subsequent claim alternatively refers to the preceding claim. Furthermore, some of the claims may be described in a multiple dependent form, where the subsequent claim alternatively refers to the preceding claim. The claims described in these multiple dependent forms define multiple technical ideas.

[0067] (Technical thought 1) An information processing method executed by a processor (102) to execute a route generation-related process related to generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, comprising: Displaying a curved limit path (PL) that is a limit within which tracing of the target path by the autonomous device is permitted from a start node (Ns) of the target path; accepting an input of the target route from the start node on which the limit route is displayed; Including, An information processing method in which the limit route is a route that correlates with a state value for the yaw rate assumed for the autonomous device as the upper limit within the allowable range in which a trace is established, and a target speed that is targeted for autonomous driving on the target route.

[0068] (Technical thought 2) The information processing method according to Technical Idea 1, wherein the upper limit yaw rate within the allowable range includes the yaw rate at which the lateral acceleration becomes an upper acceleration limit in correlation with the target speed.

[0069] (Technical Thought 3) The information processing method according to Technical Idea 1 or Technical Idea 2, wherein the upper limit yaw rate within the allowable range includes the yaw rate at which the steering angle becomes an upper limit steering angle in correlation with the target speed.

[0070] (Technical Thought 4) The information processing method according to any one of Technical Ideas 1 to 3, further comprising generating route data that defines the input target route.

[0071] (Technical Thought 5) Generating the route data includes: The information processing method according to Technical Idea 4, further comprising outputting the generated route data.

[0072] The above technical ideas 1 to 5 may be implemented in the form of an information processing device 100, an information processing program, and a storage medium. [Explanation of symbols]

[0073] 1: autonomous device, 101: memory (storage medium), 102: processor, Ns: starting node, P: target path, PL: limit path

Claims

1. An information processing method executed by a processor (102) to execute a route generation-related process related to generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, comprising: Displaying a curved limit path (PL) that is a limit within which tracing of the target path by the autonomous device is permitted from a start node (Ns) of the target path; accepting an input of the target route from the start node on which the limit route is displayed; Including, An information processing method in which the limit route is a route that correlates with a state value for the yaw rate assumed for the autonomous device as the upper limit within the allowable range in which a trace is established, and a target speed that is targeted for autonomous driving on the target route.

2. The information processing method according to claim 1 , wherein the upper limit of the yaw rate within the allowable range includes the yaw rate at which the lateral acceleration becomes an upper acceleration limit in correlation with the target speed.

3. The information processing method according to claim 1 , wherein the upper limit of the yaw rate within the allowable range includes the yaw rate at which the steering angle becomes an upper limit in correlation with the target speed.

4. The information processing method according to claim 1 , further comprising generating the route data defining the input target route.

5. Generating the route data includes: The information processing method according to claim 4 , further comprising outputting the generated route data.

6. An information processing device comprising a processor (102) and executing a route generation-related process related to the generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, The processor, Displaying a curved limit path (PL) that is a limit within which tracing of the target path by the autonomous device is permitted from a start node (Ns) of the target path; accepting an input of the target route from the start node on which the limit route is displayed; configured to run An information processing device, wherein the limit route is a route that correlates with a state value for a yaw rate assumed for the autonomous device as the upper limit within an allowable range in which a trace is established, and a target speed that is targeted for autonomous driving on the target route.

7. An information processing program stored in a storage medium (101) for executing a route generation-related process related to the generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, the information processing program including instructions to be executed by a processor (102), The instruction: Displaying a curved limit path (PL) from a start node of the target path, which is a limit within which tracing of the target path by the autonomous device is permitted; accepting an input of the target route from the start node on which the limit route is displayed; Including, An information processing program in which the limit route is a route that correlates with a state value for the yaw rate assumed for the autonomous device as the upper limit within the allowable range in which a trace is established, and a target speed that is targeted for autonomous driving on the target route.

8. A storage medium storing an information processing program including instructions to be executed by a processor (102) to execute a route generation-related process related to the generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, The instruction: Displaying a curved limit path (PL) that is a limit within which tracing of the target path by the autonomous device is permitted from a start node (Ns) of the target path; accepting an input of the target route from the start node on which the limit route is displayed; Including, A storage medium in which the limit route is a route that correlates with a state value for the yaw rate assumed for the autonomous device as the upper limit within the allowable range in which a trace is established, and a target speed that is targeted for autonomous driving on the target route.

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