Mobile body controller, mobile body control method, and program

Abstract

To perform route generation while preventing excessive approach of a robot to an obstacle.SOLUTION: A mobile body controller includes: a recognition part that recognizes surrounding condition of the mobile boy based on at least an image obtained by photographing the surrounding condition of the mobile body; a generation part that generates, based on the recognized surrounding condition and a set destination, a route from the mobile body to the destination, which can be formed by a transit point passed by the mobile body; and a control part that controls the mobile body so that the mobile body moves to the destination via the transit points along the generated route, in which, when the surrounding condition includes an obstacle, the generation part determines whether or not to correct the route based on at least any of a first region referring to the obstacle, a second region located on an outer side than the first region with reference to the obstacle, and a third region located on an outer side than the second region with reference to the obstacle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device for a mobile object, a control method for a mobile object, and a program. [Background technology]

[0002] Conventionally, robots that guide users to desired locations or transport luggage are known (see, for example, Patent Document 1). The robots refer to a movement speed database that associates maximum movement speeds with each area in an environment, and move at a speed that is up to the set maximum movement speed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-111011 Summary of the Invention [Problem to be solved by the invention]

[0004] Generally, when a robot in the prior art generates a route to a destination, it generates a plurality of waypoints and connects these waypoints to generate the route. The robot then travels toward the destination while passing through these waypoints. However, in the prior art, the route is generated by regarding the robot as a mass point with no volume, which can cause the robot to get too close to obstacles.

[0005] The present invention has been made in consideration of these circumstances, and one of its objectives is to provide a control device for a mobile body, a control method for a mobile body, and a program that can generate a path while preventing a robot from getting too close to an obstacle. [Means for solving the problem]

[0006] The control device for a moving body, the control method for a moving body, and the program according to the present invention employ the following configuration. (1): A control device for a moving body according to one embodiment of the present invention includes a recognition unit that recognizes the surrounding conditions of the moving body based at least on an image of the surrounding conditions of the moving body; a generation unit that generates a route from the moving body to the destination based on the recognized surrounding conditions and a set destination, the route being composed of waypoints passed by the moving body; and a control unit that controls the moving body so that the moving body moves to the destination along the generated route via the waypoints, and when the surrounding conditions include an obstacle, the generation unit determines whether to modify the route based on at least one of a first area based on the obstacle, a second area located outside the first area based on the obstacle, and a third area located outside the second area based on the obstacle, and the route.

[0007] (2): In the above aspect (1), the generation unit determines to modify the route when the moving object comes into contact with the first area while moving along the route.

[0008] (3): In the above aspect (1), the generation unit decides to modify the path when it is determined that the moving object will come into contact with the first area, under the assumption that the moving object has moved along the path.

[0009] (4): In the aspect (1) above, the generation unit generates the route so that the route does not pass through the first area and prioritizes passing through the third area over the second area.

[0010] (5): In the above aspect (1), the generation unit generates the path so that it does not pass through the first area but passes through the second area if the second area does not include any other obstacles, even if the third area includes other obstacles.

[0011] (6) In any of the above aspects (1) to (5), the first area is an area obtained by expanding the area representing the obstacle by the radius of the moving object.

[0012] (7): In any of the above aspects (1) to (5), the second area is an area obtained by expanding the area representing the obstacle by adding a first predetermined distance to the radius of the moving body.

[0013] (8): In the above aspect (7), the third area is an area obtained by expanding the area representing the obstacle by adding a second predetermined distance, which is equal to or greater than the first predetermined distance, to the radius of the moving body.

[0014] (9): Another aspect of the present invention relates to a method for controlling a moving body, in which a computer recognizes the surrounding conditions of the moving body based at least on an image of the surrounding conditions of the moving body, generates a route from the moving body to the destination based on the recognized surrounding conditions and a set destination, the route being composed of waypoints to be passed by the moving body, controls the moving body so that the moving body moves along the generated route to the destination via the waypoints, and if the surrounding conditions include an obstacle, determines whether to modify the route based on at least one of a first area based on the obstacle, a second area located outside the first area based on the obstacle, and a third area located outside the second area based on the obstacle and the route.

[0015] (10): Another aspect of the present invention provides a program that causes a computer to recognize the surrounding conditions of a moving body based at least on an image of the surrounding conditions of the moving body, generate a route from the moving body to the destination based on the recognized surrounding conditions and a set destination, the route being composed of waypoints to be passed by the moving body, control the moving body so that the moving body moves along the generated route to the destination via the waypoints, and, if the surrounding conditions include an obstacle, determine whether to modify the route based on at least one of a first area based on the obstacle, a second area located outside the first area based on the obstacle, and a third area located outside the second area based on the obstacle and the route. [Effects of the Invention]

[0016] According to aspects (1) to (10), it is possible to generate a path while preventing the robot from getting too close to an obstacle. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a diagram showing an example of the configuration of a mobile body system 1 including a mobile body 100. FIG. [Figure 2] FIG. 2 is a diagram for explaining an example of a usage mode of a moving object 100. [Figure 3] FIG. 10 is a diagram illustrating a guidance mode. [Figure 4] FIG. 1 is a perspective view showing a moving body 100. [Figure 5] FIG. 2 is a diagram illustrating an example of a functional configuration of a moving object 100. [Figure 6] FIG. 2 is a diagram showing an example of a route generated by a route generating unit 204. [Figure 7] FIG. 10 is a diagram showing another example of a route generated by the route generating unit 204. [Figure 8] FIG. 10 is a diagram showing yet another example of a route generated by the route generating unit 204. [Figure 9]4 is a flowchart showing an example of the flow of processing executed by the control device 200. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, embodiments of a mobile object control device, a mobile object control method, and a program according to the present invention will be described with reference to the drawings.

[0019] 1 is a diagram showing an example of the configuration of a mobile system 1 including a mobile object 100. The mobile system 1 includes, for example, one or more terminal devices 2, a management device 10, an information providing device 20, and one or more mobile objects 100. These communicate with each other, for example, via a network NW. The network NW is, for example, any network such as a LAN, a WAN, or an internet line.

[0020] [Terminal Device] The terminal device 2 is, for example, a computer device such as a smartphone, a tablet terminal, etc. For example, based on a user's operation, the terminal device 2 requests the provision of authority to use the mobile object 100 from the management device 10, and obtains information indicating that use has been permitted.

[0021] [Management device] In response to a request from the terminal device 2, the management device 10 grants the user of the terminal device 2 the authority to use the mobile object 100 and manages reservations for use of the mobile object 100. The management device 10 generates and manages, for example, schedule information that associates pre-registered user identification information with the date and time of reservations for use of the mobile object 100.

[0022] [Information providing device] The information providing device 20 provides the mobile object 100 with the location of the mobile object 100, the area in which the mobile object 100 is moving, and map information about the surrounding area. In response to a request from the mobile object 100, the information providing device 20 may generate a route to the destination of the mobile object 100 and provide the generated route to the mobile object 100.

[0023] [Moving object] The mobile object 100 is used by a user in the following manner. FIG. 2 is a diagram illustrating an example of a manner in which the mobile object 100 is used. The mobile object 100 is placed, for example, in a facility or at a predetermined location in a city. When a user wants to use the mobile object 100, the user can start using the mobile object 100 by operating an operation unit (not shown) of the mobile object 100 or by operating the terminal device 2. For example, when a user goes shopping and has a lot of luggage, the user starts using the mobile object 100 and places the luggage in a storage unit of the mobile object 100. The mobile object 100 then moves together with the user, autonomously following the user. The user can continue shopping or head to their next destination with the luggage stored in the mobile object 100. For example, the mobile object 100 moves together with the user, moving on sidewalks and crosswalks on roadways. The mobile object 100 can move in areas where pedestrians can pass, such as roadways and sidewalks. For example, the vehicle 100 may be used in indoor or outdoor facilities or private areas such as shopping centers, airports, parks, and theme parks, and can move in areas where pedestrians can pass through.

[0024] The moving body 100 may be capable of moving autonomously in a mode such as a guidance mode or an emergency mode in addition to (or instead of) the following mode in which it follows the user as described above.

[0025] FIG. 3 is a diagram illustrating the guidance mode. The guidance mode is a mode in which the user is guided to a destination specified by the user, and the mobile object 100 autonomously moves in front of the user at a speed that matches the user's movement speed to guide the user. As shown in FIG. 3, when a user is looking for a specific product in a shopping center, the user requests the mobile object 100 to guide the user to the location of the specific product. The mobile object 100 then guides the user to the location of the product. This allows the user to easily find the specific product. When the mobile object 100 is used in a shopping center, the mobile object 100 or the information providing device 20 stores map information, including information on the locations of products, stores, and facilities within the shopping center, as well as map information for the shopping center. This map information includes detailed map information such as the widths of roads and aisles. The guidance mode may also be a mode in which the user is guided to a destination estimated based on map information and information on the user's movements (including direction, speed, behavior, etc.) without the user specifying a destination. For example, the mobile object 100 or the information providing device 20 may detect the user's orientation from an image captured by the camera 180 (described later), set a straight line representing the detected user's orientation, and estimate, as the destination, a location that intersects with the straight line or a location closest to the straight line among the locations registered in the map information. Furthermore, for example, the mobile object 100 or the information providing device 20 may register a plurality of gestures (e.g., a gesture for drinking a drink or a gesture for charging a mobile phone) in advance, compare the user's behavior detected from the image with the registered gestures, and estimate, as the destination, a location that satisfies the requirements of the gesture (e.g., a restaurant or a charging facility). Furthermore, for example, the mobile object 100 or the information providing device 20 may estimate, as the destination, a location that has been most frequently set as a destination by users among the facilities stored in the map information.

[0026] The emergency mode is a mode in which the mobile object 100 moves autonomously to seek help from nearby people or facilities in order to help the user if something unusual happens to the user (for example, if the user falls) while moving with the user. In addition to (or instead of) following or guiding the user as described above, the mobile object 100 may move while maintaining a proper distance from the user.

[0027] 4 is a perspective view showing the moving body 100. In the following explanation, the forward direction of the moving body 100 is the positive x-direction, the backward direction of the moving body 100 is the negative x-direction, the width direction of the moving body 100, which is the left direction based on the positive x-direction, the right direction based on the positive y-direction, and the height direction of the moving body 100, which is a direction perpendicular to the x-direction and y-direction, is the positive z-direction.

[0028] The mobile body 100 includes, for example, a base body 110, a door unit 112 provided on the base body 110, and wheels (first wheel 120, second wheel 130, and third wheel 140) attached to the base body 110. For example, a user can open the door unit 112 to put luggage into a storage compartment provided on the base body 110 or take luggage out of the storage compartment. The first wheel 120 and the second wheel 130 are driving wheels, and the third wheel 140 is an auxiliary wheel (driven wheel). The mobile body 100 may be movable using a configuration other than wheels, such as caterpillars.

[0029] A cylindrical support 150 extending in the positive z direction is provided on the surface of the base 110 facing the positive z direction. A camera 180 that captures images of the surroundings of the moving body 100 is provided on the end of the support 150 facing the positive z direction. The position at which the camera 180 is provided may be any position different from the above.

[0030] Camera 180 is, for example, a camera that can capture images of the periphery of moving body 100 at a wide angle (for example, 360 degrees). Camera 180 may include multiple cameras. Camera 180 may be realized by combining, for example, multiple 120-degree cameras or multiple 60-degree cameras.

[0031] 5 is a diagram showing an example of the functional configuration of the moving body 100. In addition to the functional configuration shown in FIG. 4, the moving body 100 further includes a first motor 122, a second motor 132, a battery 134, a braking device 136, a steering device 138, a communication unit 190, and a control device 200. The first motor 122 and the second motor 132 are operated by power supplied to the battery 134. The first motor 122 drives the first wheel 120, and the second motor 132 drives the second wheel 130. The first motor 122 may be an in-wheel motor provided in the wheel of the first wheel 120, and the second motor 132 may be an in-wheel motor provided in the wheel of the second wheel 130.

[0032] The braking device 136 outputs a braking torque to each wheel based on an instruction from the control device 200. The steering device 138 includes an electric motor. The electric motor applies a force to a rack and pinion mechanism based on an instruction from the control device 200, for example, to change the direction of the first wheel 120 or the second wheel 130, thereby changing the course of the moving body 100.

[0033] The communication unit 190 is a communication interface for communicating with the terminal device 2, the management device 10, or the information providing device 20.

[0034] [Control device] The control device 200 includes, for example, a recognition unit 202, a path generation unit 204, a drive control unit 206, and a storage unit 220. The recognition unit 202, the path generation unit 204, and the drive control unit 206 are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in advance in a storage device (a storage device with a non-transitory storage medium) such as an HDD (Hard Disk Drive) or flash memory, or may be stored in a removable storage medium (a non-transitory storage medium) such as a DVD or CD-ROM, and installed by inserting the storage medium into a drive device. The storage unit 220 is realized by a storage device such as a HDD, flash memory, or RAM (Random Access Memory). The storage unit 220 stores map information 222 referenced by the mobile object 100. The map information 222 is, for example, map information provided by the information providing device 20 about the location of the mobile object 100, the area in which the mobile object 100 moves, and the surrounding area. Some or all of the functional configuration included in the control device 200 may be included in another device. For example, the other device and the mobile object 100 may communicate with each other and cooperate to control the mobile object 100.

[0035] The recognition unit 202 recognizes the positions (distance from the mobile body 100 and direction relative to the mobile body 100) and states such as speed and acceleration of objects around the mobile body 100, based on, for example, images captured by the camera 180. Objects include traffic participants and obstacles present in facilities or on roads. The recognition unit 202 recognizes and tracks the user of the mobile body 100. For example, the recognition unit 202 tracks the user based on an image (e.g., a facial image of the user) captured by the user who registered the user when using the mobile body 100, or a facial image of the user (or feature values ​​obtained from the facial image of the user) provided by the terminal device 2 or the management device 10. The recognition unit 202 recognizes gestures made by the user. Note that the mobile body 100 may be provided with a detection unit other than a camera, such as a radar device or LIDAR. In this case, the recognition unit 202 recognizes the situation around the mobile body 100 using the detection results of the radar device or LIDAR instead of (or in addition to) images.

[0036] The route generation unit 204 generates a route to the destination based on the surrounding conditions of the mobile object 100 recognized by the recognition unit 202. Here, the destination refers to the user to be followed or a location within a predetermined range from the user when the mobile object 100 is in the following mode. For example, the route generation unit 204 may set the destination to a predetermined location diagonally behind the user so that the mobile object 100 can follow the user and be visible to the user. Furthermore, for example, the route generation unit 204 may determine the destination to be within a predetermined distance based on the user's walking speed to prevent the mobile object 100 from becoming too far away from the user. When the mobile object 100 is in the guidance mode, the destination refers to, for example, the location of a product or facility set by the user. In this case, the user specifies the location of the product or facility, and the mobile object 100 compares the location of the specified product or facility with the map information 222 and sets the location of the product or facility identified as a result of the comparison as the destination. Furthermore, when in the guidance mode, if the point set by the user is far from the current location of the mobile object 100, the route generation unit 204 may set the point set by the user as the final destination and set a point within a predetermined range from the current location as a temporary destination. Furthermore, in the guidance mode, the user does not necessarily have to set the destination, and the mobile object 100 may predict the direction in which the user will move and autonomously move in front of the user at the user's moving speed. In this case, the route generation unit 204 may set the destination of the mobile object 100 as a point within a predetermined range ahead of the user.

[0037] The route is a route that allows the mobile body 100 to reasonably reach the destination, taking into account the forward direction of the mobile body 100 (i.e., the x-direction of the mobile body 100). The route generation unit 204 generates multiple waypoints for reaching the destination from the current location and generates a route by connecting these multiple waypoints. For example, the route generation unit 204 calculates the risk for each waypoint, and if the calculated risk meets a predetermined criterion (e.g., if the risk for each waypoint is equal to or less than a threshold Th1) or if the total value of the calculated risks meets a predetermined criterion (e.g., if the total value of the risks is equal to or less than a threshold Th2), the route that satisfies the criterion is adopted as the target route for the mobile body 100 to travel. Here, a higher risk value indicates that the mobile body 100 should not enter or approach, and a value closer to zero indicates that it is preferable for the mobile body 100 to pass through. Therefore, generally, the closer to the position of a recognized object, the higher the risk value, while the farther away from the position of the recognized object, the lower the risk value.

[0038] The drive control unit 206 controls the motors (the first motor 122 and the second motor 132), the brake device 136, and the steering device 138 so that the moving body 100 travels along the path generated by the path generation unit 204.

[0039] [Generate Route] FIG. 6 is a diagram showing an example of a route generated by the route generation unit 204. In FIG. 6, the combination TP of dashed dotted lines TP_1 and TP_2 indicates the route initially generated by the route generation unit 204, symbol P1 indicates a waypoint constituting the generated route TP, and symbol DP indicates the destination. The destination DP may be a predetermined point diagonally behind the user U when the mobile object 100 is traveling in a following mode, or may be a point set by the user or a point within a predetermined range from the current location with the point set by the user as the final destination when the mobile object 100 is traveling in a guidance mode. Furthermore, the destination DP may be one of multiple waypoints (i.e., waypoint P2 next to waypoint P1 in FIG. 6).

[0040] As described above, the route initially generated by the route generation unit 204 is a route that allows the mobile body 100 to reasonably reach the destination, taking into consideration the forward direction and risks of the mobile body 100. However, since the route initially generated by the route generation unit 204 is generated by regarding the mobile body 100 as a mass point, as in the conventional technology, when the mobile body 100 travels along the route, the mobile body 100 may come too close to or collide with an obstacle.

[0041] Multi-layer Region Settings Against the background of the above circumstances, when the surrounding situation recognized by the recognition unit 202 includes an obstacle, the present invention sets a first area based on the obstacle, a second area located outside the first area based on the obstacle, and a third area located outside the second area based on the obstacle, and determines whether or not to modify the route based on at least one of the first area, second area, and third area and the route originally generated.

[0042] More specifically, in FIG. 6 , symbol OB1 indicates an obstacle in the surrounding situation recognized by the recognition unit 202, symbol FR represents a line defining a first region based on obstacle OB1, symbol SR represents a line defining a second region located outside the first region based on obstacle OB1, and symbol TR represents a line defining a third region located outside the second region based on obstacle OB1. The first region FR is defined as a region obtained by expanding the region representing obstacle OB1 by the radius d of the moving object 100. The second region FR is defined as a region obtained by expanding the region representing obstacle OB1 by the radius d of the moving object 100 plus a first predetermined distance d1. The third region TR is defined as a region obtained by expanding the region representing obstacle OB1 by the radius d of the moving object 100 plus a second predetermined distance d2, which is equal to or greater than the first predetermined distance d1. That is, the first area FR is an area where the moving body 100 is required to stop to avoid a collision with the obstacle OB1, the second area SR is an area where the moving body 100 travels with a normal distance from the obstacle OB1, and the third area TR is an area where the moving body 100 travels with a generous distance from the obstacle OB1.

[0043] First, the drive control unit 206 causes the moving object 100 to travel along the route TP originally generated by the route generation unit 204. If the moving object 100 does not come into contact with the first region FR while traveling, the moving object 100 will reach the destination DP via the via point P1 shown in FIG. 6. On the other hand, if the moving object 100 comes into contact with the first region FR, the route generation unit 204 determines to modify the originally generated route TP based on the first region FR, the second region SR, and the third region TR. The route generation unit 204 modifies the route TP so that it does not pass through the first region FR and prioritizes passage through the third region TR over the second region SR. FIG. 6 illustrates an example in which, because the moving object 100 comes into contact with the first region FR at the point CP, the moving object 100 modifies the route TP_1 from the contact point CP to the via point P1 to a route TP_1' that passes through the third region TR. This allows the moving body 100 to travel with a sufficient gap between it and the obstacle OB1. That is, according to this embodiment, it is possible to generate a path while preventing the robot from getting too close to the obstacle.

[0044] In Figure 6, only the route TP_1 from the contact point CP to the via point P1 is modified, but the present invention is not limited to such a configuration, and the route generation unit 204 may modify the route TP_2 so that the transition from route TP_1 to route TP_2 is smooth, taking into account the forward direction of the moving body 100 when it enters the via point P1 along the route TP_1'.

[0045] FIG. 7 is a diagram illustrating another example of a path generated by the path generating unit 204. FIG. 6 illustrates, as an example, a case in which the path is modified when the moving object 100 comes into contact with the first region FR. In another aspect, when an obstacle is included in the surrounding conditions recognized by the recognition unit 202, the path generating unit 204 may determine in advance, for example by simulation, whether the moving object 100 will come into contact with the first region FR based on the initially generated path TP and the first region FR set based on the obstacle. If it is determined that the moving object 100 will come into contact with the first region FR, the path generating unit 204 may decide to modify the path TP. FIG. 7 illustrates an example in which the path generating unit 204 modifies the path TP_1 to a path TP_1″ so as to pass through the third region TR before the moving object 100 travels along the initially generated path TP.

[0046] In this way, the route generating unit 204 modifies the originally generated route TP so as to prioritize passing through the third area TR over the second area SR. However, because the third area TR is larger in area than the second area SR, there are cases where the route TP cannot be modified to pass through the third area TR due to, for example, the presence of an obstacle OB2 different from obstacle OB1. In such cases, the route generating unit 204 may modify the route TP so that it passes through the second area TR.

[0047] FIG. 8 is a diagram showing yet another example of a path generated by the path generating unit 204. FIG. 8 shows, as an example, a case where an obstacle OB2 is recognized in addition to an obstacle OB1. First, the drive control unit 206 causes the moving object 100 to travel along the path TP originally generated by the path generating unit 204. At point CP, the moving object 100 comes into contact with the first region FR. At this time, as shown in FIG. 8, the third region TR includes the obstacle OB2, while the second region SR does not include the obstacle OB2. Therefore, the path generating unit 204 modifies the path TP to a path TP''' so that the path TP does not pass through the first region FR but passes through the second region SR. This prevents the robot from getting too close to an obstacle, and allows the present invention to be applied even in narrow paths.

[0048] In the explanation of Figure 8, an example is described in which when the third region TR includes an obstacle OB2, the route generation unit 204 corrects the route within the range of only the second region SR, but the present invention is not limited to such a configuration, and the route may be corrected using the third region TR as long as there is no contact with the obstacle OB2 (or as long as a distance from the obstacle OB2 of at least a predetermined value can be maintained).

[0049] 6 to 8 show a case where the path generating unit 204 sets a first area FR, a second area SR, and a third area TR only for the obstacle OB1, and modifies the path TP. In another aspect, the path generating unit 204 may set a first area FR, a second area SR, and a third area TR for all recognized obstacles, and modify the path TP so as to prioritize passage through the third area TR over the second area SR while avoiding contact with all of the set first areas FR.

[0050] [Processing flow] The flow of processing executed by the control device 200 will be described below with reference to Fig. 9. Fig. 9 is a flowchart showing an example of the flow of processing executed by the control device 200. The processing shown in Fig. 9 is executed while the moving object 100 is traveling in the following mode or the guidance mode.

[0051] First, the recognition unit 202 recognizes the surrounding situation, including obstacles, based at least on an image of the surrounding situation of the moving object 100 (step S100). Next, the route generation unit 204 generates a route from the moving object 100 to the destination, including multiple waypoints, based on the recognized surrounding situation and the set destination (step S102). Next, the drive control unit 206 causes the moving object 100 to travel along the generated route (step S104).

[0052] Next, the path generation unit 204 determines whether the moving object 100 has come into contact with a first region based on the recognized obstacle (step S106). If it is determined that the moving object 100 has come into contact with the first region based on the recognized obstacle, the path generation unit 204 modifies the path so that the moving object 100 does not pass through the first region and prioritizes passing through a third region over a second region based on the obstacle (step S108). Next, the drive control unit 206 causes the moving object 100 to travel along the modified path to the destination (step S110). On the other hand, if it is determined that the moving object 100 has not come into contact with the first region based on the recognized obstacle, the path generation unit 204 causes the drive control unit 206 to travel along the newly generated path to the destination (step S110).

[0053] According to the present embodiment described above, when the surrounding situation of the moving body 100 includes an obstacle, the path of the moving body 100 is corrected based on a first area based on the obstacle, a second area located outside the first area based on the obstacle, and a third area located outside the second area based on the obstacle. This makes it possible to generate a path while preventing the robot from getting too close to the obstacle.

[0054] The above-described embodiment can be expressed as follows. a storage medium for storing computer-readable instructions; a processor connected to the storage medium; The processor executes the computer-readable instructions to: Recognizing the surroundings of the moving object based at least on an image of the surroundings of the moving object; generating a route from the moving body to the destination based on the recognized surrounding conditions and the set destination, the route being composed of waypoints passed by the moving body; controlling the moving object so that the moving object moves along the generated route to the destination via the waypoints; When the surrounding situation includes an obstacle, the route is generated based on a first area using the obstacle as a reference, a second area located outside the first area using the obstacle as a reference, and a third area located outside the second area using the obstacle as a reference. The control device for a moving body is configured as follows.

[0055] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0056] 100 Mobile 200 control device 202 Recognition part 204 Route Generation Unit 206 Drive control unit

Claims

1. a recognition unit that recognizes a surrounding situation of the moving object based at least on an image of the surrounding situation of the moving object; a generation unit that generates a route from the moving object to the destination based on the recognized surrounding conditions and a set destination, the route being composed of waypoints passed by the moving object; a control unit that controls the moving object so that the moving object moves along the generated route to the destination via the waypoints, When the surrounding situation includes an obstacle, the generation unit determines whether to correct the route based on at least one of a first area based on the obstacle, a second area based on the obstacle and positioned outside the first area, and a third area based on the obstacle and positioned outside the second area. Control device for a moving object.

2. the generation unit determines to correct the route when the moving object comes into contact with the first area while moving along the route; The control device for a moving body according to claim 1 .

3. the generation unit determines to correct the path when it is determined that the moving object will come into contact with the first area under the assumption that the moving object has moved along the path; The control device for a moving body according to claim 1 .

4. the generation unit modifies the route so that the route does not pass through the first area and prioritizes passing through the third area over the second area. The control device for a moving body according to claim 1 .

5. the generation unit corrects the route so that the route does not pass through the first area but passes through the second area when the third area includes another obstacle and the second area does not include the other obstacle. The control device for a moving body according to claim 1 .

6. The first area is an area obtained by expanding the area representing the obstacle by a radius of the moving object. The control device for a moving body according to any one of claims 1 to 5.

7. the second area is an area obtained by expanding the area representing the obstacle by an amount equal to the radius of the moving object plus a first predetermined distance; The control device for a moving body according to any one of claims 1 to 5.

8. the third region is a region obtained by expanding the region representing the obstacle by an amount equal to the radius of the moving object plus a second predetermined distance that is equal to or greater than the first predetermined distance; The control device for a moving body according to claim 7.

9. The computer Recognizing the surroundings of the moving object based at least on an image of the surroundings of the moving object; generating a route from the moving body to the destination based on the recognized surrounding conditions and the set destination, the route being composed of waypoints passed by the moving body; controlling the moving object so that the moving object moves along the generated route to the destination via the waypoints; When the surrounding situation includes an obstacle, a decision is made as to whether or not to correct the route based on at least one of a first area based on the obstacle, a second area based on the obstacle and positioned outside the first area, and a third area based on the obstacle and positioned outside the second area. A method for controlling a moving object.

10. On the computer, Recognizing the surroundings of the moving object based at least on an image of the surroundings of the moving object; generating a route from the moving body to the destination based on the recognized surrounding conditions and the set destination, the route being composed of waypoints passed by the moving body; controlling the moving object so that the moving object moves along the generated route to the destination via the waypoint; When the surrounding situation includes an obstacle, a decision is made as to whether or not to correct the route based on at least one of a first area based on the obstacle, a second area based on the obstacle and positioned outside the first area, and a third area based on the obstacle and positioned outside the second area. program.

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