Control device for a mobile body, method for controlling a mobile body, 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 moving body, a control method for a moving body, and a program.

Background Art

[0002] Conventionally, robots that guide a user to a desired location or transport luggage are known (for example, see Patent Document 1). The above-mentioned robot refers to a moving speed database in which a maximum moving speed is associated with each area in the environment, and moves at a moving speed with the set maximum moving speed as the upper limit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Generally, when generating a route toward a destination, a robot of the prior art generates a plurality of via points and generates a route by connecting these via points. Thereafter, the robot travels toward the destination while passing through these via points. However, in the prior art, since route generation is performed by regarding the robot as a point mass having no volume, the robot may approach an obstacle excessively.

[0005] The present invention has been made in consideration of such circumstances, and an object thereof is to provide a control device for a moving body, a control method for a moving body, and a program that can generate a route while preventing the robot from approaching an obstacle excessively.

Means for Solving the Problems

[0006] The control device for a mobile body, the control method for a mobile body, and the program according to this invention employ the following configuration. (1) A control device for a moving body according to one aspect of the present invention comprises: a recognition unit that recognizes the surrounding conditions of a moving body based on an image of the surrounding conditions of the moving body; a generation unit that generates a path from the moving body to the destination, which is composed of waypoints that the moving body passes through, based on the recognized surrounding conditions and a set destination; and a control unit that controls the moving body to the destination via the waypoints along the generated path, wherein the generation unit determines whether or not to modify the path based on the path and at least one of a first region based on the obstacle, a second region located outside the first region based on the obstacle, and a third region located outside the second region based on the obstacle, if the surrounding conditions include an obstacle.

[0007] (2) In the embodiment of (1) above, the generating unit decides to correct the path when the moving body comes into contact with the first region while moving along the path.

[0008] (3) In the embodiment of (1) above, the generating unit determines that the moving body has moved along the path and has come into contact with the first region, and decides to modify the path.

[0009] (4): In the embodiment of (1) above, the generating unit generates the path such that it does not pass through the first region and prioritizes passing through the third region over the second region.

[0010] (5) In the embodiment of (1) above, the generating unit generates the path so that it does not pass through the first region but passes through the second region, even if the third region includes other obstacles, if the second region does not include other obstacles.

[0011] (6) In any embodiment of (1) to (5) above, the first region is a region in which the region representing the obstacle is expanded by the radius of the moving body.

[0012] (7) In any of the embodiments of (1) to (5) above, the second region is a region that is expanded from the region representing the obstacle by the radius of the moving body plus a first predetermined distance.

[0013] (8) In the embodiment of (7) above, the third region is a region that is expanded from the region representing the obstacle by the radius of the moving body plus a second predetermined distance which is equal to or greater than the first predetermined distance.

[0014] (9): A method for controlling a moving body according to another aspect of the present invention, wherein 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 path from the moving body to the destination, which is composed of waypoints that the moving body passes through, based on the recognized surrounding conditions and a set destination, controls the moving body to move along the generated path via the waypoints to the destination, and if the surrounding conditions include an obstacle, determines whether or not to modify the path based on the path and at least one of a first region with respect to the obstacle, a second region located outside the first region with respect to the obstacle, and a third region located outside the second region with respect to the obstacle.

[0015] (10): A program according to another aspect of the present invention 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; to generate a path from the moving body to the destination, which is composed of waypoints that the moving body passes through, based on the recognized surrounding conditions and a set destination; to control the moving body so that it moves along the generated path, passing through the waypoints to the destination; and, if the surrounding conditions include an obstacle, to determine whether or not to modify the path based on the path and at least one of a first region with respect to the obstacle, a second region located outside the first region with respect to the obstacle, and a third region located outside the second region with respect to the obstacle. [Effects of the Invention]

[0016] According to embodiments (1) to (10), path generation can be performed while preventing the robot from getting too close to obstacles. [Brief explanation of the drawing]

[0017] [Figure 1] This figure shows an example of the configuration of a mobile system 1 including a mobile body 100. [Figure 2] This is a diagram illustrating an example of how the mobile device 100 can be used. [Figure 3] This is a diagram illustrating the induction modes. [Figure 4] This is a perspective view showing the mobile unit 100. [Figure 5] This figure shows an example of the functional configuration of the mobile unit 100. [Figure 6] This figure shows an example of a route generated by the route generation unit 204. [Figure 7] This figure shows another example of a route generated by the route generation unit 204. [Figure 8] This figure shows yet another example of a route generated by the route generation unit 204. [Figure 9]It is a flowchart showing an example of the flow of processing executed by the control device 200.

Embodiments for Carrying Out the Invention

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

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

[0020] [Terminal Device] The terminal device 2 is a computer device such as a smartphone or a tablet terminal, for example. The terminal device 2 requests, for example, the management device 10 to provide the right to use the moving body 100 based on the operation of the user, or acquires information indicating that the use has been permitted.

[0021] [Management Device] The management device 10 grants the right to use the moving body 100 to the user of the terminal device 2 in response to the request of the terminal device 2, or manages the reservation for using the moving body 100. The management device 10 generates and manages, for example, schedule information in which the identification information of a user registered in advance is associated with the date and time of the reservation for using the moving body 100.

[0022] [Information Providing Device] The information providing device 20 provides the moving body 100 with map information of the position where the moving body 100 is located, the area where the moving body 100 moves, and the periphery of the area. The information providing device 20 may generate a route to the destination of the moving body 100 in response to the request of the moving body 100 and provide the generated route to the moving body 100.

[0023] [Mobile] The mobile device 100 is used by users in the following manner. Figure 2 is a diagram illustrating an example of how the mobile device 100 is used. The mobile device 100 is placed, for example, in a designated location in a facility or city. When a user wants to use the mobile device 100, they can start using it by operating the control unit (not shown) of the mobile device 100, or by operating the terminal device 2. For example, when a user goes shopping and has a lot of luggage, they start using the mobile device 100 and put their luggage into the storage compartment of the mobile device 100. The mobile device 100 then moves with the user, autonomously following them. The user can continue shopping or head to their next destination with their luggage stored in the mobile device 100. For example, the mobile device 100 moves with the user, crossing sidewalks and road crosswalks. The mobile device 100 can move in areas accessible to pedestrians, such as roadways and sidewalks. For example, the mobile device 100 may be used in indoor or outdoor facilities such as shopping centers, airports, parks, and theme parks, or on private property, and is capable of moving within areas accessible to pedestrians.

[0024] In addition to the follow mode in which the mobile unit 100 follows the user as described above (or alternatively), it may also be capable of autonomous movement in modes such as guidance mode or emergency mode.

[0025] Figure 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 device autonomously moves in front of the user at the user's speed to guide the user. As shown in Figure 3, when a user is looking for a specific product in a shopping center, the user requests the mobile device 100 to guide them to the location of the product, and the mobile device 100 guides the user to the location of the product. This allows the user to easily find the specific product. When the mobile device 100 is used in a shopping center, the mobile device 100 or the information providing device 20 holds information that associates the location of products, the location of stores, the location of facilities within the shopping center with map information, as well as map information of the shopping center. This map information includes detailed map information, including the width of roads and passages. Furthermore, the guidance mode may also be a mode in which the user is guided to a destination estimated based on map information and information such as the user's movements (including direction, speed, behavior, etc.), even if the user does not specify a destination. For example, the mobile device 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 the destination to be a location that intersects with or is closest to that straight line among the locations registered in the map information. Alternatively, for example, the mobile device 100 or the information providing device 20 may pre-register multiple gestures (e.g., a gesture for drinking a beverage or a gesture for charging a mobile phone), compare the user's behavior detected from the image with the registered gestures, and estimate the destination to be a location among the locations stored in the map information that satisfies the requirements of the gesture (e.g., a restaurant or a charging facility). Alternatively, for example, the mobile device 100 or the information providing device 20 may estimate the destination to be a location among the facilities stored in the map information that has been set as a destination most frequently by past users.

[0026] The emergency mode is a mode in which, if something happens to the user while moving with the user (for example, if the user falls), the mobile unit 100 will autonomously move to seek help from nearby people or facilities in order to assist the user. In addition to following or guiding as described above, the mobile unit 100 may also move while maintaining a distance that is neither too close nor too far from the user.

[0027] Figure 4 is a perspective view showing the moving body 100. In the following description, 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 is the positive y direction to the left and the negative y direction to the right, and the height direction of the moving body 100, which is perpendicular to the x and y directions, is the positive z direction.

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

[0029] A cylindrical support 150 extending in the positive z direction is provided on the surface of the base 110 in the positive z direction. A camera 180 for imaging the area around the moving body 100 is provided at the end of the support 150 in the positive z direction. The position where the camera 180 is provided may be any position other than that described above.

[0030] Camera 180 is, for example, a camera capable of capturing images of the area around the moving object 100 in a wide angle (e.g., 360 degrees). Camera 180 may include multiple cameras. Camera 180 may be implemented by combining, for example, multiple 120-degree cameras or multiple 60-degree cameras.

[0031] Figure 5 shows an example of the functional configuration of the mobile body 100. In addition to the functional configuration shown in Figure 4, the mobile 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 powered by electricity 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 on the wheel of the first wheel 120, and the second motor 132 may be an in-wheel motor provided on the wheel of the second wheel 130.

[0032] The braking device 136 outputs brake torque to each wheel based on instructions from the control device 200. The steering device 138 includes an electric motor. The electric motor, for example, applies force to the rack and pinion mechanism based on instructions from the control device 200 to change the direction of the first wheel 120 or the second wheel 130, thereby changing the path 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 implemented, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be implemented by hardware (including circuitry) such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or GPU (Graphics Processing Unit), or by the cooperation of software and hardware. The program may be stored in advance in a storage device such as an HDD (Hard Disk Drive) or flash memory (a storage device with a non-transient storage medium), or it may be stored in a removable storage medium such as a DVD or CD-ROM (a non-transient storage medium) and installed when the storage medium is mounted on a drive device. The storage unit 220 is implemented by a storage device such as an HDD, flash memory, or RAM (Random Access Memory). The storage unit 220 stores map information 222 that is referenced by the mobile body 100. The map information 222 is, for example, map information such as the location of the mobile body 100 provided by the information providing device 20, the area in which the mobile body 100 moves, and the area surrounding the area. Some or all of the functional configuration included in the control device 200 may be included in other devices. For example, the mobile body 100 may communicate with other devices and cooperate to control the mobile body 100.

[0035] The recognition unit 202 recognizes, for example, the position of objects around the mobile body 100 (distance from the mobile body 100 and direction relative to the mobile body 100), as well as their state such as speed and acceleration, based on 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 images of the user registered when the user uses the mobile body 100 (e.g., the user's face image) or the user's face image (or features obtained from the user's face image) provided by the terminal device 2 or the management device 10. The recognition unit 202 recognizes gestures made by the user. The mobile body 100 may also be equipped with detection units other than cameras, such as radar or LIDAR. In this case, the recognition unit 202 recognizes the situation around the mobile body 100 using the detection results of the radar 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 body 100 recognized by the recognition unit 202. Here, the destination, when the mobile body 100 is in follow mode, represents the user itself that it is following, or a point within a predetermined range from the user. For example, the route generation unit 204 may set a predetermined point diagonally behind the user as the destination so that the mobile body 100 can follow the user and be visible to the user. Alternatively, for example, the route generation unit 204 may determine the destination to maintain a predetermined distance from the user based on the user's walking speed in order to prevent the mobile body 100 from getting too far away from the user. When in guidance mode, the destination represents, 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 body 100 compares the specified location of the product or facility with the map information 222, and sets the identified location of the product or facility as the destination. Furthermore, when in guidance mode, if the point set by the user is far from the current location of the mobile body 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 provisional destination. Also, the guidance mode does not necessarily require the user to set a destination; the mobile body 100 may predict the direction of the user's movement and autonomously move in front of the user at the user's speed. In this case, the route generation unit 204 may set the destination of the mobile body 100 as a point within a predetermined range in front of the user.

[0037] The path is one that allows the moving object 100 to reach its destination in a reasonable manner, taking into account the forward direction of the moving object 100 (i.e., the x-direction of the moving object 100). The path generation unit 204 generates a number of waypoints to reach the destination from the current location and generates a path by connecting these waypoints. For example, the path generation unit 204 calculates the risk for each waypoint, and if the calculated risk meets a preset criterion (for example, if the risk of each waypoint is less than or equal to threshold Th1), or if the sum of the calculated risks meets a preset criterion (for example, if the sum of the risks is less than or equal to threshold Th2), the path that meets the criteria is adopted as the target path for the moving object 100 to travel. Here, a higher risk value indicates that the moving object 100 should not enter or approach the area, and a value closer to zero indicates that it is preferable for the moving object 100 to pass through. Therefore, generally, the closer the moving object gets to the location of the recognized object, the higher the risk value becomes, while the further away it is from the location of the recognized object, the lower the risk value becomes.

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

[0039] [Path generation] Figure 6 shows an example of a route generated by the route generation unit 204. In Figure 6, the combination of dashed lines TP_1 and TP_2, TP, represents the route initially generated by the route generation unit 204, the symbol P1 indicates a waypoint that makes up the generated route TP, and the symbol DP indicates the destination. The destination DP may be a predetermined point diagonally behind the user U when the mobile body 100 is traveling in follow mode, or it 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 body 100 is traveling in guidance mode. The destination DP may also be one of a plurality of waypoints (i.e., in Figure 6, the waypoint P2 following waypoint P1).

[0040] As described above, the path initially generated by the path generation unit 204 is a path that allows the moving body 100 to reach its destination in a reasonable manner, taking into account the forward direction of the moving body 100 and the associated risks. However, since the path initially generated by the path generation unit 204 is generated by treating the moving body 100 as a point mass, similar to the prior art, if the moving body 100 travels along this path, it may come too close to or collide with an obstacle.

[0041] [Multilayer area settings] Against the backdrop of the above circumstances, the present invention, when an obstacle is found in the surrounding conditions recognized by the recognition unit 202, sets a first region based on the obstacle, a second region located outside the first region based on the obstacle, and a third region located outside the second region based on the obstacle, and determines whether or not to modify the path based on the initially generated path with respect to at least one of these first, second, and third regions.

[0042] More specifically, in Figure 6, code OB1 indicates an obstacle in the surrounding environment recognized by the recognition unit 202, code FR represents a line defining a first region based on the obstacle OB1, code SR represents a line defining a second region located outside the first region based on the obstacle OB1, and code TR represents a line defining a third region located outside the second region based on the obstacle OB1. The first region FR is defined as the region representing the obstacle OB1 expanded by the radius d of the moving body 100. The second region FR is defined as the region representing the obstacle OB1 expanded by the radius d of the moving body 100 plus a first predetermined distance d1. The third region TR is defined as the region representing the obstacle OB1 expanded by the radius d of the moving body 100 plus a second predetermined distance d2 which is greater than or equal to the first predetermined distance d1. In other words, the first region FR is the region in which the mobile body 100 is required to stop in order to avoid a collision with the obstacle OB1, the second region SR is the region in which the mobile body 100 travels with a normal distance from the obstacle OB1, and the third region TR is the region in which the mobile body 100 travels with a generous distance from the obstacle OB1.

[0043] First, the drive control unit 206 causes the mobile body 100 to travel along the route TP initially generated by the route generation unit 204. If the mobile body 100 does not come into contact with the first region FR while traveling, the mobile body 100 will reach the destination DP via the waypoint P1 shown in Figure 6. On the other hand, if the mobile body 100 comes into contact with the first region FR, the route generation unit 204 decides to modify the initially 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 passing through the third region TR over the second region SR. Figure 6 shows an example where, at point CP, the mobile body 100 comes into contact with the first region FR, and the route TP_1 from the contact point CP to the waypoint P1 is modified to route TP_1' so that it passes through the third region TR. As a result, the mobile unit 100 can travel with a sufficient distance from the obstacle OB1. In other words, according to this embodiment, path generation can be performed while preventing the robot from getting too close to the obstacle.

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

[0045] Figure 7 shows another example of a path generated by the path generation unit 204. Figure 6 illustrates, as an example, a case in which the path is modified when the moving body 100 comes into contact with the first region FR. In another embodiment, if the surrounding conditions recognized by the recognition unit 202 include an obstacle, the path generation unit 204 may, for example, determine in advance, by simulation, whether the moving body 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, and if it is determined that the moving body 100 will come into contact with the first region FR, it may decide to modify the path TP. Figure 7 shows an example in which the path generation unit 204 modifies path TP_1 to path TP_1'' so that it passes through the third region TR, prior to the moving body 100 traveling along the initially generated path TP.

[0046] Thus, the path generation unit 204 modifies the initially generated path TP to prioritize passage through the third region TR over the second region SR. However, since the third region TR has a larger area than the second region SR, there may be cases where the path TP cannot be modified to pass through the third region TR, for example, due to the presence of an obstacle OB2 other than obstacle OB1. In such cases, the path generation unit 204 may modify the path TP to pass through the second region TR.

[0047] Figure 8 shows yet another example of a path generated by the path generation unit 204. As an example, Figure 8 shows a case where obstacle OB2 is recognized in addition to obstacle OB1. First, the drive control unit 206 makes the mobile body 100 travel along the path TP initially generated by the path generation unit 204, and at point CP, the mobile body 100 comes into contact with the first region FR. At this time, as shown in Figure 8, the third region TR includes obstacle OB2, while the second region SR does not. Therefore, the path generation unit 204 modifies path TP to path TP''' so that 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 obstacles, and the present invention can be applied even in narrow paths.

[0048] In the explanation of Figure 8, an example is described in which the path generation unit 204 modifies the path only within the range of the second region SR when the third region TR includes an obstacle OB2. However, the present invention is not limited to such a configuration, and the path may be modified using the third region TR as long as it does not come into contact with the obstacle OB2 (or as long as a distance of a predetermined value or more can be secured from the obstacle OB2).

[0049] Furthermore, Figures 6 to 8 show the case where the path generation unit 204 sets a first region FR, a second region SR, and a third region TR only for the obstacle OB1, and modifies the path TP. In another embodiment, the path generation unit 204 may set a first region FR, a second region SR, and a third region TR for all recognized obstacles, and modify the path TP to prioritize passage through the third region TR over the second region SR while avoiding contact with all set first regions FR.

[0050] [Process Flow] The following describes the flow of processing performed by the control device 200 with reference to Figure 9. Figure 9 is a flowchart showing an example of the flow of processing performed by the control device 200. The processing shown in Figure 9 is performed when the mobile body 100 is traveling in follow mode or guidance mode.

[0051] First, the recognition unit 202 recognizes the surrounding conditions of the mobile body 100, including obstacles, based at least on images captured of the surrounding conditions (step S100). Next, the path generation unit 204 generates a path from the mobile body 100 to the destination, including a plurality of waypoints, based on the recognized surrounding conditions and the set destination (step S102). Next, the drive control unit 206 drives the mobile body 100 along the generated path (step S104).

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

[0053] As described above, according to this embodiment, when the surrounding environment of the mobile body 100 includes obstacles, the path of the mobile body 100 is modified based on a first region based on the obstacles, a second region located outside the first region based on the obstacles, and a third region located outside the second region based on the obstacles. This makes it possible to generate a path while preventing the robot from getting too close to obstacles.

[0054] The embodiments described above can be expressed as follows. A storage medium that stores computer-readable instructions, A processor connected to the storage medium, The processor executes the computer-readable instructions to: Based at least on images captured of the surrounding environment of the moving object, the surrounding environment of the moving object is recognized. Based on the recognized surrounding conditions and the set destination, a route is generated from the moving object to the destination, which is composed of waypoints that the moving object passes through. Control the moving body so that it moves along the generated path, passing through the waypoints, to the destination. If the surrounding conditions include an obstacle, the path is generated based on a first region with respect to the obstacle, a second region located outside the first region with respect to the obstacle, and a third region located outside the second region with respect to the obstacle. A control device for a mobile body, configured in such a way.

[0055] Although embodiments for carrying out the present invention have been described above using examples, the present invention is not limited in any way to these embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention. [Explanation of Symbols]

[0056] 100 Mobile Units 200 Control device 202 Recognition part 204 Route generation unit 206 Drive Control Unit

Claims

1. A recognition unit that recognizes the surrounding conditions of a moving object based at least on an image of the surrounding conditions of the moving object, A generation unit generates a route from the moving object to the destination, which is composed of waypoints that the moving object passes through, based on the recognized surrounding conditions and the set destination. The system includes a control unit that controls the mobile body so that it moves along the generated path, passing through the waypoints, to the destination, The generation unit, when the surrounding conditions include an obstacle, determines whether or not to modify the path based on a first region based on the obstacle, a second region located outside the first region based on the obstacle, a third region located outside the second region based on the obstacle, and the path. The generating unit modifies the path so as not to pass through the first region and to prioritize passing through the third region over the second region. The generating unit modifies the path so that it passes through the second region and not the first region, even if the third region contains other obstacles, provided that the second region does not contain other obstacles. A control device for mobile vehicles.

2. The generating unit determines to correct the path when the moving body comes into contact with the first region while moving along the path. A control device for a mobile body according to claim 1.

3. The generating unit, under the assumption that the moving body has moved along the path, decides to modify the path if it determines that the moving body has come into contact with the first region. A control device for a mobile body according to claim 1.

4. The first region is a region that is expanded by the radius of the moving body from the region representing the obstacle. A control device for a mobile body according to any one of claims 1 to 3.

5. The second region is an area that expands the region representing the obstacle by the radius of the moving body plus a first predetermined distance. A control device for a mobile body according to any one of claims 1 to 3.

6. The third region is an area that expands the region representing the obstacle by the radius of the moving body plus a second predetermined distance which is greater than or equal to the first predetermined distance. A control device for a mobile body according to claim 5.

7. Computers Based at least on images captured of the surrounding environment of the moving object, the surrounding environment of the moving object is recognized. Based on the recognized surrounding conditions and the set destination, a route is generated from the moving object to the destination, which is composed of waypoints that the moving object passes through. Control the moving body so that it moves along the generated path, passing through the waypoints, to the destination. If the surrounding conditions include an obstacle, a first region based on the obstacle, a second region located outside the first region based on the obstacle, a third region located outside the second region based on the obstacle, and the path are used to determine whether or not to modify the path. The path is modified so as not to pass through the first region and to prioritize passing through the third region over the second region. Even if the third region includes other obstacles, if the second region does not include such other obstacles, the path is modified to pass through the second region and not through the first region. A method for controlling a moving object.

8. On the computer, Based at least on images captured of the surrounding environment of the moving object, the surrounding environment of the moving object is recognized. Based on the recognized surrounding conditions and the set destination, a route from the moving object to the destination is generated, which is composed of waypoints that the moving object passes through. Control the mobile body so that it moves along the generated path, passing through the waypoints, to the destination. If the surrounding conditions include an obstacle, a first region based on the obstacle, a second region located outside the first region based on the obstacle, and a third region located outside the second region based on the obstacle, are used to determine whether or not to modify the path. Modify the path so that it does not pass through the first region and prioritizes passing through the third region over the second region. Even if the third region includes other obstacles, if the second region does not include such other obstacles, the path is modified to pass through the second region and not through the first region. program.

Images