Route Generation Apparatus with Dynamic Weighting for Obstacle Avoidance
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Solution Overview
Problem
Existing route generation apparatuses do not adequately consider the varying likelihood of interference between a movable object and obstacles based on its moving conditions, leading to suboptimal route generation that may unnecessarily avoid potential interference points.
Innovation Solution
A route generation apparatus that uses an evaluation score calculated by weighting distances between obstacles and specific portions of a movable object, with coefficients adjusted based on the object's moving conditions to prioritize avoiding high-risk interference areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the route generation apparatus uses uniform weighting for all portions of the movable object, then the calculation process is simple, but the route generation does not appropriately reflect varying interference risks at different portions
Solution Approach 1:
The patent applies local quality by assigning different weighting coefficients to different portions of the movable object based on their specific interference risks. The weighting coefficient setting unit configures higher weights for portions with higher interference probability (e.g., front edge when moving forward) and lower weights for portions with lower interference probability (e.g., rear edge). This allows the evaluation score calculation to reflect local characteristics of each portion, improving route generation appropriateness while maintaining reasonable computational complexity.
2Reliability
If the route generation apparatus considers varying interference probabilities for different portions, then the route generation appropriateness is improved, but the device complexity increases due to multiple weighting coefficients
Solution Approach 1:
The patent implements dynamics by making the weighting coefficients adaptable to the moving condition of the movable object. The weighting coefficient setting unit configures different weighting coefficients based on the current moving condition (e.g., moving forward, moving backward, turning). This allows the system to dynamically adjust the evaluation criteria according to the situation, improving route generation appropriateness while keeping the complexity manageable through condition-based configuration rather than exhaustive portion-by-portion analysis.
3Reliability
If the route generation apparatus prioritizes avoiding all potential interference points equally, then the safety is improved, but the route efficiency deteriorates due to unnecessary path deviations
Solution Approach 1:
The patent applies parameter changes by modifying the evaluation score parameters (weighting coefficients) based on the moving condition and interference probability of different portions. Instead of using a uniform safety margin, the system adjusts the evaluation parameters to reflect the actual risk distribution. This allows the route generation to prioritize avoidance of high-risk portions while accepting closer proximity to low-risk portions, thereby improving route efficiency without compromising safety.
Solution Approach 2:
The patent applies local quality by differentiating the safety evaluation for different portions of the movable object. High-risk portions (e.g., front edge when moving forward) receive higher weighting coefficients, requiring greater avoidance distance, while low-risk portions (e.g., rear edge) receive lower weighting coefficients, allowing smaller avoidance margins. This localized safety approach maintains overall safety while reducing unnecessary path deviations, thereby improving route efficiency.
Data Source
AI summary
A route generation apparatus (13) has: a generating device (132) and a setting device (132). The generating device generates, on the basis of an evaluation score (SC2), a moving route of a movable object (1) that reaches a second position (WP_end) from a first position (WP_start) so as to avoid an interference between the movable object and an obstacle (O). The evaluation score is obtained by executing a weighting process on a distance (D_FL, D_FR, D_RL, D_RR) between the obstacle and specific portions (E_FL, E_FR, E_RL, E_RR) of the movable object on the basis of weighting coefficients (w_FL, w_FR, w_RL, w_RR). The setting device sets at least one weighting coefficient on the basis of a moving condition of the movable object during a period when the movable objects moves on the moving route.