AUTONOMOUS MOVEMENT SYSTEM
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Abstract
A route decision system is provided to avoid an obstacle existing in a traceably moving direction for tracing a reference route from a current location of an autonomous movable body. The system computes traffic distance and a traffic width as a traffic region having a given traffic width and does not allow an obstacle to intrude in each of a plurality of moving The moving direction of the autonomous movable body is decided on the basis of the traceably moving direction and the traffic region. A speed decision device decides a moving speed allowing the autonomous movable body to stop before it collides with the obstacle in response to the braking condition of the autonomous movable body and the location and the speed of the obstacle.
116 Citations
20 Claims
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1-10. -10. (canceled)
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11. An autonomous movement system having an environmental information acquisition means to acquire environmental information around an autonomous movable body, a memory information processing means to retain map information where a reference route is registered, a self-location estimation means to estimate the self-location of the autonomous movable body on the basis of the environmental information and the map information, an obstacle detection means to detect information on an obstacle on the basis of the environmental information, a route decision means to decide a moving direction on the basis of the self-location, the information on the obstacle, and information on the reference route, a speed decision means to decide a moving speed on the basis of the obstacle information, and a vehicle control means to control the movement of the autonomous movable body on the basis of the moving direction and the moving speed, wherein:
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the route decision means, in order to avoid the obstacle existing in a traceably moving direction for tracing the reference route from a current location of the autonomous movable body, computes a traffic region formed by a traffic distance and at least a given traffic width not allowing the obstacle to intrude in each of a plurality of moving directions and decides a moving direction of the autonomous movable body on the basis of the traceably moving direction and the traffic region, and the speed decision means decides a moving speed allowing the autonomous movable body to stop before it corrodes with the obstacle in response to the breaking condition of the autonomous movable body and the location and the speed of the obstacle. - View Dependent Claims (12, 13, 14, 15, 17, 19, 20)
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Specification