AUTONOMOUS MOVING OBJECT
First Claim
1. An autonomous moving object comprising:
- an environment information acquisition unit that acquires a signal state of a traffic light;
a self-position estimation unit that estimates a self-position of the autonomous moving object;
a traveling route decision unit that calculates a first time necessary to move along a first route from the self-position to an end point of a crosswalk and a second time necessary to move along a second route from the self-point to a start point of the crosswalk in a case in which the signal state is changed from blue to red on the crosswalk after a predetermined time or in a case in which the signal state is changed from blue to red, and selects a route corresponding to a time smaller between the first time and the second time; and
a vehicle control unit that controls autonomous movement of the autonomous moving object so that the autonomous moving object moves along the selected route.
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Accused Products
Abstract
An environment information acquisition unit acquires a signal state of a traffic light. A self-position estimation unit estimates a self-position of the autonomous moving object. A traveling route decision unit calculates a first time necessary to move along a first route from the self-position to an end point of a crosswalk and a second time necessary to move along a second route from the self-point to a start point of the crosswalk in a case in which the signal state is changed from blue to red on the crosswalk after a predetermined time or in a case in which the signal state is changed from blue to red, and selects a route corresponding to a time smaller between the first time and the second time. A vehicle control unit controls autonomous movement of the autonomous moving object so that the autonomous moving object moves along the selected route.
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Citations
9 Claims
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1. An autonomous moving object comprising:
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an environment information acquisition unit that acquires a signal state of a traffic light; a self-position estimation unit that estimates a self-position of the autonomous moving object; a traveling route decision unit that calculates a first time necessary to move along a first route from the self-position to an end point of a crosswalk and a second time necessary to move along a second route from the self-point to a start point of the crosswalk in a case in which the signal state is changed from blue to red on the crosswalk after a predetermined time or in a case in which the signal state is changed from blue to red, and selects a route corresponding to a time smaller between the first time and the second time; and a vehicle control unit that controls autonomous movement of the autonomous moving object so that the autonomous moving object moves along the selected route. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification