Path plan generating apparatus for mobile body

• US 9,995,589 B2
• Filed: 01/05/2017
• Issued: 06/12/2018
• Est. Priority Date: 02/24/2016
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Yoshikawa, Taizo
• Primary Examiner(s): Patel, Shardul D
• Application Number:
  US15/398,965
• Publication Number:
  US 20170241790A1
• Time in Patent Office: 523 Days
• Field of Search: 701411, 701400, 701301, 701 26, 700250, 700253, 700245, 341 79, 382103, 901 1, 901 49
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 21/3415 Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
• CPC Class Codes: G01C 21/3446 Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria

Abstract

A path plan generating apparatus 10 corrects an RRT path plan that an RRT path plan generating section 22 has generated by processing based on the RRT algorithm, by a path plan correcting section 23 by processing based on the potential method. If the corrected path plan becomes a path plan with which interference between the mobile body 1 and an obstacle A is unavoidable, the apparatus 10 causes the RRT path plan generating section 22 to generate a new RRT path plan.

Claims

1. A path plan generating apparatus for a mobile body, comprising:

an obstacle information acquiring section which acquires obstacle information including at least information indicating an existence position of each obstacle present in an operating environment of the mobile body;

an initial path plan generating section which generates an initial path plan that is a path plan from an initial position, where the mobile body starts moving, to a goal point;

an RRT path plan generating section which is operable, in a case where future occurrence of interference between the mobile body on the initial path plan and any obstacle is predicted based on the initial path plan and the obstacle information, to generate a path plan from a current position of the mobile body to the goal point, by processing based on an rapidly-exploring random tree (RRT) algorithm, so as to be able to avoid future interference between the mobile body and each obstacle; and

a path plan correcting section which sets, using the obstacle information, a potential field that generates a virtual repulsive force in a region surrounding each obstacle, and, in a case where a generated path plan includes a section that is predicted to be affected by the potential field of at least one obstacle, corrects the generated path plan, by processing based on a potential method, so as to reduce the repulsive force acting on the section from the potential field, the path plan correcting section sequentially performing the correction on at least an RRT path plan among the initial path plan and the RRT path plan, the RRT path plan being a path plan generated by the RRT path plan generating section.

2. The path plan generating apparatus for the mobile body according to claim 1, wherein the path plan correcting section is configured to sequentially perform the correction on the initial path plan by the processing based on the potential method, after the initial path plan is generated by the initial path plan generating section, until the RRT path plan is generated by the RRT path plan generating section.

3. The path plan generating apparatus for the mobile body according to claim 1, wherein

the RRT path plan generating section is configured to further have a function of newly generating the RRT path plan in a case where it is predicted based on the path plan corrected by the path plan correcting section and the obstacle information that interference between the mobile body on the corrected path plan and an obstacle is unavoidable, and

the path plan correcting section is configured, in a case where the RRT path plan has been newly generated by the RRT path plan generating section, to sequentially perform the correction on the new RRT path plan by the processing based on the potential method.

4. The path plan generating apparatus for the mobile body according to claim 3, wherein

the path plan correcting section is configured to sequentially perform the correction on the generated path plan by the processing based on the potential method at prescribed control processing cycles, and

the case where it is predicted that interference between the mobile body on the corrected path plan and an obstacle is unavoidable is a case where the corrected path plan with which future occurrence of interference between the mobile body and an obstacle is predicted has been generated repeatedly in a predetermined number of control processing cycles of the path plan correcting section.

5. The path plan generating apparatus for the mobile body according to claim 1, wherein the path plan correcting section is configured to correct a path plan in the section of the generated path plan by displacing at least one node set in the section by a displacement amount determined in accordance with at least a repulsive force acting from the potential field of the obstacle.

6. The path plan generating apparatus for the mobile body according to claim 5, wherein the path plan correcting section is configured, in a case where it is predicted, after the correction of the path plan in the section, that the potential field will cease to act on the section, to cause the section to gradually return to a state before being corrected.

7. The path plan generating apparatus for the mobile body according to claim 1, further comprising an interference determining section which determines whether interference will occur between the mobile body on a target path plan and a mobile obstacle among the obstacles in accordance with whether there will be an overlap between an existence region of the mobile body on the target path plan and an existence region of each obstacle set based on the obstacle information, the target path plan being any one of the initial path plan, the RRT path plan, and the path plan corrected by the path plan correcting section, wherein

the interference determining section is configured to set, as a future existence region of the mobile obstacle for use in determining whether interference will occur between the mobile body and the mobile obstacle, in such a manner that a size of the existence region will be decreased to zero over time.

8. The path plan generating apparatus for the mobile body according to claim 7, wherein the path plan correcting section is configured to set a future region of a potential field of the mobile obstacle in such a manner that the region will be reduced in size along with the decrease of the size of the existence region of the mobile obstacle.