Autonomous moving object
First Claim
Patent Images
1. An autonomous moving object comprising:
- an imager that acquires a signal state of a traffic light;
an information memory that stores blinking times of the traffic lights;
a first plurality of sensors that determine a self-position of the autonomous moving object;
a second plurality of sensors that detect obstacles along a particular path of the autonomous moving object, anda motor controller that controls movement including a speed of the autonomous moving object,wherein the autonomous moving object, in response to the imager detecting that the signal state of the traffic light has changed from a GO signal to a blinking signal for a crosswalk;
approximates an amount of time remaining prior the blinking signal changing to a stop signal based on the blinking times stored in information memory,determines a plurality of potential first paths, wherein each of the plurality of potential first paths move the autonomous moving object from the self-position to an end point of the crosswalk,calculates first travel times for the autonomous moving object to traverse the plurality of potential first paths based on a distance of the first paths and the each speed of the autonomous moving object,calculates a first risk for each particular potential first path from the plurality of potential first paths based on a number of obstacles detected by the second plurality of sensors along each particular first path,determines a subset of the plurality of potential first paths that have the first travel times that are less than the amount of time remaining prior the blinking signal changing to the stop signal,on a condition that the subset of the plurality potential first paths contains at least one path, selects a selected route from the subset of the plurality potential first paths where the first risk of the particular first path is minimized, andmoves along the selected route with the speed based on speeds of surrounding moving obstacles detected by the second plurality of sensors and/or faster than the speed before changing to the blinking signal.
1 Assignment
0 Petitions
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.
-
Citations
7 Claims
-
1. An autonomous moving object comprising:
-
an imager that acquires a signal state of a traffic light; an information memory that stores blinking times of the traffic lights; a first plurality of sensors that determine a self-position of the autonomous moving object; a second plurality of sensors that detect obstacles along a particular path of the autonomous moving object, and a motor controller that controls movement including a speed of the autonomous moving object, wherein the autonomous moving object, in response to the imager detecting that the signal state of the traffic light has changed from a GO signal to a blinking signal for a crosswalk; approximates an amount of time remaining prior the blinking signal changing to a stop signal based on the blinking times stored in information memory, determines a plurality of potential first paths, wherein each of the plurality of potential first paths move the autonomous moving object from the self-position to an end point of the crosswalk, calculates first travel times for the autonomous moving object to traverse the plurality of potential first paths based on a distance of the first paths and the each speed of the autonomous moving object, calculates a first risk for each particular potential first path from the plurality of potential first paths based on a number of obstacles detected by the second plurality of sensors along each particular first path, determines a subset of the plurality of potential first paths that have the first travel times that are less than the amount of time remaining prior the blinking signal changing to the stop signal, on a condition that the subset of the plurality potential first paths contains at least one path, selects a selected route from the subset of the plurality potential first paths where the first risk of the particular first path is minimized, and moves along the selected route with the speed based on speeds of surrounding moving obstacles detected by the second plurality of sensors and/or faster than the speed before changing to the blinking signal. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
Specification
-
- Resources
Litigation Campaign Assessment
Thank you for your request. You will receive a custom alert email when the Litigation Campaign Assessment is available.
×
-
Current AssigneeHitachi, Ltd.
-
Original AssigneeHitachi, Ltd.
-
InventorsTokuyama, Mikio, Yamamoto, Kenjiro, Iimura, Taiki, Amino, Azusa
-
Primary Examiner(s)Hutchinson, Alan D
-
Application NumberUS15/300,982Publication NumberTime in Patent Office1,944 DaysField of SearchUS Class CurrentCPC Class CodesG05D 1/024 in combination with a laser...G05D 1/0246 using a video camera in com...
