Navigation apparatus, simulation apparatus, moving device and navigation method

• US 9,885,580 B2
• Filed: 06/17/2014
• Issued: 02/06/2018
• Est. Priority Date: 07/11/2013
• Status: Expired due to Fees

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: Kobayashi, Yuichi, Hiramatsu, Yuji, Fujii, Hokuto, Kamiya, Tsuyoshi
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): HUYNH, LUAT T
• Application Number:
  US14/904,257
• Publication Number:
  US 20160169694A1
• Time in Patent Office: 1,330 Days
• Field of Search: 701 25, 701 334, 701 3, 701533
• CPC Class Codes: G01C 21/14 by recording the course traversed by the object G01C21/16 takes precedence
• CPC Class Codes: G01C 21/3453 Special cost functions, i.e. other than distance or default speed limit of road segments
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16

Abstract

A navigation method for a navigating apparatus of a moving device, including obtaining weight information that includes a plurality of weight coefficients and storing the weight information, detecting one or a plurality of paths through which the moving device is capable of moving, acquiring information regarding a position of a destination with respect to the moving device as destination positional information, acquiring information regarding characteristics of topography in surroundings of the moving device as topographical characteristics information, calculating worth correlation information regarding the one or plurality of detected paths to the destination using the acquired destination positional information, the acquired topographical characteristics information and the stored weight information, and estimating a worth score of each of the one or plurality of paths to the destination based on the calculated worth correlation information.

Claims

1. A navigation apparatus for use in a moving device, comprising:

a hardware processor, and

a non-transitory storage medium having program instructions stored thereon, execution of which by the hardware processor causes the navigation apparatus to provide functions of;

a path detector that detects one or a plurality of paths through which the moving device is capable of moving;

a destination positional information acquirer that acquires information regarding a position of a destination of the moving device as destination positional information;

a topographical characteristics information acquirer that acquires information regarding characteristics of topography in surroundings of the moving device as topographical characteristics information;

a storage portion that stores weight information including a plurality of weight coefficients respectively corresponding to the destination positional information and the topographical characteristics information; and

a worth estimator that

calculates worth correlation information regarding the one or plurality of paths to the destination using the acquired destination positional information, the acquired topographical characteristics information, and the stored weight information, and

estimates a worth score for each of the one or plurality of paths to the destination based on the calculated worth correlation information, a higher worth score corresponding to a higher probability for the moving device to move to the destination,

wherein the plurality of weight coefficients in the weight information are calculated by a canonical correlation analysis using a plurality of pieces of destination positional information each regarding a position of an arbitrary destination with respect to an arbitrary point, a plurality of pieces of topographical characteristics information regarding characteristics of topography in surroundings of the arbitrary points, and a worth score of each of a plurality of paths that are acquired in advance in virtual topography, the acquired plurality of paths including the plurality of paths detected by the path detector.

2. The navigation apparatus according to claim 1, wherein the plurality of weight coefficients in the weight information are calculated by

setting a first function that includes

a plurality of first variables including the plurality of pieces of destination positional information and the plurality of pieces of topographical characteristics information, and

a plurality of first coefficients respectively corresponding to the plurality of first variables,

setting a second function that includes

one or a plurality of second variables including the worth score of each of the acquired plurality of paths to the destination in the virtual topography, and

one or a plurality of second coefficients respectively corresponding to the one or plurality of second variables,

determining numerical values of the plurality of first coefficients and numerical values of the one or plurality of second coefficients, such that a correlation between a numerical value of the first function and a numerical value of the second function is maximized, and

including the determined numerical values of the plurality of first coefficients as the plurality of weight coefficients in the weight information.

3. The navigation apparatus according to claim 1, wherein the execution of the program instructions by the hardware processor causes the navigation apparatus to further provide functions of a path selector that selects a path having a highest worth score among the worth scores estimated by the worth estimator.

4. The navigation apparatus according to claim 1, further comprising

a position orientation sensor that receives positioning information of the moving device from a global positioning system,

wherein the execution of the program instructions by the hardware processor causes the navigation apparatus to further provide functions of an operation portion operated by a user in order to designate the position of the destination, wherein

the destination positional information acquirer acquires the destination positional information based on the position of the destination designated by the operation portion and the positioning information of the moving device received from the position orientation sensor.

5. The navigation apparatus according to claim 1, further comprising an environment recognition sensor that measures a first number of points in surroundings of the moving device, wherein

the path detector detects the one or plurality of paths through which the moving device is capable of moving based on the first number of information of measurement respectively corresponding to the first number of points by the environment recognition sensor, and

the topographical characteristics information acquirer extracts a second number, smaller than the first number, of information of measurement of the one or plurality of paths from the first number of the information of measurement as the topographical characteristics information.

6. The navigation apparatus according to claim 5, wherein

the environment recognition sensor includes a laser range finder.

7. The navigation apparatus according to claim 1, wherein

a higher worth score of a path to the destination corresponds to a shorter moving time period in which the moving device moves through the path.

8. The navigation apparatus according to claim 1, wherein

a higher worth score of a path to the destination corresponds to a smaller amount of energy consumption by which the moving device moves through the path.

9. The navigation apparatus according to claim 1, wherein the weight information stored in the storage portion is generated by a simulation apparatus that includes

another hardware processor, and

another non-transitory storage medium having another set of program instructions stored thereon, execution of which by the another hardware processor causes the simulation apparatus to provide functions of:

another storage portion that stores topographical data indicating virtual topography including the plurality of paths;

a virtual moving device capable of traveling on the plurality of paths in the virtual topography indicated by the topographical data;

a worth calculator that acquires the worth score for each of the plurality of paths by moving the virtual moving device from the arbitrary point to the arbitrary destination in the virtual topography, and calculates a worth score of a most suitable path to the arbitrary destination based on the acquired worth scores of the plurality of paths, the most suitable path being a path through which the moving device moves to the arbitrary destination with a highest probability;

an information acquirer that acquires the plurality of pieces of destination positional information regarding a position of the arbitrary destination with respect to the arbitrary point and the plurality of pieces of topographical characteristics information regarding characteristics of topography in surroundings of the arbitrary point in the virtual topography; and

a weight information calculator that calculates the weight information by the canonical correlation analysis using the worth score of the most suitable path calculated by the worth calculator regarding each of the plurality of destinations, and the plurality of pieces of destination positional information and the plurality of pieces of topographical characteristics information that are acquired by the information acquirer, wherein

the weight information includes the plurality of weight coefficients respectively corresponding to the destination positional information and the topographical characteristics information.

10. The simulation apparatus according to claim 9, wherein the weight information calculator calculates the weight information by

setting a first function that includes

a plurality of first variables including the plurality of pieces of destination positional information and the plurality of pieces of topographical characteristics information, and

a plurality of first coefficients respectively corresponding to the plurality of first variables,

setting a second function that includes

one or a plurality of second variables including the worth score of each of the acquired plurality of paths to the destination in the virtual topography, and

one or a plurality of second coefficients respectively corresponding to the one or plurality of second variables,

determining numerical values of the plurality of first coefficients and numerical values of the one or plurality of second coefficients, such that a correlation between a numerical value of the first function and a numerical value of the second function is maximized, and

including the determined numerical values of the plurality of first coefficients as the plurality of weight coefficients in the weight information.

11. An autonomous moving device comprising:

a main body configured to be movable; and

the navigation apparatus according to claim 1 disposed in the main body; and

a controller including a hardware processor that is configured to execute instructions to control movement of the main body based on the worth score of each path to the destination estimated by the navigation apparatus.

12. A navigation method for a navigating apparatus of a moving device, the navigating apparatus including a hardware processor and a storage device, the method comprising:

obtaining weight information that includes a plurality of weight coefficients, and storing the weight information in the storage device;

detecting, by the hardware processor, one or a plurality of paths through which the moving device is capable of moving;

acquiring, by the hardware processor, information regarding a position of a destination with respect to the moving device as destination positional information;

acquiring, by the hardware processor, information regarding characteristics of topography in surroundings of the moving device as topographical characteristics information; and

calculating, by the hardware processor, worth correlation information regarding the one or plurality of detected paths to the destination using the acquired destination positional information, the acquired topographical characteristics information and the stored weight information, and estimating a worth score of each of the one or plurality of paths to the destination based on the calculated worth correlation information,

wherein the plurality of weight coefficients in the weight information are calculated by a canonical correlation analysis using a plurality of pieces of destination positional information each regarding a position of an arbitrary destination with respect to an arbitrary point, a plurality of pieces of topographical characteristics information regarding characteristics of topography in surroundings of the arbitrary points, and a worth score of each of a plurality of paths that are acquired in advance in virtual topography, the acquired plurality of paths including the plurality of paths detected by the path detector.