Travel path setting apparatus, method of setting travel path, and recording medium

A method of setting a travel path of a movable body, the method comprising:

• acquiring current surrounding information of the movable body at a current time;
• creating, based on the current surrounding information and probability models related to a surrounding situation of the movable body, 1) a first predictable scenario and a second predictable scenario for a first time, the first predictable scenario being different from the second predictable scenario, and 2) a third predictable scenario and a fourth predictable scenario for a second time, the first time being a first predetermined period of time after the current time, the second time being a second predetermined period of time after the first time;
• generating 1) a first risk map based on the first predictable scenario for the first time, wherein the first risk map is divided into a first cell and a second cell, the first cell being associated with a first degree of a risk and the second cell being associated with a second degree of the risk based on the first predictable scenario, 2) a second risk map based on the second predictable scenario for the first time, wherein the second risk map is divided into a third cell and a fourth cell that correspond to the first cell and the second cell of the first risk map, the third cell being associated with a third degree of the risk and the fourth cell being associated with a fourth degree of the risk based on the second predictable scenario, 3) a third risk map based on the third predictable scenario for the second time, wherein the third risk map is divided into a fifth cell and a sixth cell, the fifth cell being associated with a fifth degree of the risk and the sixth cell being associated with a sixth degree of the risk based on the third predictable scenario, and 4) a fourth risk map based on the fourth predictable scenario for the second time, wherein the fourth risk map is divided into a seventh cell and a eighth cell that correspond to the fifth cell and the sixth cell of the third risk map, the seventh cell being associated with a seventh degree of the risk and the eighth cell being associated with an eighth degree of the risk based on the fourth predictable scenario;
• generating 1) a first integrated risk map for the first time based on combining the first degree of the risk of the first cell of the first risk map with the third degree of the risk of the third cell of the second risk map and combining the second degree of the risk of the second cell of the first risk map with the fourth degree of the risk of the fourth cell of the second risk map, and 2) a second integrated risk map for the second time based on combining the fifth degree of the risk of the fifth cell of the third risk map with the seventh degree of the risk of the seventh cell of the fourth risk map and combining the sixth degree of the risk of the sixth cell of the third risk map with the eighth degree of the risk of the eighth cell of the fourth risk map;
• and
• determining a travel path for the movable body based on 1) determining a first location where the movable body moves to at the first time according to the first integrated risk map and 2) determining a second location where the movable body moves to at the second time according to the second integrated risk map.

A non-transitory tangible recording medium having a program, the program causing, when executed by a computer, the computer to implement a method comprising:

• acquiring, from one or more sensors, current surrounding information of a movable body at a current time;
• creating, on a basis of the current surrounding information and models, 1) a first predictable scenario and a second predictable scenario for a first time, the first predictable scenario being different from the second predictable scenario, and 2) a third predictable scenario and a fourth predictable scenario for a second time, the third predictable scenario being different from the fourth predictable scenario, the first time being a first predetermined period of time after the current time, the second time being a second predetermined period of time after the first time;
• generating 1) a first risk map based on the first predictable scenario for the first time, wherein the first risk map is divided into a first cell and a second cell, the first cell being associated with a first degree of a risk and the second cell being associated with a second degree of the risk based on the first predictable scenario, 2) a second risk map based on the second predictable scenario for the first time, wherein the second risk map is divided into a third cell and a fourth cell that correspond to the first cell and the second cell of the first risk map, the third cell being associated with a third degree of the risk and the fourth cell being associated with a fourth degree of the risk based on the second predictable scenario, 3) a third risk map based on the third predictable scenario for the second time, wherein the third risk map is divided into a fifth cell and a sixth cell, the fifth cell being associated with a fifth degree of the risk and the sixth cell being associated with a sixth degree of the risk based on the third predictable scenario, and 4) a fourth risk map based on the fourth predictable scenario for the second time, wherein the fourth risk map is divided into a seventh cell and a eighth cell that correspond to the fifth cell and the sixth cell of the third risk map, the seventh cell being associated with a seventh degree of the risk and the eighth cell being associated with an eighth degree of the risk based on the fourth predictable scenario;
• generating 1) a first integrated risk map for the first time based on combining the first degree of the risk of the first cell of the first risk map with the third degree of the risk of the third cell of the second risk map and combining the second degree of the risk of the second cell of the first risk map with the fourth degree of the risk of the fourth cell of the second risk map, and 2) a second integrated risk map for the second time based on combining the fifth degree of the risk of the fifth cell of the third risk map with the seventh degree of the risk of the seventh cell of the fourth risk map and combining the sixth degree of the risk of the sixth cell of the third risk map with the eighth degree of the risk of the eighth cell of the fourth risk map;
• and
• setting a travel path for the movable body based on 1) determining a first location where the movable body moves to at the first time according to the first integrated risk map and 2) determining a second location where the movable body moves to at the second time according to the second integrated risk map.