# US 11,442,461 B2 · Mobile vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,442,461 B2 - Document ID: US11442461B2 - Status: Granted - Kind: B2 - Application number: 16/652,828 - Filed: 2018-09-10 - Published: 2020-10-08 - Granted: 2022-09-13 - Earliest claimed: 2017-10-06 - Assignees: Kabushiki Kaisha Toyota Jidoshokki - Applicants: Kabushiki Kaisha Toyota Jidoshokki - Inventors: Masaya Minamida; Takuto Mihoichi - Web page: https://patentgrep.com/patent/US11442461B2 ## CPC - G05D 1/024: {in combination with a laser (lasers per se H01S)} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/12: Target-seeking control - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A mobile vehicle includes one or more wheels, a sensor configured to detect the position of a follow target, and a controlling section configured to control the one or more wheels based on a detection result of the sensor such that the mobile vehicle follows the follow target. The controlling section is configured to determine a change point at which the traveling direction of the follow target has changed based on the detection result of the sensor, and to set a target point based on the change point. ## Claims ### Claim 1 A mobile vehicle comprising: one or more wheels; a sensor configured to detect a position of a follow target; and a controlling section configured to control the one or more wheels based on a detection result of the sensor such that the mobile vehicle follows the follow target, wherein the controlling section is configured to: store in a memory pieces of positional data of the follow target that have been detected by the sensor at predetermined time intervals, determine a change point at which a traveling direction of the follow target has changed based on the pieces of the stored positional data, and set a target point based on the change point, the change point is a position that corresponds to one of the pieces of the stored positional data and meets one or more conditions, a coordinate system is defined in which a directional axis from the mobile vehicle toward the follow target is a first axis, and a directional axis orthogonal to the first axis is a second axis, and the one or more conditions include a condition that an absolute value of a coordinate on the second axis is greatest on the coordinate system. ### Claim 2 (depends on 1) The mobile vehicle according to claim 1, wherein a coordinate system is defined in which a directional axis from the mobile vehicle toward the follow target is a first axis, and a directional axis orthogonal to the first axis is a second axis, and the controlling section excludes, from candidates for the change point, a position at which an absolute value of a coordinate on the second axis is smaller than or equal to a threshold on the coordinate system. ### Claim 3 (depends on 1) The mobile vehicle according to claim 1, wherein the controlling section is configured to determine that the change point is a position that corresponds to one of the pieces of the stored positional data and meets one or more conditions, a coordinate system is defined in which a directional axis from the mobile vehicle toward the follow target is a first axis, and a directional axis orthogonal to the first axis is a second axis, and the one or more conditions include a condition that an absolute value of a coordinate on the second axis is greater than a threshold on the coordinate system. ### Claim 4 (depends on 1) The mobile vehicle according to claim 1, wherein the one or more conditions include that a distance from the mobile vehicle is greater than or equal to a predetermined distance. ### Claim 5 (depends on 1) The mobile vehicle according to claim 1, wherein the controlling section is configured to set the target point to a position that is advanced from the change point by a specified distance. ### Claim 6 (depends on 5) The mobile vehicle according to claim 5, wherein the controlling section is configured to stop traveling of the mobile vehicle toward the target point when a distance from the mobile vehicle to the target point is smaller than or equal to the specified distance. ### Claim 7 (depends on 6) The mobile vehicle according to claim 6, wherein the controlling section is configured to cause, when the distance from the mobile vehicle to the target point is greater than the specified distance and smaller than or equal to a speed determination distance, the mobile vehicle to travel toward the target point at a higher speed as the distance to the target point increases. ### Claim 8 (depends on 7) The mobile vehicle according to claim 7, wherein the controlling section is configured to cause, when the distance from the mobile vehicle to the target point is greater than the speed determination distance and smaller than or equal to a stopping determination distance, the mobile vehicle to travel toward the target point at a constant speed equal to that in a case in which the distance to the target point is equal to the speed determination distance. ### Claim 9 (depends on 8) The mobile vehicle according to claim 8, wherein the controlling section is configured to stop traveling of the mobile vehicle toward the target point when the distance from the mobile vehicle to the target point is greater than the stopping determination distance. ### Claim 10 (depends on 1) The mobile vehicle according to claim 1, wherein the one or more wheels include a plurality of omnidirectional wheels, and the controlling section is configured to control the omnidirectional wheels such that the follow target is located in front of the mobile vehicle. ### Claim 11 (depends on 1) The mobile vehicle according to claim 1, wherein the target point is a target point of traveling and is set at a position different from a current position of the follow target so as to cause the mobile vehicle to change the traveling direction at the change point, and the controlling section is configured to cause the mobile vehicle to travel toward the follow target when the change point is not determined, and cause the mobile vehicle to travel toward the target point that is set based on the change point when the change point is determined. ### Claim 12 A mobile vehicle comprising: one or more wheels; a sensor configured to detect a position of a follow target; and a controlling section configured to control the one or more wheels based on a detection result of the sensor such that the mobile vehicle follows the follow target, wherein the controlling section is configured to: store in a memory pieces of positional data of the follow target that have been detected by the sensor at predetermined time intervals, determine a change point at which a traveling direction of the follow target has changed based on the pieces of the stored positional data, and set a target point based on the change point, a coordinate system is defined in which a directional axis from the mobile vehicle toward the follow target is a first axis, and a directional axis orthogonal to the first axis is a second axis, and the controlling section excludes, from candidates for the change point, a position at which an absolute value of a coordinate on the second axis is smaller than or equal to a threshold on the coordinate system. ### Claim 13 A mobile vehicle comprising: one or more wheels; a sensor configured to detect a position of a follow target; and a controlling section configured to control the one or more wheels based on a detection result of the sensor such that the mobile vehicle follows the follow target, wherein the controlling section is configured to: store in a memory pieces of positional data of the follow target that have been detected by the sensor at predetermined time intervals, determine a change point at which a traveling direction of the follow target has changed based on the pieces of the stored positional data, and set a target point based on the change point, the change point is a position that corresponds to one of the pieces of the stored positional data and meets one or more conditions, a coordinate system is defined in which a directional axis from the mobile vehicle toward the follow target is a first axis, and a directional axis orthogonal to the first axis is a second axis, and the one or more conditions include a condition that an absolute value of a coordinate on the second axis is greater than a threshold on the coordinate system.