# US 12,117,850 B2 · Moving object and route decision method of moving object

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- Number: US 12,117,850 B2
- Document ID: US12117850B2
- Status: Granted
- Kind: B2
- Application number: 17/741,965
- Filed: 2022-05-11
- Published: 2022-11-24
- Granted: 2024-10-15
- Earliest claimed: 2021-05-18
- Assignees: Toyota Jidosha Kabushiki Kaisha; School Judicial Person Ikutoku Gakuen
- Applicants: Toyota Jidosha Kabushiki Kaisha; School Judicial Person IKUTOKU GAKUEN
- Inventors: Daisuke Sato; Takanobu Nasu; Toshihiro Wakita
- Web page: https://patentgrep.com/patent/US12117850B2

## CPC

- B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)}
- G05D 1/622: Obstacle avoidance (predicting or avoiding probable or impending collision of road vehicles B60W30/08)
- B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles}
- G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)}
- G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)}
- G05D 1/0246: {using a video camera in combination with image processing means}
- G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)}
- G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80)
- B60W 2520/10: Longitudinal speed
- B60W 2520/14: Yaw
- B60W 2552/50: Barriers
- B60W 2554/20: Static objects
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- B60W 2720/10: Longitudinal speed
- B60W 2720/14: Yaw
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A moving object that travels from a current position toward a target position includes a first section candidate searching unit configured to search for a plurality of first section candidates in which the moving object is capable of traveling from the current position, a second section candidate searching unit configured to, for each ending point of the first section candidates, search for a plurality of second section candidates in which the moving object is capable of traveling from the ending points of the first section candidates, an obstacle position recognition unit configured to detect a position of an obstacle around the moving object, and a route decision unit configured to decide a first section and a second section used as a traveling route of the moving object from the plurality of first section candidates and the plurality of second section candidates.

## Claims

### Claim 1

A moving object that travels from a current position toward a target position, the moving object comprising a central processing unit configured to:
search for a plurality of first section candidates in which the moving object is capable of traveling from the current position within a first set time period set in advance;
for each ending point of the first section candidates, search for a plurality of second section candidates in which the moving object is capable of traveling from the ending points of the first section candidates within a second set time period set in advance;
recognize a target direction that is a direction in which the target position is present;
detect a position of an obstacle around the moving object;
determine an evaluation value for each of the first section candidates and each of the second section candidates based on a closest distance to the obstacle, a rotational speed of the moving object, and an effective distance in the target direction;
decide a first section and a second section used as a traveling route of the moving object from the plurality of first section candidates and the plurality of second section candidates having a highest evaluation value;
calculate a driving amount for the traveling of the moving object from the decided route; and
perform traveling control of the moving object along the route by transmitting a control signal to control traveling of the moving object.

### Claim 2 (depends on 1)

The moving object according to claim 1, wherein the central processing unit is further configured to:
recognize a translational velocity of the moving object at the current position,
decide the first section for which a difference between the translational velocity of the moving object at the current position and a first translational velocity that is a translational velocity of the moving object in the plurality of first section candidates is less than a first translational velocity threshold value.

### Claim 3 (depends on 1)

The moving object according to claim 1, wherein the central processing unit is further configured to:
recognize a rotational velocity of the moving object at the current position,
decide the first section for which a difference between the rotational velocity of the moving object at the current position and a first rotational velocity that is a rotational velocity of the moving object in the plurality of first section candidates is less than a first rotational velocity threshold value.

### Claim 4 (depends on 1)

The moving object according to claim 1,
wherein the central processing unit is configured to decide the second section for which a difference between a second translational velocity that is a translational velocity of the moving object in the plurality of second section candidates from an ending point of the decided first section as a starting point and a first translational velocity that is a translational velocity of the moving object in the first section is less than a second translational velocity threshold value.

### Claim 5 (depends on 2)

The moving object according to claim 2,
wherein the central processing unit is configured to decide the second section for which a difference between a second translational velocity that is a translational velocity of the moving object in the plurality of second section candidates from an ending point of the decided first section as a starting point and a first translational velocity that is a translational velocity of the moving object in the first section is less than a second translational velocity threshold value.

### Claim 6 (depends on 1)

The moving object according to claim 1,
wherein the central processing unit is configured to decide the second section for which a difference between a second rotational velocity that is a rotational velocity of the moving object in the plurality of second section candidates from an ending point of the decided first section as a starting point and a first rotational velocity that is a rotational velocity of the moving object in the first section is less than a second rotational velocity threshold value.

### Claim 7 (depends on 3)

The moving object according to claim 3,
wherein the central processing unit is configured to decide the second section for which a difference between a second rotational velocity that is a rotational velocity of the moving object in the plurality of second section candidates from an ending point of the decided first section as a starting point and a first rotational velocity that is a rotational velocity of the moving object in the first section is less than a second rotational velocity threshold value.

### Claim 8

A route decision method of a moving object that travels from a current position toward a target position, the route decision method comprising:
searching for a plurality of first section candidates in which the moving object is capable of traveling from the current position within a first set time period set in advance;
searching, for each ending point of the first section candidates, for a plurality of second section candidates in which the moving object is capable of traveling from the ending points of the first section candidates within a second set time period set in advance;
recognizing a target direction that is a direction in which the target position is present;
detecting a position of an obstacle around the moving object;
determining an evaluation value for each of the first section candidates and each of the second section candidates based on a closest distance to the obstacle, a rotational speed of the moving object, and an effective distance in the target direction;
deciding a first section and a second section used as a traveling route of the moving object from the plurality of first section candidates and the plurality of second section candidates having a highest evaluation value;
calculating a driving amount for the traveling of the moving object from the decided route; and
performing traveling control of the moving object along the route by transmitting a control signal to control traveling of the moving object.