# US 12,222,724 B2 · Mobile body control device, mobile body control program, and mobile body > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,222,724 B2 - Document ID: US12222724B2 - Status: Granted - Kind: B2 - Application number: 17/797,740 - Filed: 2021-03-31 - Published: 2023-03-16 - Granted: 2025-02-11 - Earliest claimed: 2020-03-31 - Assignees: Aisin Corporation; Keio University - Applicants: Aisin Corporation; Keio University - Inventors: Kazuhiro Kuno; Yutaka Watanabe; Masaki Takahashi; Ayanori Yorozu; Shunichi Sekiguchi - Web page: https://patentgrep.com/patent/US12222724B2 ## CPC - G05D 1/0217: {in accordance with energy consumption, time reduction or distance reduction criteria} - G05D 1/024: {in combination with a laser (lasers per se H01S)} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/644: Optimisation of travel parameters, e.g. of energy consumption, journey time or distance - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A mobile body control device includes: an observation trajectory acquisition unit that acquires, a trajectory along which the subject walks; a basic trajectory acquisition unit that acquires, a basic trajectory that matches the observation trajectory; a subject predicted trajectory acquisition unit that acquires a trajectory along which the subject walks after the current time point based on the specific basic trajectory; a prediction reliability calculation unit that calculates a prediction reliability based on uncertainty added along the subject predicted trajectory; a target trajectory acquisition unit that acquires, a trajectory formed by a target position of a mobile body set ahead of the subject in a traveling direction of the subject; and a control-command-sequence-generating unit that generates a control command sequence using an evaluation function that uses as input the subject predicted trajectory, prediction reliability, target trajectory, and a control trajectory. ## Claims ### Claim 1 A mobile body control device that controls a moving unit of a mobile body such that the mobile body moves accompanying a subject at a position ahead of the subject in a traveling direction thereof, the control device comprising: a processor programmed to: acquire subject information including the position and traveling direction of the subject; process the subject information in time-series order to acquire, as an observation trajectory, a trajectory along which the subject has walked until a current time point; acquire, from a plurality of basic trajectories which are trajectories along which a walker walks toward a plurality of different target points, each of the basic trajectories being added, along its trajectory, with an uncertainty that represents probability distribution deviating from the trajectory, the basic trajectory that matches the observation trajectory as a specific basic trajectory; acquire from the specific basic trajectory, as a subject predicted trajectory, a trajectory along which the subject walks after the current time point so as to follow the observation trajectory; calculate, based on the uncertainty added along the subject predicted trajectory, prediction reliability of prediction that the subject walks following the subject predicted trajectory along the subject predicted trajectory; acquire, as a target trajectory, a trajectory formed by a target position of the mobile body set ahead of the subject in the traveling direction when it is assumed that the subject walks following the subject predicted trajectory; generate a control command sequence using an evaluation function that uses as input the subject predicted trajectory, prediction reliability, target trajectory, and a control trajectory obtained when the mobile body moves according to the control command sequence in time-series order, the evaluation function adding a control penalty term for the control command sequence, a subject penalty term based on a distance between the subject predicted trajectory and control trajectory, and a target penalty term based on a distance between the target trajectory and control trajectory and multiplies the prediction reliability as a coefficient with the subject penalty term and target penalty term to calculate the evaluation value, the control command sequence being generated so as to minimize the evaluation value; and control the moving unit based on the control command sequence. ### Claim 2 (depends on 1) The mobile body control device according to claim 1, wherein the processor is programmed to: calculate a matching degree between the plurality of basic trajectories and the observation trajectory; and synthesize the plurality of basic trajectory based on the matching degree with respect to the observation trajectory to acquire the specific basic trajectory. ### Claim 3 (depends on 1) The mobile body control device according to claim 1, wherein the higher a turning angle of the basic trajectory is, the larger the uncertainty is set for the basic trajectory, and the more a time axis in the basic trajectory advances, the larger the uncertainty is set for the basic trajectory. ### Claim 4 (depends on 1) The mobile body control device according to claim 1, wherein the processor is programmed to: select one of a front left or a front right of the subject in the traveling direction based on mobile body information including the position and traveling direction of the mobile body and subject information; and acquire, as the target trajectory, a trajectory formed by the target position. ### Claim 5 A non-transitory computer-readable medium storing a mobile body control program that causes a computer to perform functions comprising: acquiring subject information including a position and traveling direction of the subject; processing the subject information in time-series order to acquire, as an observation trajectory, a trajectory along which the subject has walked until a current time point; acquiring, from a plurality of basic trajectories which are trajectories along which a walker walks toward a plurality of different target points, each of the basic trajectories being added, along its trajectory, with an uncertainty that represents probability distribution deviating from the trajectory, the basic trajectory that matches the observation trajectory as a specific basic trajectory; acquiring from the specific basic trajectory, as a subject predicted trajectory, a trajectory along which the subject walks after the current time point so as to follow the observation trajectory; calculating, based on the uncertainty added along the subject predicted trajectory, prediction reliability of prediction that the subject walks following the subject predicted trajectory along the subject predicted trajectory; acquiring, as a target trajectory, a trajectory formed by a target position of the mobile body set ahead of the subject in the traveling direction when it is assumed that the subject walks following the subject predicted trajectory; generating a control command sequence using an evaluation function that uses as input the subject predicted trajectory, prediction reliability, target trajectory, and a control trajectory obtained when the mobile body moves according to the control command sequence in time-series order, the evaluation function adding a control penalty term for the control command sequence, a subject penalty term based on a distance between the subject predicted trajectory and control trajectory, and a target penalty term based on a distance between the target trajectory and control trajectory and multiplies the prediction reliability as a coefficient with the subject penalty term and target penalty term to calculate the evaluation value, the control command sequence being generated so as to minimize the evaluation value; and controlling a moving unit based on the control command sequence. ### Claim 6 (depends on 1) A mobile body comprising the mobile body control device according to in claim 1.