Route generation device for autonomous mobile body

A route generation device for an autonomous mobile body equipped with an outside recognition device that is configured to detect and recognize an outside of the autonomous mobile body,

• the route generation device being installable on the autonomous mobile body and configured to generate a route for the autonomous mobile body based on a cost map of a road serving as the route for the autonomous mobile body,
• the cost map including a plurality of grid cells into which the cost map is divided,
• wherein the road is located in a limited outdoor area including a semi-outdoor area,
• wherein in the cost map, the road includes a lane on which the autonomous mobile body travels, and has a center of the road and edge zones of the road, the center of the road being located at a center of the lane and having a predetermined line thereon, the edge zones of the road being located on opposite sides of the lane, and
• wherein in the cost map, the center of the road is assigned with a lower value of cost than the edge zones of the road,
• the route generation device comprising:
• a controller configured to update the cost map based on a result of detection by the outside recognition device, and control and cause the autonomous mobile body to travel in a zone having a low value of cost in the cost map updated,
• wherein the controller
• identifies, based on a result of detection by the outside recognition device, an occupied grid cell that is occupied by an object,
• updates the cost map such that the edge zones of the road and the occupied grid cell have a maximum value of cost in the cost map updated,
• makes a setting that two or more grid cells adjacent to the occupied grid cell and corresponding to a region that is substantially occupied by the object have the maximum value of cost, in accordance with an outer shape of the object or a ratio of occupancy by the object, and
• generates a route while defining the occupied grid cell having the maximum value of cost as a no-entry zone,
• in response to determining that a detection range within which the object is detected includes an entirety of the object in a widthwise direction, the controller generates a route while making a setting that all of grid cells occupied by the object have the maximum value of cost and defining the grid cells occupied by the object as the no-entry zone.