Information processing apparatus, movable apparatus, information processing method, and storage medium

A movable apparatus comprising:

• at least one memory storing instructions;
• and
• at least one processor that upon execution of the stored instructions is configured to function as:
• a route plan acquisition unit configured to acquire a route plan of a movable apparatus;
• an obstacle information acquisition unit configured to acquire information regarding at least one obstacle hindering the acquired route plan of the movable apparatus;
• a degree-of-obstacle calculation unit configured to calculate a group of degree-of-obstacle for the route plan of the movable apparatus based on the acquired information regarding the at least one obstacle, wherein the group of degree-of-obstacles includes a degree-of-obstacle for the movable apparatus to move by changing the route plan and a degree-of-obstacle for the at least one obstacle to evacuate;
• an obstacle countermeasure determination unit configured to determine an obstacle countermeasure for reducing the degree-of-obstacles based on the acquired information regarding the at least one obstacle and the acquired route plan;
• and
• a control unit configured to at least one of control transmission of an evacuation instruction to the at least one obstacle to evacuate and control the movable apparatus to move along a path that avoids the at least one obstacle;
• and
• a driving control unit configured to control movement of the movable apparatus based on an output of the control unit.

An information processing method comprising:

• acquiring a route plan of a movable apparatus;
• acquiring information regarding at least one obstacle hindering the acquired route plan of the movable apparatus;
• calculating a group of degree-of-obstacles for the route plan of the movable apparatus based on the acquired information regarding the at least one obstacle, wherein the group of degree-of-obstacles includes a degree-of-obstacle for the movable apparatus to move by changing the route plan and a degree-of-obstacle for the at least one obstacle to evacuate;
• determining an obstacle countermeasure for reducing the group of degree-of-obstacles based on the acquired information regarding the at least one obstacle and the acquired route plan;
• and
• performing at least one of control of transmission of an evacuation instruction and control for the movable apparatus to move along a path that avoids the at least one obstacle.

A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of an information processing apparatus, causes a control method to be executed, the control method comprising:

• acquiring a route plan of a movable apparatus;
• acquiring information regarding at least one obstacle hindering the acquired route plan of the movable apparatus;
• calculating a group of degree-of-obstacles for the route plan of the movable apparatus based on the acquired information regarding the at least one obstacle, wherein the group of degree-of-obstacles includes a degree-of-obstacle for the movable apparatus to move by changing the route plan and a degree-of-obstacle for the at least one obstacle to evacuate;
• determining an obstacle countermeasure for reducing the group of degree-of-obstacles based on the acquired information regarding the at least one obstacle and the acquired route plan;
• and
• performing at least one of control of transmission of an evacuation instruction to the at least one obstacle to evacuate and control the movable apparatus to move along a path that avoids the at least one obstacle.