Autonomous moving system, autonomous moving method, and storage medium

An autonomous moving method for an autonomous moving body that moves autonomously, the autonomous moving method comprising:

• setting a predetermined defense space around the autonomous moving body, for executing collision control of at least one of control to avoid a collision between the autonomous moving body and an obstruction and control to mitigate damage upon a collision;
• classifying an obstruction in a vicinity of the autonomous moving body that is detected by a first detecting unit installed in the autonomous moving body, and the obstruction in the vicinity of the autonomous moving body that is detected by a second detecting unit installed in a facility space through which the autonomous moving body moves;
• changing a range of the predetermined defense space to a first range based on a result of classification of the obstruction, detected by one of the first detecting unit and the second detecting unit;
• changing the range of the predetermined defense space from the first range to a second range based on a result of classifying the obstruction detected by at least another of the first detecting unit and the second detecting unit;
• and
• executing control of movement of the autonomous moving body including the collision control in at least one of when the obstruction is inside the predetermined defense space and when the obstruction is predicted to enter inside the predetermined defense space,
• wherein when classifying the obstruction as a wheelchair, a width of the predetermined defense space on a wheelchair side reduces, and increases the width of the predetermined defense space on an opposite side from the wheelchair.

A non-transitory storage medium storing instructions that are executable by one or more processors and that cause the one or more processors to perform functions comprising:

• setting a predetermined defense space around an autonomous moving body, for executing collision control of at least one of control to avoid a collision between the autonomous moving body and an obstruction and control to mitigate damage upon a collision;
• classifying an obstruction in a vicinity of the autonomous moving body that is detected by a first detecting unit installed in the autonomous moving body, and the obstruction in the vicinity of the autonomous moving body that is detected by a second detecting unit installed in a facility space through which the autonomous moving body moves;
• changing a range of the predetermined defense space to a first range based on a result of classification of the obstruction, detected by one of the first detecting unit and the second detecting unit;
• changing the range of the predetermined defense space from the first range to a second range based on a result of classifying the obstruction detected by at least another of the first detecting unit and the second detecting unit;
• and
• executing control of movement of the autonomous moving body including the collision control in at least one of when the obstruction is inside the predetermined defense space and when the obstruction is predicted to enter inside the predetermined defense space,
• wherein when classifying the obstruction as a wheelchair, a width of the predetermined defense space on a wheelchair side reduces, and increases the width of the predetermined defense space on an opposite side from the wheelchair.