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US 12,754,561 B2Granted
Mobile body, control device and control method therefor, and storage medium
AssigneeHonda Motor Co., Ltd.
InventorsKoki Aizawa, Yunosuke Kuramitsu, Ryo Iwatani, Taichi Nakamura, Hideki Matsunaga
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Abstract
The control device of a mobile body is configured to generate a route of the mobile body such that the mobile body avoids each of an actual obstacle and a virtual obstacle. The actual obstacle is an obstacle that is located around the mobile body and that is detected using a detection unit of the mobile body. The virtual obstacle is an obstacle virtually set in an entry prohibited area where entry of the mobile body is prohibited.
Claims6
A control device of a mobile body, the control device configured to
- generate a route of the mobile body such that the mobile body avoids each of an actual obstacle and a virtual obstacle, and
- control the mobile body to autonomously move in accordance with the route that has been generated, wherein
- the actual obstacle is an obstacle that is located around the mobile body and that is detected using a detection unit of the mobile body,
- the virtual obstacle is an obstacle virtually set in an entry prohibited area where entry of the mobile body is prohibited, such that an outer edge of the virtual obstacle is located inside the entry prohibited area and a distance between an outer edge of the entry prohibited area and the outer edge of the virtual obstacle is smaller than a sum of a width of the mobile body and a value twice a predetermined margin, and
- the route of the mobile body is generated such that a distance between the mobile body and each of the actual obstacle and the virtual obstacle is larger than the predetermined margin.
2 more elements
A method for controlling a mobile body, the method comprising
- generating a route of the mobile body such that the mobile body avoids each of an actual obstacle and a virtual obstacle, and
- controlling the mobile body to autonomously move in accordance with the route that has been generated, wherein
- the actual obstacle is an obstacle that is located around the mobile body and that is detected using a detection unit of the mobile body,
- the virtual obstacle is an obstacle virtually set in an entry prohibited area where entry of the mobile body is prohibited, such that an outer edge of the virtual obstacle is located inside the entry prohibited area and a distance between an outer edge of the entry prohibited area and the outer edge of the virtual obstacle is smaller than a sum of a width of the mobile body and a value twice a predetermined margin, and
- the route of the mobile body is generated such that a distance between the mobile body and each of the actual obstacle and the virtual obstacle is larger than the predetermined margin.
2 more elements
Dependencies are inferred from the claim text.