US 2023/0274644 A1 · ACTION PLANNING DEVICE AND CONTROL ARITHMETIC DEVICE

Abstract

An action planning device includes a plane-coordinate-system movement predictor that predicts the movement of an obstacle detected around the periphery of a moving object by an external sensor mounted on the moving object, in accordance with plane-coordinate-system obstacle information that expresses the obstacle in a plane coordinate system, and outputs a result of prediction as plane-coordinate-system obstacle movement information, a scene judgement part that judges the condition of the obstacle and outputs a situation in the moving object as scene information, and an action determination part that determines the action of the moving object in accordance with the scene information and outputs a result of determination as an action determination result. The control arithmetic device calculates a target value used to control the moving object, in accordance with the action determination result output from the action planning device.

Claims22

Dependent claims

An action planning device comprising:

processing circuitry
to predict a movement of an obstacle in accordance with plane-coordinate-system obstacle information which expresses the obstacle in a plane-coordinate-system and to generate a result of prediction as plane-coordinate-system obstacle movement information;
to judge a condition of the obstacle in accordance with the plane-coordinate-system obstacle movement information and to generate a situation in a moving object as scene information;
and
to determine an action of the moving object in accordance with the scene information and to output a result of determination as an action determination result to a control arithmetic device that calculates a target value for controlling the moving object according to the action determination result.

2 more elements

An action planning device comprising:

processing circuitry
to convert plane-coordinate-system obstacle information into information in a path coordinate system using a reference path as a reference, in accordance with the plane-coordinate-system obstacle information which expresses an obstacle in a plane-coordinate-system and the reference path serving as a standard of running of a moving object, and to generate a result of conversion as path-coordinate-system obstacle information;
to predict a movement of the obstacle in accordance with the path-coordinate-system obstacle information and to generate a result of prediction as path-coordinate-system obstacle movement information;
to judge a condition of the obstacle in accordance with the path-coordinate-system obstacle movement information and to generate a situation in the moving object as scene information which expresses numerically;
and
to determine an action of the moving object in accordance with the scene information and to output a result of determination as an action determination result to a control arithmetic device that calculates a target value for controlling the moving object according to the action determination result.

3 more elements

Dependencies are inferred from the claim text.

Action planning device and control arithmetic device

Life of this patent

Action planning device and control arithmetic device

Life of this patent

Abstract

Claims22