Navigation route planning apparatus and navigation route planning method

A navigation route planning method, comprising:

• receiving a planned route which indicates a route of a movable body and a current course direction from a current position of the movable body;
• receiving movable body information that includes at least any one of:
• a position, a travelling direction, and a speed of the movable body;
• receiving obstacle information that includes at least one of:
• a position, a traveling direction, and a speed of an obstacle;
• determining a collision risk value associated with the planned route along the current course direction based on the movable body information and the obstacle information;
• and
• determining whether the movable body requires to at least one of evade the planned route and continue traversing on the planned route based on the collision risk value associated with the planned route.

A non-transitory computer readable medium having stored thereon computer-executable instructions which, when executed by a computer, cause the computer to:

• receive a planned route which indicates a route of a movable body and a current course direction from a current position of the movable body;
• receive movable body information that includes at least one of:
• a position, a travelling direction, and a speed of the movable body;
• receive obstacle information that includes at least one of:
• a position, a traveling direction, and a speed of an obstacle;
• determine a collision risk value associated with the planned route along the current course direction based on the movable body information and the obstacle information;
• and
• determining whether the movable body requires to at least one of evade the planned route and continue traversing on the planned route based on the collision risk value associated with the planned route.