# US 2025/0083701 A1 · Action planning apparatus and action planning method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0083701 A1 - Document ID: US20250083701A1 - Status: Published application - Kind: A1 - Application number: 18/726,431 - Filed: 2022-01-26 - Published: 2025-03-13 - Earliest claimed: 2022-01-26 - Assignees: Mitsubishi Electric Corporation - Applicants: Mitsubishi Electric Corporation - Inventors: Hiroshi YAMADA; Shota KAMEOKA - Web page: https://patentgrep.com/patent/US20250083701A1 ## CPC - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - G01C 21/3697: {Output of additional, non-guidance related information, e.g. low fuel level (G01C21/3679 takes precedence)} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract An action planning apparatus calculate, when one piece of scene information is listed by a scene generation unit, one or more modes and calculate, when a plurality of pieces of scene information are listed by the scene generation unit, a plurality of modes in parallel using the plurality of pieces of scene information. The action planning apparatus selects one of the modes calculated in the calculating step and outputs the selected one of the modes as action of a moving body. ## Claims ### Claim at position 1 -10. (canceled) ### Claim 11 An action planning apparatus comprising: scene generation circuitry to generate, using surroundings information on surroundings of a moving body, one or more pieces of scene information indicating a situation in which the moving body is placed; mode calculation circuitry to calculate, in parallel, a plurality of modes as candidates for action that the moving body can take using the one or more pieces of scene information; and mode selection circuitry to select one of the modes calculated by the mode calculation circuitry and output the selected one of the modes as action of the moving body. ### Claim 12 (depends on 11) The action planning apparatus according to claim 11, wherein the mode calculation circuitry calculates the modes using the one or more pieces of scene information and a current mode of the mode calculation circuitry. ### Claim 13 (depends on 11) The action planning apparatus according to claim 11, wherein the mode calculation circuitry calculates the modes using the one or more pieces of scene information and a previous mode of the mode calculation circuitry. ### Claim 14 (depends on 11) The action planning apparatus according to claim 11, wherein the mode calculation circuitry is at least one of a FSM, a neural network, and ontology. ### Claim 15 (depends on 11) The action planning apparatus according to claim 11, wherein the mode selection circuitry selects, using degrees of priority of the modes set in advance, one of the modes calculated by the mode calculation circuitry and outputs the selected one of the modes as the action of the moving body. ### Claim 16 (depends on 15) The action planning apparatus according to claim 15, wherein the degrees of priority are set to give priority to a mode to address an obstacle present around the moving body. ### Claim 17 (depends on 15) The action planning apparatus according to claim 15, wherein the degrees of priority are set to give priority to a mode having a lower target speed. ### Claim 18 (depends on 15) The action planning apparatus according to claim 15, wherein the degrees of priority are set to give priority to a mode having a smaller distance from a current position to a target position of the moving body. ### Claim 19 (depends on 11) The action planning apparatus according to claim 11, wherein the scene generation circuitry generates the one or more pieces of scene information using the surroundings information and external instruction information being information indicating an external instruction on driving of the moving body, and the mode calculation circuitry calculates the modes using the external instruction information and the one or more pieces of scene information. ### Claim 20 An action planning apparatus comprising: scene generation circuitry to generate, using surroundings information on surroundings of a moving body, one or more pieces of scene information indicating a situation in which the moving body is placed; mode calculation circuitry to calculate, when one piece of scene information is generated by the scene generation circuitry, one or more modes as candidates for action that the moving body can take using the one piece of scene information and calculate, when a plurality of pieces of scene information are generated by the scene generation circuitry, a plurality of modes as candidates for action that the moving body can take in parallel using the plurality of pieces of scene information; and mode selection circuitry to select one of the modes calculated by the mode calculation circuitry and output the selected one of the modes as action of the moving body. ### Claim 21 (depends on 20) The action planning apparatus according to claim 20, wherein the mode calculation circuitry calculates the modes using the one or more pieces of scene information and a current mode of the mode calculation circuitry. ### Claim 22 (depends on 20) The action planning apparatus according to claim 20, wherein the mode calculation circuitry calculates the modes using the one or more pieces of scene information and a previous mode of the mode calculation circuitry. ### Claim 23 (depends on 20) The action planning apparatus according to claim 20, wherein the mode calculation circuitry is at least one of a FSM, a neural network, and ontology. ### Claim 24 (depends on 20) The action planning apparatus according to claim 20, wherein the mode selection circuitry selects, using degrees of priority of the modes set in advance, one of the modes calculated by the mode calculation circuitry and outputs the selected one of the modes as the action of the moving body. ### Claim 25 (depends on 24) The action planning apparatus according to claim 24, wherein the degrees of priority are set to give priority to a mode to address an obstacle present around the moving body. ### Claim 26 (depends on 24) The action planning apparatus according to claim 24, wherein the degrees of priority are set to give priority to a mode having a lower target speed. ### Claim 27 (depends on 24) The action planning apparatus according to claim 24, wherein the degrees of priority are set to give priority to a mode having a smaller distance from a current position to a target position of the moving body. ### Claim 28 (depends on 20) The action planning apparatus according to claim 20, wherein the scene generation circuitry generates the one or more pieces of scene information using the surroundings information and external instruction information being information indicating an external instruction on driving of the moving body, and the mode calculation circuitry calculates the modes using the external instruction information and the one or more pieces of scene information. ### Claim 29 An action planning method comprising: generating, using surroundings information on surroundings of a moving body, one or more pieces of scene information indicating a situation in which the moving body is placed; calculating a plurality of modes as candidates for action that the moving body can take in parallel using the one or more pieces of scene information; and selecting one of the modes calculated in the calculating and outputting the selected one of the modes as action of the moving body.