# US 2026/0097772 A1 · Moving-body movement automation device and storage medium storing movement automation program > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2026/0097772 A1 - Document ID: US20260097772A1 - Status: Published application - Kind: A1 - Application number: 19/111,016 - Filed: 2023-07-21 - Published: 2026-04-09 - Earliest claimed: 2023-04-03 - Assignees: Any Co., Ltd. - Applicants: Any Co., Ltd. - Inventors: Yasuro FUKAWA - Web page: https://patentgrep.com/patent/US20260097772A1 ## CPC - B60W 40/10: related to vehicle motion - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 30/18154: {Approaching an intersection} - B60W 50/0097: {Predicting future conditions} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 60/001: {Planning or execution of driving tasks} - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - B60W 60/0016: {of the vehicle or its occupants} - B60W 60/0027: {using trajectory prediction for other traffic participants} - B60W 60/005: {Handover processes (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)} - G08G 1/005: including pedestrian guidance indicator - G08G 1/096725: {where the received information generates an automatic action on the vehicle control} - G08G 1/096791: {where the origin of the information is another vehicle} - G08G 1/161: {Decentralised systems, e.g. inter-vehicle communication} - H04W 4/46: for vehicle-to-vehicle communication [V2V] - B60W 2050/146: {Display means} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2520/06: Direction of travel - B60W 2520/10: Longitudinal speed - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - B60W 2556/40: High definition maps - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2556/65: Data transmitted between vehicles - 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 - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract A mobile automation device for a moving body that controls the moving body so that the moving body moves autonomously, the device comprising: an input unit that acquires information on the moving body or a surrounding environment of the moving body; a prediction unit that generates first predicted motion data related to a future moving mode of the moving body based on the information acquired via the input unit; a communication control unit that performs processing related to communication with an additional mobile automation device mounted on an additional moving body other than the moving body and receives second predicted motion data related to a future moving mode of the additional moving body via the input unit from the additional mobile automation device; and a priority determination unit that determines a motion priority order of the moving body and the additional moving body based on the first predicted motion data and the second predicted motion data, thereby controlling a motion of more than one moving body based on a determination result of the priority determination unit. ## Claims ### Claim 1 A mobile automation device for a moving body that controls the moving body so that the moving body moves autonomously, the device comprising: an input unit configured to acquire information on the moving body or a surrounding environment of the moving body; a prediction unit configured to generate first predicted motion data related to a future moving mode of the moving body based on the information acquired via the input unit; a communication control unit configured to perform processing related to communication with an additional mobile automation device mounted on an additional moving body other than the moving body and receive second predicted motion data related to a future moving mode of the additional moving body via the input unit from the additional mobile automation device; and a priority determination unit configured to determine a motion priority order of the moving body and the additional moving body based on the first predicted motion data and the second predicted motion data, wherein a motion of the moving body or the additional moving body is controlled based on a determination result of the priority determination unit. ### Claim 2 (depends on 1) The mobile automation device according to claim 1, further comprising: a drive control unit configured to control a drive system of the moving body based on the determination result of the priority determination unit. ### Claim 3 (depends on 1) The mobile automation device according to claim 1, further comprising: an output unit configured to transmit the first predicted motion data or the determination result regarding the motion priority order, wherein the processing related to communication with the additional mobile automation device performed by the communication control unit comprises transmitting the first predicted motion data or the determination result regarding the motion priority order by the output unit. ### Claim 4 (depends on 3) The mobile automation device according to claim 3, wherein the output unit is further capable of transmitting a motion result of the motion of the moving body controlled based on the determination result regarding the motion priority order, and the processing related to communication with the additional mobile automation device performed by the communication control unit further comprises transmitting and receiving the motion result. ### Claim 5 (depends on 1) The mobile automation device according to claim 1, wherein the input unit comprises: a detection unit configured to acquire information on the motion of the moving body or the surrounding environment of the moving body; a wireless receiving unit configured to acquire the information on the surrounding environment of the moving body by receiving a wireless signal containing the information on the surrounding environment of the moving body generated by a wireless communication device outside the moving body; and a manual operation unit configured to acquire information on a motion schedule of the moving body based on an operation input by a user, wherein the first predicted motion data is data generated by the prediction unit based on the information acquired via the detection unit, the wireless receiving unit, and the manual operation unit. ### Claim 6 (depends on 1) The mobile automation device according to claim 1, further comprising: a display unit for displaying the information acquired by the input unit, the first or second predicted motion data, or the determination result regarding the motion priority order acquired by the priority determination unit. ### Claim 7 A storage medium having a mobile automation program for a moving body stored therein, the mobile automation program enabling a computer to function as a mobile automation device for the moving body that controls the moving body so that the moving body moves autonomously, wherein the mobile automation program stored in the storage medium enables the computer to function as: an input unit configured to acquire information on the moving body or a surrounding environment of the moving body; a prediction unit configured to generate first predicted motion data related to a future moving mode of the moving body based on the information acquired via the input unit; a communication control unit configured to perform processing related to communication with an additional mobile automation device mounted on an additional moving body other than the moving body and receive second predicted motion data related to a future moving mode of the additional moving body via the input unit from the additional mobile automation device; and a priority determination unit configured to determinate a motion priority order of the moving body and the additional moving body based on the first predicted motion data and the second predicted motion data, wherein a motion of the moving body or the additional moving body is controlled based on a determination result of the priority determination unit. ### Claim 8 (depends on 7) The storage medium according to claim 7, wherein the program further enables the computer to function as a drive control unit configured to control a drive system of the moving body based on the determination result of the priority determination unit. ### Claim 9 (depends on 7) The storage medium according to claim 7, wherein the program further enables the computer to function as an output unit configured to transmit the first predicted motion data or the determination result regarding the motion priority order, and the processing related to communication with the additional mobile automation device performed by the computer as the communication control unit comprises transmitting the first predicted motion data or the determination result regarding the motion priority order by the output unit. ### Claim 10 (depends on 9) The storage medium according to claim 9, wherein the function as the output unit comprises transmitting a motion result of the motion of the moving body controlled based on the determination result regarding the motion priority order, and the processing related to communication with the additional mobile automation device performed by the communication control unit comprises transmitting and receiving the motion result. ### Claim 11 (depends on 7) The storage medium according to claim 7, wherein the function as the input unit that the program enables the computer to realize comprises functions as: a detection unit configured to acquire information on the motion of the moving body or the surrounding environment of the moving body; a wireless receiving unit configured to acquire the information on the surrounding environment of the moving body by receiving a wireless signal containing the information on the surrounding environment of the moving body generated by a wireless communication device outside the moving body; and a manual operation unit configured to acquire information on a motion schedule of the moving body based on an operation input by a user, wherein the first predicted motion data is data generated by the prediction unit based on the information acquired via the detection unit, the wireless receiving unit, and the manual operation unit. ### Claim 12 (depends on 7) The storage medium according to claim 7, wherein the program further enables the computer to function as a display unit for displaying the information acquired by the input unit, the first or second predicted motion data, or the determination result regarding the motion priority order acquired by the priority determination unit. ### Claim 13 (depends on 1) A safety assurance device, which cooperates with the mobile automation device according to claim 1 to assure safety of a motion of a user, the safety assurance device comprising: an input unit configured to acquire information on the user carrying the safety assurance device or a surrounding environment of the user; a prediction unit that generates second predicted motion data related to a future motion mode of the user based on the information acquired via the input unit; a communication control unit configured to perform processing related to communication with the mobile automation device and receive first predicted motion data related to a future motion mode of a moving body on which the mobile automation device is mounted via the input unit from the mobile automation device; a priority determination unit configured to determine a motion priority order of the user and the moving body based on the first predicted motion data and the second predicted motion data; and an output unit configured to transmit the second predicted motion data or a determination result regarding the motion priority order, wherein the processing related to communication with the mobile automation device performed by the communication control unit comprises transmitting the second predicted motion data or the determination result regarding the motion priority order by the output unit, and wherein the mobile automation device is made to control the motion of the moving body based on the determination result of the priority determination unit of the safety assurance device. ### Claim 14 (depends on 13) The safety assurance device according to claim 13, further comprising: a notification unit for notifying the user of the information acquired by the input unit, the first or second predicted motion data, or the determination result regarding the motion priority order acquired by the priority determination unit. ### Claim 15 (depends on 14) The safety assurance device according to claim 14, wherein the input unit comprises: a detection unit configured to acquire information on the motion of the user carrying the safety assurance device or the surrounding environment of the user; a wireless receiving unit configured to acquire the information on the surrounding environment of the user by receiving a wireless signal containing the information on the surrounding environment of the user generated by a wireless communication device outside the safety assurance device; and a manual operation unit configured to acquire information on a motion schedule of the user based on an operation input by the user, wherein the second predicted motion data is data generated by the prediction unit based on the information acquired via the detection unit, the wireless receiving unit, and the manual operation unit. ### Claim 16 (depends on 15) The safety assurance device according to claim 15, wherein the detection unit is further capable of detecting a motion state of the user after the notification unit has notified the user of the determination result regarding the motion priority order, the output unit is further capable of transmitting the motion state of the user detected by the detection unit, and the processing related to communication with the mobile automation device performed by the communication control unit further comprises receiving a motion result of the moving body and transmitting the motion state of the user.