Autonomous running control method and device of autonomous running apparatus, and program for autonomous running control device

An autonomous running control device of an autonomous running apparatus for changing a running route of the autonomous running apparatus according to a motion of a person with respect to the autonomous running apparatus that runs towards a destination given in advance, the apparatus comprising:

• an avoiding route generating unit that generates a first route where the autonomous running apparatus avoids the person when the person is likely to contact with the autonomous running apparatus based on a position history of the person for predetermined time;
• a contact intention deciding unit that decides whether the person has an intention to approach and make contact the autonomous running apparatus when the autonomous running apparatus runs along the first route generated by the avoiding route generating unit;
• an access route generating unit that generates a second route where the autonomous running apparatus approaches the person when the contact intention deciding unit decides that the person has the intention to approach and make contact with the autonomous running apparatus;
• and
• an autonomous running controller that controls running of the autonomous running apparatus along the first route or the second route so that the autonomous running apparatus makes contact with the person.

A non-transitory computer-readable recording medium including a program for an autonomous running control device of an autonomous running apparatus for changing a running route of the autonomous running apparatus according to a motion of a person with respect to the autonomous running apparatus running towards a destination given in advance, the program making a computer function as:

• an avoiding route generating unit that generates a first route where the autonomous running apparatus avoids the person when the person is likely to contact with the autonomous running apparatus according to a position history of the person for predetermined time;
• a contact intention deciding unit that decides whether the person has an intention to approach and make contact the autonomous running apparatus when the autonomous running apparatus runs along the first route generated by the avoiding route generating unit;
• an access route generating unit that generates a second route where the autonomous running apparatus approaches the person when the contact intention deciding unit decides that the person has the intention to approach and make contact with the autonomous running apparatus;
• and
• an autonomous running controller that controls running of the autonomous running apparatus along the first route or the second route so that the autonomous running apparatus makes contact with the person.