To appropriately generate a running route with the position attitude of a vehicle being taken into consideration.SOLUTION: This moving object control system sets the present position of a moving object and the aiming position thereof, generates a first route from the present position to the aiming position so as to satisfy a predetermined boundary condition on an lw coordinate in which a straight line connecting the present position of the moving object to the aiming position is taken as an l-axis and an orthogonal straight line to the l-axis is taken as a w-axis, and converts the generated first route in an xy coordinate in which the travelling direction of the moving object is taken as an x-axis and an orthogonal axis to the x-axis is taken as a y-axis.SELECTED DRAWING: Figure 7
【課題】本発明は、車両の位置姿勢を考慮した走行経路を好適に生成することにある。【解決手段】本移動体制御システムは、移動体の現在位置と目標位置とを設定し、移動体の現在位置と目標位置とを結ぶ直線をl軸とし該l軸に直交する直線をw軸とするlw座標上で、所定の境界条件を満たすように現在位置から目標位置への第1経路を生成し、生成した第1経路を、移動体の進行方向をx軸とし該x軸と直交する軸をy軸とするxy座標へ変換する。【選択図】図7
MOVING OBJECT CONTROL SYSTEM, CONTROL METHOD THEREOF, PROGRAM AND MOVING OBJECT
移動体制御システム、その制御方法、プログラム、及び移動体
20.09.2024
Patent
Elektronische Ressource
Japanisch
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