PROBLEM TO BE SOLVED: To estimate an avoidance path where a movable body avoids an obstacle.SOLUTION: An avoidance path estimation device comprises: an obstacle position information acquisition part for acquiring obstacle position information indicating a position of an obstacle; a movement state information acquisition part for acquiring movement state information which indicates a state of movement of object which moves to the obstacle; a relative position calculation part for, based on the obstacle position information acquired by the obstacle position information acquisition part, and information indicating a position of the object which moves, out of movement state information acquired by the movement state information acquisition part, calculating relative positions of the obstacle and the moving object, as first relative positions; and an avoidance path estimation part for based on probability model information of speed at which the moving object may move, and which is determined for plural relative positions, and the first relative positions calculated by the relative position calculation part, estimating a path where the moving object avoids the obstacle.SELECTED DRAWING: Figure 1

    【課題】移動体が障害物を回避する回避経路を推定する。【解決手段】障害物の位置を示す障害物位置情報を取得する障害物位置情報取得部と、障害物に向かって移動する物体の移動の状態を示す移動状態情報を取得する移動状態情報取得部と、障害物位置情報取得部が取得する障害物位置情報と、移動状態情報取得部が取得する移動状態情報のうち移動する物体の位置を示す情報とに基づいて、障害物と移動する物体との相対位置を第1の相対位置として算出する相対位置算出部と、複数の相対位置ごとに定められた移動する物体がとりうる速度の確率モデル情報と、相対位置算出部が算出する第1の相対位置とに基づいて、移動する物体が障害物を回避する経路を推定する回避経路推定部とを備える回避経路推定装置。【選択図】図1


    Access

    Download


    Export, share and cite



    Title :

    AVOIDANCE PATH ESTIMATION DEVICE, AVOIDANCE PATH ESTIMATION METHOD AND AVOIDANCE PATH ESTIMATION PROGRAM


    Additional title:

    回避経路推定装置、回避経路推定方法及び回避経路推定プログラム


    Contributors:

    Publication date :

    2018-03-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



    Converging path collision avoidance

    GOUDY ROY / PROBERT NEAL / CHAMBERS JEREMY et al. | European Patent Office | 2019

    Free access

    Converging Path Collision Avoidance

    GOUDY ROY / PROBERT NEAL / CHAMBERS JEREMY et al. | European Patent Office | 2018

    Free access

    Efficient Path Optimization with Terrain Avoidance

    Keith, Gillian / Tait, James / Richards, Arthur | AIAA | 2007


    Dynamic obstacle avoidance path planning of UAVs

    Qian, Xue / Peng, Cheng / Nong, Cheng et al. | IEEE | 2015


    AUTOMATED DRIVING OBSTACLE AVOIDANCE ALONG A PATH

    BURTCH JOSEPH | European Patent Office | 2023

    Free access