PROBLEM TO BE SOLVED: To achieve continuity of monitoring of a monitoring object by a mobile body even when a travel speed of the monitoring object is higher than a travel speed of the mobile body concerning monitoring object tracking control.SOLUTION: When a kinetic risk potential 28 is slower than a travel speed of a mobile body 10 (classification 1), the mobile body 10 can always perform tracking. When the kinetic risk potential 28 is faster than the travel speed of the mobile body 10 (classification 2), a state where the mobile body 10 cannot perform tracking may occur. Tracking control of a control law 3 is performed in the classification 1, and travel control of the mobile body 10 to perform the tracking control of a control law 4 is performed in the classification 2. In tracking control by the control law 4, a travel locus of the mobile body 10 is to be deviated from a travel locus of the risk potential 28. When a prediction position is an important via-point, for example, importance of monitoring can be further secured by prioritizing monitoring at the prediction position even when a halfway travel locus is omitted.SELECTED DRAWING: Figure 7
【課題】監視対象の追従制御において、監視対象の移動速度が、移動体の移動速度よりも速い場合でも、移動体による監視対象の監視を継続させる。【解決手段】動的リスクポテンシャル28が移動体10の移動速度よりも遅い(分類1)の場合は、移動体10は常に追従が可能である。一方、動的リスクポテンシャル28が移動体10の移動速度よりも速い(分類2)の場合は、移動体10が追従できない状況が発生し得る。そこで、分類1では制御則3の追従制御を実行し、分類2では制御則4の追従制御を実行する移動体10の移動制御を構築した。制御則4による追従制御では、移動体10の移動軌跡が、リスクポテンシャル28の移動軌跡上から逸脱することになるが、例えば、予測位置が重要な経由地点である場合は、その途中の移動軌跡を省略しても、当該予測位置での監視を優先する方が、監視の重要性を確保することができる。【選択図】図7
MONITORING DEVICE, MONITORING OBJECT TRACKING CONTROL DEVICE OF MOBILE BODY, AND MONITORING OBJECT TRACKING CONTROL PROGRAM
監視装置、移動体の監視対象追従制御装置、監視対象追従制御プログラム
2018-11-15
Patent
Electronic Resource
Japanese
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