To provide an obstacle map generation device for generating an obstacle map for performing movement control with little uneasiness for an occupant, and an autonomous mobile body on which the obstacle map generation device is mounted.SOLUTION: An obstacle map generation device 30 for generating an obstacle map in which a movable area 1, an obstacle occupancy area 2, and a dead angle area 3 are represented by using information on an obstacle 100 observed by obstacle observation means 20, comprising: an obstacle information acquisition unit 31 for acquiring information on the obstacle observed by the obstacle observation means 20; a calculation unit 32 for calculating a position of the obstacle 100 based on the information on the obstacle 100 acquired by the obstacle information acquisition unit 31; a virtual point setting unit 34 for setting a position different from a position where the obstacle observation means 20 is installed as a virtual point 4; and a virtual area determination unit 35 for determining the movable area 1 and the dead angle area 3 with a position of the virtual point 4 as a base point based on the position of the virtual point 4 and the position of the obstacle 100.SELECTED DRAWING: Figure 1

    【課題】搭乗者にとって不安感が少ない移動制御を行うための障害物マップを生成する障害物マップ生成装置、及びその障害物マップ生成装置が搭載された自律移動体を提供すること。【解決手段】障害物観測手段20によって観測された障害物100の情報を用いて、移動可能領域1と、障害物占有領域2と、死角領域3とが表された障害物マップを生成する障害物マップ生成装置30であって、障害物観測手段20によって観測された障害物の情報を取得する障害物情報取得部31と、障害物情報取得部31によって取得された障害物100の情報に基づき、障害物100の位置を算出する算出部32と、障害物観測手段20が設置された位置とは異なる位置を仮想点4として設定する仮想点設定部34と、仮想点4の位置及び障害物100の位置に基づき、仮想点4の位置を基点として移動可能領域1及び死角領域3を決定する仮想領域決定部35を備える。【選択図】 図1


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    Title :

    OBSTACLE MAP GENERATION DEVICE AND AUTONOMOUS MOBILE BODY


    Additional title:

    障害物マップ生成装置、及び自律移動体


    Contributors:

    Publication date :

    2020-01-09


    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 / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G09B Unterrichts- oder Vorführungsgeräte , EDUCATIONAL OR DEMONSTRATION APPLIANCES




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