To provide a model parameter learning method, etc. that make it possible to appropriately learn model parameters of a moving mode model that is used when a mobile device moves in an environment in which a plurality of moving bodies and stationary objects are present on the periphery of the mobile device.SOLUTION: In a learning method, a time series of moving directions when a reference walker M1 moves to a destination more than one time, a time series of mask images respectively showing positional relations with neighboring pedestrians M2 in the moving directions of the reference walker M1, and a time series of environment information images 35 are obtained; learning data are created by mutually associating these time series; and using the learning data, the model parameters of a CNN 33a are learned by an error inverse propagation method.SELECTED DRAWING: Figure 4

    【課題】移動装置が複数の移動体及び静止物体が周辺に存在する環境下で移動する際に使用する移動態様モデルのモデルパラメータを適切に学習することができるモデルパラメータ学習方法などを提供する。【解決手段】学習方法では、基準歩行者M1が目的地まで複数回、移動した際の移動方向の時系列と、基準歩行者M1の移動方向における近傍歩行者M2の位置関係を表すマスク画像の時系列と、環境情報画像35の時系列とが取得され、これらの時系列を互いに関連付けすることにより、学習用データが作成され、学習用データを用いて、CNN33aのモデルパラメータが誤差逆伝播法により学習される。【選択図】図4


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    Title :

    MODEL PARAMETER LEARNING METHOD AND MOVEMENT MODE PARAMETER DETERMINATION METHOD


    Additional title:

    モデルパラメータ学習方法及び移動態様パラメータ決定方法


    Contributors:

    Publication date :

    2022-03-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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