To provide a technology capable of planning an appropriate aiming route for a moving body.SOLUTION: An aiming route for a moving body is planned. More specifically, based on a recognition result by a recognition sensor loaded on the moving body, altitude information representing the altitude of a surrounding road surface of the moving body is obtained. Based on the altitude information, respective altitudes of a plurality of wheels of the moving body located at an evaluation site on a candidate route are calculated. Moreover, based on the respective altitudes of the plurality of wheels, the position of the underpanel of the moving body located at the evaluation site is calculated. Furthermore, based on the altitude information and on the position of the underpanel, the aiming route is planned so as to bypass an evaluation site where it is predicted that the underpanel hits the road surface.SELECTED DRAWING: Figure 4
【課題】移動体の適切な目標経路を計画することができる技術を提供する。【解決手段】移動体の目標経路が計画される。より詳細には、移動体に搭載された認識センサによる認識結果に基づいて、移動体の周囲の路面の標高を示す標高情報が取得される。標高情報に基づいて、経路候補上の評価地点に位置する移動体の複数の車輪の各々の標高が算出される。更に、複数の車輪の各々の標高に基づいて、評価地点に位置する移動体のアンダーパネルの位置が算出される。そして、標高情報とアンダーパネルの位置に基づいて、アンダーパネルが路面と接触すると予測される評価地点を通過しないように目標経路が計画される。【選択図】図4
ROUTE PLANNING METHOD AND ROUTE PLANNING SYSTEM
経路計画方法及び経路計画システム
2024-05-14
Patent
Electronic Resource
Japanese
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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