APPARATUS FOR SETTING TRAVEL ROUTE

• Main Author: OKAMOTO TAKEO
• Format: Patent
• Language: English; Japanese
• Published: 07.12.2022
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

To provide an apparatus for setting a travel route that can prevent a travel route impossible for a moving body to travel from being set up.SOLUTION: An apparatus for setting a travel route 1 comprises: a SLAM self-position estimating section 14 that estimates a current self-position of a moving body 2; an odometry self-position calculating section 15 that calculates a current self-position of the moving body 2 based on movement information of the moving body 2; a vector calculating section 16 that calculates a vector a→ representative of the orientation of the moving body 2 at a self-position estimated value of the moving body 2 and a vector b→ representative of the orientation of the moving body 2 at the self-position calculated value of the moving body 2; and a route determining section 19 that determines the self-position estimated value as a position of a travel route when an angle defined by the vectors a→ and b→ is equal to or smaller than a steerable angle and determines the self-position calculated value as a position of a travel route when the angle defined by the vectors a→ and vector b→ is not equal to or smaller than the steerable angle.SELECTED DRAWING: Figure 1 【課題】移動体が走行不可能な走行経路が設定されることを防止できる走行経路設定装置を提供する。【解決手段】走行経路設定装置１は、移動体２の現在の自己位置を推定するＳＬＡＭ自己位置推定部１４と、移動体２の移動情報に基づいて、移動体２の現在の自己位置を算出するオドメトリ自己位置算出部１５と、移動体２の自己位置推定値における移動体２の向きを表すベクトルａ→と、移動体２の自己位置算出値における移動体２の向きを表すベクトルｂ→とを算出するベクトル算出部１６と、ベクトルａ→とベクトルｂ→とのなす角が操舵可能角度以下であると判断されたときは、自己位置推定値を走行経路の位置として決定し、ベクトルａ→とベクトルｂ→とのなす角が操舵可能角度以下でないと判断されたときは、自己位置算出値を走行経路の位置として決定する経路決定部１９とを備える。【選択図】図１