Autonomous running control method and device of autonomous running apparatus, and program for autonomous running control device

摘要

In a running control method of a running apparatus, person moving direction and speed are estimated based on a person position history for predetermined time. It is decided whether contact with a person is likely to be made based on the estimation and running information about the running apparatus. When it is decided that the contact is likely to be made, a first route where the running apparatus avoids the person is generated for controlling running of the running apparatus therealong. It is decided whether the person has the intention to contact with the running apparatus based on the decision in the contact possibility deciding unit after the running along the first route. When it is decided that the person has the contact intention, a second route where the running apparatus approaches the person is generated for controlling the running of the running apparatus therealong.

主权项

1. An autonomous running control method of an autonomous running apparatus for changing a running route of the autonomous running apparatus according to a motion of a person with respect to the autonomous running apparatus that runs towards a destination given in advance, the method comprising:
controlling running of the autonomous running apparatus along a first route where an autonomous running controller avoids the person when the person is likely to contact with the autonomous running apparatus according to a position history of the person for predetermined time; deciding whether the person has an intention to approach and make contact the autonomous running apparatus in a contact intention deciding unit after the autonomous running apparatus runs along the first route; generating a second route where the autonomous running apparatus approaches the person in an access route generating unit when decision is made that the person has the intention to approach and make contact with the autonomous running apparatus; and controlling the running of the autonomous running apparatus along the second route in the autonomous running controller so that the autonomous running apparatus makes contact with the person.