| 摘要 |
CONSTITUTION: A moving body 10 includes a computer 12 that functions as a route calculation device, and the moving body autonomously drives in environments according to the computer. More specifically, when a start position and goal position are input to the computer, a route is calculated that is short in movement distance, high in level of a safe feeling, and high in level of a visible factor with reference to a grid map having a level of an experientially obtained safe feeling, and perspective from the moving body (level of the visible factor) allocated to each cell about the environment.EFFECT: To provide a route calculation device, route calculation program and route calculation method that can calculate a route where a movement distance is short, and a moving body drives an area of safe and safety on a straight passage, and drives an area of safe and safety even in a poor perspective site such as turn corners, or crossing points or the like.SELECTED DRAWING: Figure 1 |
