Autonomous moving body and control method thereof

摘要

To enable stable collision avoidance operation without the need to install an infrastructure or the like even in a dangerous area where running out is likely to occur. An autonomous moving body according to the present invention includes: a distance measuring sensor that measures a distance to an object existing in an environment; a distance information acquisition unit that acquires a distance measurement value of the distance measuring sensor as distance information on a measurement point; and a dangerous area extraction unit that categorizes adjacent measurement points as an identical object according to a distance difference between the measurement points, and extracts an endpoint of the object as a dangerous area when the categorized object itself has a size equal to or larger than a predetermined threshold and when an opening formed between endpoints of the objects has a width equal to or larger than a predetermined threshold, in which the autonomous moving body travels so as to avoid a collision in the extracted dangerous area.

主权项

1. An autonomous moving body that autonomously travels from a travel start point to a travel end point in an environment, comprising:
a distance measuring sensor that measures distances to a plurality of objects existing in the environment; a control unit, the control unit further comprising an acquisition unit and an extraction unit that extracts an endpoint of the object as a collision point with the moving body, the control unit programmed to:
acquire distance measurement values as distance information on a plurality of measurement points measured by the distance measuring sensor, wherein if distances between measurement points of the plurality of measurement points are equal to or smaller than a predetermined threshold, the measurement points are categorized as being one object;extract a candidate point as the collision point from an end point and a start point of each of the plurality objects that satisfies all of the following conditions (1) to (3):(1) as for an object (n) with an object number n, the length of the object (n) is equal to or larger than a fixed preprogrammed threshold length, wherein the length of the object (n) is calculated from a distance between the start point and the end point of the object (n);(2) a distance difference between the end point of the object (n) and a start point of another object (n+1) of the plurality of objects is equal to or larger than a second fixed preprogrammed threshold length, which indicates a potentially dangerous area; and(3) a distance difference between the end point of the object (n) and a start point of an object (n+2) is equal to or larger than a third fixed preprogrammed threshold length, which further indicates the potentially dangerous area, anddesignate the candidate point as the endpoint of the object as the collision point if the following condition (4) is satisfied:(4) providing an imaginary straight line connecting the candidate point as a base point and an endpoint of the object, and determining whether an angle between the straight line and the traveling direction of the vehicle, in a plane defined by the imaginary straight line and the traveling direction of the vehicle, is equal to or larger than a fixed preprogrammed threshold angle, wherein the autonomous moving body travels so as to avoid a collision in the one or more designated endpoints of the objects.