| 摘要 |
Provided is a route planning device capable of comprehending, in advance, a route clearance at a pass-through point on a planned travel route. The route planning device 5 has: a global map acquisition unit 31 for generating a global map showing an obstacle area 300 in which an obstacle exists; an extended area generation unit 32 for generating an extended obstacle area 320 and three extended area 321 to 323 by extending stepwise an outline of the obstacle area 300 contained in the global map; an integrated map generation unit 33 for generating an integrated map by superposing for integration of the extended obstacle area 320 with the three extended areas 321 to 323; a movable area extraction unit 34 for extracting a movable area 340 from the integrated map and thinning the same; and a route planning unit 35 for acquiring a route clearance at a sub goal 360 according to the extended areas 321 to 323 on the integrated map to which the sub goal 360 on the travel route 350 belongs, upon planning the travel route 350 from the thinned movable area 341. |
