| 摘要 |
PROBLEM TO BE SOLVED: To provide a map creation device and method for determining a traveling path of an autonomous traveling object for stably creating a map for determining a traveling path suitable for high speed autonomous traveling. SOLUTION: This map creation device includes: an external world measurement part 10 equipped with a laser range finder 11 or the like for measuring the presence/absence of an obstacle on a traveling path; a self-location measuring part 20 for searching a self-location by dead reckoning; a data analyzing part 30 for deciding the validity/invalidity of traveling by attaching a time stamp to sensor coordinate system external field data and ground coordinate system self-location data, and for creating a self-location estimation result; and a map creation part 40 having a map creation module 40A for creating a base map based on the time stamp of various data and a traveling path determination module 40B for determining a traveling path based on the base map. The map creation module 40A cuts a location map Zp with a location T3 which an autonomous traveling vehicle C reaches as a start point from a base map Zb within the path determination processing time of the traveling path determination module 40B, and transmits it to the traveling path determination module 40B. COPYRIGHT: (C)2009,JPO&INPIT
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