US 11,868,132 B2
System and method for implementing pedestrian avoidance strategies for a mobile robot
Shih-Yun Lo, Austin, TX (US); Katsu Yamane, Mountain View, CA (US); and Kenichiro Sugiyama, Tokyo (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Jan. 13, 2020, as Appl. No. 16/740,723.
Claims priority of provisional application 62/809,178, filed on Feb. 22, 2019.
Prior Publication US 2020/0272155 A1, Aug. 27, 2020
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01); G06N 3/08 (2023.01); G06V 20/56 (2022.01); G06F 18/214 (2023.01); G06V 20/58 (2022.01); G06V 40/10 (2022.01)
CPC G05D 1/0212 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G05D 1/0221 (2013.01); G05D 1/0223 (2013.01); G06F 18/214 (2023.01); G06N 3/08 (2013.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01); G06V 40/103 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for implementing pedestrian avoidance strategies for a mobile robot, comprising:
receiving position data of a pedestrian and the mobile robot from systems of the mobile robot;
estimating positions of the pedestrian and the mobile robot based on the position data;
determining an expected intersection point of paths of the pedestrian and the mobile robot and an estimated time for the pedestrian to cross the expected intersection point of the paths based on datapoints output by a neural network, wherein the estimated time that the pedestrian will cross the expected intersection point of paths of the pedestrian and the mobile robot is continually updated and stored as the pedestrian travels towards the expected intersection point of paths until an intersection interaction decision time is reached, wherein the intersection interaction decision time is reached upon the estimated time being less than a predetermined interaction time, and the predetermined interaction time represents a fixed threshold duration before the pedestrian and the mobile robot are expected to interact at the expected intersection point; and
selecting and implementing a pedestrian avoidance strategy from a plurality of pedestrian avoidance strategies upon reaching the intersection interaction decision time based on the positions of the pedestrian and the mobile robot and the estimated time when the pedestrian will cross the expected intersection point and an estimated time that the mobile robot will cross the expected intersection point, wherein
a trajectory of the mobile robot is generated in accordance with the selected pedestrian avoidance strategy having predefined parameters.