US 11,718,976 B2
Control apparatus, work machine, control method, and computer readable storage medium
Hideaki Shimamura, Saitama (JP); Keiji Muro, Saitama (JP); and Naoki Kameyama, Saitama (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO.,LTD., Tokyo (JP)
Filed on Aug. 4, 2020, as Appl. No. 16/985,173.
Application 16/985,173 is a continuation of application No. PCT/JP2018/007654, filed on Feb. 28, 2018.
Prior Publication US 2020/0362536 A1, Nov. 19, 2020
Int. Cl. E02F 9/20 (2006.01)
CPC E02F 9/2045 (2013.01) [E02F 9/2062 (2013.01); E02F 9/2087 (2013.01); E02F 9/2054 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A control apparatus to control a moving object, the moving object having an autonomous movement function, the control apparatus comprising:
a control section to control a movement of the moving object based on a completion level of a map, the map including a plurality of regions and indicating information on whether or not the moving object is permitted to enter each of the plurality of regions, wherein
the completion level of the map is defined as a ratio of regions, among the plurality of regions, in which creating or updating the information is ended, relative to a whole of the plurality of regions.
 
11. The control apparatus according to claim 1, wherein
a calculation region is set around the moving object when a location of the moving object is specified, and
the completion level of the map is determined based on at least one of (i) a number of log data that has been already obtained inside the calculation region, (ii) a geographic distribution of the log data that has been already obtained inside the calculation region, (iii) a shortest distance between a location indicated by the log data that has been already obtained inside the calculation region and the location of the moving object, and (iv) a ratio of an area of a region through which the moving object has already passed inside the calculation region to an area of the calculation region.
 
12. The control apparatus according to claim 1, wherein
if the completion level of the map at a location of the moving object satisfies a predetermined first condition, the control section is configured to:
(i) sets a set value of an advancing speed of the moving object to a smaller value relative to a case in which the completion level of the map does not satisfy the first condition, and
(ii) determines an advancing direction of the moving object based on a probability model when the moving object reaches a boundary between the plurality of regions, and
the first condition includes a condition that the completion level of the map is smaller than or equal to a predetermined threshold.