US 11,747,816 B2
Autonomous traveling control device, autonomous traveling control system, and autonomous traveling control method
Masaomi Nabeta, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/611,909
Filed by Sony Group Corporation, Tokyo (JP)
PCT Filed May 15, 2020, PCT No. PCT/JP2020/019418
§ 371(c)(1), (2) Date Nov. 17, 2021,
PCT Pub. No. WO2020/241303, PCT Pub. Date Dec. 3, 2020.
Claims priority of application No. 2019-098868 (JP), filed on May 27, 2019.
Prior Publication US 2022/0229438 A1, Jul. 21, 2022
Int. Cl. G05D 1/02 (2020.01)
CPC G05D 1/0214 (2013.01) [G05D 1/0217 (2013.01); G05D 1/0274 (2013.01); G05D 2201/0213 (2013.01)] 12 Claims
OG exemplary drawing
 
1. An autonomous traveling control device comprising:
processor circuitry configured to
generate a safety priority path to avoid passage through or approach of a dangerous region where a contact with another mobile object is possible,
execute a control instruction to control an own device to travel along the safety priority path previously generated,
generate a minimum cost path in a topology map,
generate a cost priority path in a metric map on a basis of the minimum cost path in the topology map, and
correct the cost priority path in the metric map as part of generation of the safety priority path in the metric map.