| CPC G05D 1/0212 (2013.01) [G05D 1/0088 (2013.01)] | 6 Claims |
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1. A control system of a mobile object that can move in any one operation mode determined from a plurality of operation modes, the control system comprising:
a storage device configured to store instructions; and
one or more processors,
wherein the one or more processors execute the instructions stored in the storage device to:
generate evaluation information for a trajectory of the mobile object including a sub-trajectory operable on a sidewalk;
each of the plurality of operation modes being associated with an acceptance level for an event that occurs when the mobile object moves along the trajectory;
generate the evaluation information for the trajectory based on the acceptance level in the operation mode associated with the event that occurs when moving along the trajectory;
generate a plurality of trajectories to a destination;
determine, for each of the plurality of trajectories, a number of times, representing a determined number, that the mobile object passes a step at a boundary between a roadway and the sidewalk based on a first assumption that the mobile object will travel on each of the plurality of trajectories;
select a first trajectory and a second trajectory from among the plurality of trajectories based on the determined number of times, a first acceptance level associated with the determined number of times the mobile object is in a first mode of the plurality of operation modes, a second acceptance level associated with the determined number of times the mobile object is in a second mode of the plurality of operation modes,
a first estimated time at which the mobile object is expected to arrive at the destination based on a second assumption that the mobile object travels according to the second trajectory and arrives at the destination earlier than a second estimated time in which the mobile object is expected to arrive at the destination based on a second assumption that the mobile object travels according to the first trajectory,
a score corresponding to a set travel mode for each of a plurality of routes,
the mobile object traveling on the sidewalk and the roadway, and traveling according to the first mode or the second mode,
the first mode suppressing passing of the mobile object through a step of at the boundary between the sidewalk and the roadway compared with the second mode and causing the mobile object to travel to the destination according to the first trajectory, and
the second mode causing the mobile object to travel to the destination without suppressing passing of the mobile object through the step at the boundary between the sidewalk and the roadway compared with the first mode according to the second trajectory and,
wherein the one or more processors execute the instructions stored in the storage device to:
control the mobile object according to the first mode and cause the mobile object to travel to the destination when a user of the mobile object sets the first mode, and
control the mobile object according to the second mode and cause the mobile object to travel to the destination when the user of the mobile object sets the second mode.
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