| CPC G05D 1/2295 (2024.01) [G05D 1/622 (2024.01); G05D 2105/05 (2024.01); G05D 2107/20 (2024.01)] | 9 Claims |
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1. A system that searches for a track for a vehicle to travel automatically, the system comprising:
a processor including
a route search unit configured to search for a series having elements of a position and posture of the vehicle, which is a route for moving from an initial position to a target position of the vehicle, based on a first restriction condition representing a position of an obstacle,
a restriction condition generation unit configured to generate a second restriction condition in which a penalty value increases according to a deviation distance from the route, and
a track search unit configured to search for a series having elements of a position, posture, speed, and steering angle of the vehicle, which is a track for moving from the initial position to the target position of the vehicle, based on the second restriction condition,
the second restriction condition being a condition in which the penalty value increases according to a deviation distance from a region including a position related to each element of the route and extending in a width direction of the vehicle, and the penalty value is constant when the vehicle is positioned within the region.
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