US 12,462,694 B2
Route planning device, route planning method, and computer program product
Rie Katsuki, Kawasaki (JP); Noriyuki Hirayama, Fuchu (JP); and Toshimitsu Kaneko, Kawasaki (JP)
Assigned to KABUSHIKI KAISHA TOSHIBA, Tokyo (JP)
Filed by KABUSHIKI KAISHA TOSHIBA, Tokyo (JP)
Filed on Aug. 25, 2022, as Appl. No. 17/822,311.
Claims priority of application No. 2021-170495 (JP), filed on Oct. 18, 2021.
Prior Publication US 2023/0122583 A1, Apr. 20, 2023
Int. Cl. G08G 5/32 (2025.01); G08G 5/22 (2025.01); G08G 5/34 (2025.01); G08G 5/55 (2025.01); G08G 5/57 (2025.01); G08G 5/59 (2025.01); G08G 5/80 (2025.01)
CPC G08G 5/32 (2025.01) [G08G 5/22 (2025.01); G08G 5/34 (2025.01); G08G 5/55 (2025.01); G08G 5/57 (2025.01); G08G 5/59 (2025.01); G08G 5/80 (2025.01)] 16 Claims
OG exemplary drawing
 
1. A route planning device comprising:
a memory; and
one or more processors coupled to the memory and configured to:
calculate a tentative route passing through a plurality of tour points disposed in a virtual space that is acquired by removing an obstacle from a space including the obstacle; and
derive with a calculation accuracy corresponding to a precision of via point calculation, a route with one or more via points added around an interference point between the obstacle included in the space and the tentative route,
wherein
the one or more processors are further configured to:
calculate, based on at least one selected from a collision severity of the obstacle and an obstacle avoidance performance of a mobile body, the precision to be lower as the collision severity is lower and to be lower as the obstacle avoidance performance is higher;
search a search space with a search accuracy corresponding to the precision, and add the one or more via points around the interference point; and
output the tour points and the one or more via points to a display in different display modes,
wherein
the one or more processors are further configured to:
change a density of a group of elements in obstacle information of the obstacle expressed by the group of elements, which are three-dimensional voxels in a three-dimensional space, to a lower density as the precision is lower;
identify the interference point between the obstacle expressed by the changed obstacle information and the tentative route;
search the search space based on the precision and the interference point, and adds the one or more via points around the interference point; and
identify the interference point between the tentative route and an obstacle area with a wider margin area added around the obstacle as the precision is higher.