| CPC G05D 1/693 (2024.01) [G05D 1/633 (2024.01); G05D 2107/70 (2024.01); G05D 2109/10 (2024.01)] | 9 Claims |
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1. An information processing device mounted in a movable apparatus, the information processing device being configured to determine a route for avoiding collision of the movable apparatus, the information processing device comprising at least one processor or circuit configured to function as:
a determination unit configured to determine a different movable apparatus as a target of collision;
a different movable apparatus information acquisition unit configured to acquire different movable apparatus information that includes at least one of shape information, a current state, a performance, and information of a task that is being performed of the different movable apparatus, and information of a route along which the different movable apparatus is moving;
an own movable apparatus information acquisition unit configured to acquire own movable apparatus information regarding an own movable apparatus corresponding at least to the different movable apparatus information;
a change rate acquisition unit configured to acquire a change rate of the route on the basis of the different movable apparatus information and the own movable apparatus information; and
a moving route determination unit configured to determine a moving route to be changed on the basis of the change rate of the route acquired by the change rate acquisition unit,
a moving control unit configured to control the own movable apparatus such that the own movable apparatus moves along the route determined by the moving route determination unit,
wherein the change rate acquisition unit acquires the change rate by a weighting operation using, as parameters, information included in the different movable apparatus information and the own movable apparatus information, and
wherein the change rate acquisition unit acquires the change rate by performing a weighting operation on ratios of the parameters.
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