MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL PROGRAM, AND MOBILE BODY
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United States of America Patent
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Issued Date -
Mar 16, 2023
app pub date -
Mar 31, 2021
filing date -
Mar 31, 2020
priority date (Note) -
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Abstract
A mobile body control device includes: an observation trajectory acquisition unit that acquires, a trajectory along which the subject walks; a basic trajectory acquisition unit that acquires, a basic trajectory that matches the observation trajectory; a subject predicted trajectory acquisition unit that acquires a trajectory along which the subject walks after the current time point based on the specific basic trajectory; a prediction reliability calculation unit that calculates a prediction reliability based on uncertainty added along the subject predicted trajectory; a target trajectory acquisition unit that acquires, a trajectory formed by a target position of a mobile body set ahead of the subject in a traveling direction of the subject; and a control-command-sequence-generating unit that generates a control command sequence using an evaluation function that uses as input the subject predicted trajectory, prediction reliability, target trajectory, and a control trajectory.
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