Information processing device and information processing method

Patent metadata

Field	Value
Publication number	US-12147233-B2
Application number	US-202017773735-A
Country	US
Kind code	B2
Filing date	Sep 4, 2020
Priority date	Nov 8, 2019
Publication date	Nov 19, 2024
Grant date	Nov 19, 2024

Abstract

An information processing device according to an embodiment includes a reception unit that accepts designation of a tracking target, a setting unit that sets a virtual tracking target different from the tracking target, and a drive control unit that controls driving of a mobile body on the basis of the virtual tracking target.

First claim

The invention claimed is:

1. An information processing device, comprising:
a reception unit configured to accept designation of a tracking target;
a setting unit configured to set a virtual tracking target different from the tracking target based on a determination that a width of a passage around a mobile body is less than or equal to a specific threshold value; and
a drive control unit configured to control driving of the mobile body based on the virtual tracking target.

2. The information processing device according to claim 1 , further comprising:
an estimation unit configured to estimate the width of the passage around the mobile body; and
a determination unit configured to determine that the estimated width of the passage is less than or equal to the specific threshold value, wherein the setting unit is further configured to set the virtual tracking target based on a determination that the width of the passage is less than or equal to the specific threshold value.

3. The information processing device according to claim 2 , wherein the estimation unit is further configured to estimate the width of the passage around the mobile body based on an arrangement of an occupied grid in an occupied grid map.

4. The information processing device according to claim 1 , wherein the setting unit is further configured to set the virtual tracking target on a center line of the passage.

5. The information processing device according to claim 1 , wherein the mobile body comprises a sensor for detecting the tracking target, and
the drive control unit is further configured to control a distance between the tracking target and the mobile body to capture the tracking target within a detection range of the sensor.

6. The information processing device according to claim 5 , wherein the drive control unit is further configured to control the distance between the tracking target and the mobile body to capture the tracking target within the detection range of the sensor based on a spread angle of the detection range of the sensor and the width of the passage around the mobile body.

7. The information processing device according to claim 1 , further comprising
a detection unit configured to detect a corner of the passage around the mobile body; and
the setting unit is further configured to set the virtual tracking target based on a determination that the detection unit is configured to detect a corner of the passage.

8. The information processing device according to claim 7 , wherein the detection unit is further configured to detect a corner of the passage around the mobile body based on an arrangement of an occupied grid in an occupied grid map.

9. The information processing device according to claim 7 , wherein,
based on a determination that the corner of the passage detected by the detection unit is a right turn, the setting unit is further configured to set the virtual tracking target on a left side with respect to a straight line passing through a center of the passage that is straight before the corner of the passage, and
based on a determination that the corner of the passage detected by the detection unit is a left turn, the setting unit is further configured to set the virtual tracking target on a right side with respect to the straight line passing through the center of the passage that is straight.

10. The information processing device according to claim 9 , wherein the setting unit is further configured to set the virtual tracking target at a position separated inward by a specific distance from an end of the passage on an outer side of the corner of the passage.

11. The information processing device according to claim 7 , wherein, based on a determination that the detection unit is further configured to detect a corner of the passage, the drive control unit is further configured to control driving of the mobile body to reduce a distance between the tracking target and the mobile body as compared with that before the corner of the passage has been detected.

12. The information processing device according to claim 7 , wherein, based on a determination that the mobile body arrives at the virtual tracking target, the setting unit is further configured to set a new virtual tracking target ahead of the virtual tracking target by a specific distance.

13. The information processing device according to claim 7 , wherein, based on a determination that the mobile body arrives at the virtual tracking target, the setting unit is further configured to set a new virtual tracking target with reference to an end of the passage on an outer side of the corner of the passage.

14. An information processing method, comprising:
accepting designation of a tracking target;
setting a virtual tracking target different from the tracking target based on a determination that a width of a passage around a mobile body is less than or equal to a specific threshold value; and
controlling driving of the mobile body based on the virtual tracking target.

15. A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by a computer, cause the computer to execute operations, the operations comprising:
accepting designation of a tracking target;
setting a virtual tracking target different from the tracking target based on a determination that a width of a passage around a mobile body is less than or equal to a specific threshold value; and
controlling driving of the mobile body based on the virtual tracking target.

Assignees

• Sony Group Corp

Inventors

• Endo Yuki
• Maeda Keisuke

Classifications

• G05D1/617

  Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title

• G08G1/00

  Traffic control systems for road vehicles (arrangement of road signs or traffic signals E01F9/00 {; automatic vehicle control B62D}) · CPC title

• G05D1/0214 Primary

  in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13) · CPC title

• G05D1/0248 Primary

  in combination with a laser (lasers per se H01S) · CPC title