Patrol route setting apparatus, patrol route setting method, and non-transitory storage medium

Patent metadata

Field	Value
Publication number	US-2018283870-A1
Application number	US-201815920360-A
Country	US
Kind code	A1
Filing date	Mar 13, 2018
Priority date	Mar 30, 2017
Publication date	Oct 4, 2018
Grant date	—

Abstract

A patrol route setting apparatus includes a cell divider, a probability distribution setter, a random number generator, a destination setter, a route setter, and a probability distribution updating unit. The cell divider divides map information into cells. The probability distribution setter sets, for each cell, a probability distribution of a presence probability of a capturing target in the cell. The destination setter that sets, as a destination, any, of the cells, that has a greatest first value, of the presence probability, corresponding to a random number generated by the random number generator, on the basis of the probability distributions. The probability distribution updating unit updates, on the basis of presence information of the capturing target acquired by an information acquiring unit, the probability distributions of the presence probability of the capturing target, when the movable body travels along the traveling route to the destination set by the route setter.

First claim

1 . A patrol route setting apparatus comprising:
a cell divider configured to divide map information into a plurality of cells in a horizontal plane, the map information including a predetermined patrol region; a probability distribution setter configured to set, for each of the cells, a probability distribution of a presence probability of a capturing target in the relevant cell, the capturing target being a target to be captured; a random number generator configured to generate a random number; a destination setter configured to set, as a destination, any, of the cells, that has a greatest first value of first values of the respective cells, on a basis of the probability distributions set for the respective cells, the first value being a value of the presence probability corresponding to the random number generated by the random number generator; a route setter configured to set a traveling route from a current location of a movable body to the destination; and a probability distribution updating unit configured to update, on a basis of presence information, the probability distributions of the presence probability of the capturing target set for the respective cells, when the movable body travels along the traveling route set by the route setter, the presence information being information regarding presence of the capturing target around the movable body, the presence information being acquired by an information acquiring unit mounted on the movable body.

2 . The patrol route setting apparatus according to claim 1 , wherein
the probability distribution setter sets, for each of the cells, a probability density mathematical function as the probability distribution, the probability density mathematical function being a probability density mathematical function whose random variable is the presence probability of the capturing target in the relevant cell, and the destination setter that sets, as the destination, any, of the cells, that has a greatest second value of second values of the respective cells, the second value being a value of the presence probability when a value of the cumulative distribution mathematical function of the relevant cell is the random number, the random number being generated by the random number generator, the cumulative distribution mathematical function being an integral of the probability density mathematical function of the relevant cell.

3 . The patrol route setting apparatus according to claim 1 , wherein
the setting, by the destination setter, of the destination based on the probability distributions of the presence probability of the capturing target, the setting, by the route setter, of the traveling route to the destination, the acquiring, by the information acquiring unit, of the presence information of the capturing target in the traveling of the movable body along the traveling route, and the updating, by the probability distribution updating unit, of the probability distributions of the presence probability of the capturing target based on the acquired presence information of the capturing target are performed repeatedly in this order.

4 . The patrol route setting apparatus according to claim 2 , wherein
the setting, by the destination setter, of the destination based on the probability distributions of the presence probability of the capturing target, the setting, by the route setter, of the traveling route to the destination, the acquiring, by the information acquiring unit, of the presence information of the capturing target in the traveling of the movable body along the traveling route, and the updating, by the probability distribution updating unit, of the probability distributions of the presence probability of the capturing target based on the acquired presence information of the capturing target are performed repeatedly in this order.

5 . The patrol route setting apparatus according to claim I,
wherein the route setter includes: a unit route setter configured to set a plurality of unit time routes, the unit time routes each being a route per unit time that starts from the current location of the movable body; an evaluation value calculator configured to calculate, for each of the unit time routes, an evaluation value regarding aptitude for a patrol route; and a route selector configured to select any one, of the unit time routes, that has the greatest evaluation value of the evaluation values of the respective time routes, and moves the current location to a tip of the selected unit time route, and wherein the setting of the unit time routes by the unit route setter, the calculating of the evaluation values by the evaluation value calculator, the selecting of the one of the unit time routes by the route selector, and the moving of the current location of the movable body by the route selector are performed repeatedly in this order until the current location of the movable body reaches the destination.

6 . The patrol route setting apparatus according to claim 2 ,
wherein the route setter includes: a unit route setter configured to set a plurality of unit time routes, the unit time routes each being a route per unit time that starts from the current location of the movable body; an evaluation value calculator configured to calculate, for each of the unit time routes, an evaluation value regarding aptitude for a patrol route; and a route selector configured to select any one, of the unit time routes, that has the greatest evaluation value of the evaluation values of the respective time routes, and moves the current location to a tip of the selected unit time route, and wherein the setting of the unit time routes by the unit route setter, the calculating of the evaluation values by the evaluation value calculator, the selecting of the one of the unit time routes by the route selector, and the moving of the current location of the movable body by the route selector are performed repeatedly in this order until the current location of the movable body reaches the destination.

7 . The patrol route setting apparatus according to claim 5 , wherein the unit route setter sets the unit time routes on a basis of a traveling performance of the movable body.

8 . The patrol route setting apparatus according to claim 6 , wherein the unit route setter sets the unit time routes on a basis of a traveling performance of the movable body.

9 . The patrol route setting apparatus according to claim 5 , wherein the evaluation value calculator calculates the evaluation value for each of the unit time routes on a basis of: the presence probability of the capturing target at a point of the tip of the relevant unit time route; a remaining distance to the destination from the point of the tip of the relevant unit time route; and an amount of fuel to be consumed by the movable body when the movable body travels along the relevant unit time route.

10 . The patrol route setting apparatus according to claim 6 , wherein the evaluation value calculator calculates the evaluation value for each of the unit time routes on a basis of: the presence probability of the capturing target at a point of the tip of the relevant unit time route; a remaining distance to the destination from the point of the tip of the relevant unit time route; and an amount of fuel to be consumed by the movable body when the movable body travels along the relevant unit time route.

11 . The patrol route setting apparatus according to claim 7 , wherein the evaluation value calculator calculates the evaluation value for each of the unit time routes on a basis of: the presence probability of the capturing target at a point of the tip of the relevant unit time route; a remaining distance

Assignees

• Subaru Corp

Inventors

• Itabashi Naoaki
• Okada Satoshi
• Sato Tsunahiro
• Hoshino Satoshi
• Katsumoto Takeshi

Classifications

• G01C21/00 Primary

  Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 (measuring distance traversed on the ground by a vehicle G01C22/00; control of position, course, altitude or attitude of vehicles G05D1/00; traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968) · CPC title

• G06Q10/047 Primary

  Optimisation of routes or paths, e.g. travelling salesman problem · CPC title

• G01C21/20 Primary

  Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) · CPC title

• G01C23/005

  Flight directors (indicating arrangements specially adapted for rotary gyroscopes G01C19/32) · CPC title