Patent ID: 11868132
Assignee: HONDA MOTOR CO., LTD.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 18:
19. A non-transitory computer readable storage medium storing instructions that when executed by a computer, which includes a processor perform a method, the method comprising:
receiving position data of a pedestrian and a mobile robot from systems of the mobile robot;
estimating positions of the pedestrian and the mobile robot based on the position data;
determining an expected intersection point of paths of the pedestrian and the mobile robot and an estimated time for the pedestrian to cross the expected intersection point of the paths based on datapoints output by a neural network, wherein the estimated time that the pedestrian will cross the expected intersection point of paths of the pedestrian and the mobile robot is continually updated and stored as the pedestrian travels towards the expected intersection point of paths until an intersection interaction decision time is reached, wherein the intersection interaction decision time reached upon the estimated time being less than a predetermined interaction time, and the predetermined interaction time represents a fixed threshold duration before the pedestrian and the mobile robot are expected to interact at the expected intersection point; and
selecting and implementing a pedestrian avoidance strategy from a plurality of pedestrian avoidance strategies upon reaching the intersection interaction decision time based on the positions of the pedestrian and the mobile robot and the estimated time when the pedestrian will cross the expected intersection point and an estimated time that the mobile robot will cross the expected intersection point, wherein
a trajectory of the mobile robot is generated in accordance with the selected pedestrian avoidance strategy having predefined parameters.