Patent ID: 8386110
Filing Date: 2013-02-26
Classification: G05D

Abstract:
1. A travel route generating method for an unmanned vehicle, comprising: a condition input step of inputting a vehicle constraint condition including a vehicle width and a minimum turning radius of the unmanned vehicle, and a geometrical constraint condition including a travel route generation range in which the unmanned vehicle is to travel, an obstacle to avoid, and positions and directions of an entrance point and an exit point; and a travel route generating step of generating a travel route such that the vehicle constraint condition and the geometrical constraint condition are satisfied, and such that a function value of a cost function is minimized, the cost function being composed of at least: a first term for reducing a turning radius of the unmanned vehicle by reducing curvature of the travel route, a second term for reducing a steering operation amount per unit distance by reducing a rate of change of curvature of the travel route, and a third term for shortening a travel distance of the travel route, wherein the first term is obtained by integrating, along the travel route, the curvature of the travel route or a steering angle of the unmanned vehicle regarding micro section of the travel route, the second term is obtained by integrating, along the travel route, the rate of change of the curvature of the travel route or the steering operation amount of the unmanned vehicle regarding the micro section of the travel route, and the third term is obtained by integrating, along the travel route, the travel distance of the travel route regarding the micro section of the travel route.