Information processing apparatus, information processing method, movable apparatus, and recording medium

1 . An information processing apparatus comprising:

a memory storing instructions; and

a processor executing the instructions causing the information processing apparatus to:

acquire control-related information that includes dynamically changing environment information used for controlling a movable apparatus used for traveling within a facility, wherein the environment information includes map information and behavioral information of a plurality of obstacles present around the movable apparatus;

adjust, based on the acquired control-related information, a traveling rule that is followed by the movable apparatus; and

control driving of the movable apparatus based on information of the adjusted traveling rule,

wherein, when adjusting the travel rules, execution of the stored instructions by the processor further causes the information processing apparatus to:

calculate distances from the positions of the plurality of obstacles to both edges of a path on which the movable apparatus is traveling for each obstacle among the plurality of obstacles based on the environment information;

determine whether or not the plurality of obstacles are biased in a width direction of the path based on the calculated distances; and

determine the travel of the movable apparatus on a side in which a bias occurs as the traveling rule in a case where the plurality of obstacles are biased and a progress direction of the movable apparatus is the same as progress directions of the plurality of obstacles.

2 . The information processing apparatus according to claim 1 ,

wherein information of the traveling rule includes a variable rule parameter, and the processor adjusts the rule parameter.

3 . The information processing apparatus according to claim 2 , wherein execution of the stored instructions by the processor further causes the information processing apparatus to

adjust the rule parameter based on a density of each of one or more obstacles present around the movable apparatus.

4 . The information processing apparatus according to claim 2 , wherein execution of the stored instructions by the processor further causes the information processing apparatus to

set the rule parameter of the traveling rule to a default value based on a predetermined condition.

5 . The information processing apparatus according to claim 4 , wherein execution of the stored instructions by the processor further causes the information processing apparatus to

set the rule parameter to the default value based on, a predetermined condition including one or more of a time that has elapsed from previous adjustment of the rule parameter and behavioral information of the movable apparatus of the control-related information.

6 . The information processing apparatus according to claim 2 , wherein execution of the stored instructions by the processor further causes the information processing apparatus to

acquire the traveling rule as an undirected graph having the movable apparatus and an object around the movable apparatus as nodes.

7 . The information processing apparatus according to claim 6 ,

wherein the undirected graph includes a relationship line connecting the nodes as the rule parameter, and

a length of the relationship line indicates a distance from the movable apparatus to the object around the movable apparatus.

8 . The information processing apparatus according to claim 1 , wherein execution of the stored instructions by the processor further causes the information processing apparatus to

determines whether to adjust the traveling rule based on a predetermined condition.

9 . The information processing apparatus according to claim 8 ,

wherein the predetermined condition includes one or more of a time that has elapsed from previous adjustment of the traveling rule, behavioral information of the movable apparatus of the control-related information, and behavioral information of the obstacle present around the movable apparatus.

10 . The information processing apparatus according to claim 8 ,

wherein the predetermined condition includes one or more of a time that has elapsed from previous adjustment of the traveling rule, movable apparatus-specific information of the control-related information, and road surface configuration information of a travel route of the movable apparatus of the control-related information.

11 . The information processing apparatus according to claim 10 , wherein execution of the stored instructions by the processor further causes the information processing apparatus to

when it is determined to adjust the traveling rule, calculate a speed of the movable apparatus based on the movable apparatus-specific information and the road surface configuration information and adjusts the traveling rule based on the speed of the movable apparatus.

12 . The information processing apparatus according to claim 1 , wherein execution of the stored instructions by the processor further causes the information processing apparatus to

apply weighting on an input value of calculation in the process of adjusting the traveling rule.

13 . The information processing apparatus according to claim 1 , wherein execution of the stored instructions by the processor further causes the information processing apparatus to

adjust the traveling rule based on traveling history information included in the control-related information, the traveling history information being based on a movement history of each of the movable apparatus and an obstacle present around the movable apparatus.

14 . The information processing apparatus according to claim 1 , wherein execution of the stored instructions by the processor further causes the information processing apparatus to

provide a notification that a drive state of the movable apparatus is to be changed before the movable apparatus is driven.

15 . A movable apparatus comprising

an information processing apparatus that controls traveling path of the movable apparatus, the information processing apparatus comprising:

a memory storing instructions; and

a processor executing the instructions causing the information processing apparatus to:

acquire control-related information that includes dynamically changing environment information used for controlling the movable apparatus used for traveling within a facility, wherein the environment information includes map information and behavioral information of a plurality of obstacles present around the movable apparatus;

adjust, based on the acquired control-related information, a traveling rule that is followed by the movable apparatus; and

control driving of the movable apparatus based on information of the adjusted traveling rule,

wherein, adjusting the travel rules includes:

calculating distances from the positions of the plurality of obstacles to both edges of a path on which the movable apparatus is traveling for each obstacle among the plurality of obstacles based on the environment information;

determining whether or not the plurality of obstacles are biased in a width direction of the path based on the calculated distances; and

determining the travel of the movable apparatus on a side in which a bias occurs as the traveling rule in a case where the plurality of obstacles are biased and a progress direction of the movable apparatus is the same as progress directions of the plurality of obstacles.

16 . A non-transitory storage medium storing a computer program of an information processing apparatus controlling travel of a movable apparatus causing a computer to perform each step of a processing method for the information processing apparatus, the processing method comprising:

acquiring control-related information that includes dynamically changing environment information used for controlling the movable apparatus used for traveling within a facility, wherein the environment information includes map information and behavioral information of a plurality of obstacles present around the movable apparatus;

adjusting, based on the acquired control-related information, a traveling rule that is followed by the movable apparatus; and

controlling driving of the movable apparatus based on information of the adjusted traveling rule,

wherein, adjusting the travel rules includes:

calculating distances from the positions of the plurality of obstacles to both edges of a path on which the movable apparatus is traveling for each obstacle among the plurality of obstacles based on the environment information;

determining whether or not the plurality of obstacles are biased in a width direction of the path based on the calculated distances; and

determining the travel of the movable apparatus on a side in which a bias occurs as the traveling rule in a case where the plurality of obstacles are biased and a progress direction of the movable apparatus is the same as progress directions of the plurality of obstacles.

17 . The non-transitory storage medium according to claim 16 further comprising:

acquiring control-related information that includes dynamically changing environment information used for controlling a movable apparatus;

adjusting, based on the acquired control-related information, a traveling rule that is followed by the movable apparatus; and

controlling driving of the movable apparatus based on travel control information including the adjusted traveling rule.