Control device, control method, and mobile object
The present disclosure relates to a control device, a control method, and a mobile object that effectively use storage capacity while saving the storage capacity and efficiently plan a movement route by storing or forgetting (deleting) a past detailed map according to importance during autonomous movement. When a global route is set, by storing or forgetting (deleting) a detailed map according to the importance on the global route to plan a local route from a frequently used global route, it is possible to efficiently plan a local route by combining detailed maps stored in the past.
1. A control device that controls movement of a mobile object, the control device comprising:
a global-route planning unit configured to plan a global route to a destination; and
a map storage unit configured to:
retain a map of a first important area in an area on the planned global route for a first retention period; and
retain a map of a second important area for a second retention period, wherein
the second important area has higher importance than the first important area, and
the second retention period is longer that the first retention period.
2. The control device according to claim 1 , wherein
each of the first important area and the second important area is an area having outside information that affects planning of a local route, and
the mobile object moves on the local route associated with the global route.
3. The control device according to claim 2 , further comprising a first important area management unit configured to set the area on the global route to the first important area.
4. The control device according to claim 3 , wherein
the map storage unit is further configured to store a map of a specific area for a third retention period shorter than the first retention period, and
the specific area is different from the first important area and the second important area.
5. The control device according to claim 4 , wherein
the first important area management unit is further configured to register the first important area in a first important area list,
the control device further comprises:
a second important area management unit configured to:
register the first important area registered in the first important area list as a second important area candidate in a second important area candidate list, wherein the second important area candidate is a candidate of the second important area;
add a score of the registered second important area candidate based on a frequency of the registration of the second important area candidate in the second important area candidate list; and
register the second important area candidate as the second important area in a second important area list based on the score is greater than a first threshold number, and
the map storage unit is further configured to retain the map of the second important area registered in the second important area list for the second retention period.
6. The control device according to claim 5 , wherein the second important area management unit is further configured to:
set an area in a periphery of a main point as the second important area, wherein the main point is frequently used by a user; and
register the set area in the periphery of the main point in the second important area list.
7. The control device according to claim 6 , wherein the second important area management unit is further configured to:
register the destination and a departure place, based on a self-position of the mobile object, as a plurality of main-point candidates, wherein each of the plurality of main-point candidates is a candidate of the main point in a main-point candidate list,
add a score of a corresponding main-point candidate of the plurality of main-point candidates based on a frequency of the registration of the destination and the departure place,
register the corresponding main-point candidate as the main point in a main point list based on the score of the corresponding main-point candidate is greater than a second threshold number, and
register the area in the periphery of the main point in the second important area list based on the registration of the main point in the main point list.
8. The control device according to claim 7 , wherein the second important area management unit is further configured to:
register a current time point of the registration of the main point and the corresponding main-point candidate as a last update date;
delete the main point and the corresponding main-point candidate based on an elapse of a threshold time from the last update date; and
delete the second important area as the area in the periphery of the main point based on the deletion of the registered main point.
9. The control device according to claim 6 , wherein the first important area management unit is further configured to set an area of an outward route on the global route to the first important area.
10. The control device according to claim 6 , wherein the first important area management unit is further configured to set an area of an outward route and a return route on the global route to the first important area, based on a current self-position of the mobile object is the main point.
11. The control device according to claim 1 , further comprising a local-route planning unit configured to plan a local route based on the retained map of one of the first important area or the second important area and the planned global route.
12. The control device according to claim 11 , further comprising:
an action plan creation unit configured to create an action plan based on the planned local route; and
a control unit configured to control an operation of the mobile object based on the created action plan.
13. The control device according to claim 2 , wherein at least one of the first important area or the second important area includes at least one of a private land, a parking area, an obstacle, a construction area, an accident, a pedestrian zone, a non-passable lane, a parked vehicle, a scattered cargo, an entrance/exit for a construction vehicle, a street stall, or a stand.
14. A control method, comprising:
in a control device that controls movement of a mobile object:
planning a global route to a destination;
retaining a map of a first important area in an area on the planned global route for a first retention period; and
retaining a map of a second important area for a second retention period, wherein
the second important area has higher importance than the first important area, and
the second retention period is longer that the first retention period.
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:
planning a global route to a destination;
retaining a map of a first important area in an area on the planned global route for a first retention period; and
retaining a map of a second important area for a second retention period, wherein
the second important area has higher importance than the first important area, and
the second retention period is longer that the first retention period.
16. A mobile object, comprising:
a global-route planning unit configured to plan a global route to a destination;
a map storage unit configured to:
retain a map of a first important area in an area on the planned global route for a first retention period; and
retain a map of a second important area for a second retention period, wherein
the second important area has higher importance than the first important area, and
the second retention period is longer that the first retention period;
a local-route planning unit configured to plan a local route based on the retained map of one of the first important area or the second important area, and the planned global route;
an action plan creation unit configured to create an action plan based on the planned local route; and
a control unit configured to control an operation of the mobile object based on the created action plan.