Granted Patent B2

US 12,613,522 · App. 18/493,368 · Granted Apr 28, 2026

Inventors: Hitoshi Fukamachi (Kanagawa, JP); Akiteru Naka (Tokyo, JP); Masakazu Fujiki (Kanagawa, JP)

Assignee: CANON KABUSHIKI KAISHA

G05D1/0223

Abstract

Claims (56)

1 . An information processing device including at least one processor or circuit configured to function as:

a sensor information acquisition unit configured to acquire information regarding surroundings of a movable apparatus;

a position and orientation information measurement unit configured to perform measurement in regard to position and orientation information of the movable apparatus and a reliability of the position and orientation information;

a movable apparatus analysis unit configured to analyze motion of a different movable apparatus in the surroundings from the information regarding the surroundings of the movable apparatus acquired by the sensor information acquisition unit;

a determination unit configured to determine whether or not the movable apparatus is to follow the different movable apparatus on the basis of the reliability of the position and orientation information of the movable apparatus and a result of the analysis of the movable apparatus analysis unit; and

the processor controls a moving direction of the movable apparatus based a determination result by the determination unit,

wherein, the movable apparatus performs autonomous traveling toward a predetermined destination based on the determination result by the determination unit in a case where the reliability of the position and orientation information is equal to or greater than a predetermined threshold value, and

wherein the movable apparatus follows the different movable apparatus based on the determination result by the determination unit in a case where the reliability of the position and orientation information is less than the predetermined threshold value and the moving direction of the movable apparatus and a moving direction of the different movable apparatus are within a preset range.

2 . The information processing device according to claim 1 , wherein the at least one processor or circuit is further configured to function as: a traveling details determination unit configured to determine at least one of the moving direction and a moving speed of the movable apparatus on the basis of a result of the determination of the determination unit and the result of the analysis of the movable apparatus analysis unit.

3 . The information processing device according to claim 1 , wherein the movable apparatus analysis unit analyzes at least one of a position, the moving direction, and a moving speed of the different movable apparatus and a distance between the movable apparatus and the different movable apparatus.

4 . A movable apparatus, comprising at least one processor or circuit configured to function as: a control device that controls the movable apparatus in accordance with a result of the determination of the traveling details determination unit of the information processing device according to claim 2 , wherein the control device controls at least one of the moving direction and the moving speed of the movable apparatus in accordance with a result of the determination of the traveling details determination unit.

5 . The information processing device according to claim 1 , wherein the position and orientation information measurement unit is configured to perform measurement in regard to the reliability of the position and orientation information by comparing the information regarding surroundings of the movable apparatus acquired by the sensor information acquisition unit and a predetermined map data.

6 . An information processing device comprising at least one processor or circuit configured to function as:

a sensor information acquisition unit configured to acquire information regarding surroundings of a movable apparatus;

a communication unit configured to acquire movable apparatus information regarding a different movable apparatus in the surroundings from the different movable apparatus;

a position and orientation information measurement unit configured to perform measurement in regard to position and orientation information of the movable apparatus and a reliability of the position and orientation information;

a determination unit configured to determine whether or not the movable apparatus is to follow the different movable apparatus on the basis of the movable apparatus information acquired by the communication unit; and

the processor controls a moving direction of the movable apparatus based a determination result by the determination unit,

wherein, the movable apparatus performs autonomous traveling toward a predetermined destination based on the determination result by the determination unit in a case where the reliability of the position and orientation information is equal to or greater than a predetermined threshold value, and

wherein the movable apparatus follows the different movable apparatus based on the determination result by the determination unit in a case where the reliability of the position and orientation information is less than the predetermined threshold value and the moving direction of the movable apparatus and a moving direction of the different movable apparatus are within a preset range.

7 . The information processing device according to claim 6 , wherein the at least one processor or circuit is further configured to function as: a traveling details determination unit configured to determine at least one of the moving direction and a moving speed of the movable apparatus on the basis of a result of the determination of the determination unit and the movable apparatus information.

8 . The information processing device according to claim 6 , wherein the movable apparatus information includes at least one of position and orientation information, reliability of the position and orientation information, destination information, route information, a moving speed, and the moving direction of the different movable apparatus.

9 . The information processing device according to claim 6 , wherein the determination unit determines whether or not the movable apparatus is to follow the different movable apparatus in the surroundings in accordance with a length of an overlapping route between a route of the different movable apparatus and a route of the movable apparatus.

10 . The information processing device according to claim 6 , wherein the at least one processor or circuit is further configured to function as: a traveling details determination unit configured to determine a moving speed of the movable apparatus in accordance with at least one of a distance between the movable apparatus and the different movable apparatus and a reliability of position and orientation information of the different movable apparatus in a case where the movable apparatus follows the different movable apparatus.

11 . An information processing method comprising:

acquiring information regarding surroundings of a movable apparatus;

performing measurement in regard to position and orientation information of the movable apparatus and a reliability of the position and orientation information;

analyzing motion of a different movable apparatus in the surroundings from the information regarding the surroundings of the movable apparatus acquired in the acquiring of the information regarding the surroundings;

determining whether or not the movable apparatus is to follow the different movable apparatus on the basis of the reliability of the position and orientation information of the movable apparatus and a result of the analysis in the analyzing of the motion; and

controlling a moving direction of the movable apparatus based a determination result by the determining,

wherein, the movable apparatus performs autonomous traveling toward a predetermined destination based on the determination result by the determining in a case where the reliability of the position and orientation information is equal to or greater than a predetermined threshold value, and

wherein the movable apparatus follows the different movable apparatus based on the determination result by the determining in a case where the reliability of the position and orientation information is less than the predetermined threshold value and the moving direction of the movable apparatus and a moving direction of the different movable apparatus are within a preset range.

12 . An information processing method comprising:

acquiring information regarding surroundings of a movable apparatus;

acquiring movable apparatus information regarding a different movable apparatus in the surroundings from the different movable apparatus;

performing measurement in regard to position and orientation information of the movable apparatus and a reliability of the position and orientation information;

determining whether or not the movable apparatus is to follow the different movable apparatus on the basis of the movable apparatus information acquired in the acquiring of the movable apparatus information; and

controlling a moving direction of the movable apparatus based a determination result by the determining,

wherein, the movable apparatus performs autonomous traveling toward a predetermined destination based on the determination result by the determining in a case where the reliability of the position and orientation information is equal to or greater than a predetermined threshold value, and

wherein the movable apparatus follows the different movable apparatus based on the determination result by the determining in a case where the reliability of the position and orientation information is less than the predetermined threshold value and the moving direction of the movable apparatus and a moving direction of the different movable apparatus are within a preset range.

13 . A non-transitory computer-readable storage medium storing a computer program including instructions for executing following processes:

sensor information acquiring of acquiring information regarding surroundings of a movable apparatus;

position and orientation information measuring of performing measurement in regard to position and orientation information of the movable apparatus and a reliability of the position and orientation information;

movable apparatus analyzing of analyzing motion of a different movable apparatus in the surroundings from the information regarding the surroundings of the movable apparatus acquired in the sensor information acquiring;

determining whether or not the movable apparatus is to follow the different movable apparatus on the basis of the reliability of the position and orientation information of the movable apparatus and a result of the analysis in the movable apparatus analyzing; and

controlling a moving direction of the movable apparatus based a determination result by the determining,

wherein, the movable apparatus performs autonomous traveling toward a predetermined destination based on the determination result by the determining in a case where the reliability of the position and orientation information is equal to or greater than a predetermined threshold value, and

wherein the movable apparatus follows the different movable apparatus based on the determination result by the determining in a case where the reliability of the position and orientation information is less than the predetermined threshold value and the moving direction of the movable apparatus and a moving direction of the different movable apparatus are within a preset range.

14 . A non-transitory computer-readable storage medium storing a computer program including instructions for executing following processes:

sensor information acquiring of acquiring information regarding surroundings of a movable apparatus;

communicating of acquiring movable apparatus information of a different movable apparatus in the surroundings from the different movable apparatus;

position and orientation information measuring of performing measurement in regard to posture position information of the movable apparatus and a reliability of the position and orientation information;

determining whether or not the movable apparatus is to follow the different movable apparatus on the basis of the movable apparatus information acquired in the communicating; and

controlling a moving direction of the movable apparatus based a determination result by the determining,

wherein, the movable apparatus performs autonomous traveling toward a predetermined destination based on the determination result by the determining in a case where the reliability of the position and orientation information is equal to or greater than a predetermined threshold value, and

wherein the movable apparatus follows the different movable apparatus based on the determination result by the determining in a case where the reliability of the position and orientation information is less than the predetermined threshold value and the moving direction of the movable apparatus and a moving direction of the different movable apparatus are within a preset range.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (30)