{
  "$type": "site.standard.document",
  "description": "A route search unit searches for a series having elements of a position and posture of a vehicle, which is a route for moving from an initial position to a target position of the vehicle, based on a first restriction condition representing a position of an obstacle. A restriction condition…",
  "path": "/patents/1395221",
  "publishedAt": "2026-01-21T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "E02F9/205",
    "KOMATSU MFG CO LTD [JP]"
  ],
  "textContent": "A route search unit searches for a series having elements of a position and posture of a vehicle, which is a route for moving from an initial position to a target position of the vehicle, based on a first restriction condition representing a position of an obstacle. A restriction condition generation unit generates a second restriction condition in which a penalty value increases according to a deviation distance from the route. A track search unit searches for a series having elements of a position, posture, speed, and steering angle of the vehicle, which is a track for moving from the initial position to the target position of the vehicle, based on the second restriction condition.",
  "title": "SYSTEM, METHOD, AND WORK VEHICLE"
}