{
  "$type": "site.standard.document",
  "description": "This disclosure provides a route determining device capable of determining a route of a moving device such that the moving device smoothly moves to a destination while avoiding an interference with a traffic participant even in a congested traffic environment. A route determining device determines…",
  "path": "/patents/1273407",
  "publishedAt": "2020-10-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0214",
    "Honda Motor Co.,Ltd."
  ],
  "textContent": "This disclosure provides a route determining device capable of determining a route of a moving device such that the moving device smoothly moves to a destination while avoiding an interference with a traffic participant even in a congested traffic environment. A route determining device determines a provisional movement velocity command v_cnn such that an interference between a robot and traffic participants is avoided using the CNN, determines a distance dist between the robot and the traffic participant closest to the robot when the robot is assumed to move from the current position by a command v_cnn in accordance with the reliability P of the command v_cnn, and determines a movement velocity command v of the robot using a DWA such that a target function G including the distance dist and the movement velocity command v of the robot as independent variables has a maximum value.",
  "title": "ROUTE DETERMINING DEVICE, ROBOT, AND ROUTE DETERMINING METHOD"
}