An obstacle avoidance model generation method suppressing increase in the amount of learning, an obstacle avoidance model generation device, and a storage medium are provided. The generation method includes: an acquiring step of acquiring surrounding information, at a determination point where a moving vehicle traveling in a space in which an obstacle is disposed determines a traveling direction,for each traveling direction of the moving vehicle, the surrounding information including a distance to the obstacle, a degree of coincidence in a direction toward a target point, and a degree of coincidence in a direction of the moving vehicle before and after determination of the traveling direction; a determining step of determining the traveling direction on the basis of an obstacle avoidancemodel executing convolution processing of applying a filter to a region including the traveling directions in the surrounding information; a driving step of causing the moving vehicle to travel in thetraveling direction determined in the determining; and a learning step of causing the obstacle avoidance model to learn how to select the traveling direction on the basis of a score obtained by repeating the determining of the traveling direction and the traveling of the moving vehicle.

    本发明提供抑制学习量的增加的障碍物回避模型生成方法和生成装置及存储介质。该生成方法包括:取得步骤,在配置有障碍物的空间行驶的移动体决定行进方向的决定地点,按移动体的行进方向,取得包含到障碍物的距离、相对于目标地点的朝向的一致度及决定行进方向前后的移动体的朝向的一致度的周围信息;决定步骤,基于执行向在取得步骤中取得的周围信息中的包含多个行进方向的区域应用滤波器的卷积处理的障碍物回避模型决定移动体的行进方向;行驶步骤,使移动体在决定步骤决定的行进方向上行驶;及学习步骤,基于通过反复进行决定步骤的行进方向的决定和行驶步骤的移动体的行驶而取得的分数使障碍物回避模型学习移动体的行进方向的选择方法。


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    Title :

    Obstacle avoidance model generation method, obstacle avoidance model generation device, and storage medium


    Additional title:

    障碍物回避模型生成方法、障碍物回避模型生成装置及存储介质


    Contributors:
    MIZUNO YUTA (author) / SAIIN RYUJI (author)

    Publication date :

    2020-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL