Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Yasuhiro Sawada

Mitsuhide Kuroda

Makoto Nakamura

Katsuyoshi Watari

Akihiko Ohtsu

Toyotaka Torii

Yuichi Hashimoto

A mobile apparatus or the like capable of moving or acting by avoiding contact with an object, such as a person, while reducing the possibility of inducing a change of the behavior of the object. It is determined whether or not there is a first spatial element Qthat satisfies a contact condition that there is a possibility of contact with a reference spatial element Qon a discriminant plane. The reference spatial element Qand the first spatial element Qrepresent current images of a robotand an object x, respectively. When it is determined that there is a first spatial element Qthat satisfies the contact condition on the discriminant plane, a route that allows the reference spatial element Qto move by avoiding contact with a second spatial element Qis set as a new 'first action plan element' on the discriminant plane.

Mobile apparatus, and control method thereof, control program and supervisory system therefor

A mobile apparatus for moving or acting while avoiding contact with an object, and reducing a change in the behavior of the object. It is determined whether there is a first spatial element that satisfies a contact condition that there is a possibility of contact with a reference spatial element on a discriminant plane including at least part of a representative point trajectory of a robot. If there is a first spatial element that satisfies the contact condition, a second action plan element involving changing the representative point trajectory is assumed, and it is determined whether there is a first spatial element that satisfies the contact condition on a new discriminant plane including at least part of the changed representative point trajectory. If there is no first spatial element that satisfies the contact condition on the new discriminant plane, the assumed new 'second action plan element' is set.

In a road traffic simulation apparatus that expresses a plurality of mobile units and road traffic environments on a computer to simulate traffic situations in association with a plurality of mobile units, each of the mobile units is expressed by a combination of a driver model, a model of driving operations of a virtual driver, and a vehicle dynamics model, a model of physical behaviors of a mobile unit. The mobile units are programmed to travel independently to each other in a road traffic environment that is expressed on the computer.

Road traffic simulation apparatus

A car navigation system including route judgment means for judging whether an input place name is suitable for a route extending to a destination, and judgment result output means for outputting a judgment result, so that a car can be guided and navigated along a suitable route extending to the destination by inputting a place name written on a road sign or the like. The judgment result is output with a voice message or image display. When plural place names are input, the judgment is made on each of the place names, and the most suitable place name is selected and output.

Car navigation system

A vehicle navigation system. A road map is displayed on a screen. The present position of the vehicle is displayed on the road map displayed on the screen. A guide route connecting a start point of the vehicle and a destination of the vehicle which are set in advance is determined, and indicated on the road map. A return route for returning the vehicle to the guide route is selected in response to a deviation of the vehicle from the guide route. A cost required for the vehicle to return to the guide route via the return route is calculated, and the vehicle is prevented from entering the return route depending on the cost calculated.

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Wako, Japan

Yasuhiro Sawada