Running information generating apparatus of autonomous running apparatus, running information generating method, running information generating program, and autonomous running apparatus

摘要

A movement information calculator calculates a moving direction and a speed of the moving person from a position history database. An approach time calculator calculates an approach time at which an autonomous running apparatus and the moving person approach to each other within a predetermined distance from the moving person's position, moving direction, and speed, and the running information. A gaze position obtaining unit obtains a moving person's gaze position from the moving person's position and moving direction, and the position of an obstacle recorded in an obstacle database. A gaze region calculator calculates a moving person's gaze region from the moving person's position, moving direction, and gaze position. A running information generator generates running information for making the autonomous running apparatus run to the gaze region at a predetermined time earlier than the approach time from the obstacle's position, the approach time, and the gaze region.