autonomous control method of the autonomous driving apparatus and equipment, as well as autonomous cruise control system for the program

摘要

A traveling control method for a traveling device that changes a traveling route of a traveling device by an action of a person (203A) with respect to an autonomous traveling device (204), characterized in that the person movement state estimating portion (104) estimates a person position history The contact possibility judging section (106) judges the presence or absence of possibility of contact with the person based on the estimation result and the running information of the traveling apparatus, and the avoidance route generating section (110 ) Determines that there is a possibility of contact, the traveling device generates a first route for avoiding a person, the travel control unit (112) controls traveling of the traveling device according to the first route, and the contact intention determination unit 107) determines the presence or absence of a person's intention to contact the traveling device based on the determination made by the contact possibility determination unit after traveling on the first route, and the approach route generation unit (111) , The traveling device generates a second route approaching the person, and the traveling control unit controls traveling of the traveling device according to the second route.