Path planning device, route planning method and autonomous vehicle

摘要

Problem to be solved: plan a fill path with less paint residues.In the route creation section in the traveling region, the grid forming section partitions an area to be filled in the environmental map by a standard grid having a predetermined size.The travel order determination unit determines the order of travel to the standard grid to be run.The obstacle interference judging section determines whether or not the periphery of the carriage model DM interferes with the surrounding obstacle on the global map diagram when it assumes that the carriage model DM passes in the traveling order based on the center of the standard grid to be judged.When the grid selection part satisfies the judgment in the standard grid, the first stage division grid in which the standard grid is divided into a plurality of steps is determined, and the first stage division grid which does not satisfy the judgement is selected as the object to be run.The travel path planning section plans a traveling route through the grid which is the selected travel target.Diagram