OBSTACLE AVOIDANCE MODEL GENERATION METHOD, OBSTACLE AVOIDANCE MODEL GENERATION DEVICE, AND OBSTACLE AVOIDANCE MODEL GENERATION PROGRAM

摘要

An obstacle avoidance model generation method includes: 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; determining the traveling direction on the basis of an obstacle avoidance model executing convolution processing of applying a filter to a region including the traveling directions in the surrounding information; causing the moving vehicle to travel in the traveling direction determined in the determining; and 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.