DEVICE AND METHOD FOR PLANING ROUTE FOR MOBILE OBJECT, MOBILE OBJECT, AND MOBILE OBJECT CONTROLLING SYSTEM

To provide a proper route plan for a mobile object.SOLUTION: A device for planning a route for a mobile object comprises: an obstacle detection unit (F12) that detects an obstacle around a mobile object and detects a position of a person as the obstacle; an attribute and condition detection unit (F13) that detects an attribute and condition of the person on the basis of photographic image information of the person and generates person detecting information including results of the detection; a cost map generation unit (F22) that generates a cost map of surroundings of the mobile object on the basis of the position of the person and the person detecting information; and a route planning unit (F23) that prepares a route plan of the mobile object on the basis of the cost map.SELECTED DRAWING: Figure 7 【課題】移動体の経路計画を適正化する。【解決手段】移動体用の経路計画装置は、移動体の周辺における障害物を検出し、前記障害物としての人物の位置を検出する障害物検出部（Ｆ１２）と、前記人物の撮影画像情報に基づいて前記人物の属性又は状態を検出し、その検出結果を含む人物検出情報を生成する属性／状態検出部（Ｆ１３）と、前記人物の位置及び前記人物検出情報に基づき前記移動体の周辺におけるコストマップを生成するコストマップ生成部（Ｆ２２）と、前記コストマップに基づき前記移動体の経路計画を作成する経路計画部（Ｆ２３）と、を備える。【選択図】図７