The invention provides a control device, a control method, and a computer-readable storage medium storing a program. A control device is capable of positioning a moving body with higher accuracy with respect to an obstacle. The control device plans a movement path of the moving body on the basis of the recognition result of the outside world of the moving body, corrects the planned movement path on the basis of the recognition result of an obstacle outside the moving body, and controls the travel of the moving body on the basis of the corrected movement path. The obstacle recognition result includes a recognition result of a movement path of a side portion of the obstacle with respect to the moving body. Here, in the correction of the movement path, the planned movement path is corrected on the basis of a correction amount continuously obtained from the recognition result of the obstacle as the moving body travels.

    本发明提供控制装置、控制方法以及存储程序的计算机可读取存储介质。控制装置能够进行移动体相对于障碍物的更高精度的定位。控制装置基于移动体的外界的识别结果来计划移动体的移动路径,基于移动体的外界的障碍物的识别结果来修正该计划的移动路径,基于修正后的移动路径来控制移动体的行驶。障碍物的识别结果包含障碍物的侧部相对于移动体的移动路径的识别结果,在移动路径的修正中,基于随着移动体的行进而从障碍物的识别结果中持续得到的修正量,对计划出的移动路径进行修正。


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    Titel :

    Control device, control method, and computer-readable storage medium storing program


    Weitere Titelangaben:

    控制装置、控制方法以及存储程序的计算机可读取存储介质


    Beteiligte:
    YASUI YUJI (Autor:in) / MATSUNAGA HIDEKI (Autor:in) / BABA ICHIRO (Autor:in)

    Erscheinungsdatum :

    2021-10-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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