Provided are a moving body control device, a moving body control method, and a storage medium, which are capable of suitably using information obtained by converting an image captured by a camera into a bird's-eye view coordinate system for traveling of a moving body. A moving body control device is provided with: a target trajectory generation unit that generates a target trajectory indicating a path along which a moving body travels in the future, on the basis of division line information indicated in a space obtained by converting an image indicating the surrounding situation of the moving body, which is captured by a camera mounted on the moving body, into a bird's-eye view coordinate system; a curvature estimation unit that calculates the curvature of the target trajectory; a curvature correction unit that corrects the curvature by applying a correction filter for correcting the curvature to the estimated curvature; a speed plan generation unit that generates a speed plan indicating a future target speed of the moving body on the basis of the corrected curvature; and a travel control unit that causes the moving body to travel in accordance with the speed plan.

    提供能将信息适宜地活用于移动体的行驶的移动体控制装置、移动体控制方法及存储介质,该信息是将由相机拍摄到的图像向鸟瞰图坐标系变换后的信息。移动体控制装置具备:目标轨道生成部,其基于在将由搭载于移动体的相机拍摄到的表示所述移动体的周边状况的图像向鸟瞰图坐标系变换后的空间上表示的划分线信息,来生成表示所述移动体将来行驶的路径的目标轨道;曲率推定部,其算出所述目标轨道的曲率;曲率修正部,其通过对推定出的所述曲率应用用于修正所述曲率的修正滤波器,来修正所述曲率;速度计划生成部,其基于修正后的所述曲率,来生成表示所述移动体的将来的目标速度的速度计划;行驶控制部,其使所述移动体按照所述速度计划行驶。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Mobile body control device, mobile body control method, and storage medium


    Weitere Titelangaben:

    移动体控制装置、移动体控制方法及存储介质


    Beteiligte:
    AIZAWA KOKI (Autor:in) / MATSUNAGA HIDEKI (Autor:in) / MATSUMOTO TAKASHI (Autor:in)

    Erscheinungsdatum :

    2023-06-06


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



    Mobile body control device, mobile body control method, and storage medium

    NISHIGUCHI HARUHIKO / AOYAGI HIRONORI | Europäisches Patentamt | 2023

    Freier Zugriff

    Mobile body control device, mobile body control method, and storage medium

    NAKAJIMA HIROYUKI / SASAJIMA TAKESHI / TAKAKU HIROKI et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Mobile body control device, mobile body control method, and storage medium

    KATO ATSUSHI / FUJIMURA KOUTAROU / YASUI YUJI | Europäisches Patentamt | 2024

    Freier Zugriff

    Mobile body control device, mobile body control method, and storage medium

    MATSUNAGA HIDEKI / YASUI YUJI / MATSUMOTO TAKASHI et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Mobile body control device, mobile body control method, and storage medium

    MATSUNAGA HIDEKI / YASUI YUJI / MATSUMOTO TAKASHI et al. | Europäisches Patentamt | 2022

    Freier Zugriff