The present invention provides an information processing device, an information processing method, and a storage medium capable of appropriately generating a travel path of a moving body without excessively depending on recognition accuracy of a travel path based on a captured image. An information processing device that generates a trajectory of a moving body is provided with: a recognition unit that recognizes a traveling environment around the moving body; a risk calculation unit that calculates a risk value set around an object target located in the recognized travel environment; and a trajectory generation unit that generates a travel trajectory of the moving body, i.e., a travel trajectory in which a plurality of trajectory points are arranged, the trajectory generation unit repeatedly executes processing, sets a previous travel trajectory generated at a processing timing prior to the current processing timing as a reference line, and generates a risk value on the basis of the risk value. And the plurality of track points forming the reference line are respectively shifted along the normal direction of the reference line, so that the current running track is generated.
本发明提供能够不过分依赖于基于拍摄图像的行驶路的识别精度而适当地生成移动体的行驶轨道的信息处理装置、信息处理方法及存储介质。进行移动体的轨道生成的信息处理装置具备:识别部,其识别所述移动体的周围的行驶环境;风险算出部,其算出在位于识别到的所述行驶环境内的物体目标的周围设定的风险值;以及轨道生成部,其生成所述移动体的行驶轨道、即将多个轨道点排列而成的行驶轨道,所述轨道生成部重复执行处理,将在比本次的处理时机靠前的处理时机生成的上次的行驶轨道设为基准线,基于所述风险值,将构成所述基准线的所述多个轨道点分别沿所述基准线的法线方向偏移,从而生成本次的行驶轨道。
Information processing apparatus, information processing method, and storage medium
信息处理装置、信息处理方法及存储介质
2024-02-23
Patent
Elektronische Ressource
Chinesisch
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