To provide a mobile body control device, a mobile body control method, and a program capable of rapidly performing necessary control according to a scene.SOLUTION: A mobile body control device includes: a first controller that recognizes a situation around a mobile body on the basis of the output of a detection device having a space around the mobile body as a detection range and generates a first movement plan for the mobile body with a first period on the basis of the recognized situation around the mobile body; and a second controller that generates a second movement plan for the mobile body with a second period shorter than the first period. The second controller generates label data in which label information indicating a different value depending on at least the presence or absence of a moving target is given to each of division elements obtained by dividing the space around the mobile body into a finite number of elements, and generates the second movement plan on the basis of the label data.SELECTED DRAWING: Figure 2
【課題】場面に応じた必要な制御を迅速に行うことが可能な移動体制御装置、移動体制御方法、およびプログラムを提供すること。【解決手段】移動体の周辺の空間を検出範囲とする検出デバイスの出力に基づいて前記移動体の周辺状況を認識し、前記認識した前記移動体の周辺状況に基づいて、第1周期で前記移動体の第1移動プランを生成する第1制御部と、前記第1周期よりも短い第2周期で前記移動体の第2移動プランを生成する第2制御部と、を備え、前記第2制御部は、前記移動体の周辺の空間を有限数に分割した分割要素のそれぞれについて、少なくとも移動物標の有無に応じて異なる値を示すラベル情報を付与したラベルデータを生成し、前記ラベルデータに基づいて前記第2移動プランを生成する、移動体制御装置。【選択図】図2
MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND PROGRAM
移動体制御装置、移動体制御方法、およびプログラム
2021-10-07
Patent
Elektronische Ressource
Japanisch
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