To flexibly select a merging position according to the state of an occupant of a movable body.SOLUTION: A movable body control device comprises: an image acquisition unit which acquires an image obtained by imaging an external space of a movable body; a first determination unit which determines whether or not the movable body is in a merging lane closer to a merging object lane of the two merging lanes on the basis of the image; a second determination unit which determines whether or not another movable body is in the merging lane farther from the merging object lane of the merging lanes on the front side of the movable body when the first determination unit determines that the movable body is in the closer merging lane; a merging position candidate setting unit which sets a merging position candidate that is at least one or more merging position candidates in which the movable body completes merging to the merging object lane and is set as the relative position between the movable bodies in the merging object lane; and a merging position selection unit which selects the merging position where the movable body completes merging to the merging object lane from the at least one or more merging position candidates.SELECTED DRAWING: Figure 1

    【課題】移動体の乗員の状況に応じて、柔軟に合流位置を選択すること。【解決手段】移動体の外部空間を撮像した画像を取得する画像取得部と、前記画像に基づいて、前記移動体が、二つある合流車線のうち被合流車線に近い方の合流車線に居るか否かを判定する第1判定部と、前記第1判定部によって前記移動体が前記近い方の合流車線に居ると判定された場合、前記移動体の前方で、前記合流車線のうち前記被合流車線から遠い方の合流車線に他移動体が居るか否かを判定する第2判定部と、前記移動体が前記被合流車線への合流を完了する少なくとも一以上の合流位置候補であって、前記被合流車線にいる移動体間の相対位置として設定される合流位置候補を設定する合流位置候補設定部と、前記少なくとも一以上の合流位置候補から、前記移動体が前記被合流車線への合流を完了する合流位置を選択する合流位置選択部と、を備える移動体制御装置。【選択図】図1


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    Titel :

    MOVABLE BODY CONTROL DEVICE, MOVABLE BODY CONTROL METHOD AND PROGRAM


    Weitere Titelangaben:

    移動体制御装置、移動体制御方法、およびプログラム


    Beteiligte:
    MAHAJAN ADITYA (Autor:in) / MIURA AYA (Autor:in) / KOMORI KENJI (Autor:in)

    Erscheinungsdatum :

    2022-10-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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