To suitably utilize, for travel of a mobile object, information obtained by converting an image captured by a camera into a bird's-eye view coordinate system.SOLUTION: A mobile object control device comprises: a target trajectory generation unit which generates a target trajectory showing a path on which a mobile object travels in future on the basis of division line information expressed on a space where an image showing the peripheral situation of the mobile object imaged by a camera mounted on the mobile object is converted into a bird's-eye view coordinate system; a curvature estimation unit which calculates the curvature of the target trajectory; a curvature correction unit which corrects the curvature by applying a correction filter for correcting the curvature to the estimated curvature; a speed plan generation unit which generates a speed plan indicating a future target speed of the mobile object on the basis of the corrected curvature; and a travel control unit which causes the mobile object to travel according to the speed plan.SELECTED DRAWING: Figure 1
【課題】カメラによって撮像された画像を鳥観図座標系に変換した情報を移動体の走行のために好適に活用すること。【解決手段】移動体に搭載されたカメラによって撮像された前記移動体の周辺状況を表す画像を鳥観図座標系に変換した空間上で表される区画線情報に基づいて、前記移動体が将来走行する経路を示す目標軌道を生成する目標軌道生成部と、前記目標軌道の曲率を算出する曲率推定部と、推定された前記曲率に、前記曲率を補正するための補正フィルタを適用することによって、前記曲率を補正する曲率補正部と、補正された前記曲率に基づいて、前記移動体の将来の目標速度を示す速度計画を生成する速度計画生成部と、前記速度計画に従って前記移動体を走行させる走行制御部と、を備える、移動体制御装置。【選択図】図1
MOBILE OBJECT CONTROL DEVICE, MOBILE OBJECT CONTROL METHOD, AND STORAGE MEDIUM
移動体制御装置、移動体制御方法、およびプログラム
2023-06-14
Patent
Elektronische Ressource
Japanisch
MOBILE OBJECT CONTROL DEVICE, MOBILE OBJECT CONTROL METHOD, AND STORAGE MEDIUM
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