To provide a mobile control device capable of further promptly generating a target track based on a risk, a mobile control method, and a program.SOLUTION: A mobile control device comprises: a recognition section for recognizing an object being present around a mobile; a risk setting section for setting a risk which is an index value representing a degree that the mobile should avoid entrance, based on a position of the object; and a target track generation section for generating a target track, along which the mobile should travel, so as to pass a point where the risk is small. The target track generation section sets a plurality of observation points at intervals at a side of a travel direction of the mobile, sets one or more second observation points in a left direction and a right direction in a view from the mobile with respect to each of the plurality of first observation points, and searches for the point where the risk is small based on the risk in an observation point group including the first observation point and the second observation point corresponding to each other.SELECTED DRAWING: Figure 2
【課題】より迅速にリスクに基づく目標軌道を生成することができる移動体制御装置、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】移動体の周辺に存在する物体を認識する認識部と、前記物体の位置に基づいて、前記移動体が進入を避けるべき度合いを表す指標値であるリスクを設定するリスクを設定するリスク設定部と、前記移動体が走行すべき目標軌道を、前記リスクが小さい地点を通るように生成する目標軌道生成部と、を備え、前記目標軌道生成部は、前記移動体の進行方向側に複数の第1観測点を間隔をもって設定すると共に、前記複数の第1観測点のそれぞれに対して、前記移動体から見て左方向および右方向のそれぞれに一以上の第2観測点を設定し、互いに対応する第1観測点および第2観測点を含む観測点グループにおける前記リスクに基づいて、前記リスクが小さい地点を探索する、移動体制御装置。【選択図】図2
MOBILE CONTROL DEVICE, MOBILE 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
2024-03-25
Patent
Elektronische Ressource
Japanisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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