To generate the optimum target track for a mobile body.SOLUTION: A mobile body control device includes: a recognition section for recognizing a peripheral state of a mobile body; a risk area setting section for associating a risk value being an index value which indicates a degree of traveling of the mobile body by avoidance with a position of the peripheral state based on the recognized peripheral state, and setting the area as a risk area; a target track generation section for generating a target track which indicates a future traveling route of the mobile body; and a travel control section for allowing the mobile body to travel along the generated target track. The target track generation section sets at least one observation point in each one of three or more temporary tracks to be branched at a predetermined place in front of the mobile body, and then generating the target track based on the risk area and at least the one observation point.SELECTED DRAWING: Figure 1
【課題】移動体にとって最適な目標軌道を生成すること。【解決手段】移動体の周辺状況を認識する認識部と、認識された前記周辺状況に基づいて、前記移動体が避けて走行するべき度合いを示す指標値であるリスク値を前記周辺状況の位置に対応付けてリスク領域として設定するリスク領域設定部と、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、生成された前記目標軌道に沿って、前記移動体を走行させる走行制御部と、を備え、前記目標軌道生成部は、前記移動体の前方の所定箇所で分岐する3本以上の仮軌道のそれぞれに少なくとも一つの観測点を設定し、前記リスク領域と前記少なくとも一つの観測点とに基づいて、前記目標軌道を生成する、移動体制御装置。【選択図】図1
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
2024-04-08
Patent
Elektronische Ressource
Japanisch
MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND MOBILE BODY CONTROL PROGRAM
Europäisches Patentamt | 2024
|MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND PROGRAM FOR MOBILE BODY CONTROL DEVICE
Europäisches Patentamt | 2018
|MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD AND PROGRAM FOR MOBILE BODY CONTROL DEVICE
Europäisches Patentamt | 2021
|Europäisches Patentamt | 2022
|MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND PROGRAM
Europäisches Patentamt | 2021
|