Provided are a moving body control device, a moving body control method, and a storage medium that can control a moving body by appropriately evaluating a target trajectory while suppressing an increase in a calculation load. A moving body control device is provided with: an object target recognition unit that recognizes an object target existing in the periphery of a moving body; and an action plan generation unit that generates an action plan for the moving body, the action plan including the generation of a target trajectory in which a plurality of trajectory points to be traveled by the moving body are connected. The action plan generation unit generates the target trajectory so that a line segment formed by connecting the trajectory points adjacent to each other in the traveling direction of the moving body does not enter a risk region including the recognized object target.
提供一种能够抑制计算负荷的增大,并且能够适当地评价目标轨道来控制移动体的移动体控制装置、移动体控制方法以及存储介质。移动体控制装置具备:物体目标识别部,其识别存在于移动体的周边的物体目标;以及行动计划生成部,其生成所述移动体的行动计划,所述行动计划包括生成所述移动体应行驶的将多个轨道点相连而成的目标轨道,所述行动计划生成部以使在所述移动体的行进方向上相互相邻的所述轨道点彼此相连而成的线段不进入包含识别出的所述物体目标的风险区域的方式生成所述目标轨道。
Mobile body control device, mobile body control method, and storage medium
移动体控制装置、移动体控制方法以及存储介质
2022-07-26
Patent
Electronic Resource
Chinese
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 |
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