Provided are a mobile body control device, a mobile body control method, and a storage medium that can appropriately determine the timing of lane change when traveling on a confluent lane. A moving body control device includes: an image acquisition unit that acquires an image obtained by capturing an image of an external space of a moving body; a merging lane determination unit that determines, on the basis of the image, whether or not the moving body is traveling on a merging lane; a detection unit that detects a first reference object and a second reference object by image processing when it is determined that the moving body is traveling on the merging lane; a setting unit that virtually sets a plurality of third reference objects, which are arranged so as to extend in parallel with respect to the first reference object and have a first predetermined width, in an assumed plane that is virtually observed from above; and a derivation unit that derives information relating to a location where the merging lane disappears, on the basis of at least a first intersection point between the second reference object and the plurality of third reference objects.
提供一种能够在汇合车道的行驶时恰当地判断车道变更的时机的移动体控制装置、移动体控制方法及存储介质。移动体控制装置具备:图像取得部,取得对移动体的外部空间进行拍摄而得到的图像;汇合车道判定部,基于所述图像,判定所述移动体是否正行驶于汇合车道;检测部,在判定为所述移动体正行驶于汇合车道的情况下,通过图像处理检测第一参照对象和第二参照对象;设定部,在假想地从上空观察到的设想平面中假想地设定相对于所述第一参照对象具有第一规定宽度地平行地延伸配置的多个第三参照对象;导出部,至少基于所述第二参照对象与所述多个第三参照对象的第一交点,导出与所述汇合车道消失的部位相关的信息。
Mobile body control device, mobile body control method, and storage medium
移动体控制装置、移动体控制方法及存储介质
2022-10-11
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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