Provided are a moving body control device, a moving body control method, and a storage medium that can improve the recognition accuracy of a dividing line that divides a region through which a moving body passes. A mobile body control device according to an embodiment includes: a recognition unit that recognizes a surrounding situation of a mobile body on the basis of an output from an external sensor; and a division line recognition unit that recognizes a division line that divides a region through which the moving body passes on the basis of the surrounding situation recognized by the recognition unit, the division line recognition unit extracting a prescribed region from the surrounding situation when it is determined that the recognition accuracy of the division line has been reduced, and recognizing the region in which the moving body passes. An edge within the predetermined region is extracted, and the division line is identified on the basis of the result of the extraction.
提供能够使划分移动体通行的区域的划分线的识别精度更加提高的移动体控制装置、移动体控制方法及存储介质。实施方式的移动体控制装置具备:识别部,其基于外界传感器的输出来识别移动体的周边状况;以及划分线识别部,其基于由所述识别部识别到的周边状况来识别将所述移动体通行的区域划分的划分线,所述划分线识别部在判定为所述划分线的识别精度降低了的状态的情况下,从所述周边状况中提取规定区域,并对所提取的所述规定区域内的边缘进行提取,基于所提取的结果来识别所述划分线。
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
2022-11-29
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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