Provided are a mobile body control device, a mobile body control method, and a storage medium capable of more quickly generating a target trajectory obtained on the basis of a risk. A mobile body control device includes: a recognition unit that recognizes an object present in the periphery of a mobile body; a risk setting unit that sets, on the basis of the position of the object, a risk, which is an index value indicating the degree to which the moving body should be prevented from entering; and a target trajectory generation unit that generates a target trajectory on which the moving body should travel so as to pass through the location where the risk is low, the target trajectory generation unit setting a plurality of first observation points at intervals on the traveling direction side of the moving body. And one or more second observation points are set in the left direction and the right direction of observation from the moving body with respect to each of the plurality of first observation points, and a location where the risk is low is searched for on the basis of the risk in an observation point group including the first observation points and the second observation points that correspond to each other.

    提供能够更迅速地生成基于风险得到的目标轨道的移动体控制装置、移动体控制方法及存储介质。移动体控制装置具备:识别部,其识别存在于移动体的周边的物体;风险设定部,其基于所述物体的位置来设定风险,所述风险是表示所述移动体应该避免进入的程度的指标值;以及目标轨道生成部,其以通过所述风险小的地点的方式生成所述移动体应该行驶的目标轨道,所述目标轨道生成部在所述移动体的行进方向侧隔开间隔地设定多个第一观测点,并且相对于所述多个第一观测点各自而在从所述移动体观察时的左方向及右方向分别设定一个以上的第二观测点,基于包含互相对应的第一观测点及第二观测点在内的观测点组中的所述风险,来搜索所述风险小的地点。


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    Title :

    Mobile body control device, mobile body control method, and storage medium


    Additional title:

    移动体控制装置、移动体控制方法及存储介质


    Contributors:

    Publication date :

    2024-03-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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