The invention relates to a trajectory generation device, a trajectory generation method, a storage medium, and a moving object. A trajectory is determined so as not to interfere with an avoidance object at the time of intersection turning. The trajectory generation device generates trajectory information indicating a trajectory in which a moving body moves from a travel region in which the moving body travels to a travel region of a movement destination. A trajectory in a travel region in which the moving body travels and a trajectory in a travel region of the moving destination are output in a first point sequence and a second point sequence, respectively, as a curve having a point in the first point sequence as a starting point and a point in the second point sequence as an ending point. Rail information of a rail along which the moving body moves from the traveling area to the traveling area of the moving destination is generated. On the basis of an image captured by the camera, an avoidance region in which the travel should be avoided is estimated or detected, and when the distance between the avoidance region and the trajectory is less than a predetermined distance, the trajectory information is regenerated by reselecting at least one of the start point and the end point such that the distance is equal to or greater than the predetermined distance.

    本发明涉及轨道生成装置、轨道生成方法、存储介质以及移动体,在交叉点转弯时以不与回避对象发生干扰的方式决定轨道。轨道生成装置生成表示移动体从行驶的行驶区域向移动目的地的行驶区域移动的轨道的轨道信息。将移动体行驶的行驶区域中的轨道、移动目的地的行驶区域中的轨道分别以第一点列、第二点列输出,作为以第一点列内的点为起点且以第二点列内的点为终点的曲线,生成移动体从行驶的行驶区域向移动目的地的行驶区域移动的轨道的轨道信息。基于由摄像机拍摄到的图像,估计或者检测应当回避行驶的回避区域,在回避区域与轨道间的距离小于既定距离的情况下,重新选择起点和终点中的至少一方来重新生成轨道信息,使得距离成为既定距离以上。


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    Title :

    Track generation device, track generation method, storage medium, and moving object


    Additional title:

    轨道生成装置、轨道生成方法、存储介质以及移动体


    Contributors:

    Publication date :

    2024-04-26


    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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