A control device for a moving body capable of moving both in a lane and in a predetermined region different from the lane, the control device being provided with: a road type recognition unit that recognizes the type of road in an image captured by an external camera that captures an image in the traveling direction of the moving body; a central virtual channel including an assumed forward path of the moving body, a right virtual channel present on the right side with respect to the central virtual channel when viewed from the moving body, and a left virtual channel present on the left side with respect to the central virtual channel when viewed from the moving body are set. An identification unit that identifies whether the moving body moves in the lane or in the predetermined region on the basis of the results of spatial classification of the central virtual channel, the right virtual channel, and the left virtual channel; and a control unit that limits the speed when the moving body moves on the lane to a first speed, and limits the speed when the moving body moves in the predetermined region to a second speed lower than the first speed.

    一种移动体的控制装置,所述移动体能够在车道、以及与车道不同的规定区域这双方移动,其中,所述移动体的控制装置具备:道路类型识别部,其在对所述移动体的行进方向进行拍摄的外部相机的拍摄图像中,分别设定包含所述移动体的设想前进道路的中央假想通道、从所述移动体观察时相对于所述中央假想通道存在于右侧的右侧假想通道、从所述移动体观察时相对于所述中央假想通道存在于左侧的左侧假想通道,并基于关于所述中央假想通道、所述右侧假想通道及所述左侧假想通道各自进行空间分类得到的结果,来识别所述移动体是在车道移动着还是在所述规定区域移动着;以及控制部,其将所述移动体在车道移动的情况下的速度限制为第一速度,并将所述移动体在所述规定区域移动的情况下的速度限制为比所述第一速度低的第二速度。


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    Title :

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


    Additional title:

    移动体的控制装置、移动体的控制方法及存储介质


    Contributors:

    Publication date :

    2024-10-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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