To provide a mobile body control device, a mobile body control method, and a program capable of determining abnormality of the control system at an early stage.SOLUTION: A mobile body control device comprises: a recognition unit that recognizes objects around the mobile body and a travel road shape; a movement control unit that generates a target track on the basis of a recognition result of the recognition unit and controls the mobile body to travel autonomously along the target track; and a determination unit that determines that abnormality has occurred in a control system including the recognition unit and the movement control unit, and outputs a determined result when a time period from when a degree of divergence between a reference target track and a position of the mobile body becomes a predetermined degree or more until when the degree becomes less than the predetermined degree is a first predetermined time or more, where the reference target track is determined according to the travel road shape recognized by the determination unit and used as a reference by the movement control unit for generating the target track.SELECTED DRAWING: Figure 2
【課題】制御システムの異常判定を早期に行うことができる移動体制御装置、移動体制御方法、およびプログラムを提供すること。【解決手段】移動体の周辺の物体および走路形状を認識する認識部と、前記認識部の認識結果に基づいて目標軌道を生成し、前記目標軌道に沿って前記移動体を自律的に走行させる移動制御部と、前記認識部により認識された走路形状により定まり、前記移動制御部が前記目標軌道を生成する基準とする基準目標軌道と、前記移動体の位置との乖離度合いが所定度合い以上となってから所定度合い未満になるまでの時間が第1所定時間以上である場合に、前記認識部および前記移動制御部を含む制御システムに異常が生じたと判定し、判定結果を出力する判定部と、を備える移動体制御装置。【選択図】図2
MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND PROGRAM
移動体制御装置、移動体制御方法、およびプログラム
2021-10-11
Patent
Electronic Resource
Japanese
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