To properly determine timing of lane change at the time of travel in a merging lane.SOLUTION: A movable body control device comprises: an image acquisition unit which acquires an image obtained by imaging an external space of a movable body; a merging lane determination unit which determines whether or not the movable body is traveling in a merging lane on the basis of the image; a detection unit which detects a first reference object and a second reference object with the image processing when it is determined that the movable body is traveling in the merging lane; a setting unit which virtually sets a plurality of third reference objects extending in parallel with a first prescribed width to the first reference object on an assumption plane virtually viewed from above; and a derivation unit which derives information about a place where the merging lane disappears on the basis of the first intersection point of at least the second reference object and the plurality of third reference objects.SELECTED DRAWING: Figure 1

    【課題】合流車線の走行時に車線変更のタイミングを適切に判断すること。【解決手段】移動体の外部空間を撮像した画像を取得する画像取得部と、前記画像に基づいて、前記移動体が合流車線を走行しているか否かを判定する合流車線判定部と、前記移動体が合流車線を走行していると判定された場合、第1参照オブジェクトと第2参照オブジェクトとを画像処理によって検出する検出部と、仮想的に上空から見た想定平面において前記第1参照オブジェクトに対して第1所定幅をもって平行に延在する複数の第3参照オブジェクトを仮想的に設定する設定部と、少なくとも前記第2参照オブジェクトと前記複数の第3参照オブジェクトの第1交点に基づいて、前記合流車線の消失する箇所に関する情報を導出する導出部と、を備える、移動体制御装置。【選択図】図1


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    Title :

    MOVABLE BODY CONTROL DEVICE, MOVABLE BODY CONTROL METHOD AND PROGRAM


    Additional title:

    移動体制御装置、移動体制御方法、およびプログラム


    Contributors:
    MAHAJAN ADITYA (author) / KOMORI KENJI (author) / MIURA AYA (author)

    Publication date :

    2022-10-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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