To provide a movable body control device which can continuously perform automatic parking at a specified parking position even when characteristic points of an external field of the movable body are changed.SOLUTION: A movable body control device comprises: cameras 12Fr, 12Rr, 12L, 12R which acquire recognition data of an external field of a vehicle 10; a touch panel 42 which receives specification of a prescribed parking position from a user of the vehicle 10; and an automatic parking control part 55 which performs an automatic parking control that makes the vehicle 10 park at the prescribed position based on the recognition data of the external field and the prescribed parking position and registers the prescribed parking position as a specified parking position. The automatic parking control part 55 registers characteristic points about the specified parking position based on the recognition data of the external field as registered characteristic points, perform the automatic parking control to park the vehicle 10 at the specified parking position based on the recognition data of the external field and the registered characteristic points, and updates the registered characteristic points based on a coincidence rate between the characteristic points based on the recognition data of the external field at the time of executing the automatic parking control and the registered characteristic points.SELECTED DRAWING: Figure 11
【課題】移動体の外界の特徴点が変化しても、指定駐車位置に継続的に自動駐車することが可能な移動体制御装置を提供する。【解決手段】車両10の外界の認識データを取得するカメラ12Fr,12Rr,12L,12Rと、車両10のユーザから所定の駐車位置の指定を受け付けるタッチパネル42と、外界の認識データと所定の駐車位置とに基づいて車両10を所定の駐車位置に駐車させるための自動駐車制御を行い、所定の駐車位置を指定駐車位置として登録する自動駐車制御部55と、を備える。自動駐車制御部55は、外界の認識データに基づく指定駐車位置に関する特徴点を登録特徴点として登録し、外界の認識データと登録特徴点とに基づいて車両10を指定駐車位置に駐車させるための自動駐車制御を行い、自動駐車制御の実行時に外界の認識データに基づいて得られた特徴点と登録特徴点との一致率に応じて登録特徴点の更新を行う。【選択図】図11
MOVABLE BODY CONTROL DEVICE, MOVABLE BODY CONTROL METHOD, AND MOVABLE BODY CONTROL PROGRAM
移動体制御装置、移動体制御方法、及び移動体制御プログラム
2024-05-14
Patent
Electronic Resource
Japanese
MOVABLE BODY CONTROL DEVICE, MOVABLE BODY, MOVABLE BODY CONTROL METHOD AND PROGRAM
European Patent Office | 2020
|European Patent Office | 2024
|European Patent Office | 2024
|European Patent Office | 2021
|MOVABLE BODY CONTROL DEVICE, MOVABLE BODY CONTROL METHOD, AND MOVABLE BODY CONTROL PROGRAM
European Patent Office | 2024
|