To provide a movable body control device which can continuously perform automatic parking at a specified parking position even when characteristic points of external field of the movable body are changed.SOLUTION: A movable body control device comprises: cameras 12; a touch panel 42; and an automatic parking control part 55 which performs an automatic parking control that makes a vehicle 10 park at a prescribed position based on recognition data of external field and a 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, performs 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 according to a coincidence rate between 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, and a coincidence rate between illumination intensity of the external field based on the recognition data of the external field at the time of executing the automatic parking control and illumination intensity corresponding to 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】カメラ12と、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と、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外界の照度と登録特徴点に対応付けられた照度との一致率と、に応じて登録特徴点の更新を行う。【選択図】図11


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    Title :

    MOVABLE BODY CONTROL DEVICE, MOVABLE BODY CONTROL METHOD, AND MOVABLE BODY CONTROL PROGRAM


    Additional title:

    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


    Contributors:

    Publication date :

    2024-05-14


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



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