| CPC G05D 1/0214 (2013.01) [G05D 1/0231 (2013.01); G06T 7/20 (2013.01); G06T 2207/30196 (2013.01); G06T 2207/30241 (2013.01)] | 6 Claims |
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1. A control device comprising:
a storage device which has stored a program; and
a hardware processor,
wherein the hardware processor executes the program stored in the storage device, thereby
acquiring a peripheral image of a mobile movement mechanism, wherein the peripheral image is an image captured by a fisheye camera mounted on the mobile object,
calculating an instruction regarding future traveling of the mobile object as a base trajectory in an orthogonal coordinate system,
coordinate-converting the calculated base trajectory in the orthogonal coordinate system into a base trajectory in a fisheye camera coordinate system,
calculating a risk of each trajectory point constituting the base trajectory in the fisheye camera coordinate system on the basis of the peripheral image, and the base trajectory in the fisheye camera coordinate system, and
calculating, if a sum of risk values of the trajectory points on the base trajectory is equal to or larger than a threshold value, a traveling trajectory in the orthogonal coordinate system by modifying a trajectory point of the base trajectory in the orthogonal coordinate system more as the risk of the trajectory point of the base trajectory in the fisheye camera coordinate system is larger,
wherein the hardware processor coordinate-converts the traveling trajectory in the orthogonal coordinate system into a traveling trajectory in the fisheye camera coordinate system for risk calculation,
wherein the hardware processor calculates a risk of each trajectory point constituting the traveling trajectory in the fisheye camera coordinate system on the basis of the peripheral image and the traveling trajectory in the fisheye camera coordinate system,
wherein the hardware processor recalculates, if a sum of risk values of the trajectory points on the traveling trajectory is equal to or larger than the threshold value, a traveling trajectory in the orthogonal coordinate system by modifying a trajectory point of the traveling trajectory in the orthogonal coordinate system more as the risk of the trajectory point of the traveling trajectory in the fisheye camera coordinate system is larger,
wherein the hardware processor coordinate-converts the traveling trajectory recalculated in the orthogonal coordinate system into a traveling trajectory in the fisheye camera coordinate system for risk calculation, and
wherein, if the sum of risk values of the trajectory points on the base trajectory or the traveling trajectory is smaller than the threshold value, the hardware processor outputs a command value to the motor, wherein the command value comprises an indication that the mobile object is to travel along the base trajectory or the traveling trajectory, and
wherein, based on the command value, the motor facilitates movement of the mobile object based on the motor driving the movement mechanism.
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