| CPC B60W 30/09 (2013.01) [G06V 20/58 (2022.01); B60Q 9/008 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01)] | 7 Claims |
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1. A mobile object control device comprising:
a storage device that stores a program; and
a hardware processor, the hardware processor executing the program stored in the storage device to:
recognize an object which is located near a vehicle;
generate a movement plan for the vehicle, which includes generation of a target trajectory in which the vehicle is to travel and which is obtained by connecting a plurality of trajectory points;
generate, when generating the movement plan, the target trajectory by evaluating a first risk associated with a line which is obtained by connecting trajectory points adjacent to each other with respect to a traveling direction of the vehicle based on a distance between a center of a risk area including the object and the line; and
cause the vehicle to move in the traveling direction based on the movement plan, the first risk associated with the line obtained by connecting the trajectory points, and the risk area inclusive of the object,
wherein the hardware processor further sets the risk area to have an ellipse shape;
performs a deformation processing by converting the ellipse shape to a circle shape for the risk area, the deformation processing comprises shrinking the risk area and the line in a major axis direction of the ellipse shape or enlarging the risk area and the line in a minor axis direction of the ellipse shape;
evaluates, as a value, a closeness of the target trajectory to the object based on a result of the deformation processing;
regenerates the target trajectory based on the value; and
performs, before the deformation processing, rotation processing comprising rotating the risk area and the line around a center of the ellipse shape and matching the major axis and the minor axis of the ellipse shape with axes of a virtual plane,
wherein the evaluating of the first risk between the line and the ellipse shape is achieved through an evaluation of a second risk between the line and the circle shape by evaluating that the line has a conditional risk in response to at least one of a first condition and a second condition being satisfied and a third condition is satisfied,
wherein the first condition specifies that a first angle between a first vector from an endpoint to an other endpoint of the line and a second vector from the end point to the center, and a second angle between a third vector from the other end point to the center are both acute angles,
wherein the second condition specifies that at least one of a first distance between the endpoint and the center and a second distance between the other endpoint and the center are equal to or less than a predetermined value, and
wherein the third condition specifies that a distance between the line and the center is equal to or less than the predetermined value.
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