US 12,472,940 B2
Information processing device, information processing method, and storage medium
Ichiro Baba, Wako (JP); and Yuji Yasui, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Aug. 7, 2023, as Appl. No. 18/230,752.
Claims priority of application No. 2022-127810 (JP), filed on Aug. 10, 2022.
Prior Publication US 2024/0051526 A1, Feb. 15, 2024
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 40/105 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); B60W 40/105 (2013.01); B60W 60/001 (2020.02); B60W 2556/10 (2020.02)] 7 Claims
OG exemplary drawing
 
1. An information processing device for generating a trajectory of a moving object, the information processing device comprising:
a storage medium storing computer-readable instructions; and
a processor connected to the storage medium, the processor executing the computer-readable instructions to:
recognize a travel environment around the moving object;
calculate a risk value to be set for a region surrounding a target located in the recognized travel environment; and
generate a travel trajectory of the moving object as a travel trajectory along which a plurality of trajectory points are arranged,
wherein the travel trajectory is generated by switching between: a first trajectory generation method involving paring each point of a point group constituting a left road marking in the travel environment and each point of a point group constituting a right road marking in the travel environment in order; and a second trajectory generation method of generating a current travel trajectory by designating a previous travel trajectory generated at a processing timing before a current processing timing as a reference line and offsetting each of the plurality of trajectory points constituting the reference line in a direction normal to the reference line on the basis of the risk value.