| CPC G05D 1/0214 (2013.01) [G05D 1/0223 (2013.01)] | 10 Claims |
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1. A mobile object control method executed by a computer, comprising:
recognizing an object existing around a mobile object and a pedestrian following the mobile object;
generating a first trajectory, which is a target trajectory of the pedestrian from a current position of the pedestrian to a destination for the pedestrian to move while avoiding contact with the object based on a result of the recognition;
after the first trajectory is generated, generating a second trajectory, which is a target trajectory of the mobile object from a current position of the mobile object to the destination, based on the first trajectory so that the pedestrian follows the mobile object and the pedestrian moves along the first trajectory; and
controlling the mobile object so that the mobile object moves along the second trajectory,
wherein the generating of the first trajectory, and the generating of the second trajectory based on the first trajectory after the first trajectory is generated, are repeatedly performed in a control cycle that arrives at a predetermined cycle, the first trajectory is updated by changes in a surrounding environment until the pedestrian reaches the destination, and the second trajectory is generated based on the updated first trajectory, and
wherein the mobile object control method further comprises:
recognizing a relative location of the object, which is a moving object or a stationary object, as seen from the mobile object;
converting the relative location of the object, which is a moving object or a stationary object, into a location on an assumption plane that represents a space around the pedestrian as a two-dimensional plane viewed from above;
predicting a risk at each time point in the future defined at a regular time interval based on a change in the relative location of the object, which is a moving object or a stationary object, on the assumption plane, the risk being an index value indicating a degree to which the pedestrian should not approach to the object, which is a moving object or a stationary object; and
generating the first trajectory by connecting successively locations where, at each time point in the future, the risk corresponding to the time point does not exceed a threshold value without considering the mobile object as an object that the pedestrian is to avoid contact with.
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