Control device, control method, and storage medium

By identifying the location of objects around the moving body and generating an occupying grid map, the problem of inaccurate path generation in the prior art is solved, and more accurate and appropriate path generation is achieved to ensure that the moving body reaches its destination smoothly.

CN119741671APending Publication Date: 2025-04-01HONDA MOTOR CO LTD
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Patent Information

Application Number
CN202410976820.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Priority Date
2023-09-29
Filing Date
2024-07-19
Publication Date
2025-04-01

AI Technical Summary

Technical Problem

In the prior art, it is sometimes difficult to properly generate a path from the current location of the mobile body to the destination.

Method used

By identifying the position of objects around the moving body, an occupancy grid diagram is generated, and the path to which the moving body should advance is generated based on the drawing. The specific steps include generating a first contour representing the object profile, generating a second contour with fewer vertices by deleting some vertices, and then generating a path in an area not surrounded by the second contour in the possession grid map.

Benefits of technology

The path generation from the current location of the mobile body to the destination is achieved more accurate and appropriate, ensuring that the mobile body can move to the destination smoothly.

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Abstract

A control device, a control method, and a storage medium capable of appropriately generating a route from a current location of a moving body to a destination. A control device is provided with: a recognition unit that recognizes the position of an object present in the periphery of a moving body on the basis of an image obtained by capturing the situation of the periphery of the moving body; an occupied lattice map generation unit that generates an occupied lattice map including a plurality of lattices on the basis of the position of an object present in the periphery of the moving body; and a path generation unit that generates a path through which the moving body should advance on the basis of the contour of the object indicated in the occupied lattice map, the occupied lattice map generation unit determines whether or not an object is present for each of the plurality of lattices in the occupied lattice map on the basis of the position of the object present in the periphery of the moving body, and generates a path through which the moving body should advance. A first contour representing the contour of a first region including the lattice in which the object is determined to be present is generated, and a second contour including the first region and having a smaller number of vertices than the first contour is generated as the contour of the object.
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