Information processing device, information processing method, and program

Abstract

To adequately generate a travel track of a movable body without depending upon recognition accuracy of a runway excessively on the basis of a picked-up image.SOLUTION: An information processing device for executing track generation of a movable body, comprises: a recognition part which recognizes a travel environment around the movable body; a risk calculation part which calculates a risk value which is set around a target located within the recognized travel environment; and a track generation part which generates the travel track which is a travel track of the movable body and where a plurality of track points are lined up. The track generation part is configured so as to execute repetitive processing. The information processing device is configured so as to set the preceding travel track generated in a processing timing prior to a current processing timing as a reference line and to generate the travel track of this time by offsetting each of the plurality of track points composing the reference line to a normal direction of the reference line on the basis of the risk value.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an information processing device, an information processing method, and a program. [Background technology]

[0002] Conventionally, there are known techniques for generating a travel trajectory of a route along which a moving object travels. For example, Patent Document 1 describes a technique for determining the travel trajectory and speed of a vehicle according to the width of the route along which the vehicle travels. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 116265 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in conventional technologies, generating a traveling trajectory of a moving object tends to depend on the recognition accuracy of the road in an image captured by an on-board camera. For example, in conventional technologies, a traveling trajectory may be generated by recognizing lane markings on both sides of the road based on the captured image and deriving the center line of the recognized lane markings. However, when a moving object travels around a curve or an S-shaped curve, the recognition accuracy of the lane markings on both sides may be insufficient, making it impossible to generate a traveling trajectory.

[0005] The present invention has been made in consideration of these circumstances, and one of its objectives is to provide an information processing device, an information processing method, and a program that can appropriately generate the traveling trajectory of a moving body without relying excessively on the accuracy of path recognition based on captured images. [Means for solving the problem]

[0006] The information processing device, the information processing method, and the program according to the present invention employ the following configuration. (1): An information processing device according to one embodiment of the present invention is an information processing device that generates a trajectory of a moving body, and includes a recognition unit that recognizes the driving environment around the moving body, a risk calculation unit that calculates a risk value to be set around a target located within the recognized driving environment, and a trajectory generation unit that generates a driving trajectory of the moving body, the driving trajectory being an arrangement of multiple trajectory points. The trajectory generation unit executes repetitive processing, and generates a current driving trajectory by using a previous driving trajectory generated at a processing timing prior to the current processing timing as a reference line, and offsetting each of the multiple trajectory points that make up the reference line in a normal direction to the reference line based on the risk value.

[0007] (2): In the above aspect (1), the trajectory generation unit generates the current driving trajectory by offsetting each of the plurality of trajectory points constituting the reference line in a direction normal to the reference line that reduces the risk value.

[0008] (3) In the above aspect (1), the target includes a boundary line of an area in which the moving body can travel, or an object that may come into contact with the moving body.

[0009] (4) In the aspect (1) above, the trajectory generating unit generates the traveling trajectory when the moving body is traveling at a predetermined speed or less.

[0010] (5): In the above aspect (3), the trajectory generation unit generates the running trajectory when the recognition unit recognizes a width on the running path of the moving body that is less than a predetermined width.

[0011] (6) In the above aspects (1) to (5), the information processing device further includes a travel control unit that causes the moving object to travel along the generated travel trajectory.

[0012] (7): Another aspect of the information processing method of the present invention is a method in which a computer recognizes the driving environment around a moving body to generate a trajectory of the moving body, calculates a risk value to be set around a target located within the recognized driving environment, generates a driving trajectory of the moving body that is a driving trajectory consisting of a plurality of trajectory points, and performs repeated processing.The previous driving trajectory generated at a processing timing prior to the current processing timing is used as a reference line, and the current driving trajectory is generated by offsetting each of the plurality of trajectory points that make up the reference line in the normal direction of the reference line based on the risk value.

[0013] (8): Another aspect of the present invention provides a program that causes a computer to recognize the driving environment around a moving body in order to generate a trajectory of the moving body, calculate a risk value to be set around a target located within the recognized driving environment, generate a driving trajectory of the moving body that is a driving trajectory consisting of a series of trajectory points, and execute a repetitive process.The program uses the previous driving trajectory generated at a processing timing prior to the current processing timing as a reference line, and generates the current driving trajectory by offsetting each of the multiple trajectory points that make up the reference line in the normal direction of the reference line based on the risk value. [Effects of the Invention]

[0014] According to aspects (1) to (8), it is possible to appropriately generate the travel trajectory of the moving object without excessively relying on the accuracy of recognition of the travel path based on the captured image. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a configuration diagram of a vehicle system using a vehicle control device according to an embodiment. [Figure 2] FIG. 2 is a functional configuration diagram of a first control unit and a second control unit. [Figure 3] 10 is a diagram for explaining a method in which the first target trajectory generating unit 142 generates a target trajectory. FIG. [Figure 4]10 is a diagram for explaining a method in which the second target trajectory generating unit 148 generates a target trajectory. FIG. [Figure 5] FIG. 10 is another diagram for explaining a method in which the second target trajectory generating unit 148 generates a target trajectory. [Figure 6] 4 is a flowchart illustrating an example of a flow of processing executed by the vehicle control device according to the embodiment. [Figure 7] 10 is a flowchart showing an example of the flow of processing executed by a risk calculation unit 146 and a second target trajectory generation unit 148. [Figure 8] FIG. 10 is a diagram showing the results of a simulation of target trajectory generation according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, an information processing device, an information processing method, and a program according to the present invention will be described with reference to the drawings. In the following description, a vehicle is used as a typical example of a moving object, but the present invention is not limited to a vehicle and can be applied to any moving object that moves autonomously, such as micromobility and robots (including those with wheels and those that walk on multiple legs).

[0017] [Overall configuration] 1 is a configuration diagram of a vehicle system using a vehicle control device according to an embodiment. The vehicle on which the vehicle system 1 is mounted may be, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source may be an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination of these. The electric motor operates using power generated by a generator connected to the internal combustion engine, or discharged power from a secondary battery or a fuel cell.

[0018] The vehicle system 1 includes, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, vehicle sensors 40, a navigation device 50, an MPU (Map Positioning Unit) 60, a driving operator 80, an automatic driving control device 100, a driving force output device 200, a braking device 210, and a steering device 220. These devices and equipment are connected to each other via multiplexed communication lines such as a CAN (Controller Area Network) communication line, serial communication lines, a wireless communication network, etc. Note that the configuration shown in FIG. 1 is merely an example, and some of the configuration may be omitted, or other configurations may be added.

[0019] The camera 10 is, for example, a digital camera using a solid-state imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to any location of a vehicle (hereinafter referred to as the host vehicle M) in which the vehicle system 1 is installed. When capturing an image of the front, the camera 10 is attached to the top of the front windshield, the back of the rearview mirror, or the like. The camera 10, for example, periodically and repeatedly captures images of the surroundings of the host vehicle M. The camera 10 may be a stereo camera.

[0020] The radar device 12 emits radio waves such as millimeter waves around the vehicle M and detects radio waves reflected by an object (reflected waves) to detect at least the position (distance and direction) of the object. The radar device 12 is attached to any location on the vehicle M. The radar device 12 may detect the position and speed of an object using an FM-CW (Frequency Modulated Continuous Wave) method.

[0021] The LIDAR 14 irradiates light around the vehicle M and measures the scattered light. The LIDAR 14 detects the distance to the target based on the time between emitting and receiving the light. The irradiated light is, for example, a pulsed laser beam. The LIDAR 14 is attached to any location on the vehicle M.

[0022] The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the camera 10, the radar device 12, and the LIDAR 14 to recognize the position, type, speed, etc. of the object. The object recognition device 16 outputs the recognition results to the automatic driving control device 100. The object recognition device 16 may output the detection results from the camera 10, the radar device 12, and the LIDAR 14 directly to the automatic driving control device 100. The object recognition device 16 may be omitted from the vehicle system 1.

[0023] The communication device 20 communicates with other vehicles in the vicinity of the vehicle M, for example, using a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), etc., or communicates with various server devices via a wireless base station.

[0024] The HMI 30 presents various information to the occupants of the vehicle M and accepts input operations by the occupants. The HMI 30 includes various display devices, a speaker, a buzzer, a touch panel, switches, keys, and the like.

[0025] The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity around a vertical axis, a direction sensor that detects the direction of the host vehicle M, and the like.

[0026] The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The navigation device 50 stores first map information 54 in a storage device such as a hard disk drive (HDD) or flash memory. The GNSS receiver 51 identifies the position of the vehicle M based on signals received from GNSS satellites. The position of the vehicle M may be identified or supplemented by an inertial navigation system (INS) that uses the output of the vehicle sensors 40. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, etc. The navigation HMI 52 may share some or all of the components with the HMI 30 described above. The route determination unit 53 determines, for example, a route (hereinafter, a map route) from the position of the vehicle M identified by the GNSS receiver 51 (or any input position) to a destination input by the occupant using the navigation HMI 52, with reference to the first map information 54. The first map information 54 is information that represents road shapes using, for example, links indicating roads and nodes connected by the links. The first map information 54 may also include information such as road curvature and POI (Point of Interest) information. The route on the map is output to the MPU 60. The navigation device 50 may provide route guidance using the navigation HMI 52 based on the route on the map. The navigation device 50 may be realized, for example, by the functions of a terminal device such as a smartphone or tablet device owned by the occupant. The navigation device 50 may transmit the current position and destination to a navigation server via the communication device 20 and obtain a route equivalent to the route on the map from the navigation server.

[0027] The MPU 60 includes, for example, a recommended lane determination unit 61, and stores second map information 62 in a storage device such as an HDD or flash memory. The recommended lane determination unit 61 divides the route on the map provided by the navigation device 50 into a plurality of blocks (for example, by dividing it into 100 m intervals in the vehicle travel direction), and determines a recommended lane for each block by referring to the second map information 62. The recommended lane determination unit 61 determines, for example, which lane from the left the vehicle should travel in. When there is a branch point on the route on the map, the recommended lane determination unit 61 determines a recommended lane so that the vehicle M can travel on a reasonable route to the branch point.

[0028] The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, information on the center of lanes or information on lane boundaries. The second map information 62 may also include road information, traffic regulation information, address information (address and postal code), facility information, telephone number information, etc. The second map information 62 may be updated as needed by the communication device 20 communicating with other devices.

[0029] The driving operators 80 include, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a special steering wheel, a joystick, and other operators. The driving operators 80 are equipped with sensors that detect the amount of operation or the presence or absence of operation, and the detection results are output to the automatic driving control device 100 or some or all of the driving force output device 200, the braking device 210, and the steering device 220.

[0030] The automatic driving control device 100 is an example of a vehicle control device. The automatic driving control device 100 includes, for example, a first control unit 120 and a second control unit 160. The first control unit 120 and the second control unit 160 are each realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transitory storage medium) such as a HDD or flash memory of the automatic driving control device 100, or may be stored in a removable storage medium such as a DVD or CD-ROM, and installed in the HDD or flash memory of the automatic driving control device 100 by inserting the storage medium (non-transitory storage medium) into a drive device.

[0031] FIG. 2 is a functional configuration diagram of the first control unit and the second control unit. The first control unit 120 includes, for example, a recognition unit 130 and an action plan generation unit 140. The first control unit 120, for example, implements functions based on AI (Artificial Intelligence) and functions based on a pre-given model in parallel. For example, the function of "recognizing intersections" may be implemented by executing intersection recognition using deep learning or the like and recognition based on pre-given conditions (such as traffic lights and road markings that can be pattern-matched) in parallel, and then scoring and comprehensively evaluating both. This ensures the reliability of autonomous driving.

[0032] The recognition unit 130 recognizes the position, speed, acceleration, and other conditions of targets around the vehicle M based on information input from the camera 10, the radar device 12, and the LIDAR 14 via the object recognition device 16. Targets include both stationary and moving objects. The position of the target is recognized as a position on an absolute coordinate system with a representative point of the vehicle M (such as the center of gravity or the center of the drive shaft) as the origin, and is used for control. The position of an object may be represented by a representative point such as the center of gravity or a corner of the object, or by a represented area.

[0033] In this embodiment, the recognition unit 130 recognizes the boundaries of the area in which the vehicle M can travel (e.g., road dividing lines, road shoulders, curbs, medians, guardrails, etc.) and objects that the vehicle M may come into contact with (e.g., pedestrians, other vehicles, etc.) based at least on an image showing the surrounding conditions of the vehicle M captured by the camera 10. The recognition unit 130 recognizes the left and right road dividing lines as, for example, a plurality of point cloud data, and recognizes the road width by calculating the distance between the point clouds that make up the left and right road dividing lines.

[0034] The behavior plan generation unit 140 includes, for example, a first target trajectory generation unit 142, a switching determination unit 144, a risk calculation unit 146, and a second target trajectory generation unit 148. Some or all of the first target trajectory generation unit 142, the switching determination unit 144, the risk calculation unit 146, and the second target trajectory generation unit 148 may be included in the recognition unit 130. The second target trajectory generation unit 148 is an example of a "trajectory generation unit." The switching determination unit 144, the risk calculation unit 146, and the second target trajectory generation unit 148 are combined to form an example of an "information processing device." Furthermore, the "information processing device" may include the second control unit 160, in which case the "information processing device" becomes a "vehicle control device."

[0035] The behavior plan generation unit 140 generates a target trajectory along which the host vehicle M will automatically travel in the future (without relying on the driver's operation) so that the host vehicle M will travel in the recommended lane determined by the recommended lane determination unit 61 in principle and can also respond to the surrounding conditions of the host vehicle M. The behavior plan generation unit 140 generates a target trajectory using the first target trajectory generation unit 142 or the second target trajectory generation unit 148 depending on the state of the host vehicle M and the surrounding conditions recognized by the recognition unit 130. This will be described in detail later.

[0036] The target trajectory is expressed, for example, as a sequence of points (trajectory points) that the vehicle M's representative points (e.g., the center of the front end, the center of gravity, the center of the rear axle, etc.) should reach along the longitudinal direction of the road, arranged in order at predetermined distances (e.g., every few meters). The target trajectory is assigned a target speed and a target acceleration for each predetermined sampling time (e.g., about a few tenths of a second). The trajectory points may be positions that the vehicle M should reach at each predetermined sampling time. In this case, the information on the target speed and target acceleration is expressed as the intervals between the trajectory points.

[0037] The second control unit 160 controls the traveling driving force output device 200, the braking device 210, and the steering device 220 so that the host vehicle M passes through the target trajectory generated by the action plan generation unit 140 at the scheduled time.

[0038] The second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166. The acquisition unit 162 acquires information on the target trajectory (trajectory points) generated by the action plan generation unit 140 and stores it in a memory (not shown). The speed control unit 164 controls the driving force output device 200 or the brake device 210 based on a speed element associated with the target trajectory stored in the memory. The steering control unit 166 controls the steering device 220 according to the curvature of the target trajectory stored in the memory. The processing of the speed control unit 164 and the steering control unit 166 is realized by, for example, a combination of feedforward control and feedback control. As an example, the steering control unit 166 executes a combination of feedforward control according to the curvature of the road ahead of the host vehicle M and feedback control based on the deviation from the target trajectory.

[0039] The driving force output device 200 outputs a driving force (torque) for the vehicle to travel to the drive wheels. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, etc., and an ECU (Electronic Control Unit) that controls these. The ECU controls the above components according to information input from the second control unit 160 or information input from the driving operator 80.

[0040] Braking device 210 may include, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from second control unit 160 or information input from driving operation device 80, so that a brake torque corresponding to the braking operation is output to each wheel. Braking device 210 may include a backup mechanism that transmits hydraulic pressure generated by operation of a brake pedal included in driving operation device 80 to the cylinder via a master cylinder. Braking device 210 may also be an electronically controlled hydraulic brake device that controls an actuator according to information input from second control unit 160 to transmit hydraulic pressure from the master cylinder to the cylinder.

[0041] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor applies a force to a rack and pinion mechanism to change the direction of the steered wheels. The steering ECU drives the electric motor in accordance with information input from the second control unit 160 or information input from the driving operator 80 to change the direction of the steered wheels.

[0042] [Generation of target trajectory] The method for generating the target trajectory will be described in more detail below.

[0043] The first target trajectory generating unit 142 generates a target trajectory of the host vehicle M when the vehicle speed of the host vehicle M detected by the vehicle sensor 40 is equal to or greater than a predetermined speed and the width of the road on which the host vehicle M is traveling, recognized by the recognition unit 130, is equal to or greater than a predetermined width. These conditions are examples, and the first target trajectory generating unit 142 may generate a target trajectory of the host vehicle M when either one of these conditions is met. Furthermore, for example, the first target trajectory generating unit 142 may generate a target trajectory of the host vehicle M when the recognition unit 130 has not recognized a specific type of road (such as a crank or S-curve) in the traveling direction of the host vehicle M.

[0044] Fig. 3 is a diagram illustrating a method by which the first target trajectory generating unit 142 generates a target trajectory. In Fig. 3, the symbols LL and RL respectively indicate the left and right road-dividing lines recognized by the recognition unit 130, the symbols LLP and RLP respectively indicate the point clouds constituting the left and right road-dividing lines LL and RL, and the symbols P and B respectively indicate a pedestrian and a motorcycle present in the driving lane L1 of the host vehicle M. As shown in Fig. 3, the point cloud LLP constituting the left road-dividing line LL and the point cloud RLP constituting the right road-dividing line RL are positioned at a predetermined distance from the start point LLP(1) of the left road-dividing line LL and the start point RLP(1) of the right road-dividing line RL, respectively.

[0045] The first target trajectory generating unit 142 first associates (pairs) each point LLP(k) constituting the point cloud RLP of the left-side road-dividing line LL with each point RLP(k) constituting the point cloud RLP of the right-side road-dividing line RL based on the order from the starting point, and calculates their center point CLP(k).The first target trajectory generating unit 142 connects the calculated center points CLP(k) to obtain a center line CL (reference line) that serves as a reference for generating the target trajectory.

[0046] Next, the first target trajectory generating unit 142 derives an index value (risk value) for each point CLP(k) constituting the reference line CL, the value becoming more negative the closer the point is to the target recognized by the recognition unit 130. In FIG. 3, darker shaded areas represent larger risk values, and lighter shaded areas represent smaller risk values. In this embodiment, a positive value is considered to be "negative," and a value closer to zero is considered to be "positive," but this relationship may be reversed. For example, in the case of FIG. 3, a point CLP(4) that is close to a motorcycle, one of the targets recognized by the recognition unit 130, will have a higher calculated risk value than the other points CLP(k).

[0047] The first target trajectory generating unit 142 calculates a risk value for each point CLP(k) constituting the reference line CL, and if the sum of the calculated risk values ​​(or the maximum value of the calculated risk values) is equal to or greater than a threshold, corrects the reference line CL so that the sum of the risk values ​​is less than the threshold. More specifically, the first target trajectory generating unit 142 corrects the reference line CL by offsetting the points CLP(k) constituting the reference line CL in the normal direction of the reference line CL, and then calculates the risk value again. The first target trajectory generating unit 142 sets the corrected reference line CL obtained when the sum of the calculated risk values ​​becomes less than the threshold as the target trajectory TJ1.

[0048] In order to search for an offset amount that makes the sum of the calculated risk values ​​less than the threshold, the first target trajectory generating unit 142 may use simultaneous perturbation stochastic approximation (SPSA), which is a type of stochastic gradient method using random variables. Unlike the situation in FIG. 3, the reference line CL obtained by connecting the points CLP(k) may be a polygonal line. In this case, the normal direction is not uniquely determined. Therefore, the first target trajectory generating unit 142 may fit a curve to the polygonal line using, for example, the least squares method, and offset the point CLP(k) based on the normal direction of the fitted curve. Alternatively, for example, the normal direction may be defined as half the angle formed by the line segments that make up the polygonal line.

[0049] In this way, the first target trajectory generation unit 142 pairs each point LLP(k) and RLP(k) of the point cloud of the left road dividing line LL and the right road dividing line RL recognized by the recognition unit 130, calculates the center point CLP(k), connects the calculated center point CLP(k) to obtain the reference line CL, and corrects the reference line CL based on the risk value around the vehicle M, thereby obtaining the target trajectory TJ1.

[0050] However, generating a target trajectory using such a method requires pairing each point of the left road dividing line LL and the right road dividing line RL in advance, and requires high accuracy in recognizing the road based on the image captured by the camera 10. However, for example, in road areas where the road structure changes suddenly, such as with cranks or S-shaped curves (in other words, low-speed driving areas), or in road areas with narrow widths, the recognition accuracy required to execute the above-mentioned method cannot be obtained, and as a result, the target trajectory may not be obtained.

[0051] With this as a background, the switching determination unit 144 determines, based on the output of the vehicle sensor 40, whether the vehicle speed of the host vehicle M is equal to or less than a predetermined speed while the host vehicle M is traveling, or whether a width of equal to or less than a predetermined width has been recognized on the road for the host vehicle M based on the width recognized by the recognition unit 130. When the switching determination unit 144 determines that the vehicle speed of the host vehicle M is equal to or less than a predetermined speed while the host vehicle M is traveling, or that a width of equal to or less than a predetermined width has been recognized on the road for the host vehicle M based on the width recognized by the recognition unit 130, the switching determination unit 144 causes the second target trajectory generation unit 148 to generate a target trajectory instead of the first target trajectory generation unit 142.

[0052] Fig. 4 is a diagram for explaining a method for generating a target trajectory by the second target trajectory generating unit 148. In Fig. 4, symbol TJ2 indicates a target trajectory generated by the second target trajectory generating unit 148, symbol TJ2P indicates trajectory points constituting the target trajectory TJ2, and symbol RR indicates a recognition range of the traveling environment of the host vehicle M recognized by the recognition unit 130 based on at least an image captured by the camera 10. The target trajectory TJ2(t-1) in Fig. 4 represents a target trajectory generated one cycle before the target trajectory TJ2(t) to be generated this time.

[0053] First, when generating the current target trajectory TJ2(t), the second target trajectory generating unit 148 sets the target trajectory TJ2(t-1) generated in the previous cycle as a reference line. If this is the first time that the second target trajectory generating unit 148 generates a target trajectory, the target trajectory TJ1(t-1) generated by the first target trajectory generating unit 142 may be used as the previous target trajectory TJ2(t-1), or the target trajectory may be generated using the same method as the first target trajectory generating unit 142 only for the first timing.

[0054] The risk calculation unit 146 calculates a risk value for a target that is set in the normal direction of each trajectory point TJ2P(t-1) on the reference line set by the second target trajectory generation unit 148 and that is present in the recognition range RR. The method for calculating the risk value is the same as the method used by the first target trajectory generation unit 142 described using FIG. 3, and the closer the target is to the recognized target, the larger the calculated value (the more negative the value). The second target trajectory generation unit 148 generates the current target trajectory TJ2(t) by offsetting each trajectory point TJ2P(t-1) in a direction that reduces the risk value, based on the risk value calculated by the risk calculation unit 146.

[0055] The second target trajectory generating unit 148 sets the generated current target trajectory TJ2(t) as the next reference line, and similarly generates the next target trajectory TJ2(t+1). The second target trajectory generating unit 148 repeatedly executes the above-described target trajectory generation process until the switching determination unit 144 determines that the vehicle speed of the host vehicle M is equal to or greater than a predetermined speed and that the width of the road is equal to or greater than a predetermined width. When the switching determination unit 144 determines that the vehicle speed of the host vehicle M is equal to or greater than a predetermined speed and that the width of the road is equal to or greater than a predetermined width, it causes the first target trajectory generating unit 142 to execute the target trajectory generation process.

[0056] FIG. 5 is another diagram illustrating a method by which the second target trajectory generating unit 148 generates a target trajectory. In FIG. 5, the current target trajectory TJ2(t) is obtained by offsetting each point TJ2P(t-1) on the reference line TJ2(t-1) in the normal direction so as to reduce the risk value. As can be seen from FIG. 5, the reference point TJ2P(t-1) is closer to the left road dividing line LL than to the right road dividing line RL. Therefore, the risk calculation unit 146 calculates a larger risk value for the left side than for the right side in the normal direction of the reference point TJ2P(t-1), and the second target trajectory generating unit 148 offsets the reference point TJ2P(t-1) to the right to obtain the current trajectory point TJ2P(t). Note that in FIG. 5, a dotted line TL represents a curve for defining the turning angle of the host vehicle M. The curve TL is defined as an arc along several trajectory points on the host vehicle M side among the points TJ2P(t) on the target trajectory TJ2P(t). The second control unit 160 causes the host vehicle M to turn along the curve TL.

[0057] As described above, unlike the first target trajectory generating unit 142, the second target trajectory generating unit 148 generates the current target trajectory TJ2(t) using the previous target trajectory TJ2(t-1) as a reference line, without pairing each point LLP(k) of the left-side road-dividing line LL with each point RLP(k) of the right-side road-dividing line RL. In other words, the second target trajectory generating unit 148 can generate the current target trajectory TJ2(t) even on a road that is difficult to recognize with equal accuracy, such as a crank or S-curve. This makes it possible to appropriately generate the traveling trajectory of the moving object without excessively relying on the accuracy of road recognition based on captured images.

[0058] Note that, in the above description, the second target trajectory generating unit 148 offsets the reference line TJ2(t-1) once, but the present invention is not limited to such a configuration. For example, the second target trajectory generating unit 148 may calculate a risk value for each trajectory point on the current target trajectory TJ2(t) obtained by offsetting the reference line TJ2(t-1), and if the sum of the calculated risk values ​​(or the maximum value of the calculated risk values) is equal to or greater than a threshold, may again offset the current target trajectory TJ2(t) until it becomes less than the threshold.

[0059] 6 is a flowchart illustrating an example of a flow of processing executed by the vehicle control device according to the embodiment. The processing of the flowchart shown in FIG. 6 is repeatedly executed in a predetermined cycle while the host vehicle M is traveling.

[0060] First, the switching determination unit 144 determines whether the vehicle speed of the host vehicle M is equal to or less than a predetermined speed, or whether a road width equal to or less than a predetermined width has been recognized in the traveling direction (step S100). If it is determined that the vehicle speed of the host vehicle M is equal to or less than the predetermined speed, or a road width equal to or less than the predetermined width has not been recognized in the traveling direction, the first target trajectory generation unit 142 generates a target trajectory (step S102).

[0061] On the other hand, if it is determined that the vehicle speed of the host vehicle M is equal to or less than the predetermined speed, or that a width equal to or less than the predetermined width in the traveling direction has been recognized, the second target trajectory generating unit 148 generates a target trajectory (step S104). Next, the second control unit 160 causes the host vehicle M to travel along the generated target trajectory (step S106). This ends the processing of this flowchart.

[0062] 7 is a flowchart showing an example of the flow of processing executed by the risk calculation unit 146 and the second target trajectory generation unit 148. The processing of the flowchart shown in FIG. 7 is executed in step S104 of the flowchart in FIG.

[0063] First, the second target trajectory generating unit 148 acquires the travel trajectory generated in the previous cycle and sets it as a reference line (step S200). Next, the risk calculating unit 146 calculates a risk value in the normal direction of the reference line for each trajectory point that constitutes the set reference line (step S202).

[0064] Next, the second target trajectory generating unit 148 offsets each trajectory point in the normal direction of the reference line so that the calculated risk value becomes smaller (step S204). The second target trajectory generating unit 148 sets the offset reference line as the current traveling trajectory (step S206). This ends the processing of this flowchart.

[0065] The inventors of the present application conducted a simulation of the operation of the present invention. Fig. 8 is a diagram showing the results of a simulation of target trajectory generation according to the embodiment. Fig. 8 shows a state in which a moving body M1 equipped with the functions of the second target trajectory generation unit 148 travels around an S-shaped curve. As shown in the figure, it was found that the moving body M1 equipped with the functions of the second target trajectory generation unit 148 can travel smoothly even around an S-shaped curve, where it is difficult to pair the points of the left and right road dividing lines when generating a target trajectory using the first target trajectory generation unit 142.

[0066] According to the present embodiment described above, the previous travel trajectory generated at a processing timing prior to the current processing timing is used as a reference line, and the current travel trajectory is generated by offsetting each of the multiple trajectory points constituting the reference line in the normal direction of the reference line based on risk values ​​set around targets located in the recognized travel environment. This makes it possible to appropriately generate the travel trajectory of a moving object without excessively relying on the accuracy of recognition of the travel path based on captured images.

[0067] The above-described embodiment can be expressed as follows. a storage medium for storing computer-readable instructions; a processor connected to the storage medium; The processor executes the computer-readable instructions to: To generate the trajectory of a moving object, Recognizing the traveling environment around the moving object; calculating a risk value set around a target located within the recognized traveling environment; generating a running trajectory of the moving object, the running trajectory being an arrangement of a plurality of trajectory points; a process for repeatedly executing a running trajectory, in which a previous running trajectory generated at a processing timing prior to the current running trajectory is used as a reference line, and a current running trajectory is generated by offsetting each of the plurality of trajectory points constituting the reference line in a normal direction of the reference line based on the risk value; The information processing device is configured as follows.

[0068] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0069] 10 Camera 100 Automatic driving control device 120 First Control Section 130 Recognition part 140 Action Plan Generation Unit 142 1st target trajectory generation section 144 Switching determination unit 146 Risk Calculation Department 148 Second target trajectory generation section 160 Second Control Section

Claims

1. An information processing device that generates a trajectory of a moving object, a recognition unit that recognizes a traveling environment around the moving object; a risk calculation unit that calculates a risk value set around a target located within the recognized traveling environment; a trajectory generating unit that generates a running trajectory of the moving body, the running trajectory being an arrangement of a plurality of trajectory points; the trajectory generation unit executes repeated processing, and generates a current traveling trajectory by using a previous traveling trajectory generated at a processing timing prior to a current processing timing as a reference line, and offsetting each of the plurality of trajectory points constituting the reference line in a normal direction of the reference line based on the risk value. Information processing device.

2. the trajectory generation unit generates the current traveling trajectory by offsetting each of the plurality of trajectory points constituting the reference line in a direction normal to the reference line that reduces the risk value. The information processing device according to claim 1 .

3. The target includes a boundary line of an area in which the moving body can travel or an object that may come into contact with the moving body. The information processing device according to claim 1 .

4. the trajectory generation unit generates the traveling trajectory when the moving object is traveling at a predetermined speed or less. The information processing device according to claim 1 .

5. the trajectory generation unit generates the travel trajectory when the recognition unit recognizes a width equal to or less than a predetermined width on a travel path of the moving object. The information processing device according to claim 1 .

6. Further, a travel control unit is provided to cause the moving object to travel along the generated travel trajectory. The information processing device according to claim 1 .

7. The computer To generate the trajectory of a moving object, Recognizing the traveling environment around the moving object; calculating a risk value set around a target located within the recognized traveling environment; generating a running trajectory of the moving object, the running trajectory being an arrangement of a plurality of trajectory points; a process for repeatedly executing a running trajectory, in which a previous running trajectory generated at a processing timing prior to the current running trajectory is used as a reference line, and a current running trajectory is generated by offsetting each of the plurality of trajectory points constituting the reference line in a normal direction of the reference line based on the risk value; Information processing methods.

8. On the computer, To generate the trajectory of a moving object, Recognizing the traveling environment around the moving body; calculating a risk value set around a target located within the recognized traveling environment; generating a running trajectory of the moving body, the running trajectory being an arrangement of a plurality of trajectory points; a process for repeatedly executing a running trajectory, in which a previous running trajectory generated at a processing timing prior to the current processing timing is used as a reference line, and a current running trajectory is generated by offsetting each of the plurality of trajectory points constituting the reference line in a normal direction of the reference line based on the risk value; program.

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