Mobile body, method for controlling a mobile body, program, recording medium, and mobile body control system

Abstract

To provide a moving body that can more effectively reduce the effect of noise when generating a grid map showing the location of an object based on 3D point group data.SOLUTION: A moving body has acquisition means for acquiring 3D point cloud data of the surroundings of the moving body, and generation means for generating a grid map based on the 3D point cloud data, where the generation means maps a grid on a horizontal plane parallel to a road surface on which the moving body travels to point clouds of the 3D point cloud data to generate a grid map in which each grid indicates whether or not a three-dimensional object having a height or step equal to or greater than a predetermined level exists. The generating means determines, for each grid of the grid map, whether or not a three-dimensional object exists based on the point density when the point cloud corresponding to each grid in the 3D point cloud data is projected onto the horizontal plane.SELECTED DRAWING: Figure 1

Claims

1. It is a mobile object, An acquisition means for acquiring three-dimensional point cloud data around the moving object, A generation means for generating a grid map based on the three-dimensional point cloud data, comprising: a generation means for associating the point cloud of the three-dimensional point cloud data with a grid on a horizontal plane parallel to the road surface on which the moving body travels, and generating a grid map that indicates whether or not there is a solid having a height or step of a predetermined level or higher at each grid point, The generating means determines whether the solid exists in the grid based on the result of counting the presence or absence of point clouds with a point density exceeding a predetermined threshold when the point clouds corresponding to each grid of the three-dimensional point cloud data are projected onto a horizontal plane for each grid of the grid map, and the first direction includes the depth direction from the moving body or a direction perpendicular to the depth direction.

2. The generating means determines that the solid exists in the grid when, after projecting the point clouds corresponding to each grid onto a horizontal plane, the difference between the maximum value obtained by counting the presence or absence of point clouds with a point density exceeding a predetermined threshold in the first direction and the minimum value obtained by counting the presence or absence of point clouds with a point density exceeding a predetermined threshold at another position in a second direction perpendicular to the first direction in the first direction is greater than the threshold, thus determining that the solid exists in the grid.

3. The generating means determines that the solid exists in the grid when the point cloud corresponding to each grid is projected onto a horizontal plane, and the difference between the sum of the upper counts of a predetermined number counted in the first direction at different positions in a second direction perpendicular to the first direction, and the sum of the lower counts of a predetermined number counted in the first direction at different positions in the second direction, is greater than the threshold.

4. The generating means, in addition to determining whether the solid exists in the grid based on the results of counting in a predetermined first direction in the horizontal plane, determines that the solid exists in the grid when the distribution of the point clouds corresponding to each grid is projected onto the horizontal plane, and the difference between the distribution of the point clouds in a specific direction where the distribution of the point clouds is greatest and the distribution of the point clouds in a direction perpendicular to the specific direction is greater than a threshold, characterized in that the generating means determines whether the solid exists in the grid.

5. The generating means, in addition to determining whether the solid exists in the grid based on the results of counting in a predetermined first direction in the horizontal plane, calculates a plurality of eigenvalues ​​by principal component analysis of the position of the point cloud when the point cloud corresponding to each grid is projected onto the horizontal plane, and determines whether the solid exists in the grid based on the relative magnitudes of the calculated plurality of eigenvalues.

6. The mobile body according to claim 5, characterized in that the generation means determines that the solid exists in the grid when at least one of the calculated plurality of eigenvalues ​​is below a predetermined threshold.

7. The generating means calculates the dispersion in the height direction perpendicular to the horizontal plane for each point cloud corresponding to the grid, and determines whether the solid exists based on whether the calculated dispersion is greater than a predetermined dispersion threshold, as described in claim 1.

8. The generating means is characterized in that it pre-deletes points from the three-dimensional point cloud data that are at a predetermined height from the reference height, using the height of the moving body as the reference height.

9. The generating means is characterized in that it adds a height corresponding to a predetermined gradient on which the moving body can travel and the distance between each grid and the moving body to the reference height, and removes point clouds that are above the reference height after the addition.

10. The mobile body according to claim 1, characterized in that the acquisition means acquires the three-dimensional point cloud data using an image captured by the imaging device of the mobile body.

11. The moving body according to claim 1, characterized in that the generation means associates the point cloud of the three-dimensional point cloud data with a grid on the horizontal plane and performs a predetermined process to determine whether the solid exists for a grid where the solid is determined to exist, and further determines whether the solid exists based on the point density when the point cloud corresponding to each grid in the three-dimensional point cloud data is projected onto the horizontal plane.

12. The mobile body according to claim 1, further comprising a path generation means for generating a path which is a travel trajectory for avoiding obstacles using the grid map.

13. The mobile body according to claim 1, characterized in that the mobile body is a micromobility capable of carrying a person.

14. A method for controlling a moving object, The acquisition step involves acquiring three-dimensional point cloud data around the moving object, A generation step for generating a grid map based on the three-dimensional point cloud data, comprising: associating the point cloud of the three-dimensional point cloud data with a grid on a horizontal plane parallel to the road surface on which the moving object travels, and generating a grid map that indicates whether or not there is a solid having a height or step of a predetermined level or higher at each grid point, A method for controlling a moving body, characterized in that, in the generation step, for each grid of the grid map, when the point cloud corresponding to each grid of the three-dimensional point cloud data is projected onto a horizontal plane, the presence or absence of a point cloud with a point density exceeding a predetermined threshold is counted in a predetermined first direction within the horizontal plane, and the presence or absence of the three-dimensional object in the grid is determined according to the result, the first direction includes the depth direction from the moving body or a direction perpendicular to the depth direction.

15. A program for causing a computer to function as one of the means of a mobile body according to any one of claims 1 to 13.

16. A recording medium for storing a program for causing a computer to function as one of the means of a mobile body according to any one of claims 1 to 13.

17. A mobile body control system comprising each of the means for a mobile body according to any one of claims 1 to 13.

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