US-12617391-B2 - Mobile object control device, mobile object control method, and storage medium

US12617391B2US 12617391 B2US12617391 B2US 12617391B2US-12617391-B2

Abstract

Provided is a mobile object control device including: a storage medium having computer-readable instructions stored therein; and a processor connected to the storage medium, wherein the processor executes the computer-readable instructions to recognize an object which is located near a mobile object, set a risk which is an index value indicating a degree to which the mobile object should avoid entry on the basis of a position of the object, and generate a target trajectory for the mobile object to travel along so as to pass through a point at which the risk is low, and generating the target trajectory includes setting a plurality of first observation points at intervals in a traveling direction of the mobile object, setting one or more second observation points in each of a left direction and a right direction as seen from the mobile object for each of the plurality of first observation points, and searching for a point at which the risk is low on the basis of the risk at an observation point group including a first observation point and a second observation point corresponding to each other.

Inventors

Atsushi Kato
Kotaro Fujimura
Yuji Yasui

Assignees

HONDA MOTOR CO., LTD.

Dates

Publication Date: 20260505
Application Date: 20230908
Priority Date: 20220912

Claims (5)

1 . A mobile object control device comprising: a storage medium having computer-readable instructions stored therein; and a processor connected to the storage medium, wherein the processor executes the computer-readable instructions to: recognize an object which is located near a mobile object; set a risk which is an index value indicating a degree to which the mobile object should avoid entry on the basis of a position of the object; and generate a target trajectory for the mobile object to travel along so as to pass through a point at which the risk is low, wherein generating the target trajectory includes: setting a plurality of first observation points at intervals in a traveling direction of the mobile object; setting one or more second observation points in each of a left direction and a right direction as seen from the mobile object for each of the plurality of first observation points; and searching for a point at which the risk is low on the basis of the risk at an observation point group including a first observation point and a second observation point corresponding to each other, and wherein the processor executes the instructions to: calculate a difference in the risk between observation points adjacent to each other in the left and right directions as seen from the mobile object among first observation points and second observation points included in the observation point group; calculate a risk grade by calculating a weighted sum of the difference in the risk; and correct a passing point of the target trajectory in a direction in which the risk decreases on the basis of the risk grade.
2 . The mobile object control device according to claim 1 , wherein the processor calculates the risk grade by calculating a weighted sum in which symmetrical weights are applied to the difference in the risk.
3 . The mobile object control device according to claim 1 , wherein the processor generates the target trajectory by first setting a base path, setting the plurality of first observation points on the base path at intervals, and correcting the base path in a direction in which the risk decreases on the basis of the risk grade, in one control cycle.
4 . A mobile object control method executed using a mobile object control device, the method comprising: recognizing an object which is located near a mobile object; setting a risk which is an index value indicating a degree to which the mobile object should avoid entry on the basis of a position of the object; and generating a target trajectory for the mobile object to travel along so as to pass through a point at which the risk is low, wherein generating the target trajectory includes: setting a plurality of first observation points at intervals in a traveling direction of the mobile object; setting one or more second observation points in each of a left direction and a right direction as seen from the mobile object for each of the plurality of first observation points; and searching for a point at which the risk is low on the basis of the risk at an observation point group including a first observation point and a second observation point corresponding to each other, and wherein the method comprises: calculating a difference in the risk between observation points adjacent to each other in the left and right directions as seen from the mobile object among first observation points and second observation points included in the observation point group; calculating a risk grade by calculating a weighted sum of the difference in the risk; and correcting a passing point of the target trajectory in a direction in which the risk decreases on the basis of the risk grade.
5 . A computer-readable non-transitory storage medium having a program stored therein, the program causing a processor of a mobile object control device to execute: recognizing an object which is located near a mobile object; setting a risk which is an index value indicating a degree to which the mobile object should avoid entry on the basis of a position of the object; and generating a target trajectory for the mobile object to travel along so as to pass through a point at which the risk is low, wherein generating the target trajectory includes: setting a plurality of first observation points at intervals in a traveling direction of the mobile object; setting one or more second observation points in each of a left direction and a right direction as seen from the mobile object for each of the plurality of first observation points; and searching for a point at which the risk is low on the basis of the risk at an observation point group including a first observation point and a second observation point corresponding to each other, and wherein the program causes the processor to: calculate a difference in the risk between observation points adjacent to each other in the left and right directions as seen from the mobile object among first observation point and second observation points included in the observation point group; calculate a risk grade by calculating a weighted sum of the difference in the risk; and correct a passing point of the target trajectory in a direction in which the risk decreases on the basis of the risk grade.

Description

CROSS-REFERENCE TO RELATED APPLICATION Priority is claimed on Japanese Patent Application No. 2022-144380, filed Sep. 12, 2022, the content of which is incorporated herein by reference. FIELD OF THE INVENTION Background The present invention relates to a mobile object control device, a mobile object control method, and a storage medium. Description of Related Art There has been progress in research and practical applications of automatedly driving a mobile object, for example, a vehicle (hereinafter, automated driving). In automated driving, it is required to automatedly generate a target trajectory in accordance with the situation in the direction of travel. In connection with this, an invention of a vehicle control device is disclosed that includes a first setting unit that sets a first potential for a plurality of divided regions obtained by dividing a road region on the basis of the road region, a second setting unit that sets a second potential for the divided region on the basis of a nearby object detected by the detection unit, an evaluation unit that derives an index value obtained by evaluating potentials of a divided region to be focused on among the plurality of divided regions on the basis of the first potential and the second potential set in the focused divided region and foresight information generated for a nearby divided region selected from the periphery of the focused divided region, and a selection unit that selects one or more divided regions in the traveling direction of the vehicle from the plurality of divided regions on the basis of the index value derived by the evaluation unit (Japanese Unexamined Patent Application, First Publication No. 2019-34627). The target trajectory is generated, for example, by setting an index value (potential in Patent Literature 1, hereinafter referred to as risk) indicating the degree to which a mobile object should not enter a road surface and passing through a point at which the risk is low. Incidentally, since an exhaustive search for low-risk points increases the processing load, a search method using a sine wave is being examined FIG. 1 is a diagram illustrating an example of a search method. In this search method, a reference observation point pR (for example, set along the center of the road) is multiplied by a sine wave called a perturbation signal to set a movable observation point pM of which the position is shifted left and right, and a risk grade (a value indicating in which direction, left or right, the passing point should be shifted to reduce the risk) is obtained by obtaining a moving average of risks at a plurality of movable observation points pM. SUMMARY In the above search method, a flow of processing is assumed in which a risk on one movable observation point pM is extracted for each control cycle and calculation is repeatedly performed for each control cycle. However, in the current situation where the processing load on a control computer that controls automated driving is excessive, it is difficult to speed up the control cycle sufficiently, and thus it has sometimes been difficult to generate a target trajectory in time for the movement of a mobile object. The present invention was contrived in view of such circumstances, and one object thereof is to provide a mobile object control device, a mobile object control method, and a storage medium which make it possible to more rapidly generate a target trajectory based on a risk. The following configurations are adopted in a mobile object control device, a mobile object control method, and a storage medium according to this invention. (1) According to an aspect of this invention, there is provided a mobile object control device including: a storage medium having computer-readable instructions stored therein; and a processor connected to the storage medium, wherein the processor executes the computer-readable instructions to recognize an object which is located near a mobile object, set a risk which is an index value indicating a degree to which the mobile object should avoid entry on the basis of a position of the object, and generate a target trajectory for the mobile object to travel along so as to pass through a point at which the risk is low, and generating the target trajectory includes setting a plurality of first observation points at intervals in a traveling direction of the mobile object, setting one or more second observation points in each of a left direction and a right direction as seen from the mobile object for each of the plurality of first observation points, and searching for a point at which the risk is low on the basis of the risk at an observation point group including a first observation point and a second observation point corresponding to each other. (2) In the aspect of the above (1), the processor calculates a difference in the risk between observation points adjacent to each other in the left and right directions as seen from the mobile object among first