Mobile body control device, mobile body control method, and storage medium

• Main Authors: MATSUMOTO TAKASHI, AIZAWA KOKI, NAKANISHI KOSUKE
• Format: Patent
• Language: Chinese; English
• Published: 09.06.2023
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The invention provides a mobile body control device, a mobile body control method, and a storage medium capable of more accurately recognizing a dividing line dividing a driving lane on which a vehicle travels. A moving body control device according to an embodiment includes: a partition line candidate recognition unit that recognizes, from an image including a periphery of a moving body captured by an imaging unit, candidates of partition lines that partition a lane on which the moving body travels; an imaginary line setting unit that sets at least one or more imaginary lines at a position outside a dividing line identified as a dividing line that divides the travel lane in the past when viewed from the moving body; and a division line search unit that searches for a division line that divides the current travel path of the moving body on the basis of the division line candidates recognized by the division line candidate recognition unit and the one or more virtual lines. 本发明提供能够更准确地识别将本车辆行驶的行驶道划分的划分线的移动体控制装