Moving object, control method of moving object, non-transitory computer-readable storage medium, and moving object control system

A control method of a moving object, the control method comprising:

• an acquisition step of acquiring three-dimensional point cloud data in surroundings of the moving object;
• and
• a generation step of generating a grid map based on the three-dimensional point cloud data, the generation step including mapping point clouds of the three-dimensional point cloud data to a grid on a horizontal plane parallel to a road surface on which the moving object travels and generating the grid map in which each grid indicates whether a three-dimensional object having a predetermined height or a step exists;
• and
• a controlling step of controlling traveling of the moving object based on the generated grid map, wherein
• the generation step includes determining, for each grid of the grid map, whether the three-dimensional object exists based on a point density when a point cloud corresponding to each grid of the three-dimensional point cloud data is projected on the horizontal plane,
• wherein the generation step includes determining whether the three-dimensional object exists on the grid according to a result of counting presence or absence of point clouds having a point density exceeding a predetermined threshold in a first direction in the horizontal plane when the point cloud corresponding to each grid is projected on the horizontal plane, and
• wherein the generation step includes to determining that the three-dimensional object exists on the grid if a difference between a maximum value obtained by counting presence or absence of point clouds having a point density exceeding the predetermined threshold in the first direction and a minimum value obtained by counting presence or absence of point clouds having a point density exceeding the predetermined threshold in the first direction at other positions in a second direction orthogonal to the first direction is greater than a threshold when the point cloud corresponding to each grid is projected on the horizontal plane.

A non-transitory computer-readable storage medium storing instructions causing the moving object to:

• acquire three-dimensional point cloud data in surroundings of the moving object;
• generate a grid map based on the three-dimensional point cloud data, wherein causing the moving object to generate the grid map includes mapping point clouds of the three-dimensional point cloud data to a grid on a horizontal plane parallel to a road surface on which the moving object travels and generating the grid map in which each grid indicates whether a three-dimensional object having a predetermined height or a step exists;
• and
• control traveling of the moving object based on the generated grid map, wherein
• the instructions cause the moving object to determine, for each grid of the grid map, whether the three-dimensional object exists based on a point density when a point cloud corresponding to each grid of the three-dimensional point cloud data is projected on the horizontal plane,
• wherein the instructions cause the moving object to determine whether the three-dimensional object exists on the grid according to a result of counting presence or absence of point clouds having a point density exceeding a predetermined threshold in a first direction in the horizontal plane when the point cloud corresponding to each grid is projected on the horizontal plane, and
• wherein the instructions cause the moving object to determine that the three-dimensional object exists on the grid if a difference between a maximum value obtained by counting presence or absence of point clouds having a point density exceeding the predetermined threshold in the first direction and a minimum value obtained by counting presence or absence of point clouds having a point density exceeding the predetermined threshold in the first direction at other positions in a second direction orthogonal to the first direction is greater than a threshold when the point cloud corresponding to each grid is projected on the horizontal plane.

A control system of a moving object, the control system comprising:

• one or more processors;
• and
• a memory storing instructions which, when the instructions are executed by the one or more processors, cause the control system to:
• acquire three-dimensional point cloud data in surroundings of the moving object;
• generate a grid map based on the three-dimensional point cloud data, wherein causing the control system to generate the grid map includes mapping point clouds of the three-dimensional point cloud data to a grid on a horizontal plane parallel to a road surface on which the moving object travels and generating the grid map in which each grid indicates whether a three-dimensional object having a predetermined height or a step exists;
• and
• control traveling of the moving object based on the generated grid map, wherein
• the instructions cause the control system to determine, for each grid of the grid map, whether the three-dimensional object exists based on a point density when a point cloud corresponding to each grid of the three-dimensional point cloud data is projected on the horizontal plane,
• wherein the instructions cause the control system to determine whether the three-dimensional object exists on the grid according to a result of counting presence or absence of point clouds having a point density exceeding a predetermined threshold in a first direction in the horizontal plane when the point cloud corresponding to each grid is projected on the horizontal plane, and
• wherein the instructions cause the control system to determine that the three-dimensional object exists on the grid if a difference between a maximum value obtained by counting presence or absence of point clouds having a point density exceeding the predetermined threshold in the first direction and a minimum value obtained by counting presence or absence of point clouds having a point density exceeding the predetermined threshold in the first direction at other positions in a second direction orthogonal to the first direction is greater than a threshold when the point cloud corresponding to each grid is projected on the horizontal plane.