Mobile object control device, method, and storage medium for generating a target trajectory

A mobile object control method to be executed by a computer, the mobile object control method comprising:

• generating a target trajectory indicating a path along which a mobile object is to travel in the future based on division line information represented in a space obtained by converting a camera-coordinate system image, which is photographed by a camera mounted on the mobile object and represents a surrounding situation of the mobile object, into a bird's-eye view coordinate system image;
• calculating, as a calculated curvature, a first curvature of the target trajectory;
• estimating, as an estimated curvature, a second curvature by applying a correction filter for correcting an error of the calculated curvature to the estimated curvature, the error being caused by conversion of the camera-coordinate system image into the bird's-eye view coordinate system image;
• generating a speed plan indicating a future target speed of the mobile object based on a corrected curvature;
• and
• causing the mobile object to travel according to the speed plan by controlling a driving force output device of the mobile object to output a driving torque to drive wheels, controlling a brake device of the mobile object to output a brake torque to the drive wheels, or controlling a steering device of the mobile object to change orientations of steered wheels of the mobile object,
• wherein the correction filter sets an upper limit value of the second curvature to a first value for each point on the target trajectory a distance less than a predetermined distance from the mobile object, and sets the upper limit value to a second value, less than the first value, for each point a distance greater than or equal to the predetermined distance from the mobile object.

A non-transitory computer-readable storage medium storing a program for causing a computer to:

• generate a target trajectory indicating a path along which a mobile object is to travel in the future based on division line information represented in a space obtained by converting a camera-coordinate system image, which is photographed by a camera mounted on the mobile object and represents a surrounding situation of the mobile object, into a bird's-eye view coordinate system image;
• calculate, and a calculated curvature, a first curvature of the target trajectory;
• estimate, as an estimated curvature, a second curvature by applying a correction filter for correcting an error of the calculated curvature to the estimated curvature, the error being caused by conversion of the camera-coordinate system image into the bird's-eye view coordinate system image;
• generate a speed plan indicating a future target speed of the mobile object based on a corrected curvature;
• and
• cause the mobile object to travel according to the speed plan by controlling a driving force output device of the mobile object to output a driving torque to drive wheels, controlling a brake device of the mobile object to output a brake torque to the drive wheels, or controlling a steering device of the mobile object to change orientations of steered wheels of the mobile object,
• wherein the correction filter sets an upper limit value of the second curvature to a first value for each point on the target trajectory a distance less than a predetermined distance from the mobile object, and sets the upper limit value to a second value, less than the first value, for each point a distance greater than or equal to the predetermined distance from the mobile object.