Moving object control system, control method thereof, storage medium, and moving object

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

• setting a current position and a target position of a moving object;
• generating, using a polynomial, a first path from the current position to the target position that satisfies a predetermined boundary condition on lw coordinates in which a straight line connecting the current position and the target position of the moving object is defined as an l-axis and a straight line orthogonal to the l-axis is defined as a w-axis, wherein the predetermined boundary condition includes conditions regarding a posture of the moving object at the current position and a posture of the moving object at the target position;
• and
• converting the generated first path into xy coordinates in which an advancing direction of the moving object is defined as an x-axis and an axis orthogonal to the x-axis is defined as a y-axis;
• generating a curved path by setting a curvature of a path at at least one of the current position and the target position to 0 as the predetermined boundary condition;
• acquiring a captured image of a periphery of the moving object;
• detecting an obstacle included in the captured image;
• dividing a peripheral region of the moving object into a plurality of regions, and generating an occupancy map indicating occupancy of the detected obstacle for each grid;
• determining whether or not the converted first path collides with the obstacle included in the occupancy map;
• generating a first map obtained by converting a region of the detected obstacle into a region in consideration of a vehicle width, generating a second map in which the first path is mapped on the occupancy map, and generating a third map indicating whether or not the first path collides with the detected obstacle by a Hadamard product of the first map and the second map;
• when it is determined that the first path collides with the obstacle included in the occupancy map, generating a second path for avoiding the obstacle using a search algorithm;
• controlling the moving object to travel along the first path when it is determined that the first path does not collide with the obstacle included in the occupancy map;
• and
• controlling the moving object to travel along the second path when the second path is generated.

A non-transitory storage medium storing a program for causing a computer to implement each step of a control method of a moving object control system, comprising:

• setting a current position and a target position of a moving object;
• generating, using a polynomial, a first path from the current position to the target position that satisfies a predetermined boundary condition on lw coordinates in which a straight line connecting the current position and the target position of the moving object is defined as an l-axis and a straight line orthogonal to the l-axis is defined as a w-axis, wherein the predetermined boundary condition includes conditions regarding a posture of the moving object at the current position and a posture of the moving object at the target position;
• converting the generated first path into xy coordinates in which an advancing direction of the moving object is defined as an x-axis and an axis orthogonal to the x-axis is defined as a y-axis
• generating a curved path by setting a curvature of a path at at least one of the current position and the target position to 0 as the predetermined boundary condition;
• acquiring a captured image of a periphery of the moving object;
• detecting an obstacle included in the captured image;
• dividing a peripheral region of the moving object into a plurality of regions, and generating an occupancy map indicating occupancy of the detected obstacle for each grid;
• determining whether or not the converted first path collides with the obstacle included in the occupancy map;
• generating a first map obtained by converting a region of the detected obstacle into a region in consideration of a vehicle width, generating a second map in which the first path is mapped on the occupancy map, and generating a third map indicating whether or not the first path collides with the detected obstacle by a Hadamard product of the first map and the second map;
• when it is determined that the first path collides with the obstacle included in the occupancy map, generating a second path for avoiding the obstacle using a search algorithm;
• controlling the moving object to travel along the first path when it is determined that the first path does not collide with the obstacle included in the occupancy map;
• and
• controlling the moving object to travel along the second path when the second path is generated.

A moving object comprising:

• a storage device that stores instructions;
• and
• at least one processor that executes the instructions to:
• set a current position and a target position of the moving object;
• generate, using a polynomial, a first path from the current position to the target position that satisfies a predetermined boundary condition on lw coordinates in which a straight line connecting the current position and the target position of the moving object is defined as an l-axis and a straight line orthogonal to the l-axis is defined as a w-axis, wherein the predetermined boundary condition includes conditions regarding a posture of the moving object at the current position and a posture of the moving object at the target position;
• convert the generated first path into xy coordinates in which an advancing direction of the moving object is defined as an x-axis and an axis orthogonal to the x-axis is defined as a y-axis
• generate a curved path by setting a curvature of a path at at least one of the current position and the target position to 0 as the predetermined boundary condition;
• acquire a captured image of a periphery of the moving object;
• detect an obstacle included in the captured image;
• divide a peripheral region of the moving object into a plurality of regions, and generate an occupancy map indicating occupancy of the detected obstacle for each grid;
• determine whether or not the converted first path collides with the obstacle included in the occupancy map;
• generate a first map obtained by converting a region of the detected obstacle into a region in consideration of a vehicle width, generate a second map in which the first path is mapped on the occupancy map, and generate a third map indicating whether or not the first path collides with the detected obstacle by a Hadamard product of the first map and the second map;
• when it is determined that the first path collides with the obstacle included in the occupancy map, generate a second path for avoiding the obstacle using a search algorithm;
• control the moving object to travel along the first path when it is determined that the first path does not collide with the obstacle included in the occupancy map;
• and
• control the moving object to travel along the second path when the second path is generated.