Mobile object control device, mobile object control method, and storage medium
AssigneeHonda Motor Co., Ltd.
InventorKohei Tsuda
Life of this patent
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Abstract
A mobile object control device includes a recognizer configured to recognize a point group corresponding to an object present around the mobile object based on an image of surrounding situations of a mobile object, and a controller configured to determine a moving route of the mobile object based on the surrounding situations and control the mobile object so that the object moves along the determined moving route, in which the recognizer calculates a distribution in a height direction of a point group recognized as a candidate for the object in a predetermined area around the mobile object, and executes noise determination processing for determining whether light source noise is included in a point group in the predetermined area based on the distribution.
Claims9
A mobile object control device comprising:
- a storage device that has stored a program;
- and
- a hardware processor,
- wherein the hardware processor executes a program stored in the storage device, thereby
- recognizing a point group corresponding to an object present around the mobile object based on an image of surrounding situations of a mobile object,
- determining a moving route of the mobile object based on the surrounding situations, and controlling the mobile object so that the object moves along the determined moving route, and
- executing noise determination processing for calculating a distribution in a height direction of a point group recognized as a candidate for the object in a predetermined area around the mobile object, and determining whether light source noise is included in a point group in the predetermined area based on the distribution.
A mobile object control method in which a computer executes recognition processing for recognizing a point group corresponding to an object present around the mobile object based on an image of surrounding situations of a mobile object, and control processing for determining a moving route of the mobile object based on the surrounding situations and controlling the mobile object to move along the determined moving route, comprising:
- calculating, in the recognition processing, a distribution in a height direction of a point group recognized as candidates for the object in a predetermined area around the mobile object;
- and
- determining whether light source noise is included in a point group in the predetermined area based on the distribution.
A computer-readable non-transitory storage medium that has stored a program for causing a computer to execute:
- recognition processing for recognizing a point group corresponding to an object present around the mobile object based on an image of surrounding situations of a mobile object, and
- control processing for determining a moving route of the mobile object based on the surrounding situations and controlling the mobile object to move along the determined moving route,
- wherein, in the recognition processing, a distribution in a height direction of a point group recognized as candidates for the object in a predetermined area around the mobile object is calculated and whether light source noise is included in a point group in the predetermined area is determined based on the distribution.
Dependencies are inferred from the claim text.