Control device, control method, and storage medium

A control device for controlling a moving body moving autonomously, at least temporarily, in an area where pedestrians walk, the control device comprising a processor configured to execute a program to:

• recognize positions of the pedestrians in a time series;
• calculate an index value for each of the pedestrians on a basis of a result of the recognition;
• set a risk area around each of the pedestrians, the risk area becoming larger as the index value decreases;
• and
• generate a route for the moving body to follow in the future to avoid the risk area,
• wherein the processor is configured to execute the program to repeatedly execute prediction of, at a first point in time, a position of the pedestrian at a second point in time later than the first point in time and calculation of, at the second point in time, a difference between the recognized position of the pedestrian and the predicted position of the pedestrian in a time series, and calculate the index value to become larger as a total value of the difference increases.

A control method using a control device for controlling a moving body moving autonomously, at least temporarily, in an area where pedestrians walk, the control method comprising:

• recognizing positions of the pedestrians in a time series;
• calculating an index value indicating a degree of cooperation of each of the pedestrians on a basis of a result of the recognition;
• setting a risk area around each of the pedestrians, the risk area becoming larger as the index value decreases;
• and
• generating a route for the moving body to follow in the future to avoid the risk area.

A control method using a control device for controlling a moving body moving autonomously, at least temporarily, in an area where pedestrians walk, the control method comprising:

• recognizing positions of the pedestrians in a time series;
• calculating an index value for each of the pedestrians on a basis of a result of the recognition;
• setting a risk area around each of the pedestrians, the risk area becoming larger as the index value decreases;
• and
• generating a route for the moving body to follow in the future to avoid the risk area,
• wherein the calculating comprises repeatedly executing prediction of, at a first point in time, a position of the pedestrian at a second point in time later than the first point in time and calculation of, at the second point in time, a difference between the recognized position of the pedestrian and the predicted position of the pedestrian in a time series, and calculating the index value to become larger as a total value of the difference increases.

A computer-readable non-transitory storage medium storing a program for causing a processor of a control device for controlling a moving body moving autonomously, at least temporarily, in an area where pedestrians walk to:

• recognize positions of the pedestrians in a time series;
• calculate an index value indicating a degree of cooperation of each of the pedestrians on a basis of a result of the recognition;
• set a risk area around each of the pedestrians, the risk area becoming larger as the index value decreases;
• and
• generate a route for the moving body to follow in the future to avoid the risk area.

A computer-readable non-transitory storage medium storing a program for causing a processor of a control device for controlling a moving body moving autonomously, at least temporarily, in an area where pedestrians walk to:

• recognize positions of the pedestrians in a time series;
• calculate an index value for each of the pedestrians on a basis of a result of the recognition;
• set a risk area around each of the pedestrians, the risk area becoming larger as the index value decreases;
• and
• generate a route for the moving body to follow in the future to avoid the risk area,
• wherein the calculating comprises repeatedly executing prediction of, at a first point in time, a position of the pedestrian at a second point in time later than the first point in time and calculation of, at the second point in time, a difference between the recognized position of the pedestrian and the predicted position of the pedestrian in a time series, and calculating the index value to become larger as a total value of the difference increases.