The invention provides a mobile body control device, a mobile body control method, and a storage medium capable of more accurately recognizing a dividing line dividing a driving lane on which a vehicle travels. A moving body control device according to an embodiment includes: a partition line candidate recognition unit that recognizes, from an image including a periphery of a moving body captured by an imaging unit, candidates of partition lines that partition a lane on which the moving body travels; an imaginary line setting unit that sets at least one or more imaginary lines at a position outside a dividing line identified as a dividing line that divides the travel lane in the past when viewed from the moving body; and a division line search unit that searches for a division line that divides the current travel path of the moving body on the basis of the division line candidates recognized by the division line candidate recognition unit and the one or more virtual lines.

    本发明提供能够更准确地识别将本车辆行驶的行驶道划分的划分线的移动体控制装置、移动体控制方法及存储介质。实施方式的移动体控制装置具备:划分线候补识别部,其从由摄像部拍摄出的包含移动体的周边在内的图像中识别划分所述移动体行驶的行驶道的划分线的候补;假想线设定部,其在从所述移动体观察时处于比作为过去划分所述行驶道的划分线而识别出的划分线靠外侧的位置至少设定一条以上的假想线;以及划分线搜索部,其基于由所述划分线候补识别部识别出的划分线候补、以及所述一条以上的假想线,来搜索划分所述移动体的当前的行驶道的划分线。


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    Title :

    Mobile body control device, mobile body control method, and storage medium


    Additional title:

    移动体控制装置、移动体控制方法及存储介质


    Contributors:

    Publication date :

    2023-06-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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