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

1 . A mobile object control device comprising a storage medium that stores computer-readable commands and a processor connected to the storage medium, the processor executing the computer-readable commands 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, as 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 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.

2 . The mobile object control device according to claim 1 , wherein the processor generates the speed plan such that a horizontal acceleration of the mobile object is a predetermined value under a condition of the corrected curvature.

3 . The mobile object control device according to claim 1 , wherein the processor calculates, when a speed of the mobile object is larger than the target speed, a distance necessary for deceleration from the speed to the target speed, and decelerates the mobile object such that the mobile object reaches the target speed within a range of the calculated distance.

4 . 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.

5 . 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.