Control device, control method, and program

1 . A control device comprising:

recognize a position of an object present around a moving body based on an image obtained by imaging a state around the moving body;

generate an occupancy grid diagram including a plurality of grid cells based on the position of the object present around the moving body; and

generate a route, which the moving body follows, based on the occupancy grid diagram,

wherein the processor is further configured to determine whether the object is present for each of the plurality of grid cells in the occupancy grid diagram based on the position of the object present around the moving body,

expand a first region including a grid cell in which it is determined that the object is present;

detect a corner of the first region;

expand the corner in the occupancy grid diagram;

generate the route which the moving body follows in a second region that does not include the first region based on the occupancy grid diagram in which the corner has been expanded; and

control a drive device that drives the moving body such that the moving body travels along the route.

2 . The control device according to claim 1 , wherein the processor expands the corner by disposing a regular polygonal region at a position of the corner.

3 . The control device according to claim 1 , wherein the processor linearly expands the first region by determining that the object is present in a region obtained by connecting a first grid cell and a second grid cell using a straight line when the second grid cell different from the first grid cell, in which it is determined that the object is present, is present in a first range using the first grid cell in which it is determined that the object is present as a center.

4 . The control device according to claim 1 , wherein the processor determines whether a third grid cell is the corner according to a proportion of the first region in a second range using the third grid cell in which it is determined that the object is present as a center.

5 . The control device according to claim 4 , wherein the processor determines that the third grid cell is not the corner when the proportion is equal to or greater than a first threshold and determines that the third grid cell is the corner when the proportion is less than a second threshold smaller than the first threshold, and

obtains a correlation coefficient based on coordinates of each of a plurality of grid cells included in the first region in the second range and determines whether the third grid cell is the corner according to the correlation coefficient when the proportion is less than the first threshold and equal to or greater than the second threshold.

6 . The control device according to claim 1 , wherein the processor determines whether each of a plurality of grid cells over a plurality of frames is the corner or not and detects a grid cell in which a number of times determined to be the corner is equal to or greater than a predetermined number as the corner when the image of the plurality of frames are imaged.

7 . The control device according to claim 1 , wherein the processor sets a position in the route that becomes a sub-goal, and

expands the corner within a predetermined range from the sub-goal, and does not expand the corner outside the predetermined range from the sub-goal.

8 . The control device according to claim 1 , wherein the processor expands the corner by disposing a regular polygonal region at a position of the corner, and

incorporates an apex of the regular polygon into the route.

9 . A control method of causing a computer to:

recognize a position of an object present around a moving body based on an image obtained by imaging a state around the moving body;

generate an occupancy grid diagram including a plurality of grid cells based on the position of the object present around the moving body;

generate a route, which the moving body follows, based on the occupancy grid diagram;

determine whether the object is present for each of a plurality of grid cells in the occupancy grid diagram based on the position of the object present around the moving body;

expand a first region including a grid cell in which it is determined that the object is present;

detect a corner of the first region;

expand the corner in the occupancy grid diagram;

generate the route which the moving body follows in a second region that does not include the first region based on the occupancy grid diagram in which the corner has been expanded; and

control a drive device that drives the moving body such that the moving body travels along the route.

10 . A non-transitory computer-readable medium comprising a program that causes a processor to execute:

processing of recognizing a position of an object present around a moving body based on an image obtained by imaging a state around the moving body;

processing of generating an occupancy grid diagram including a plurality of grid cells based on the position of the object present around the moving body;

processing of generating a route, which the moving body follows, based on the occupancy grid diagram;

processing of determining whether the object is present for each of a plurality of grid cells in the occupancy grid diagram based on the position of the object present around the moving body;

processing of expanding a first region including a grid cell in which it is determined that the object is present;

processing of detecting a corner of the first region;

processing of expanding the corner in the occupancy grid diagram;

processing of generating the route which the moving body follows in a second region that does not include the first region based on the occupancy grid diagram in which the corner has been expanded; and

processing of controlling a drive device that drives the moving body such that the moving body travels along the route.