Moving body control system, control method, storage medium, and moving body

1 . A moving body control system, comprising:

an imaging device configured to acquire a captured image of a travel area of a destination of a moving body;

at least one processor circuit with a memory comprising instructions that, when executed by the at least one processor circuit, cause the at least one processor circuit to at least:

recognize a road shape included in the captured image;

generate a path of the moving body based on the road shape recognized in the captured image, wherein

when the road shape is recognized, where the road shape includes an entrance section and at least one exit section accompanied by a course change, the generation of the path further comprises generating a first path from a current position of the moving body to the entrance section, and a second path from the entrance section to an exit section to be identified in accordance with indication information about the destination of the moving body; and

control traveling of the moving body in accordance with the generated path;

wherein the second path is generated from a center of the entrance section to a center of the identified exit section; and

wherein when the travel area is recognized following the identified exit section while the moving body travels along the first path or the second path, the instructions further cause the at least one processor to generate a third path following the second path in the recognized travel area.

2 . The moving body control system according to claim 1 , wherein, when the moving body starts traveling on the second path, the instructions further cause the at least one processor to generate the third path following the second path, the third path being in the travel area following the identified exit section to be recognized in the road shape included in the captured image.

3 . The moving body control system according to claim 1 , wherein, when the moving body approaches from the identified exit section to a predetermined distance, the instructions further cause the at least one processor to generate the third path following the second path, the third path being in the travel area following the identified exit section to be recognized in the road shape included in the captured image.

4 . The moving body control system according to claim 1 , wherein the instructions further cause the at least one processor to generate, when a course change occurs, the second path including at least a simple circular curve.

5 . The moving body control system according to claim 1 , wherein the road shape including the entrance section and the at least one exit section accompanied by the course change is any of an intersection, a T junction, and the travel area including an entrance to a facility along a road.

6 . The moving body control system according to claim 1 , further comprising the instructions further causing the at least one processor to receive the indication information about the destination of the moving body.

7 . The moving body control system according to claim 6 , wherein, when the at least one processor does not receive the indication information and, when a course change is necessary, the instructions further cause the at least one processor to generate the second path to the exit section to be identified in response to the course change.

8 . The moving body control system according to claim 1 , wherein the instructions further cause the at least one processor to:

generate a speed plan of the moving body in accordance with the generated path and the indication information about the destination of the moving body; and

further control travelling of the moving body in accordance with the generated speed plan.

9 . The moving body control system according to claim 1 , wherein the instructions further cause the at least one processor to determine, when a plurality of exit sections is included or when at least one exit section is located outside a predetermined range from a current advancing direction in the recognized road shape, that the recognized road shape includes at least one exit section accompanied by the course change.

10 . A non-transitory storage medium comprising the instructions according to claim 1 .

11 . A control method of a moving body control system, the control method comprising:

an imaging step of acquiring a captured image of a travel area of a destination of a moving body;

a recognition step of recognizing a road shape included in the captured image;

a path generation step of generating a path of the moving body based on the road shape recognized in the recognition step; and

a control step of controlling traveling of the moving body in accordance with the generated path;

wherein

the generating of the path further includes generating, when the road shape includes an entrance section and at least one exit section accompanied by a course change is recognized in the recognition step, a first path from a current position of the moving body to the entrance section, and a second path from the entrance section to an exit section to be identified in accordance with indication information about the destination of the moving body, wherein the second path is generated from a center of the entrance section to a center of the identified exit section; and

the path generation step includes generating a third path following the second path in the recognized travel area when the travel area is recognized following the identified exit section while the moving body travels along the first path or the second path.

12 . A moving body, comprising:

an imaging device configured to acquire a captured image of a travel area of a destination;

at least one processor circuit with a memory comprising instructions that, when executed by the at least one processor circuit, cause the at least one processor circuit to at least:

recognize a road shape included in the captured image;

generate a path of the moving body based on the recognized road shape; and

control traveling of the moving body in accordance with the generated path;

wherein

when the recognized road shape includes an entrance section and at least one exit section accompanied by a course change, the generation of the path further comprises generating a first path from a current position of the moving body to the entrance section, and a second path from the entrance section to an exit section to be identified in accordance with indication information about the destination of the moving body, wherein the second path is generated from a center of the entrance section to a center of the identified exit section; and

when the travel area is recognized following the identified exit section while the moving body travels along the first path or the second path, the instructions further cause the at least one processor to generate a third path following the second path in the recognized travel area.