Patent ID: 11914386
Assignee: HONDA MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A mobile object control device comprising:
a storage device configured to store a program; and
a hardware processor,
wherein the hardware processor
recognizes, as a recognition result, a surrounding situation of a mobile object based on an output of a detection device having a space around the mobile object as a detection range,
sets index values, each of the index values indicating a degree to which the mobile object should not enter or approach based on the surrounding situation of the mobile object,
generates a first movement plan for the mobile object in a first period so that the mobile object passes through positions in which an index value is minimized, and
generates a second movement plan for the mobile object in a second period shorter than the first period, by executing the program stored in the storage device, and
wherein when the hardware processor generates the second movement plan, the hardware processor generates label data in which label information indicating different values depending on at least the presence or absence of a moving object is imparted to each of division elements obtained by dividing the space around the mobile object into a finite number, and generates the second movement plan by inputting the generated label data to a model learned to output a movement plan for avoiding contact with the moving object without taking the index value into account, and
wherein the hardware processor uses the second movement plan for movement control for the mobile object in preference to the first movement plan at least in a predetermined scene.