| 摘要 |
PROBLEM TO BE SOLVED: To suppress increase in a processing load to enable accurate following to a target course.SOLUTION: A moving body control device comprises: a target course detecting part 26 that detects a target course from an image taken by a front camera 12; a detection point obtaining part 34 that obtains depression angles and azimuths of directions of points with respect to a camera imaging direction, regarding two points on the target course; a shape calculation part 42 that calculates, based on the depression angle and the azimuth of each of the two points, a turn curvature of the target course and a lateral deviation of a moving body to the target course; and a turning control part 48 that controls, based on the turn curvature of the target course and the lateral deviation of the moving body to the target course, a turning motion of the moving body so that it can follow the target course.SELECTED DRAWING: Figure 3 |
