CPC G05D 1/0274 (2013.01) [G01S 17/89 (2013.01); G01S 17/931 (2020.01); G05D 1/024 (2013.01)] | 6 Claims |
1. An information processing device for processing detection information obtained by detection of an object at a periphery of a mobile body to construct an occupied map as a map indicating an occupation probability at a periphery of a movement path of the mobile body, comprising:
a detector configured to acquire, by emitting beams to the periphery of the mobile body, a presence or absence of the object as the detection information on each beam;
a controller configured to control the detector; and
a constructor configured to construct the occupied map,
wherein the constructor includes
a storage configured to store, in chronological order, the detection information acquired by the detector,
a producer configured to produce a temporal map of the periphery of the mobile body based on the detection information stored in the storage,
an acquirer configured to acquire, by setting, in the temporal map produced by the producer, each determination point in each cell through which the beam in the detection information passes, a normal line to each determination point based on the presence or absence of the object in a plurality of the cells at a periphery of the cell to which each determination point on the temporal map belongs, and
a determinator configured to determine a validity of the detection information on each determination point based on a size of an incident angle as an angle between each beam and the normal line at each determination point, and
the producer constructs the occupied map by means of the detection information on which the validity of each determination point is reflected.
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