Vehicle control device, vehicle control method, and storage medium

Patent metadata

Field	Value
Publication number	US-11370457-B2
Application number	US-202016817667-A
Country	US
Kind code	B2
Filing date	Mar 13, 2020
Priority date	Mar 25, 2019
Publication date	Jun 28, 2022
Grant date	Jun 28, 2022

Abstract

A vehicle control device of an embodiment includes a recognizer configured to recognize a peripheral situation of a vehicle and a controller configured to control a window portion of the vehicle, and the controller controls opening and closing of the window portion on the basis of a result of the recognizing has recognized a gesture which is performed by a user of the vehicle.

First claim

What is claimed is:

1. A vehicle control device comprising:
a processor that executes instructions to:
recognize a peripheral situation of a vehicle; and
control opening and closing of a window portion the vehicle; and
detect a lost article located in an interior of the vehicle,
wherein the processor controls opening and closing of the window portion on the basis of a recognition result of a gesture performed by a user of the vehicle,
wherein the processor determines whether the lost article is able to be taken out of the vehicle through the window portion, and
wherein the processor opens a window portion being the closest to the lost article among window portions on the basis of a detection result.

2. The vehicle control device according to claim 1 ,
wherein the processor further recognizes a position of the user, and
in a case where the processor recognizes the gesture of a request for opening window portions and the position of the user who has performed the gesture, the processor opens a window portion closest to the position of the user among the window portions.

3. The vehicle control device according to claim 1 ,
wherein, in a case where the processor recognizes the gesture of a request for closing window portions, the processor closes a window portion closest to a position of the user among the window portions.

4. The vehicle control device according to claim 1 ,
wherein, in a case where it is detected that the lost article is recovered by the user, and the gesture of a request for closing window portions is further recognized, the processor closes an opened window portion on the basis of the gesture recognized.

5. The vehicle control device according to claim 1 ,
wherein the processor closes an opened window portion in a case where a predetermined time has elapsed since some or all of the window portions were opened on the basis of the gesture recognized.

6. The vehicle control device according to claim 1 ,
wherein, in a case where the user's gesture for prompting start of the vehicle is recognized, the processor closes an opened window portion on the basis of the gesture recognized.

7. The vehicle control device according to claim 6 ,
the processor further executes instructions to:
control steering and a speed of the vehicle irrespective of the user's operation on the basis of the recognition result,
wherein the processor starts the vehicle after completion of closing control of a window portion on which opening control is performed on the basis of the gesture for prompting start of the vehicle recognized.

8. The vehicle control device according to claim 1 ,
wherein, in a case where it is determined that the lost article is not able to be taken out of the vehicle through any of the window portions, the processor performs at least one of opening and closing one or more doors or some or all of the window portions of the vehicle in a different mode from that when the lost article is taken out through the window portion.

9. The vehicle control device according to claim 8 ,
wherein the processor opens all the window portions of the vehicle in a case where it is determined that the lost article is not able to be taken out of the vehicle through any of the window portions.

10. The vehicle control device according to claim 8 ,
wherein the processor opens a door closest to the user or a door closest to the lost article in a case where it is determined that the lost article is not able to be taken out of the vehicle through any of the window portions.

11. The vehicle control device according to claim 1 ,
wherein, in a case where an article loaded at a boarding start point by the user is returned to the boarding start point without being removed from the vehicle at a destination or a transit point, the processor excludes the article as a target to be detected as the lost article.

12. The vehicle control device according to claim 1 ,
wherein the processor recognizes weather conditions around the vehicle and does not open the window portion in a case where there is a falling matter in a space around the vehicle.

13. A vehicle control method comprising causing a vehicle control device to:
recognize a peripheral situation of a vehicle;
control opening and closing of a window portion of the vehicle on the basis of a result of recognition of a gesture which is performed by a user of the vehicle who is outside of the vehicle;
detect a lost article located in an interior of the vehicle;
determine whether the lost article is able to be taken out of the vehicle through the window portion; and
open a window portion closest to the lost article among window portions on the basis of a detection result.

Assignees

• Honda Motor Co Ltd

Inventors

• Hara Yuki
• Shoda Yasushi
• Noguchi Junpei
• Yamane Katsuyasu
• Mimura Yoshitaka
• Yamanaka Hiroshi
• Taguchi Ryoma
• Takada Yuta
• Sugihara Chie
• Motegi Yuki
• Shibauchi Tsubasa

Classifications

• B60W60/0025 Primary

  specially adapted for specific operations · CPC title

• B60R16/0232 Primary

  for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions · CPC title

• B60W2540/223

  Posture, e.g. hand, foot, or seat position, turned or inclined · CPC title

• B60W10/04

  including control of propulsion units · CPC title

• E05F15/73 Primary

  responsive to movement or presence of persons or objects · CPC title