Mobile object control system, control method, and storage medium

Patent metadata

Field	Value
Publication number	US-11999385-B2
Application number	US-202217671643-A
Country	US
Kind code	B2
Filing date	Feb 15, 2022
Priority date	Mar 1, 2021
Publication date	Jun 4, 2024
Grant date	Jun 4, 2024

Abstract

A mobile object control system includes: a storage device configured to store instructions; and one or more processors, wherein the one or more processors execute the instructions stored in the storage device to: acquire an image in which a road where a mobile object is present is imaged; recognize support information for supporting movement of a specific traffic participant who is a traffic participant having a predetermined attribute appearing on a road surface included in the image; recognize a road structure included in the image or a road structure which is a structure provided on the road; move the mobile object at least based on a trajectory determined using the support information when the support information is recognized; and move the mobile object based on a trajectory determined using the road structure without using the support information when the support information has not been recognized.

First claim

What is claimed is:

1. A mobile object control system comprising:
a storage device configured to store instructions; and
one or more processors,
wherein the one or more processors execute the instructions stored in the storage device to:
acquire an image in which a road where a mobile object is present is imaged;
recognize support information for supporting movement of a specific traffic participant who is a traffic participant having a predetermined attribute appearing on a road surface included in the image;
recognize a road structure included in the image or a road structure which is a structure provided on the road in the image;
move the mobile object at least based on a trajectory determined using the support information when the support information is recognized; and
move the mobile object based on a trajectory determined using the road structure without using the support information when the support information has not been recognized.

2. The mobile object control system according to claim 1 , wherein
the support information is a plurality of Braille blocks provided on a sidewalk of the road, and
the one or more processors execute the instructions to:
determine the trajectory at least based on a direction in which the plurality of Braille blocks are connected when the support information is recognized.

3. The mobile object control system according to claim 1 , wherein
the one or more processors execute the instructions to:
move the mobile object based on a trajectory determined using an extension direction of a sidewalk included in the road, a structure that separates the sidewalk from a roadway, or a structure that separates the sidewalk from a region different from the sidewalk on an opposite side of the roadway without using the support information when the support information has not been recognized.

4. The mobile object control system according to claim 3 , wherein
the structure is a guardrail, a curb, a fence, or a plant.

5. The mobile object control system according to claim 1 , wherein
the traffic participant is a pedestrian, and
the one or more processors execute the instructions to:
determine the trajectory based on the support information and an attribute of the pedestrian when the support information is recognized and a pedestrian is present in the a position according to where the support information appears or in the vicinity of a position according to where the support information appears.

6. The mobile object control system according to claim 1 , wherein
the traffic participant is a pedestrian and
the one or more processors execute the instructions to:
generate a trajectory for moving through positions farther from the pedestrian when the pedestrian is the specific traffic participant than when the pedestrian is a pedestrian different from the specific traffic participant.

7. The mobile object control system according to claim 1 , wherein
the traffic participant is a pedestrian and
the support information is a plurality of Braille blocks provided on a sidewalk of the road,
the Braille blocks include a guidance block that indicates a traveling direction in which the specific traffic participant travels and guides movement of the specific traffic participant, and a warning block that warns the specific traffic participant, and
the one or more processors execute the instructions to:
when it is recognized that the guidance block and a warning block connected to the guidance block are provided in this order on a sidewalk from a position of the mobile object,
move the mobile object based on a first trajectory in which the mobile object moves along a guidance direction indicated by the guidance block and the mobile object decelerates or stops at or in the vicinity of the warning block.

8. The mobile object control system according to claim 7 , wherein
the traffic participant is a pedestrian, and
the one or more processors execute the instructions to:
cancel deceleration of the mobile object or starting the mobile object from a stopped state when condition (b), (c), or (d) is satisfied after condition (a) is satisfied:
(a) the specific traffic participant is present at or in the vicinity of a warning block when the mobile object decelerates or stops and the mobile object moving based on the first trajectory reaches the warning block or the vicinity of the warning block;
(b) the specific traffic participant is going straight ahead after passing a warning block;
(c) the specific traffic participant is moving in a first direction and has crossed the mobile object; and
(d) the specific traffic participant moves in a second direction opposite to the first direction.

9. A control method for causing a computer to execute:
acquiring an image in which a road where a mobile object is present is imaged;
recognizing support information for supporting walking of a specific traffic participant who is a traffic participant having a predetermined attribute appearing on a road surface included in the image;
recognizing a road structure included in the image or a road structure which is a structure provided on the road;
moving the mobile object at least based on a trajectory determined using the support information when the support information is recognized; and
moving the mobile object based on a trajectory determined using the road structure without using the support information when the support information has not been recognized.

10. A non-transitory computer storage medium storing a program causing a computer to execute:
acquiring an image in which a road where a mobile object is present is imaged;
recognizing support information for supporting walking of a specific traffic participant who is a traffic participant having a predetermined attribute appearing on a road surface included in the image;
recognizing a road structure included in the image or a road structure which is a structure provided on the road;
moving the mobile object at least based on a trajectory determined using the support information when the support information is recognized; and
moving the mobile object based on a trajectory determined using the road structure without using the support information when the support information has not been recognized.

Assignees

• Honda Motor Co Ltd

Inventors

• Koike Yosuke
• Yoshimura Misako
• Baba Ichiro
• Nakanishi Kosuke
• Aizawa Koki

Classifications

• B60W60/0027 Primary

  using trajectory prediction for other traffic participants · CPC title

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G06V20/588

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• B60W2420/403

  Image sensing, e.g. optical camera · CPC title

• B60W2552/45

  Pedestrian sidewalk · CPC title