Mobile object control system, mobile object, control method, and storage medium

Patent metadata

Field	Value
Publication number	US-12090993-B2
Application number	US-202217679228-A
Country	US
Kind code	B2
Filing date	Feb 24, 2022
Priority date	Mar 17, 2021
Publication date	Sep 17, 2024
Grant date	Sep 17, 2024

Abstract

A mobile object control system includes: a storage device configured to store a instructions; and one or more processors, wherein the one or more processors execute the instructions stored in the storage device to: determining whether a roadway is a pedestrian road in which passage of vehicles is restricted; expanding a movable area in which the mobile object can move in a width direction of the roadway when it is determined that the roadway is the pedestrian road; and controlling the mobile object based on the movable area.

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:
determine whether a target roadway is a pedestrian road in which passage of vehicles is restricted;
expand a movable area in which a mobile object can move in a width direction of the target roadway when it is determined that the target roadway is the pedestrian road; and
control the mobile object based on the movable area.

2. The mobile object control system according to claim 1 , wherein
the one or more processors execute the instructions stored in the storage device to:
expand the movable area so as to include more roadway areas when it is determined that the target roadway is the pedestrian road.

3. The mobile object control system according to claim 1 , wherein
the one or more processors execute the instructions stored in the storage device to:
expand the movable area in a width direction of the target roadway by expanding a search range for the movable area in the width direction of the target roadway when it is determined that the target roadway is the pedestrian road.

4. The mobile object control system according to claim 1 , wherein
the one or more processors execute the instructions stored in the storage device to:
expand the movable area in a width direction of the target roadway when a destination of the mobile object is present in the pedestrian road or is adjacent to the pedestrian road more than when the destination of the mobile object is not present in the pedestrian road or is not adjacent to the pedestrian road.

5. The mobile object control system according to claim 1 , wherein
the one or more processors execute the instructions stored in the storage device to:
expand the movable area in a width direction of the target roadway so as to include an area in front in a direction opposite to a side where the mobile object has deviated in a road in front of the target roadway or in the target roadway.

6. The mobile object control system according to claim 1 , wherein
the one or more processors execute the instructions stored in the storage device to:
move the mobile object along a trajectory generated based on a lane mark close to a center of the target roadway in the pedestrian road.

7. The mobile object control system according to claim 1 , wherein
the one or more processors execute the instructions stored in the storage device to:
expand the movable area in a width direction of the target roadway after the mobile object enters the pedestrian road.

8. The mobile object control system according to claim 1 , wherein
the one or more processors execute the instructions stored in the storage device to:
expand the movable area in a width direction of the target roadway before the mobile object enters the pedestrian road when a specific event that restricts movement of the mobile object has not occurred or is expected to not occur in an area in front of the pedestrian road.

9. The mobile object control system according to claim 1 , wherein
the one or more processors execute the instructions stored in the storage device to:
determine a degree of congestion for each road included in the movable area and move the mobile object based on a road with a low degree of congestion.

10. The mobile object control system according to claim 1 , wherein
the movable area includes a first sidewalk, a second sidewalk, and a roadway provided between the first sidewalk and the second sidewalk on the pedestrian road, and
the one or more processors execute the instructions stored in the storage device to:
move the mobile object so as to cross the roadway to move to the second sidewalk and direct the mobile object to head for a destination or a waypoint when the destination or waypoint of the mobile object present on the first sidewalk or the roadway is present in a direction of the second sidewalk.

11. The mobile object control system according to claim 1 , wherein
the movable area includes a sidewalk and a roadway on the pedestrian road, and
the one or more processors execute the instructions stored in the storage device to:
select a route from a route for moving on the sidewalk, a route for moving on the roadway, and a route that crosses the roadway based on one or more factors of a destination of the mobile object, a degree of congestion of objects on the pedestrian road, and a request regarding a movement route designated by a user of the mobile object and move the mobile object along the selected route.

12. The mobile object equipped with the mobile object control system according to claim 1 .

13. A control method for causing a computer to execute:
determining whether a roadway is a pedestrian road in which passage of vehicles is restricted;
expanding a movable area in which a mobile object can move in a width direction of the roadway when it is determined that the roadway is the pedestrian road; and
controlling the mobile object based on the movable area.

14. A non-transitory computer storage medium storing a program causing a computer to execute:
determining whether a target roadway is a pedestrian road in which passage of vehicles is restricted;
expanding a movable area in which a mobile object can move in a width direction of the target roadway when it is determined that the target roadway is the pedestrian road; and
controlling the mobile object based on the movable area.

Assignees

• Honda Motor Co Ltd

Inventors

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

Classifications

• G08G1/0141

  for traffic information dissemination · CPC title

• B60W2554/4029

  Pedestrians · CPC title

• G08G1/0133

  for classifying traffic situation · CPC title

• B60W2554/4049

  Relationship among other objects, e.g. converging dynamic objects · 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