Moving body control device, moving body control method, and moving body control program

Patent metadata

Field	Value
Publication number	US-12456308-B2
Application number	US-202318491868-A
Country	US
Kind code	B2
Filing date	Oct 23, 2023
Priority date	Oct 28, 2022
Publication date	Oct 28, 2025
Grant date	Oct 28, 2025

Abstract

A moving body control device includes an outside recognition unit configured to acquire recognition data of an outside of a moving body, a reception unit which receives designation of a predetermined parking position from a user of the moving body, and a control unit configured to perform automatic parking control for parking the moving body at the predetermined parking position based on the recognition data of the outside and the predetermined parking position, and register the predetermined parking position as a designated parking position. The control unit is configured to register feature points related to the designated parking position by using a plurality of patterns based on illuminance of the outside calculated from the recognition data of the outside.

First claim

What is claimed is:

1 . A moving body control device comprising:
an outside recognition unit configured to acquire recognition data of an outside of a moving body; a reception unit which receives designation of a predetermined parking position from a user of the moving body; and a control unit configured to perform automatic parking control for parking the moving body at the predetermined parking position based on the recognition data of the outside and the predetermined parking position, and register the predetermined parking position as a designated parking position after parking the moving body at the predetermined parking position, wherein the control unit is configured to detect feature points around the designated parking position, and register, with respect to the designated parking position, a plurality of patterns of the feature points based on illuminance of the outside calculated from the recognition data of the outside, and the control unit is configured to select a specific pattern corresponding to the illuminance around the moving body acquired from the recognition data of the outside when executing the automatic parking control to the designated parking position, among the plurality of patterns of the feature points, and perform the automatic parking control to the designated parking position based on the specific pattern.

2 . The moving body control device according to claim 1 , wherein
the control unit is configured not to perform the automatic parking control to the designated parking position based on the specific pattern, when self-position recognition by the moving body is not possible based on the specific pattern.

3 . A moving body control method including a processor of a moving body control device, wherein the processor of the moving body control device is configured to:
acquire recognition data of an outside of a moving body; receive designation of a predetermined parking position from a user of the moving body; perform automatic parking control for parking the moving body at the predetermined parking position based on the recognition data of the outside and the predetermined parking position, and register the predetermined parking position as a designated parking position after parking the moving body at the predetermined parking position; detect feature points around the designated parking position, and register, with respect to the designated parking position, a plurality of patterns of the feature points based on illuminance of the outside calculated from the recognition data of the outside; and select a specific pattern corresponding to the illuminance around the moving body acquired from the recognition data of the outside when executing the automatic parking control to the designated parking position, among the plurality of patterns of the feature points, and perform the automatic parking control to the designated parking position based on the specific pattern.

4 . A non-transitory computer-readable storage medium storing a moving body control program causing a processor of a moving body control device to execute a process of:
acquiring recognition data on an outside of a moving body; receiving designation of a predetermined parking position from a user of the moving body; performing automatic parking control for parking the moving body at the predetermined parking position based on the recognition data of the outside and the predetermined parking position, and registering the predetermined parking position as a designated parking position after parking the moving body at the predetermined parking position; detecting feature points around the designated parking position, and registering, with respect to the designated parking position, a plurality of patterns of the feature points based on illuminance of the outside calculated from the recognition data of the outside; and selecting a specific pattern corresponding to the illuminance around the moving body acquired from the recognition data of the outside when executing the automatic parking control to the designated parking position, among the plurality of patterns of the feature points, and performing the automatic parking control to the designated parking position based on the specific pattern.

5 . The moving body control device according to claim 1 , wherein the control unit is configured to perform the automatic parking control to the designated parking position based on a pattern other than the specific pattern among the plurality of patterns of the feature points, in a case where the specific pattern corresponding to the illuminance acquired from the recognition data of the outside when performing the automatic parking control to the designated parking position that has been registered does not exist.

Assignees

• Honda Motor Co Ltd
• Aisin Corp

Inventors

• Nakashima Hiroyuki
• Sasajima Takeshi
• Takaku Hiroki
• Nagatomo Hideki
• Fujiwara Tatsuro
• Bessho Makoto
• Kato Masaya
• Adachi Jun
• Akaike Momoka
• Hayakawa Kazutaka

Classifications

• B60W2420/403

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

• B60W30/06 Primary

  Automatic manoeuvring for parking · CPC title

• G06V10/60

  relating to illumination properties, e.g. using a reflectance or lighting model · CPC title

• G06V10/44

  Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components · CPC title

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title