US 11,938,971 B2
Vehicle control device, vehicle control method, and storage medium
Hiromitsu Kobayashi, Nisshin (JP); Taizo Masuda, Yokohama (JP); Yuta Kataoka, Susono (JP); Miki Nomoto, Nisshin (JP); Yoshiki Ueda, Susono (JP); Satoshi Omi, Ebina (JP); and Yuki Nishikawa, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jan. 12, 2022, as Appl. No. 17/573,757.
Claims priority of application No. 2021-034590 (JP), filed on Mar. 4, 2021.
Prior Publication US 2022/0281487 A1, Sep. 8, 2022
Int. Cl. B60W 60/00 (2020.01); G06V 20/58 (2022.01); G06V 40/16 (2022.01); G06V 40/20 (2022.01)
CPC B60W 60/00253 (2020.02) [G06V 20/58 (2022.01); G06V 40/174 (2022.01); G06V 40/28 (2022.01); B60W 2420/403 (2013.01); B60W 2520/04 (2013.01); B60W 2540/041 (2020.02); B60W 2540/049 (2020.02); B60W 2540/21 (2020.02); B60W 2540/215 (2020.02); B60W 2554/4029 (2020.02); B60W 2555/20 (2020.02); B60W 2556/10 (2020.02)] 13 Claims
OG exemplary drawing
 
1. A vehicle control device for an autonomous driving vehicle that autonomously travels based on an operation command, the vehicle control device comprising:
a reference data storage unit that stores in advance data related to a reference gesture image of a person when requesting the autonomous driving vehicle to stop;
a recognition unit that recognizes that there is a person around the autonomous driving vehicle during autonomous traveling of the autonomous driving vehicle;
a traveling data storage unit that stores data related to a gesture image of the person around the autonomous driving vehicle, when the recognition unit recognizes that there is the person around the autonomous driving vehicle;
a discrimination unit that discriminates whether a gesture of the person around the autonomous driving vehicle is a gesture requesting the autonomous driving vehicle to stop, by performing, a predetermined number of times, collation of the data related to the reference gesture image stored in the reference data storage unit with the data related to the gesture image stored in the traveling data storage unit; and
a disaster occurrence determination unit that determines whether a disaster related to a traveling area of the autonomous driving vehicle has occurred, wherein when a ratio of the discrimination results that the gesture of the person around the autonomous driving vehicle is the gesture requesting the autonomous driving vehicle to stop is greater than a predetermined threshold, and the disaster occurrence determination unit determines that the disaster has occurred, the autonomous driving vehicle is caused to stop around the person requesting the autonomous driving vehicle to stop.