US 12,221,129 B2
Control device, control method, and storage medium
Gakuyo Fujimoto, Wako (JP); Yuji Yasui, Wako (JP); Takashi Matsumoto, Wako (JP); and Hideki Matsunaga, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Jan. 19, 2023, as Appl. No. 18/098,731.
Claims priority of application No. 2022-007776 (JP), filed on Jan. 21, 2022.
Prior Publication US 2023/0234609 A1, Jul. 27, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 60/00 (2020.01); G06V 20/56 (2022.01)
CPC B60W 60/001 (2020.02) [B60W 30/0956 (2013.01); G06V 20/56 (2022.01); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A control device mounted on a mobile object comprising:
a storage medium configured to store an instruction readable by a computer, and
a processor connected to the storage medium,
wherein the processor executes the instruction readable by the computer, thereby
acquiring surrounding situation information indicating a surrounding situation of a mobile object recognized by an object recognition device mounted on the mobile object,
detecting a predetermined reference object present in a traveling direction of the mobile object on the basis of the surrounding situation information,
identifying a travelable area of the mobile object on the basis of the surrounding situation information,
controlling traveling of the mobile object such that the mobile object travels in the travelable area,
causing the mobile object to move closer to the reference object when the reference object is detected, and
detecting an accompanying object accompanying the reference object on the basis of the surrounding situation information recognized by the object recognition device after the mobile object moves closer to the reference object, and identifying the travelable area by excluding the reference object and the accompanying object.