US 12,240,479 B2
Mobile object control device and mobile object control method
Hideki Matsunaga, Wako (JP); Yuji Yasui, Wako (JP); Takashi Matsumoto, Wako (JP); and Gakuyo Fujimoto, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Mar. 24, 2022, as Appl. No. 17/702,847.
Claims priority of application No. 2021-056995 (JP), filed on Mar. 30, 2021.
Prior Publication US 2022/0315026 A1, Oct. 6, 2022
Int. Cl. B60W 50/12 (2012.01); B60W 40/105 (2012.01); G08G 1/01 (2006.01)
CPC B60W 50/12 (2013.01) [B60W 40/105 (2013.01); G08G 1/0133 (2013.01); G08G 1/0141 (2013.01); B60W 2552/05 (2020.02)] 13 Claims
OG exemplary drawing
 
1. A mobile object control device for a mobile object capable of moving on both a roadway and a sidewalk, comprising:
a storage device storing a program; and
a hardware processor,
wherein the hardware processor executes the program stored in the storage device to:
acquire information indicating a road situation of the roadway in a traveling direction of the mobile object which is moving on the roadway;
recognize whether the mobile object is moving on the roadway or the sidewalk;
recognize presence of a contact portion between the sidewalk and the roadway in the traveling direction of the mobile object, the contact portion being provided at a boundary between the sidewalk and the roadway, the contact portion being a portion in which a load is less than in other portions of the boundary when the mobile object passes through;
control the speed of the mobile object at least partially;
limit a speed at which the mobile object is moving on the roadway to a first speed;
limit a speed at which the mobile object is moving on the sidewalk to a second speed slower than the first speed; and
bring a speed of the mobile object closer to the second speed when the mobile object is moving on the roadway, the contact portion is recognized within a first predetermined range from the mobile object in the traveling direction of the mobile object, and the road situation is in a predetermined state within a second predetermined range from the mobile object in the traveling direction of the mobile object, the first predetermined range being shorter than or the same as the second predetermined range,
wherein the hardware processor determines that the road situation is a predetermined state when it is recognized based on the acquired information that a speed of another mobile object moving in the same direction as the mobile object is greater than a threshold A within the second predetermined range in the traveling direction of the mobile object.