US 12,249,155 B2
Boarding permission determination device and boarding permission determination method
Jo Nishiyama, Kanagawa (JP); Hirofumi Inoue, Kanagawa (JP); Takehito Teraguchi, Kanagawa (JP); Yu Shikoda, Kanagawa (JP); and Shota Okubo, Kanagawa (JP)
Assigned to Nissan Motor Co., Ltd., Yokohama (JP)
Appl. No. 17/426,221
Filed by Nissan Motor Co., Ltd., Yokohama (JP)
PCT Filed Jan. 29, 2019, PCT No. PCT/IB2019/000103
§ 371(c)(1), (2) Date Jul. 28, 2021,
PCT Pub. No. WO2020/157531, PCT Pub. Date Aug. 6, 2020.
Prior Publication US 2022/0101633 A1, Mar. 31, 2022
Int. Cl. G06V 20/56 (2022.01); B60W 60/00 (2020.01); G06T 7/20 (2017.01); G06V 40/20 (2022.01); G08G 1/00 (2006.01)
CPC G06V 20/56 (2022.01) [B60W 60/00253 (2020.02); G06T 7/20 (2013.01); G06V 40/28 (2022.01); G08G 1/205 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A boarding permission determination device comprising:
a sensor configured to be mounted on a vehicle and to capture images of objects in a periphery of the vehicle;
a controller configured to detect pedestrians in the periphery of the vehicle based on the images captured by the sensor; and
a storage device,
the controller being configured to
receive a first image acquired by the sensor and, based on the image, detect at least a prescribed movement and a characteristic of a person in the periphery of the vehicle while the vehicle is traveling,
register, in the storage device, information indicating the characteristic of the person detected from the first image when the prescribed movement of the person is detected while the vehicle is traveling,
determine a stop location for the vehicle,
control the vehicle such that the vehicle stops at the stop location that was determined,
receive a second image acquired by the sensor at the stop location,
determine, based on the second image and the information registered in the storage device, whether the person detected in the periphery of the vehicle while the vehicle was traveling is present at the stop location, and
control a prescribed device mounted on the vehicle such that the person can board the vehicle after the vehicle is stopped at the stop location upon determining that the person that was detected while the vehicle was traveling is present at the stop location.