US 12,252,118 B2
Recognition device and method for vehicle
Kengo Sasaki, Kariya (JP); and Akira Itoh, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Apr. 27, 2022, as Appl. No. 17/660,926.
Application 17/660,926 is a continuation of application No. PCT/JP2020/039225, filed on Oct. 19, 2020.
Claims priority of application No. 2019-196523 (JP), filed on Oct. 29, 2019.
Prior Publication US 2022/0254166 A1, Aug. 11, 2022
Int. Cl. B60W 30/095 (2012.01); B60W 40/04 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/0956 (2013.01) [B60W 40/04 (2013.01); B60W 60/0011 (2020.02); B60W 60/0015 (2020.02); B60W 60/00272 (2020.02); B60W 60/00274 (2020.02); B60W 2420/403 (2013.01); B60W 2554/20 (2020.02); B60W 2554/4026 (2020.02); B60W 2554/4029 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/406 (2020.02); B60W 2554/80 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A recognition device comprising:
a recognition unit configured to recognize a two-wheeled vehicle facing toward a direction perpendicular to a path of an own vehicle as an object present in a direction of travel of the own vehicle and an estimated movement region of the object;
a determination unit configured to determine whether a path of the own vehicle is blocked by the object by determining whether the estimated movement region of the object overlaps with the path of the own vehicle, based on a recognition result obtained by the recognition unit;
an acquisition unit configured to, in response to the determination unit determining that the path is blocked, acquire information indicating whether the object is a moving object or a stationary object from an operator; and
a change unit configured to change the estimated movement region recognized by the recognition unit so that a width of the estimated movement region in a straight-forward direction of the object is reduced and a width of the estimated movement region in a direction perpendicular to the straight-forward direction is increased, in response to the information acquired by the acquisition unit indicating that the object is a stationary object and in response to the recognition unit recognizing that the object is a two-wheeled vehicle facing toward the direction perpendicular to the path of the own vehicle, wherein a control device of the own vehicle controls autonomous driving of the own vehicle based on the estimated movement region as changed.