US 12,291,192 B2
Control apparatus, control method, and non-transitory computer readable media encoded with computer program
Hiroya Chiba, Fuji Shizuoka-ken (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jan. 3, 2023, as Appl. No. 18/092,585.
Claims priority of application No. 2022-020831 (JP), filed on Feb. 14, 2022.
Prior Publication US 2023/0256959 A1, Aug. 17, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/06 (2006.01); G05D 1/00 (2024.01); G06V 10/141 (2022.01); G06V 10/60 (2022.01); G06V 20/58 (2022.01)
CPC B60W 30/06 (2013.01) [G05D 1/0234 (2013.01); G05D 1/0246 (2013.01); G05D 1/0274 (2013.01); G06V 10/141 (2022.01); G06V 10/60 (2022.01); G06V 20/586 (2022.01); B60W 2556/40 (2020.02)] 7 Claims
OG exemplary drawing
 
1. A control apparatus for an object moving in a specific zone while recognizing one or more markers deployed in the specific zone by a camera, the control apparatus comprising:
one or more processors; and
a memory storing executable instructions that, when executed by the one or more processors, cause the one or more processors to execute:
acquiring a brightness information, a marker map information, and an object position information, the brightness information showing brightness in the specific zone, the marker map information showing positions of the one or more markers in the specific zone, the object position information showing a position of the object in the specific zone;
detecting whether or not that the specific zone or surroundings of the object is darker than a specified brightness based on the brightness information; and
when detecting that the specific zone or the surroundings of the object is darker than the specified brightness, operating a headlight installed in the object to illuminate the one or more markers located around the object based on the maker map information and the object position information, wherein
the brightness information includes a luminance value of the one or more markers on an image captured by the camera,
the detecting whether or not that the specific zone or the surroundings of the object is darker than the specified brightness includes detecting that the specific zone or the surroundings of the object is darker than the specified brightness when the luminance value is less than a predetermined threshold,
the operating of the headlight includes:
calculating relative positions of the one or more markers to the object based on the marker map information and the object position information; and
controlling, in response to the calculated positions of the one or more markers to the object, at least one of an irradiation range of the headlight and an irradiation direction of the headlight viewed from the object depending on the relative positions; and
the one or more processors are configured to perform localization of the object, and correct the localization of the object by sequentially recognizing the one or more markers based on the relative positions between the one or more markers and the object.