US 12,304,490 B2
Control device
Shinichi Okunishi, Saitama (JP); Tatsuya Konishi, Saitama (JP); and Keita Akiho, Saitama (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Feb. 24, 2023, as Appl. No. 18/113,843.
Claims priority of application No. 2022-050616 (JP), filed on Mar. 25, 2022.
Prior Publication US 2023/0303079 A1, Sep. 28, 2023
Int. Cl. B60W 30/18 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/18163 (2013.01) [B60W 60/001 (2020.02); B60W 2420/408 (2024.01); B60W 2554/20 (2020.02); B60W 2554/80 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A control device that performs travel control of a vehicle, the control device comprising
a processor configured to acquire output information of a sensor configured to detect an object in an around of the vehicle based on a reflected wave from the object, wherein
the processor is configured to:
acquire detection point data of the object in a peripheral region of the vehicle based on the output information of the sensor;
recognize that a peripheral environment of the vehicle is a travel-restricted section based on a distribution of detection point data in a first group including a plurality pieces of the detection point data on one side in a left-right direction of the vehicle in the peripheral region;
classify the first group into a plurality of first subgroups; and
recognize that the peripheral environment is the travel-restricted section based on a variation amount of positions of the plurality of first subgroups in the left-right direction.