US 11,989,950 B2
Information processing apparatus, vehicle system, information processing method, and storage medium
Tatsuya Konishi, Wako (JP); Katsunori Miyazawa, Wako (JP); and Kenta Ishii, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Sep. 18, 2020, as Appl. No. 17/024,834.
Claims priority of application No. 2019-173242 (JP), filed on Sep. 24, 2019.
Prior Publication US 2021/0086787 A1, Mar. 25, 2021
Int. Cl. G06V 20/58 (2022.01); B60W 60/00 (2020.01); G06V 10/80 (2022.01); G06V 40/12 (2022.01)
CPC G06V 20/584 (2022.01) [B60W 60/001 (2020.02); G06V 10/811 (2022.01); G06V 40/1365 (2022.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4045 (2020.02)] 11 Claims
OG exemplary drawing
 
1. An information processing apparatus comprising:
a first detection unit that detects an object around a vehicle;
a second detection unit having a detection range that at least partially overlaps a detection range of the first detection unit and that detects the object around the vehicle;
a determination unit that determines whether the object starts to move based on detection results of the first detection unit and the second detection unit; and
a vehicle control apparatus that controls a behavior of the vehicle based on a determination result of the determination unit,
wherein
the determination unit determines that the object starts to move in a case in which the vehicle and the object are in a halted state in response to a detection result of the first detection unit indicating that the object starts to move from the halted state and a detection result of the second detection unit indicating that the object starts to move from the halted state,
the determination unit starts a process of determining whether the object starts to move in response to determining that the vehicle is in the halted state or substantially in the halted state at a predetermined speed or slower, and the object is identified based on a detection result detected by the first detection unit at different timings and the object is identified based on a detection result detected by the second detection unit at the different timings before the process is started, otherwise the determination unit does not execute the process, and
the determination unit determines that the object starts to move in response to determining that a state of the object satisfies two or more conditions based on a detection result of the first detection unit and determining that the state of the object satisfies the two or more conditions based on a detection result of the second detection unit.