US 12,371,014 B2
Mobile object control device, mobile object control method, and storage medium
Koki Aizawa, Wako (JP); Kosuke Nakanishi, Wako (JP); and Takashi Matsumoto, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Nov. 29, 2022, as Appl. No. 18/070,628.
Claims priority of application No. 2021-198522 (JP), filed on Dec. 7, 2021.
Prior Publication US 2023/0174061 A1, Jun. 8, 2023
Int. Cl. B60W 30/10 (2006.01); B60W 10/20 (2006.01); B60W 30/12 (2020.01); B60W 30/14 (2006.01); B60W 40/06 (2012.01); G06F 17/17 (2006.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 30/12 (2013.01) [B60W 10/20 (2013.01); B60W 30/143 (2013.01); B60W 40/06 (2013.01); G06F 17/17 (2013.01); G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2552/53 (2020.02); B60W 2556/10 (2020.02)] 10 Claims
OG exemplary drawing
 
9. A mobile object control method comprising causing a computer of a mobile object control device to:
recognize candidates for partition lines for partitioning a traveling lane in which a mobile object travels from a first image including the vicinity of the mobile object captured by an image capturer;
select a partition line candidate closest to a past partition line for partitioning the traveling lane of the mobile object before a predetermined time, among the recognized partition line candidates, as a partition line for partitioning a current traveling lane of the mobile object;
set a search starting point on the lane line candidates;
set a reference position on the past partition line;
set search points on the lane line candidates at predetermined intervals in a direction from the search starting point to the reference position;
derive a distance between the past partition line and the lane line candidates by deriving the distance from the search point to the past partition line for each of the multiple lane line candidates and the past partition line; and
recognize the lane line candidate closest to the past partition line among the multiple lane line candidates as the driving lane in which the mobile object is traveling.