US 12,403,903 B2
Mobile object control device and mobile object control method
Hideki Matsunaga, Wako (JP); Yuji Yasui, Wako (JP); Takashi Matsumoto, Wako (JP); and Gakuyo Fujimoto, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Mar. 23, 2022, as Appl. No. 17/701,728.
Claims priority of application No. 2021-056994 (JP), filed on Mar. 30, 2021.
Prior Publication US 2022/0314987 A1, Oct. 6, 2022
Int. Cl. B60W 30/14 (2006.01); B60Q 9/00 (2006.01); B60W 30/182 (2020.01); B60W 40/06 (2012.01); B60W 40/114 (2012.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); G06V 20/56 (2022.01)
CPC B60W 30/146 (2013.01) [B60Q 9/00 (2013.01); B60W 30/182 (2013.01); B60W 40/06 (2013.01); B60W 40/114 (2013.01); B60W 50/14 (2013.01); B60W 60/00253 (2020.02); G06V 20/588 (2022.01); B60W 2050/143 (2013.01); B60W 2420/403 (2013.01); B60W 2520/14 (2013.01); B60W 2552/45 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A mobile object control device comprising:
a storage device storing a program; and
a hardware processor,
wherein the hardware processor executes the program stored in the storage device to:
acquire information indicating a behavior of a mobile object which is capable of moving on both a roadway and a sidewalk different from the roadway;
recognize whether the mobile object is moving on the roadway or the sidewalk;
recognize presence of a contact portion between the sidewalk and the roadway in a traveling direction of the mobile object, the contact portion being provided at a boundary between the sidewalk and the roadway and being a portion in which a load is less than in other portions of the boundary when the mobile object passes through;
control the speed of the mobile object at least partially;
limit a speed at which the mobile object is moving on the roadway to a first speed;
limit a speed at which the mobile object is moving on the sidewalk to a second speed slower than the first speed; and
bring a speed of the mobile object closer to the second speed when the mobile object is moving on the roadway, the contact portion is recognized within a predetermined range from the mobile object, and a behavior of the mobile object satisfies a predetermined condition,
wherein the predetermined condition is a condition for determining whether the mobile object is in an unsteady state.