US 12,456,308 B2
Moving body control device, moving body control method, and moving body control program
Hiroyuki Nakashima, Tokyo (JP); Takeshi Sasajima, Tokyo (JP); Hiroki Takaku, Tokyo (JP); Hideki Nagatomo, Tokyo (JP); Tatsuro Fujiwara, Tokyo (JP); Makoto Bessho, Tokyo (JP); Masaya Kato, Kariya (JP); Jun Adachi, Kariya (JP); Momoka Akaike, Aichi (JP); and Kazutaka Hayakawa, Kariya (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP); and AISIN CORPORATION, Kariya (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP); and AISIN CORPORATION, Aichi (JP)
Filed on Oct. 23, 2023, as Appl. No. 18/491,868.
Claims priority of application No. 2022-172985 (JP), filed on Oct. 28, 2022.
Prior Publication US 2024/0144700 A1, May 2, 2024
Int. Cl. G06V 20/58 (2022.01); B60W 30/06 (2006.01); G06V 10/60 (2022.01)
CPC G06V 20/586 (2022.01) [B60W 30/06 (2013.01); G06V 10/60 (2022.01); B60W 2420/403 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A moving body control device comprising:
an outside recognition unit configured to acquire recognition data of an outside of a moving body;
a reception unit which receives designation of a predetermined parking position from a user of the moving body; and
a control unit configured to perform automatic parking control for parking the moving body at the predetermined parking position based on the recognition data of the outside and the predetermined parking position, and register the predetermined parking position as a designated parking position after parking the moving body at the predetermined parking position, wherein
the control unit is configured to detect feature points around the designated parking position, and register, with respect to the designated parking position, a plurality of patterns of the feature points based on illuminance of the outside calculated from the recognition data of the outside, and
the control unit is configured to select a specific pattern corresponding to the illuminance around the moving body acquired from the recognition data of the outside when executing the automatic parking control to the designated parking position, among the plurality of patterns of the feature points, and perform the automatic parking control to the designated parking position based on the specific pattern.