US 12,135,546 B2
Mobile object control system, mobile object, mobile object control method, and storage medium
Yuji Yasui, Wako (JP); and Kentaro Yamada, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Feb. 25, 2022, as Appl. No. 17/680,403.
Claims priority of application No. 2021-031626 (JP), filed on Mar. 1, 2021.
Prior Publication US 2022/0276648 A1, Sep. 1, 2022
Int. Cl. G05D 1/00 (2024.01); G06F 3/01 (2006.01); G06V 40/20 (2022.01)
CPC G05D 1/0016 (2013.01) [G05D 1/0214 (2013.01); G06F 3/017 (2013.01); G06V 40/28 (2022.01)] 13 Claims
OG exemplary drawing
 
1. A mobile object control system comprising:
a storage device configured to store instructions; and
one or more processors,
wherein the one or more processors execute the instructions stored in the storage device to:
acquire an image,
recognize an indication of a user,
recognize a first region that a mobile object is able to enter and a second region that the mobile object is not able to enter on the basis of the image,
decide a target position to which the mobile object will move on the basis of the indication from the user, the first region that the mobile object is able to enter, and the second region that the mobile object is not able to enter,
cause the mobile object to move to the determined target position,
wherein the first region and the second region are adjacent to each other,
wherein the first region and the second region extend in a reference direction,
recognize an indication of the target position using a gesture of the user,
detect a boundary between the first region and the second region, the boundary being associated with the target position using a gesture of the user, and
determine, as the target position, a position with deviation from the boundary by a predetermined amount in a direction of the first region on the basis of the indication,
wherein the direction of the first region is a direction intersecting the reference direction and from the second region to the first region.