US 12,472,982 B2
Mobile object control device, mobile object control method, and program
Kotaro Fujimura, Wako (JP); Atsushi Kato, Wako (JP); and Yuji Yasui, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Sep. 26, 2023, as Appl. No. 18/372,714.
Claims priority of application No. 2022-153282 (JP), filed on Sep. 27, 2022.
Prior Publication US 2024/0101152 A1, Mar. 28, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 40/105 (2012.01); B60W 50/00 (2006.01)
CPC B60W 60/0011 (2020.02) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 40/105 (2013.01); B60W 50/0097 (2013.01); B60W 60/0015 (2020.02)] 11 Claims
OG exemplary drawing
 
1. A mobile object control device comprising a storage medium storing computer-readable commands, and a processor connected to the storage medium, the processor being configured to execute the computer-readable commands to:
recognize a surrounding situation of a mobile object;
set, based on the recognized surrounding situation, a risk area in which positions of the surrounding situation are associated with risk values that are indicator values indicating degrees to which the mobile object is to avoid traveling;
generate a target trajectory indicating a route along which the mobile object is to travel in a predicted future;
cause the mobile object to travel along the generated target trajectory; and
set at least one observation point in each of three or more provisional trajectories branching at a specific location ahead of the mobile object, and determine the target trajectory from among the three or more provisional trajectories based on the risk area and a risk value of the at least one observation point.