US 12,479,472 B2
Moving body control system and moving body control method
Keisuke Hokai, Gotemba (JP); and Taichi Kawanai, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Aug. 23, 2023, as Appl. No. 18/454,452.
Claims priority of application No. 2022-166333 (JP), filed on Oct. 17, 2022.
Prior Publication US 2024/0124018 A1, Apr. 18, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/14 (2006.01); B60W 50/00 (2006.01)
CPC B60W 60/0011 (2020.02) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 30/146 (2013.01); B60W 50/0097 (2013.01); B60W 60/0015 (2020.02); B60W 2420/408 (2024.01); B60W 2554/20 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02); B60W 2556/20 (2020.02); B60W 2556/40 (2020.02); B60W 2556/50 (2020.02)] 5 Claims
OG exemplary drawing
 
1. A moving body control system for controlling a moving body,
the moving body control system comprising:
one or more processors; and
one or more memory devices configured to store feature object map information indicating a position of a feature object, wherein
the one or more processors are configured to:
recognize a feature object around the moving body based on sensor-detected information detected by an external sensor mounted on the moving body to acquire object information indicating a relative position of the recognized feature object with respect to the moving body;
execute a localization process that estimates a position of the moving body based on a comparison between a position of the recognized feature object obtained from the object information and the position of the feature object obtained from the feature object map information; and
execute driving assist control that generates a target trajectory of the moving body and controls travel of the moving body so as to follow the target trajectory based on the estimated position of the moving body,
a first range includes the estimated position of the moving body and becomes larger as reliability of the localization process becomes lower,
a first future range is at least a part of an expected passing range of the first range, and
the one or more processors are further configured to:
determine whether or not an obstacle is present in the first range or the first future range;
make the moving body decelerate or stop when the obstacle is present in the first range or the first future range; and
continue the driving assist control when no obstacle is present in the first range or the first future range.