Granted Patent B2

US 12,459,499 · App. 17/582,031 · Granted Nov 4, 2025

Inventors: Ichiro Baba (Wako, JP); Yuji Yasui (Wako, JP)

Assignee: HONDA MOTOR CO., LTD.

B60W30/09G06V20/58B60Q9/008B60W2420/403B60W2420/408

Abstract

Claims (65)

1 . A mobile object control device comprising:

a storage device that stores a program; and

a hardware processor, the hardware processor executing the program stored in the storage device to:

recognize an object which is located near a vehicle;

generate a movement plan for the vehicle, which includes generation of a target trajectory in which the vehicle is to travel and which is obtained by connecting a plurality of trajectory points;

generate, when generating the movement plan, the target trajectory by evaluating a first risk associated with a line which is obtained by connecting trajectory points adjacent to each other with respect to a traveling direction of the vehicle based on a distance between a center of a risk area including the object and the line; and

cause the vehicle to move in the traveling direction based on the movement plan, the first risk associated with the line obtained by connecting the trajectory points, and the risk area inclusive of the object,

wherein the hardware processor further sets the risk area to have an ellipse shape;

performs a deformation processing by converting the ellipse shape to a circle shape for the risk area, the deformation processing comprises shrinking the risk area and the line in a major axis direction of the ellipse shape or enlarging the risk area and the line in a minor axis direction of the ellipse shape;

evaluates, as a value, a closeness of the target trajectory to the object based on a result of the deformation processing;

regenerates the target trajectory based on the value; and

performs, before the deformation processing, rotation processing comprising rotating the risk area and the line around a center of the ellipse shape and matching the major axis and the minor axis of the ellipse shape with axes of a virtual plane,

wherein the evaluating of the first risk between the line and the ellipse shape is achieved through an evaluation of a second risk between the line and the circle shape by evaluating that the line has a conditional risk in response to at least one of a first condition and a second condition being satisfied and a third condition is satisfied,

wherein the first condition specifies that a first angle between a first vector from an endpoint to an other endpoint of the line and a second vector from the end point to the center, and a second angle between a third vector from the other end point to the center are both acute angles,

wherein the second condition specifies that at least one of a first distance between the endpoint and the center and a second distance between the other endpoint and the center are equal to or less than a predetermined value, and

wherein the third condition specifies that a distance between the line and the center is equal to or less than the predetermined value.

2 . The mobile object control device according to claim 1 , wherein the hardware processor sets the risk area to have an ellipse shape.

3 . The mobile object control device according to claim 2 ,

wherein the hardware processor performs deformation processing of converting the ellipse shape to a circle for the risk area set to have the ellipse shape, the deformation processing including shrinking the risk area and the line in a major axis direction of the ellipse shape or enlarging the risk area and the line in a minor axis direction of the ellipse shape,

wherein the hardware processor evaluates a degree of closeness of the target trajectory to the object based on a result of performing the deformation processing, and

wherein the hardware processor regenerates the target trajectory based on a result of the evaluation.

4 . The mobile object control device according to claim 3 , wherein the hardware processor performs, before the deformation processing, rotation processing of rotating the risk area and the line around a center of the ellipse shape and matching the major axis and the minor axis of the ellipse shape with axes of a virtual plane.

5 . A mobile object control method to be executed by a computer mounted on a mobile body, the mobile object control method comprising:

recognizing an object which is located near a vehicle;

generating a movement plan for the vehicle, which includes generation of a target trajectory in which the vehicle is to travel and which is obtained by connecting a plurality of trajectory points; and

generating, when generating the movement plan, the target trajectory by evaluating a first risk associated with a line which is obtained by connecting trajectory points adjacent to each other with respect to a traveling direction of the vehicle based on a distance between a center of a risk area including the object and the line;

setting the risk area to have an ellipse shape;

performing deformation processing by converting the ellipse shape to a circle shape for the risk area, the deformation processing comprises shrinking the risk area and the line in a major axis direction of the ellipse shape or enlarging the risk area and the line in a minor axis direction of the ellipse shape;

evaluating, as a value, a closeness of the target trajectory to the object based on a result of the deformation processing;

regenerating the target trajectory based on the value; and

performing, before the deformation processing, rotation processing comprising rotating the risk area and the line around a center of the ellipse shape and matching the major axis and the minor axis of the ellipse shape with axes of a virtual plane,

wherein the evaluating of the first risk between the line and the ellipse shape is achieved through an evaluation of a second risk between the line and the circle shape by evaluating that the line has a conditional risk in response to at least one of a first condition and a second condition being satisfied and a third condition is satisfied,

wherein the first condition specifies that a first angle between a first vector from an endpoint to an other endpoint of the line and a second vector from the end point to the center, and a second angle between a third vector from the other end point to the center are both acute angles,

wherein the second condition specifies that at least one of a first distance between the endpoint and the center and a second distance between the other endpoint and the center are equal to or less than a predetermined value, and

wherein the third condition specifies that a distance between the line and the center is equal to or less than the predetermined value; and

causing the vehicle to move in the traveling direction based on the movement plan, the first risk associated with the line obtained by connecting the trajectory points, and the risk area inclusive of the object.

6 . A computer-readable non-transitory storage medium that stores a program for causing a computer mounted on a mobile body to:

recognize an object which is located near a vehicle;

generate a movement plan for the vehicle, which includes generation of a target trajectory in which the vehicle is to travel and which is obtained by connecting a plurality of trajectory points;

generate, when generating the movement plan, the target trajectory by evaluating a first risk associated with a line which is obtained by connecting trajectory points adjacent to each other with respect to a traveling direction of the vehicle based on a distance between a center of a risk area including the object and the line;

set the risk area to have an ellipse shape;

perform a deformation processing by converting the ellipse shape to a circle shape for the risk area, the deformation processing comprises shrinking the risk area and the line in a major axis direction of the ellipse shape or enlarging the risk area and the line in a minor axis direction of the ellipse shape;

evaluate, as a value, a closeness of the target trajectory to the object based on a result of the deformation processing;

regenerate the target trajectory based on the value; and

perform, before the deformation processing, rotation processing comprising rotating the risk area and the line around a center of the ellipse shape and matching the major axis and the minor axis of the ellipse shape with axes of a virtual plane,

wherein the evaluating of the first risk between the line and the ellipse shape is achieved through an evaluation of a second risk between the line and the circle shape by evaluating that the line has a conditional risk in response to at least one of a first condition and a second condition being satisfied and a third condition is satisfied,

wherein the first condition specifies that a first angle between a first vector from an endpoint to an other endpoint of the line and a second vector from the end point to the center, and a second angle between a third vector from the other end point to the center are both acute angles,

wherein the second condition specifies that at least one of a first distance between the endpoint and the center and a second distance between the other endpoint and the center are equal to or less than a predetermined value, and wherein the third condition specifies that a distance between the line and the center is equal to or less than the predetermined value; and

cause the vehicle to move in the traveling direction based on the movement plan, the first risk associated with the line obtained by connecting the trajectory points, and the risk area inclusive of the object.

7 . A mobile object control device comprising:

a storage device that stores a program; and

a processor that executes the program stored in the storage device to:

recognize an object which is located near a vehicle;

generate a movement plan for the vehicle, which includes generation of a target trajectory in which the vehicle is to travel and which is obtained by connecting a plurality of trajectory points;

generate, when generating the movement plan, the target trajectory by evaluating a first risk associated with a line which is obtained by connecting trajectory points adjacent to each other with respect to a traveling direction of the vehicle based on a distance between a center of a risk area including the object and the line;

set the risk area to have an ellipse shape;

perform a deformation processing by converting the ellipse shape to a circle shape for the risk area, the deformation processing comprises shrinking the risk area and the line in a major axis direction of the ellipse shape or enlarging the risk area and the line in a minor axis direction of the ellipse shape;

evaluate, as a value, a closeness of the target trajectory to the object based on a result of the deformation processing;

regenerate the target trajectory based on the value; and

perform, before the deformation processing, rotation processing comprising rotating the risk area and the line around a center of the ellipse shape and matching the major axis and the minor axis of the ellipse shape with axes of a virtual plane,

wherein the evaluating of the first risk between the line and the ellipse shape is achieved through an evaluation of a second risk between the line and the circle shape by evaluating that the line has a conditional risk in response to at least one of a first condition and a second condition being satisfied and a third condition is satisfied,

wherein the first condition specifies that a first angle between a first vector from an endpoint to an other endpoint of the line and a second vector from the end point to the center, and a second angle between a third vector from the other end point to the center are both acute angles,

wherein the second condition specifies that at least one of a first distance between the endpoint and the center and a second distance between the other endpoint and the center are equal to or less than a predetermined value, and

wherein the third condition specifies that a distance between the line and the center is equal to or less than the predetermined value; and

cause the vehicle to move in the traveling direction based on the movement plan, the first risk associated with the line obtained by connecting the trajectory points, and the risk area inclusive of the object.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (30)