Granted Patent B2

US 12,649,471 · App. 18/380,823 · Granted Jun 9, 2026

Inventors: Koki Aizawa (Wako, JP); Hideki Matsunaga (Wako, JP); Ryoji Wakayama (Wako, JP); Kento Shirakata (Wako, JP)

Assignee: HONDA MOTOR CO., LTD.

B60W30/18159B60W2420/403B60W2552/05B60W2552/10

Abstract

Claims (51)

1 . A course generation device that generates course information indicating a course on which a moving body moves from a traveling area where the moving body is traveling to a traveling area of a movement destination, wherein the course information is provided to the moving body, the course generation device comprising:

a camera on the moving body for capturing an image of a travelling direction of the moving body; and

at least one processor and at least one memory comprising at least one program, wherein the at least one program is configured to cause the one or more processors to:

output a course in the traveling area where the moving body is traveling and a course in a traveling area of the movement destination respectively in a first point sequence and a second point sequence on a local map converted from an image captured by the camera;

select a start point in the first point sequence and an end point in the second point sequence;

generate the course information of the course on which the moving body moves from the traveling area where the moving body is traveling to the traveling area of the movement destination, as a curve including the start point and the end point;

estimate or detect an avoidance area to be avoided in traveling, based on an image captured by the camera;

select again at least one of the start point in the first point sequence and the end point in the second point sequence, in a case where a distance between the avoidance area and the course is shorter than a predetermined distance, and generate again the course information for the distance to be equal to or longer than the predetermined distance; and

control traveling of the moving body along the generated course information,

wherein when the moving body moves without moving across an opposite traffic lane, in the case where the distance between the avoidance area and the course is shorter than the predetermined distance, at least one of the start point and the end point is selected again for the start point and the end point to be closer to each other to reduce the radius of the curve.

2 . The course generation device according to claim 1 , wherein the avoidance area includes at least one of a center of crossroads and a road shoulder.

3 . The course generation device according to claim 1 , wherein the start point is a point at an end position of the traveling area where the moving body is traveling, or the end point is a point at a start position of the traveling area of the movement destination.

4 . The course generation device according to claim 3 , wherein

in a case where the start point is the point at the end position of the traveling area where the moving body is traveling, the end point is a point included in the second point sequence and connected with the start point by a single curve, and

in a case where the end point is the point at the start position of the traveling area of the movement destination, the start point is a point included in the first point sequence and connected with the end point by a single curve.

5 . The course generation device according to claim 1 , wherein when the moving body moves across an opposite traffic lane, in the case where the distance between the avoidance area and the course is shorter than the predetermined distance, at least one of the start point and the end point is selected again for the start point and the end point to be more separated from each other.

6 . The course generation device according to claim 1 , wherein the curve includes a single curve connecting either the course in the traveling area where the moving body is traveling or an extension line of the course and either the course in the traveling area of the movement destination or an extension line of the course.

7 . The course generation device according to claim 1 , wherein

a central part of the moving body travels along the course, and

the predetermined distance is at least a half a width of the moving body.

8 . The course generation device according to claim 1 , wherein the traveling area of the movement destination is connected, through either a left turn or a right turn to be made at crossroads, from the traveling area where the moving body is traveling.

9 . The course generation device according to claim 1 , wherein

a space between the points in the first point sequence and the second point sequence is determined so that a time interval at which the moving body passes through each point becomes constant.

10 . A moving body comprising:

a course generation device configured to generate course information indicating a course on which the moving body moves from a traveling area where the moving body is traveling to a traveling area of a movement destination, wherein the course information is provided to the moving body; and

a travel controller configured to control traveling along the course indicated by the course information generated by the course generation device,

the course generation device comprising:

a camera on the moving body for capturing an image of a travelling direction of the moving body; and

at least one processor and at least one memory comprising at least one program, wherein the at least one program is configured to cause the one or more processors to:

output a course in the traveling area where the moving body is traveling and a course in a traveling area of the movement destination respectively in a first point sequence and a second point sequence on a local map converted from an image captured by the camera;

select a start point in the first point sequence and an end point in the second point sequence;

generate the course information of the course on which the moving body moves from the traveling area where the moving body is traveling to the traveling area of the movement destination, as a curve including the start point and the end point;

estimate or detect an avoidance area to be avoided in traveling, based on an image captured by the camera; and

select again at least one of the start point in the first point sequence and the end point in the second point sequence, in a case where a distance between the avoidance area and the course is shorter than a predetermined distance, and generate again the course information for the distance to be equal to or longer than the predetermined distance,

wherein when the moving body moves without moving across an opposite traffic lane, in the case where the distance between the avoidance area and the course is shorter than the predetermined distance, at least one of the start point and the end point is selected again for the start point and the end point to be closer to each other to reduce the radius of the curve.

11 . A non-transitory computer readable storage which stores a program for causing a computer on a moving body to function as a course generation device configured to generate course information indicating a course on which the moving body moves from a traveling area where the moving body is traveling to a traveling area of a movement destination, wherein the moving body has a camera for capturing an image of a travelling direction of the moving body and the course information is provided to the moving body, the program causing the computer to execute to:

output a course in the traveling area where the moving body is traveling and a course in a traveling area of the movement destination respectively in a first point sequence and a second point sequence on a local map converted from an image captured by the camera;

select a start point in the first point sequence and an end point in the second point sequence;

generate the course information of the course on which the moving body moves from the traveling area where the moving body is traveling to the traveling area of the movement destination, as a curve including the start point and the end point;

estimate or detect an avoidance area to be avoided in traveling, based on an image captured by the camera;

select again at least one of the start point in the first point sequence and the end point in the second point sequence, in a case where a distance between the avoidance area and the course is shorter than a predetermined distance, and generate again the course information for the distance to be equal to or longer than the predetermined distance; and

control traveling of the moving body along the generated course information,

wherein when the moving body moves without moving across an opposite traffic lane, in the case where the distance between the avoidance area and the course is shorter than the predetermined distance, at least one of the start point and the end point is selected again for the start point and the end point to be closer to each other to reduce the radius of the curve.

12 . A course generation method, to be performed by a control device on a moving body including a course generation unit and an avoidance area detection unit, for generating course information indicating a course on which the moving body moves from a traveling area where the moving body is traveling to a traveling area of a movement destination, wherein the moving body has a camera for capturing an image of a travelling direction of the moving body and the course information is provided to the moving body, the course generation method comprising:

outputting, by the course generation unit, a course in the traveling area where the moving body is traveling and a course in a traveling area of the movement destination respectively in a first point sequence and a second point sequence on a local map converted from an image captured by the camera,

selecting a start point in the first point sequence and an end point in the second point sequence;

generating the course information of the course on which the moving body moves from the traveling area where the moving body is traveling to the traveling area of the movement destination, as a curve including the start point and the end point;

estimating or detecting, by the avoidance area detection unit, an avoidance area to be avoided in traveling, based on an image captured by the camera;

selecting again, by the course generation unit, at least one of the start point in the first point sequence and the end point in the second point sequence, in a case where a distance between the avoidance area and the course is shorter than a predetermined distance, and generating again the course information for the distance to be equal to or longer than the predetermined distance; and

controlling traveling of the moving body along the generated course information,

wherein when the moving body moves without moving across an opposite traffic lane, in the case where the distance between the avoidance area and the course is shorter than the predetermined distance, at least one of the start point and the end point is selected again for the start point and the end point to be closer to each other to reduce the radius of the curve.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (18)