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US 11,027,728 B2Granted
Vehicle control device
AssigneeHonda Motor Co., Ltd.
InventorsHiroshi Oguro, Daichi Kato
Life of this patent
Estimating the term…
Abstract
An integrated object formation unit of a vehicle control device forms integrated objects, which are integral objects, the boundaries of the integrated objects being determined from the positional relationship between two or ore objects in a prescribed distance range. An interference prediction unit of the vehicle control device predicts the probability of the integrated objects, instead of each of the objects, coming into contact with, or near, a vehicle.
Claims14
A vehicle control apparatus comprising one or more processors, wherein the one or more processors:
- recognize one or more objects based on a detection result obtained by an outside sensor configured to detect an outside state of a vehicle;
- predict a possibility that the one or more objects recognized contact or approach the vehicle;
- and
- form as an integrated item, a unified object, a boundary of which is determined from positional relationship between two or more objects that are present within a predetermined distance range among the one or more objects recognized,
- in predicting the possibility that the one or more objects recognized contact or approach the vehicle, the one or more processors predict the possibility that the unified object formed contacts or approaches the vehicle, instead of respective objects that make up the unified object, and
- in forming the unified object, the one or more processors extract representative objects from the two or more objects making up the unified object at predetermined angle intervals with respect to an angular direction centered at a position of the vehicle, and determine at least two vertices to form a polygon from positions of the representative objects.
3 more elements
A vehicle control apparatus comprising one or more processors, wherein the one or more processors:
- recognize one or more objects based on a detection result obtained by an outside sensor configured to detect an outside state of a vehicle;
- predict a possibility that the one or more objects recognized contact or approach the vehicle;
- and
- form as an integrated item, a unified object, a boundary of which is determined from positional relationship between two or more objects that are present within a predetermined distance range among the one or more objects recognized,
- in predicting the possibility that the one or more objects recognized contact or approach the vehicle, the one or more processors predict the possibility that the unified object formed contacts or approaches the vehicle, instead of the respective objects that make up the unified object,
- in forming the unified object, the one or more processors form the unified object that encompasses all of the two or more objects present in the predetermined distance range and has a polygon shape, and
- in forming the unified object, the one or more processors extract an object located relatively close to the vehicle from the two or more objects making up the unified object as a representative object and determine at least one vertex to form the polygon from a position of the representative object.
4 more elements
A vehicle control apparatus comprising one or more processors, wherein the one or more processors:
- recognize one or more objects based on a detection result obtained by an outside sensor configured to detect an outside state of a vehicle;
- predict a possibility that the one or more objects recognized contact or approach the vehicle;
- and
- form as an integrated item, a unified object, a boundary of which is determined from positional relationship between two or more objects that are present within a predetermined distance range among the one or more objects recognized,
- in predicting the possibility that the one or more objects recognized contact or approach the vehicle, the one or more processors predict the possibility that the unified object formed contacts or approaches the vehicle, instead of the respective objects that make up the unified object,
- in forming the unified object, the one or more processors form the unified object that encompasses all of the two or more objects present in the predetermined distance range and has a polygon shape, and
- in forming the unified object, the one or more processors determine at least one point that is on a far side relative to the positions of all objects that make up the unified object as a vertex of the polygon.
4 more elements
Dependencies are inferred from the claim text.