# US 12,190,729 B2 · Control apparatus, movable object, control method, and computer readable storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,190,729 B2 - Document ID: US12190729B2 - Status: Granted - Kind: B2 - Application number: 17/835,929 - Filed: 2022-06-08 - Published: 2022-12-22 - Granted: 2025-01-07 - Earliest claimed: 2021-06-22 - Assignees: Honda Motor Co., Ltd. - Applicants: Honda Motor Co.,Ltd. - Inventors: Takahiro Kurehashi; Shigeru Inoue; Moriya Horiuchi; Yuta Sakagawa - Web page: https://patentgrep.com/patent/US12190729B2 ## CPC - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - G08G 1/096708: {where the received information might be used to generate an automatic action on the vehicle control} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G08G 1/005: including pedestrian guidance indicator - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 2050/143: {Alarm means} - B60W 2556/05: Big data - B60W 2556/10: Historical data - B60W 2556/45: External transmission of data to or from the vehicle - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2556/65: Data transmitted between vehicles - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A control apparatus includes a reception control unit configured to perform control to receive, when a movable object is located at a first point, presence information of a risk area including a plurality of position coordinates specified through image recognition by another movable object, a determination unit configured to determine whether the movable object is in a vicinity of the risk area based on the plurality of position coordinates included in the presence information of the risk area for which the reception control unit has performed the control to receive, a transmission control unit configured to perform control to transmit, when the determination unit determines that the movable object is in the vicinity of the risk area, information related to presence of the movable object, and a control unit configured to execute control of the movable object. ## Claims ### Claim 1 A control apparatus comprising: at least one processor, wherein the at least one processor is configured to perform control to receive from another movable object, when a movable object is located at a first point, presence information of a risk area including a plurality of position coordinates of the risk area, the plurality of position coordinates being specified through image recognition by the another movable object; determine whether the movable object is in a vicinity of the risk area based on the plurality of position coordinates included in the presence information of the risk area for which the control to receive has been performed; perform control to transmit, when it is determined that the movable object is in the vicinity of the risk area, information related to presence of the movable object; and execute control of the movable object, wherein when the movable object is located at a second point that is closer to the risk area than the first point, the at least one processor is further configured to control to transmit, to an outside of the movable object, risk area information for requesting information related to the risk area based on the presence information of the risk area for the control to receive has been performed, and execute the control of the movable object based on response information from an external apparatus to the risk area information. ### Claim 2 (depends on 1) The control apparatus according to claim 1, wherein the presence information of the risk area includes information indicating a valid period of the risk area, and the at least one processor is further configured to perform the control to transmit the risk area information to the outside of the movable object under a condition of being within the valid period of the risk area. ### Claim 3 (depends on 2) The control apparatus according to claim 2, wherein the presence information of the risk area includes information indicating a moving direction of the other movable object that has specified the risk area, and the at least one processor is further configured to perform the control to transmit the risk area information to the outside of the movable object under a condition that a moving direction of the movable object is matched with the moving direction of the other movable object that has recognized the risk area. ### Claim 4 (depends on 2) The control apparatus according to claim 2, wherein the second point is a point in front of the risk area by less than a predetermined distance along a moving direction of the movable object. ### Claim 5 (depends on 2) The control apparatus according to claim 2, wherein the at least one processor is further configured to execute driver assistance of the movable object or an alert for an occupant of the movable object. ### Claim 6 (depends on 2) The control apparatus according to claim 2, wherein the at least one processor is further configured to perform the control to include a plurality of position coordinates of the risk area in the risk area information, and transmit the risk area information without designating a destination. ### Claim 7 (depends on 2) The control apparatus according to claim 2, wherein the at least one processor is further configured to perform control to receive the presence information of the risk area from a server configured to manage the presence information of the risk area specified through image recognition by a plurality of other movable objects. ### Claim 8 (depends on 1) The control apparatus according to claim 1, wherein the presence information of the risk area includes information indicating a moving direction of the other movable object that has specified the risk area, and the at least one processor is further configured to perform the control to transmit the risk area information to the outside of the movable object under a condition that a moving direction of the movable object is matched with the moving direction of the other movable object that has recognized the risk area. ### Claim 9 (depends on 8) The control apparatus according to claim 8, wherein the second point is a point in front of the risk area by less than a predetermined distance along a moving direction of the movable object. ### Claim 10 (depends on 1) The control apparatus according to claim 1, wherein the second point is a point in front of the risk area by less than a predetermined distance along a moving direction of the movable object. ### Claim 11 (depends on 1) The control apparatus according to claim 1, wherein the at least one processor is further configured to execute driver assistance of the movable object or an alert for an occupant of the movable object. ### Claim 12 (depends on 1) The control apparatus according to claim 1, wherein the at least one processor is further configured to perform the control to include a plurality of position coordinates of the risk area in the risk area information, and transmit the risk area information without designating a destination. ### Claim 13 (depends on 1) The control apparatus according to claim 1, wherein the at least one processor is further configured to perform control to receive the presence information of the risk area from a server configured to manage the presence information of the risk area specified through image recognition by a plurality of other movable objects. ### Claim 14 (depends on 13) The control apparatus according to claim 13, wherein the server is configured to manage current position information of one or more terminals, and the at least one processor is further configured to transmit the risk area information to the server, and perform the control to receive, from the server, response information including current position information of a terminal present in the risk area or within a predetermined range from the risk area as response information to the risk area information. ### Claim 15 (depends on 1) The control apparatus according to claim 1, wherein the movable object does not include a camera configured to recognize an image in a moving direction of the movable object. ### Claim 16 (depends on 1) The control apparatus according to claim 1, wherein when receiving the presence information of the risk area, the at least one processor is further configured not to transmit response information to the presence information of the risk area. ### Claim 17 (depends on 1) The control apparatus according to claim 1, wherein the movable object is a vehicle. ### Claim 18 (depends on 1) A movable object comprising the control apparatus according to claim 1. ### Claim 19 A control method comprising: performing control to receive from another movable object, when a movable object is located at a first point, presence information of a risk area including a plurality of position coordinates of the risk area, the plurality of position coordinates being specified through image recognition by the another movable object; determining whether the movable object is in a vicinity of the risk area based on the plurality of position coordinates included in the presence information of the risk area; performing control to transmit, when it is determined that the movable object is in the vicinity of the risk area, information related to presence of the movable object; and executing control of the movable object, wherein when the movable object is located at a second point that is closer to the risk area than the first point, the performing the control to transmit the information related to the presence of the movable object includes performing control to transmit, to an outside of the movable object, risk area information for requesting information related to the risk area based on the presence information of the risk area, and the executing the control of the movable object includes executing the control of the movable object based on response information from an external apparatus to the risk area information. ### Claim 20 A non-transitory computer readable storage medium having stored thereon a program, the program causing a computer to execute: performing control to receive from another movable object, when a movable object is located at a first point, presence information of a risk area including a plurality of position coordinates of the risk area, the plurality of position coordinates being specified through image recognition by the another movable object; determining whether the movable object is in a vicinity of the risk area based on the plurality of position coordinates included in the presence information of the risk area; performing control to transmit, when it is determined that the movable object is in the vicinity of the risk area, information related to presence of the movable object; and executing control of the movable object, wherein when the movable object is located at a second point that is closer to the risk area than the first point, the performing the control to transmit the information related to the presence of the movable object includes performing control to transmit, to an outside of the movable object, risk area information for requesting information related to the risk area based on the presence information of the risk area, and the executing the control of the movable object includes executing the control of the movable object based on response information from an external apparatus to the risk area information.