# US 12,190,732 B2 · Control apparatus, movable object, control method, and terminal > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,190,732 B2 - Document ID: US12190732B2 - Status: Granted - Kind: B2 - Application number: 17/835,920 - 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/US12190732B2 ## CPC - G08G 1/162: {event-triggered} - B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 40/04: Traffic conditions - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - 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 1/0133: {for classifying traffic situation} - G08G 1/096725: {where the received information generates an automatic action on the vehicle control} - G08G 1/163: {involving continuous checking} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - H04W 4/021: Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences - H04W 4/06: Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services - B60W 2050/0064: {using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone} - B60W 2050/143: {Alarm means} - B60W 2050/146: {Display means} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2554/20: Static objects - B60W 2554/4029: Pedestrians - B60W 2554/4041: Position - B60W 2554/4042: Longitudinal speed - B60W 2554/406: Traffic density - B60W 2556/45: External transmission of data to or from the vehicle - B60W 2756/10: Involving external transmission of data to or from the vehicle - 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}) - 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 - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract A control apparatus includes a risk area specification unit to specify a risk area outside a movable object, a transmission control unit to perform control to transmit alert information related to a position of the risk area to an outside of the movable object, a reception control unit to perform control to receive response information including information related to a position of another movable object that is response information to the alert information which is transmitted by the other movable object, and a control unit to execute control of the movable object based on position information of the risk area and the information related to the position of the other movable object which is acquired, in which the alert information includes information for controlling a mode related to a transmission cycle of the response information to be transmitted by the other movable object which has received the alert information. ## Claims ### Claim 1 A control apparatus comprising: at least one processor; a risk area specification unit configured to specify, using the at least one processor, a risk area outside a movable object where a risk is involved with respect to a movement of the movable object; a transmission control unit configured to perform, using the at least one processor, when the risk area specification unit specifies the risk area, control to transmit alert information related to a position of the risk area to an outside of the movable object without designating a destination; a reception control unit configured to perform, using the at least one processor, control to receive response information transmitted by an other movable object in response to the alert information, the response information including information related to a position of the other movable object; and a control unit configured to execute, using the at least one processor, control of the movable object based on position information of the risk area and the information related to the position of the other movable object which is acquired through the response information, wherein the alert information includes information for controlling a mode related to a transmission cycle of the response information to be transmitted by the other movable object which has received the alert information. ### Claim 2 (depends on 1) The control apparatus according to claim 1, wherein the transmission cycle of the response information is shorter than a transmission cycle of the alert information. ### Claim 3 (depends on 1) The control apparatus according to claim 1, wherein the transmission control unit is configured to perform, using the at least one processor, control to transmit the alert information including a plurality of latitude and longitude coordinates of the risk area by broadcast. ### Claim 4 (depends on 1) The control apparatus according to claim 1, wherein the risk area specification unit is configured to specify, using the at least one processor, an area that is not on a line of sight from a position of the movable object as the risk area. ### Claim 5 (depends on 4) The control apparatus according to claim 4, wherein the risk area specification unit is configured to judge, using the at least one processor, the area that is not on the line of sight by recognizing a target object from an image picked up by an image pickup unit mounted to the movable object. ### Claim 6 (depends on 1) The control apparatus according to claim 1, wherein the mode includes information indicating at least a number of at least one transmission of the response information or the transmission cycle of the response information. ### Claim 7 (depends on 1) The control apparatus according to claim 1, wherein the mode includes information indicating a period in which the response information is transmitted. ### Claim 8 (depends on 7) The control apparatus according to claim 7, wherein the transmission control unit is configured to set, using the at least one processor, the period in which the response information is transmitted to be shorter as a movement speed of the movable object is higher. ### Claim 9 (depends on 7) The control apparatus according to claim 7, wherein the transmission control unit is configured to decide, using the at least one processor, the period in which the response information is transmitted based on a time period until the movable object reaches the position of the risk area. ### Claim 10 (depends on 1) The control apparatus according to claim 1, further comprising: a congestion situation acquisition unit configured to acquire, using the at least one processor, a congestion situation of traffic in a surrounding of the movable object, wherein the alert information includes information related to transmission power of the response information, and the transmission control unit is configured to reduce, using the at least one processor, the transmission power when it is determined that the congestion situation acquired by the congestion situation acquisition unit is more congested than a predetermined situation. ### Claim 11 (depends on 1) The control apparatus according to claim 1, wherein the control unit is configured to execute, using the at least one processor, 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 movable object is a vehicle. ### Claim 13 (depends on 1) A movable object comprising the control apparatus according to claim 1. ### Claim 14 (depends on 1) The control apparatus according to claim 1, wherein when it is determined that the other movable object is located outside the risk area, the control apparatus controls the other movable object to transmit, at the transmission cycle included in the alert information, the response information indicating that the other movable object is located outside the risk area, and when it is determined that the other movable object is located within the risk area, the control apparatus controls the other movable object to transmit the response information indicating a current position of the other movable object. ### Claim 15 A control method comprising: specifying a risk area outside a movable object where a risk is involved with respect to a movement of the movable object; performing, when the risk area is specified, control to transmit alert information related to a position of the risk area to an outside of the movable object without designating a destination; performing control to receive response information transmitted by an other movable object in response to the alert information, the response information including information related to a position of the other movable object; and executing control of the movable object based on position information of the risk area and the information related to the position of the other movable object which is acquired through the response information, wherein the alert information includes information for controlling a mode related to a transmission cycle of the response information to be transmitted by the other movable object which has received the alert information. ### Claim 16 A terminal comprising: at least one processor; a reception control unit configured to perform, using the at least one processor, control to receive alert information related to a position of a risk area where a risk is involved with respect to a movement of an external movable object, the alert information being transmitted by the external movable object; and a transmission control unit configured to perform, using the at least one processor, control to transmit, to the external movable object, response information including information related to a position of the terminal in response to receiving the alert information, wherein the alert information includes information for controlling a mode related to a transmission cycle at which the terminal transmits the response information, and the transmission control unit is configured to switch, using the at least one processor, the mode related to the transmission cycle based on the information included in the alert information when the position of the terminal is in the risk area or within a predetermined range from the position of the risk area. ### Claim 17 (depends on 16) The terminal according to claim 16, wherein the alert information includes information indicating a period in which transmission of the response information is regularly performed, and the transmission control unit is configured to switch, using the at least one processor, the mode related to the transmission cycle of the response information during the period when the position of the terminal is in the risk area or within the predetermined range from the position of the risk area. ### Claim 18 (depends on 16) The terminal according to claim 16, wherein the transmission control unit is configured to judge, using the at least one processor, whether a current position of the terminal is located within the risk area or outside the risk area, when the transmission control unit judges that the current position of the terminal is located outside the risk area, the transmission control unit transmits, at the transmission cycle included in the alert information, the response information indicating that the terminal is located outside the risk area, and when the transmission control unit judges that the current position of the terminal is located within the risk area, the transmission control unit transmits the response information indicating the current position of the terminal.