# US 12,759,587 B2 · Mobile object control device, mobile object control method, and storage medium

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- Number: US 12,759,587 B2
- Document ID: US12759587B2
- Status: Granted
- Kind: B2
- Application number: 18/850,587
- Filed: 2022-03-29
- Published: 2025-07-03
- Granted: 2026-10-13
- Earliest claimed: 2022-03-29
- Assignees: Honda Motor Co., Ltd.
- Applicants: Honda Motor Co., Ltd.
- Inventors: Kento Shirakata; Takashi Matsumoto; Hideki Matsunaga; Ryoji Wakayama; Koki Aizawa; Yunosuke Kuramitsu
- Web page: https://patentgrep.com/patent/US12759587B2

## CPC

- B60W 60/0025: {specially adapted for specific operations}
- B60W 30/146: {Speed limiting}
- G06V 10/751: {Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching}
- G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road}
- B60W 2300/34: Compact city vehicles, e.g., microcars or kei cars
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2556/10: Historical data
- 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

## Abstract

A mobile object control device for controlling a mobile object capable of moving both on a roadway and in a predetermined region different from the roadway includes a road type recognition unit configured to recognize whether the mobile object is moving on the roadway or in the predetermined region on the basis of an output of an external environment detection device configured to detect an external situation of the mobile object and a control unit configured to limit a speed of a case where the mobile object moves on the roadway to a first speed and limit a speed of a case where the mobile object moves in the predetermined region to a second speed lower than the first speed. The road type recognition unit iteratively recognizes whether the mobile object is moving on the roadway or in the predetermined region on the basis of recognition results of a previous first period and the output of the external environment detection device and causes a storage device to store a recognition result. The road type recognition unit outputs a recognition result indicating that the mobile object is moving on a sidewalk during a second period to the control unit when at least some of the recognition results of the previous first period in the storage device are lost.

## Claims

### Claim 1

A mobile object control device for controlling a mobile object capable of moving both on a roadway and in a predetermined region different from the roadway, the mobile object control device comprising: a processor configured to:
recognize whether the mobile object is moving on the roadway or in the predetermined region on the basis of an output of an external environment detection device configured to detect an external situation of the mobile object;
limit a speed of a case where the mobile object moves on the roadway to a first speed and limit a speed of a case where the mobile object moves in the predetermined region to a second speed lower than the first speed;
iteratively recognize whether the mobile object is moving on the roadway or in the predetermined region on the basis of recognition results of a previous first period and the output of the external environment detection device;
cause a storage device to store a recognition result, and
output a recognition result indicating that the mobile object is moving on a sidewalk during a second period when at least some of the recognition results of the previous first period in the storage device are lost.

### Claim 2 (depends on 1)

The mobile object control device according to claim 1, wherein the processor is further configured to perform a predetermined operation for causing the external environment detection device to detect a feature of either the roadway or the predetermined region when at least some of the recognition results of the previous first period in the storage device are lost.

### Claim 3 (depends on 2)

The mobile object control device according to claim 2,
wherein the external environment detection device is able to change a detection direction, and
wherein the predetermined operation is an operation for causing the external environment detection device to search for the feature by changing the detection direction of the external environment detection device.

### Claim 4 (depends on 2)

The mobile object control device according to claim 2,
wherein the processor is further configured to cause the mobile object to move autonomously by controlling a drive device, and
wherein the predetermined operation is an operation for causing the external environment detection device to search for the feature while changing a direction of the mobile object.

### Claim 5 (depends on 2)

The mobile object control device according to claim 2,
wherein the processor is further configured to cause the mobile object to move autonomously by controlling a drive device, and
wherein the predetermined operation is an operation for causing the mobile object to approach the feature and causing the external environment detection device to accurately recognize the feature.

### Claim 6 (depends on 1)

The mobile object control device according to claim 1, wherein, when the mobile object control device is activated, the processor is further configured to treat a recognition result before a shutdown as a recognition result of the previous first period if a recognition result before the shutdown and the output of the external environment detection device are stored in the storage device and a current output of the external environment detection device is similar to an output of the external environment detection device before the shutdown.

### Claim 7 (depends on 6)

The mobile object control device according to claim 6,
wherein the external environment detection device is an external camera configured to image the outside of the mobile object, and
wherein the processor is further configured to perform a process of extracting a feature point of an image captured by the external camera and determine that the current output of the external environment detection device is similar to the output of the external environment detection device before the shutdown when positions of feature points match at a predetermined ratio or higher.

### Claim 8

A mobile object control method comprising:
recognizing, by a computer for controlling a mobile object capable of moving both on a roadway and in a predetermined region different from the roadway, whether the mobile object is moving on the roadway or in the predetermined region on the basis of an output of an external environment detection device configured to detect an external situation of the mobile object; and
limiting, by the computer, a speed of a case where the mobile object moves on the roadway to a first speed and limiting a speed of a case where the mobile object moves in the predetermined region to a second speed lower than the first speed,
wherein the recognizing includes
iteratively recognizing whether the mobile object is moving on the roadway or in the predetermined region on the basis of recognition results of a previous first period and the output of the external environment detection device and causing a storage device to store a recognition result, and
outputting a recognition result indicating that the mobile object is moving on a side walk during a second period when at least some of the recognition results of the previous first period in the storage device are lost.

### Claim 9

A non-transitory storage medium storing a program for causing a computer for controlling a mobile object capable of moving both on a roadway and in a predetermined region different from the roadway to:
recognize whether the mobile object is moving on the roadway or in the predetermined region on the basis of an output of an external environment detection device configured to detect an external situation of the mobile object; and
limit a speed of a case where the mobile object moves on the roadway to a first speed and limit a speed of a case where the mobile object moves in the predetermined region to a second speed lower than the first speed,
wherein the recognizing includes
iteratively recognizing whether the mobile object is moving on the roadway or in the predetermined region on the basis of recognition results of a previous first period and the output of the external environment detection device and causing a storage device to store a recognition result, and
outputting a recognition result indicating that the mobile object is moving on a side walk during a second period when at least some of the recognition results of the previous first period in the storage device are lost.