公开(公告)号：US20250110501A1

公开(公告)日：2025-04-03

申请号：US18897285

申请日：2024-09-26

Applicant: HONDA MOTOR CO., LTD.

Inventor： Kohei Tsuda ,  Sango Matsuzaki

IPC: G05D1/246 ,  G05D1/622

Abstract: A control device includes recognition-part that recognizes position of object present around moving-body based on image obtained by imaging state around the moving-body, occupancy-grid-diagram-generation-part that generates occupancy grid diagram including a plurality of grid cells based on the position of the object present around the moving-body, and route generation part that generates a route, which the moving-body follows based on contour of the object shown in the occupancy grid diagram, and the occupancy-grid-diagram-generation-part determines whether the object is present for each of the plurality of grid cells in the occupancy grid diagram based on the position of the object present around the moving-body, generates first contour showing contour of first region including grid cell in which it is determined that the object is present, and generates second contour including the first region with apex number smaller than that of the first contour as the contour of the object.

公开(公告)号：US20250111641A1

公开(公告)日：2025-04-03

申请号：US18895811

申请日：2024-09-25

Applicant: HONDA MOTOR CO., LTD.

Inventor： Kohei Tsuda

IPC: G06V10/30 ,  G05D1/646 ,  G05D111/10 ,  G06V10/762 ,  G06V20/58

Abstract: A mobile object control device includes a recognizer configured to recognize a point group corresponding to an object present around the mobile object based on an image of surrounding situations of a mobile object, and a controller configured to determine a moving route of the mobile object based on the surrounding situations and control the mobile object so that the object moves along the determined moving route, in which the recognizer calculates a distribution in a height direction of a point group recognized as a candidate for the object in a predetermined area around the mobile object, and executes noise determination processing for determining whether light source noise is included in a point group in the predetermined area based on the distribution.

公开(公告)号：US20250110502A1

公开(公告)日：2025-04-03

申请号：US18897308

申请日：2024-09-26

Applicant: HONDA MOTOR CO., LTD.

Inventor： Kohei Tsuda ,  Sango Matsuzaki

IPC: G05D1/246 ,  G05D1/646 ,  G05D111/10

Abstract: A control device includes a recognition part that recognizes a position of an object present around a moving body based on an image obtained by imaging a state around the moving body, an occupancy grid diagram generation part that generates an occupancy grid diagram including a plurality of grid cells based on the position of the object present around the moving body, and a route generation part that generates a route, which the moving body follows, based on the occupancy grid diagram, and the occupancy grid diagram generation part determines whether the object is present for each of the plurality of grid cells in the occupancy grid diagram based on the position of the object present around the moving body, and the occupancy grid diagram generation part expands a first region including a grid cell in which it is determined that the object is present.