公开(公告)号：US20240300482A1

公开(公告)日：2024-09-12

申请号：US18592895

申请日：2024-03-01

Applicant: HONDA MOTOR CO., LTD.

Inventor： Koki AIZAWA

IPC: B60W30/09 ,  B60W60/00

CPC classification number: B60W30/09 ,  B60W60/0015 ,  B60W2420/403 ,  B60W2556/40

Abstract: The present invention is directed to a moving object control system comprising: setting a current position and a target position of a moving object; generating a first path from the current position to the target position so as to satisfy a predetermined boundary condition on the lw coordinates in which a straight line connecting the current position and the target position of the moving object is defined as an l-axis and a straight line orthogonal to the l-axis is defined as a w-axis; and converting the generated first path into the xy coordinates in which an advancing direction of the moving object is defined as an x-axis and an axis orthogonal to the x-axis is defined as a y-axis.

公开(公告)号：US20220274630A1

公开(公告)日：2022-09-01

申请号：US17671643

申请日：2022-02-15

Applicant: HONDA MOTOR CO., LTD.

Inventor： Yosuke KOIKE ,  Misako YOSHIMURA ,  Ichiro BABA ,  Kosuke NAKANISHI ,  Koki AIZAWA

IPC: B60W60/00 ,  G06V20/56 ,  G06V20/58

Abstract: A mobile object control system includes: a storage device configured to store instructions; and one or more processors, wherein the one or more processors execute the instructions stored in the storage device to: acquire an image in which a road where a mobile object is present is imaged; recognize support information for supporting movement of a specific traffic participant who is a traffic participant having a predetermined attribute appearing on a road surface included in the image; recognize a road structure included in the image or a road structure which is a structure provided on the road; move the mobile object at least based on a trajectory determined using the support information when the support information is recognized; and move the mobile object based on a trajectory determined using the road structure without using the support information when the support information has not been recognized.

公开(公告)号：US20240077874A1

公开(公告)日：2024-03-07

申请号：US18240393

申请日：2023-08-31

Applicant: HONDA MOTOR CO., LTD.

Inventor： Koki AIZAWA ,  Yunosuke KURAMITSU ,  Ryoji WAKAYAMA ,  Hideki MATSUNAGA

IPC: G05D1/02

CPC classification number: G05D1/0217 ,  G05D1/0246 ,  G05D2201/0212

Abstract: The present invention directs to a moving object control system comprising acquiring a captured image; detecting an obstacle included in the captured image; dividing a region around a moving object and generate an occupancy map indicating occupancy of the obstacle detected for each of divided regions; and generating a global path from a current position to a target position for avoiding the detected obstacle based on a first cost, a second cost, and a third cost, the first cost being higher as a distance from the current position is longer on the occupancy map, the second cost being higher as a distance from the target position is longer on the occupancy map, and the third cost being higher as a distance from a past path is longer on the occupancy map.

公开(公告)号：US20240075954A1

公开(公告)日：2024-03-07

申请号：US18240436

申请日：2023-08-31

Applicant: HONDA MOTOR CO., LTD.

Inventor： Yunosuke KURAMITSU ,  Koki AIZAWA

IPC: B60W60/00 ,  B60W30/09 ,  B60W30/095

CPC classification number: B60W60/0015 ,  B60W30/09 ,  B60W30/0953 ,  B60W2520/06 ,  B60W2554/80

Abstract: A moving object control system that controls an operation of a moving object including a drive wheel and a driven wheel. The moving object control system generates a trajectory along which the moving object travels based on a target position and trajectories that are generatable from velocities and angular velocities of the moving object that satisfy a predetermined constraint condition and controls traveling of the moving object in accordance with the generated trajectory. The predetermined constraint condition includes a constraint determined from a travelable velocity of the moving object, a constraint determined from an acceleration at which the moving object is capable of accelerating, and a constraint depending on an angle of the driven wheel.

公开(公告)号：US20240166205A1

公开(公告)日：2024-05-23

申请号：US18385665

申请日：2023-10-31

Applicant: HONDA MOTOR CO., LTD.

Inventor： Koki AIZAWA ,  Hideki MATSUNAGA ,  Ryoji WAKAYAMA ,  Kento SHIRAKATA

IPC: B60W30/14 ,  B60W60/00

CPC classification number: B60W30/143 ,  B60W60/001 ,  B60W2420/42 ,  B60W2552/00

Abstract: The present invention is directed to a moving object control system comprising acquiring a captured image of a travel area to be a movement destination of a moving object; recognizing a road shape included in the captured image; generating a path of the moving object, based on the recognized road shape; and generating a speed plan of the moving object, based on the generated path and a recognition situation of the road shape.