US 11,938,933 B2
Travel control apparatus, vehicle, travel control method, and non-transitory computer-readable storage medium
Sho Tamura, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Mar. 2, 2021, as Appl. No. 17/189,500.
Claims priority of application No. 2020-046811 (JP), filed on Mar. 17, 2020.
Prior Publication US 2021/0291830 A1, Sep. 23, 2021
Int. Cl. B60W 30/12 (2020.01); G06V 20/56 (2022.01)
CPC B60W 30/12 (2013.01) [G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2552/53 (2020.02); B60W 2556/40 (2020.02); B60W 2556/50 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A travel control apparatus comprising:
a recognition unit configured to recognize, based on an image captured by a camera provided in a moving body, a lane on which the moving body is traveling;
a control unit configured to perform, based on a recognition result of the recognition unit and map information of a periphery of the moving body, a lane maintenance control in which the moving body is controlled to travel in a center of the lane;
a first determination unit configured to determine whether a first state, in which a first angular difference, between a lane recognized by the recognition unit and a lane based on the map information, in a first range which is ahead of the moving body is not less than a first threshold, is set; and
a second determination unit configured to determine whether a second state, in which a second angular difference, between a lane recognized by the recognition unit and a lane based on the map information, in a second range which is ahead of the moving body and is closer to the side of the moving body than the first range is not less than a second threshold, is set,
wherein the first determination unit is configured to determine that the first state is set under a condition that the first angular difference is continuously not less than the first threshold within a predetermined time or within a predetermined travel distance of the moving body,
wherein when the second angular difference is not less than the second threshold, the second determination unit is configured to determine that the second state is set at once,
wherein in at least one of a case in which the first determination unit determines that the first state is set and a case in which the second determination unit determines that the second state is set, the control unit performs the lane maintenance control prioritizing the recognition result of the recognition unit over the map information,
wherein the control unit is configured to request an occupant in the moving body to grip a steering wheel of the moving body when the control unit performs the lane maintenance control prioritizing the recognition result of the recognition unit over the map information,
wherein in a case in which the first determination unit does not determine that the first state is set and the second determination unit does not determine that the second state is set, the control unit performs the lane maintenance control based on the map information and the recognition result of the recognition unit in combination, and
wherein the control unit is configured not to request the occupant in the moving body to grip the steering wheel of the moving body when the control unit performs the lane maintenance control based on the map information and the recognition result of the recognition unit in combination.