US 11,747,815 B2
Limiting function of a vehicle control device related to defective image
Marina Saikyo, Wako (JP); and Kanichi Koyama, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Mar. 25, 2021, as Appl. No. 17/212,541.
Claims priority of application No. 2020-059897 (JP), filed on Mar. 30, 2020.
Prior Publication US 2021/0302977 A1, Sep. 30, 2021
Int. Cl. G05D 1/02 (2020.01); B60W 30/18 (2012.01); B60W 60/00 (2020.01)
CPC G05D 1/0214 (2013.01) [G05D 1/0246 (2013.01); B60W 30/18163 (2013.01); B60W 60/001 (2020.02); B60W 2555/60 (2020.02); G05D 2201/0213 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A vehicle control device comprising:
an information acquisition circuit configured to acquire information on a frontward image including a traveling road surface of a host vehicle,
a recognition circuit configured to recognize a traveling environment of the host vehicle based on the frontward image acquired by the information acquisition circuit, and
an autonomous driving control circuit configured to control autonomous driving including at least one of a speed control and a steering control of the host vehicle based on the traveling environment recognized by the recognition circuit,
wherein
the recognition circuit includes an extraction circuit configured to extract a defective image among the frontward images,
the autonomous driving control circuit is configured to have a main function of limiting a function related to the defective image among a plurality of functions involved in the autonomous driving if the recognition circuit extracts the defective image,
a region of field angle related to the frontward image of the host vehicle is divided into a plurality of sub-regions, to each of which one or more of the plurality of functions involved in the autonomous driving are assigned,
the extraction circuit of the recognition circuit is configured to extract a sub-region related to the defective image from the plurality of sub-regions when extracting the defective image from the frontward images,
the autonomous driving control circuit is configured to limit one or more functions assigned to the sub-regions related to the defective image, but to permit one or more functions assigned to the sub-regions related to non-defective images that do not include the sub-region related to the defective image of the region of field angle related to the frontward image, if the sub-regions related to the defective image are extracted by the extraction circuit,
the autonomous driving control circuit is configured to stop a function of changing a lane of the host vehicle from a current traveling lane to an adjacent lane if the sub-region related to the defective image extracted by the extraction circuit is positioned on an end portion in a horizontal direction of the region of field angle related to the frontward image.