US 11,872,993 B2
Moving body control apparatus, moving body, and moving body control method for controlling a moving body to perform an automated lane change based on a driver preparation level
Kunimichi Hatano, Wako (JP); Tadahiko Kanoh, Wako (JP); Yuta Takada, Tokyo (JP); Tsubasa Shibauchi, Tokyo (JP); and Shogo Kobayashi, Wako (JP)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Mar. 29, 2021, as Appl. No. 17/215,381.
Claims priority of application No. 2020-059998 (JP), filed on Mar. 30, 2020.
Prior Publication US 2021/0300387 A1, Sep. 30, 2021
Int. Cl. B60W 40/09 (2012.01); B60W 30/18 (2012.01); B60W 50/14 (2020.01); B60W 50/12 (2012.01); B60W 60/00 (2020.01); G01C 21/34 (2006.01)
CPC B60W 40/09 (2013.01) [B60W 30/18163 (2013.01); B60W 50/12 (2013.01); B60W 50/14 (2013.01); B60W 60/001 (2020.02); G01C 21/3407 (2013.01); B60W 2050/146 (2013.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2540/30 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A moving body control apparatus comprising one or more processors that execute computer-executable instructions stored in a memory,
wherein the one or more processors execute the computer-executable instructions to cause the moving body control apparatus to:
receive sensor data from one or more occupant sensors in a moving body indicative of an alertness level of an occupant of the moving body;
determine a driving preparation level of the occupant of the moving body based on the sensor data, in which the driving preparation level is determined to be a first level when sensor data exceeds a first threshold value and a second level when the sensor data exceeds a second threshold value with the second level representing a higher degree of driving preparation than the first level;
set an automated driving control level to a first lane change approval level that allows for automated driving control including a lane change in which a lane boundary line is crossed once, if the driving preparation level is determined to be the first level, and a second lane change approval level that allows for automated driving control including a lane change in which lane boundary lines are crossed a plurality of times, if the driving preparation level is determined to be the second level; and
control the moving body to perform an automated driving control in accordance with the set automated driving control level.