US 12,221,103 B2
Vehicle control device, vehicle control method, and storage medium
Katsuya Yashiro, Wako (JP); Hiroshi Oguro, Wako (JP); Chihiro Oguro, Wako (JP); Junya Yoda, Wako (JP); Keisuke Hata, Wako (JP); Tomofumi Koishi, Wako (JP); Shingo Ito, Wako (JP); Ayumu Horiba, Wako (JP); and Tadahiko Kanoh, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Dec. 20, 2021, as Appl. No. 17/555,541.
Claims priority of application No. 2020-218167 (JP), filed on Dec. 28, 2020.
Prior Publication US 2022/0203985 A1, Jun. 30, 2022
Int. Cl. B60W 30/165 (2020.01); B60W 30/18 (2012.01)
CPC B60W 30/165 (2013.01) [B60W 30/18109 (2013.01); B60W 2300/36 (2013.01); B60W 2420/408 (2024.01); B60W 2552/53 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A vehicle control device comprising:
a processor that executes instructions to:
recognize a surrounding situation of a host vehicle; and
control one or both of steering or acceleration/deceleration of the host vehicle to cause the host vehicle to travel, wherein
the processor causes the host vehicle to travel in any of a plurality of driving modes including a first driving mode in which the host vehicle travels so that a speed of the host vehicle reaches a target speed,
the processor restricts the execution of the first driving mode in response to recognizing a road shoulder of a lane in which the host vehicle travels during the execution of the first driving mode, recognizing a first other vehicle on the road shoulder and a second other vehicle traveling in front of the host vehicle, determining that a distance from a center of a traveling lane of the host vehicle to a side edge of the first other vehicle is less than a threshold value adjusted for a speed of the first other vehicle, determining that the speed of the first other vehicle is in a first predetermined speed range, determining that a headway time between the host vehicle and the second other vehicle is less than a predetermined time, and determining that a contact margin time between the host vehicle and the first other vehicle is in a predetermined time range,
the threshold value varies with the speed of the host vehicle between an upper limit and a lower limit, and a degree of increase of the threshold value is changed according to a second predetermined speed range,
the processor further restricts execution of the first driving mode in response to recognizing a specific object in a traveling direction of the host vehicle based on map information or a recognition result during the execution of the first driving mode, the specific object comprising at least one of an emergency vehicle, a firefighting vehicle, or a police vehicle, and
the threshold value increases as the speed of the host vehicle increases by the second predetermined speed range between the lower limit and the upper limit, and a first range of the second predetermined speed range has a greater degree of increase than a second range of the second predetermined speed range, where the speed is greater than the first range.