US 12,227,171 B2
Vehicle control device, vehicle, method of controlling vehicle control device, and non-transitory computer-readable storage medium
Yuji Yasui, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Mar. 24, 2022, as Appl. No. 17/703,583.
Claims priority of application No. 2021-061588 (JP), filed on Mar. 31, 2021.
Prior Publication US 2022/0314976 A1, Oct. 6, 2022
Int. Cl. B60W 30/09 (2012.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01)
CPC B60W 30/09 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 2540/18 (2013.01); B60W 2552/53 (2020.02); B60W 2554/4029 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A vehicle control device for controlling a vehicle, the vehicle control device comprising:
one or more processors; and
a memory storing instructions which, when the instructions are executed by the one or more processors, cause the vehicle control device to:
detect an out-of-lane region outside a lane in which the vehicle is traveling;
detect an obstacle; and
determine that performing steering control in the out-of-lane region is approved by a driver when the vehicle enters the out-of-lane region in response to a steering operation by the driver in a case where the obstacle is detected, the out-of-lane region is detected, and the vehicle and the obstacle have a predetermined relationship; and
control, in a case where the vehicle and the obstacle have the predetermined relationship, steering in a transition period in which a path in the lane in which the vehicle is traveling is switched to a path for traveling in the out-of-lane region,
wherein the instructions causing the vehicle control device to control steering in the transition period include instructions causing the vehicle control device to:
calculate a transition path in the transition period,
restrict performing guidance regarding the steering in a case where the vehicle travels along the transition path calculated in response to a steering operation by the driver, and
execute steering control processing until the vehicle transitions to the path for traveling in the out-of-lane region in a case where the vehicle deviates from the transition path calculated in response to a steering operation by the driver.