US 12,227,178 B2
Vehicle control device, vehicle control method, and storage medium
Naoto Hiramatsu, Wako (JP); Yoshimitsu Murahashi, Wako (JP); Hiroshi Oguro, Wako (JP); Daichi Kato, Wako (JP); and Katsuya Yashiro, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Oct. 10, 2022, as Appl. No. 17/962,563.
Claims priority of application No. 2021-167280 (JP), filed on Oct. 12, 2021.
Prior Publication US 2023/0115845 A1, Apr. 13, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); G06T 7/20 (2017.01); G06T 7/70 (2017.01); G06V 10/98 (2022.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 30/0956 (2013.01) [G06T 7/20 (2013.01); G06T 7/70 (2017.01); G06V 10/98 (2022.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2552/10 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4045 (2020.02); B60W 2710/20 (2013.01); B60W 2720/10 (2013.01); G06T 2207/30256 (2013.01); G06T 2207/30261 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A vehicle control device comprising:
an imager configured to image surroundings of a host vehicle;
a recognizer configured to recognize a surroundings situation of the host vehicle;
a driving controller configured to control one or both of speed and steering of the host vehicle on the basis of a result of the recognition of the recognizer; and
a controller configured to control the driving controller on the basis of imaging content of the imager,
wherein the controller sets relative position information with respect to the host vehicle for an object around the host vehicle present on a two-dimensional image captured by the imager, and corrects the recognition result of the recognizer on the basis of the set relative position information, and
wherein
when the driving controller executes tracking traveling in which the host vehicle tracks a preceding vehicle, the recognizer recognizes a new tracking target vehicle for the host vehicle or a cut-in vehicle cutting into the host lane in which the host vehicle travels, and a determination is made that the tracking target vehicle and the cut-in vehicle are not present in the host lane on the basis of the relative position information with respect to the tracking target vehicle or the cut-in vehicle,
the controller excludes the tracking target vehicle and the cut-in vehicle from targets of driving control of the driving controller.