US 12,233,834 B2
Vehicle control device, vehicle control method, and storage medium
Yugo Kajiwara, Wako (JP); and Yuichi Masukake, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Nov. 1, 2022, as Appl. No. 17/978,307.
Claims priority of application No. 2021-181042 (JP), filed on Nov. 5, 2021.
Prior Publication US 2023/0145724 A1, May 11, 2023
Int. Cl. B60T 7/12 (2006.01); B60Q 9/00 (2006.01)
CPC B60T 7/12 (2013.01) [B60Q 9/00 (2013.01); B60T 2210/32 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A vehicle control device comprising:
a storage device configured to store a program; and
a hardware processor,
wherein the hardware processor is configured to execute the program stored in the storage device to perform:
recognizing a surrounding situation of a host vehicle based on a detection results of a camera, a radar device, or both mounted on the host vehicle;
receiving an input operation from an occupant of the host vehicle;
performing automatic stop control of decelerating and stopping the host vehicle when the input operation is received;
performing a setting process of setting a first time after the input operation has been received and until the automatic stop control is started;
changing the first time based on a result of recognition of a following vehicle of the host vehicle in the setting process; and
setting the first time to be longer when the following vehicle is recognized and a distance between the following vehicle and the host vehicle is less than a threshold value than when the following vehicle is not recognized or when the distance between the following vehicle and the host vehicle is equal to or greater than the threshold value.