US 12,269,492 B2
Vehicle control device, vehicle control method, and storage medium
Daichi Inoue, Wako (JP); and Sho Tamura, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Feb. 15, 2023, as Appl. No. 18/109,895.
Claims priority of application No. 2022-045425 (JP), filed on Mar. 22, 2022.
Prior Publication US 2023/0303099 A1, Sep. 28, 2023
Int. Cl. B60W 50/08 (2020.01); B60W 10/04 (2006.01); B60W 10/20 (2006.01); B60W 60/00 (2020.01)
CPC B60W 50/082 (2013.01) [B60W 10/04 (2013.01); B60W 10/20 (2013.01); B60W 60/005 (2020.02); B60W 2420/403 (2013.01); B60W 2520/10 (2013.01); B60W 2552/05 (2020.02); B60W 2552/53 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/802 (2020.02); B60W 2556/40 (2020.02); B60W 2710/20 (2013.01); B60W 2720/106 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A vehicle control device comprising:
a storage medium configured to store a computer-readable instruction; and
a processor connected to the storage medium,
wherein the processor executes the computer-readable instruction, thereby
acquiring a camera image obtained by capturing an image of a surrounding situation of a vehicle,
controlling steering and acceleration or deceleration of the vehicle without depending on an operation of a driver of the vehicle on the basis of the camera image and map information,
deciding a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode, and changing the driving mode of the vehicle to a driving mode with a heavier task when a task related to the decided driving mode is not executed by the driver, the second driving mode being a driving mode in which a task imposed on the driver is lighter than in the first driving mode, some of the plurality of driving modes including at least the second driving mode being performed by controlling steering and acceleration or deceleration of the vehicle without depending on an operation of a driver of the vehicle,
determining whether there is a deviation between a road division line shown in the camera image and a road division line shown in the map information, and determining whether a preceding vehicle is present in front of the vehicle when it is determined that there is a deviation,
causing the vehicle to continue traveling in the second driving mode using the road division line shown in the camera image when it is determined that the preceding vehicle is present, and a degree of interference between a road division line shown in the camera image and the preceding vehicle is equal to or less than a first threshold value, and changing the second driving mode to the first driving mode using the road division line shown in the camera image when it is determined that the preceding vehicle is not present.