US 12,269,513 B2
Vehicle control device, vehicle control method, and storage medium
Sho Hitakatsu, Wako (JP); Toshikazu Suwa, Tokyo (JP); and Masaki Nakajima, Yokohama (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Appl. No. 18/023,015
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
PCT Filed Dec. 28, 2020, PCT No. PCT/JP2020/049140
§ 371(c)(1), (2) Date Feb. 24, 2023,
PCT Pub. No. WO2022/144974, PCT Pub. Date Jul. 7, 2022.
Prior Publication US 2023/0331260 A1, Oct. 19, 2023
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/005 (2020.02) [B60W 2552/10 (2020.02); B60W 2556/40 (2020.02); B60W 2710/20 (2013.01); B60W 2720/106 (2013.01)] 7 Claims
OG exemplary drawing
 
5. A vehicle control method comprising:
recognizing, by a computer mounted in a vehicle, a surrounding situation of the vehicle;
performing, by the computer, automated driving for controlling at least one of acceleration, deceleration, and steering of the vehicle on the basis of the recognized situation and map information including a plurality of coordinate points indicating lanes on a route of the vehicle;
changing, by the computer, a control level of the automated driving in accordance with the number of coordinate points; and
when the number of coordinate points exceeds an upper limit number, lowering by the computer, the control level of the automated driving as compared with a case where the number of coordinate points is less than or equal to the upper limit.